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2127 Commits
Author SHA1 Message Date
matlabbe c33e995e83 Landmark constraints can now be rejected (in case we see same landmark at two different spots or constraint is poorly estimated). Optimizer/Robust can now be used with landmark constraints with orientation. 2024-04-06 13:41:03 -07:00
matlabbe 92edae35fc Fixed map empty on start if there is no global loop closure yet in localization mode when RGBD/OptimizeFromGraphEnd is true 2024-04-06 11:46:26 -07:00
matlabbe 9cb0046734 fixing build with gtsam 4.0 2024-04-02 15:32:04 -07:00
matlabbe 76f63ab79a Fixing build with gtsam 4.2 2024-04-02 13:29:51 -07:00
matlabbe 063ca9c8ee fixed gtsam 4.3 build error (https://github.com/introlab/rtabmap/pull/1033#issuecomment-2031002034) 2024-04-01 23:05:16 -07:00
matlabbe 8612ebba93 fixed https://github.com/introlab/rtabmap_ros/issues/1134 2024-03-31 13:06:52 -07:00
matlabbe a0476af896 UI: Exposed more depthai options, setting default rectification alpha to -1 to avoid OAK-D Pro crash 2024-03-30 18:08:32 -07:00
matlabbe cc17ebe92b iSAM2 integration (#1249) 
* isam2 integration

* fonctional iSAM2, added related parameters

* updated default params after testing large-scale enviroment

* proximity search optimization

* boost<1.68 fix

* boost version

* Fixed map not showing in graphview

* iSAM2: supporting MM/localization/multi-session modes
 2024-03-27 17:18:02 -07:00
Borong Yuan bfeb487dba OAK Internal Sync & DepthAI HF-Net Support (#1193) 
* Using Sync Node

* Using normalized IR intensity

* Set IMU output frequency to 200 Hz

* set sync threshold properly

* add depthai hfnet local head

* fix DB error

* add depthai hfnet global head

* fix data delay if image rate is set manually
 2024-03-27 12:29:06 -07:00
matlabbe 7183b43c2a missed part from last commit 2024-03-23 14:34:54 -07:00
matlabbe 79dc180bf4 Fixed Odom/ResetCountdown not resetting anymore if next frame is also bad. 2024-03-17 17:19:08 -07:00
matlabbe e299505a64 Fixed ORB_SLAM3 config for stereo mode 2024-03-12 23:13:06 -07:00
matlabbe 2577c47e77 Fixed #1232 2024-03-09 15:14:01 -08:00
matlabbe 52e1b01597 Fixed assert when exporting textured mesh with both multiband and blending enabled with grayscale images 2024-03-04 17:05:17 -08:00
matlabbe 8019a2dc49 Fixed #1227 2024-03-02 16:17:10 -08:00
Long VuongandLong Vuong 752ca76cf5 not limitKps inside Feature2D::generateKeypoints when using pyDetector (#1223) 
* not limitKps when using pyDetector

* update with upstream

---------

Co-authored-by: Long Vuong <[email protected]>
 2024-02-26 15:21:15 -08:00
matlabbe a11ea291d8 Fixed #1211 2024-02-10 18:27:02 -08:00
Borong Yuan 1bd2d9fe81 superpoint torch using simple nms (#1213) 2024-02-10 13:54:20 -08:00
matlabbe 510aef19e4 Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before) 2024-02-07 14:43:16 -08:00
matlabbe b2a86d640a Fixed zed build errors (windows, #1207) 2024-01-31 07:17:04 -08:00
matlabbe c27507bc77 Added missing Open3D status in --version and About. 2024-01-27 15:20:10 -08:00
Borong Yuan dcd5994456 support color histogram equalization (#1203) 2024-01-21 12:38:34 -08:00
matlabbe 13cd5e7a5e Export Poses: Added support of landmarks. Fixed g2o export with 6DoF landmark constaints. Adjusted g2o export landmark id. (#1199) 2024-01-20 12:04:26 -08:00
matlabbe b7239fdc84 Added parameter Mem/RotateImagesUpsideUp 2024-01-10 14:54:55 -08:00
Borong Yuan 096592e4fc reimplement NMS using morphological operations (#1192) 2024-01-02 15:38:39 -08:00
matlabbe d135ef02e2 DBViewer: updated refine constraints menu action with more options, DBDriver: added updateCalibration for convenience 2023-12-20 14:39:49 -08:00
matlabbe 71415992ac GridMap integration (#1180) 
* GridMap integration

* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.

* UI: Added elevation map visualization

* Added LocalGridCache class to share cache between global maps

* Fixed OctoMap nans. DbViewer: Added frontiers visualization.

* convenient functions for ros

* Small fix

* fixed build without GridMap

* CI disabled fail-fast

* CI updated checkout action to v4
 2023-12-17 22:44:11 -08:00
Borong Yuan 45392fcfc6 Add RGBD mode for OAK camera (#1179) 
* update depthai params

* add color+depth mode

* workarounds to avoid performance issues
 2023-12-14 09:59:35 -08:00
matlabbe be3e6c538c Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera (#1182) 
* splitting multicam generated clouds

* make sure returned cloud is valid (can be empty)
 2023-12-13 12:15:29 -08:00
Borong Yuan 0876603325 improve NMS implementation (#1173) 2023-11-28 13:36:28 -08:00
matlabbe 3a7f88dc6c Updated error log that should not show up if Optimizer/Robust is true (#1172) 2023-11-28 13:29:33 -08:00
Borong Yuan 07c24e95ba start outputting data after static initialization (#1171) 
* start outputting data after static initialization

* restore pixel noise to 1
 2023-11-28 13:20:45 -08:00
matlabbe aaff1abc4f Updating orbslam3 v1 support (#1152) 
* Refactoring ORB_SLAM3 integration. Fixed realsense2 inter IMU stamps.

* Renamed OdometryORBSLAM -> OdometryORBSLAM2

* revert a change

* Fixed build without orb_slam

* Source camera: added feature detection option

* Fixed jfr2018 docker files
 2023-11-19 01:05:52 -08:00
matlabbe 9c56a429cc Localization: Refactored getConnectedGraph() for 2d slam and tags (https://github.com/introlab/rtabmap_ros/issues/1057). Transform: Fixed is3DoF() and is 4DoF() 2023-11-16 22:44:32 -08:00
Borong Yuan 757d3eb90b fix protocol detection for undiscoverable devices (#1159) 2023-11-15 19:50:07 -08:00
matlabbe 4812ce4eaf Optimizer: fixed some constraints between same nodes with different type ignored. GraphViewer: fixed display of links between same nodes with different type 2023-11-12 17:14:17 -08:00
matlabbe 56552afa6c Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156) 
* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
 2023-11-05 15:14:11 -08:00
Borong Yuan 45a3b59a23 transform features after source images decimation (#1154) 2023-11-02 08:10:02 -07:00
matlabbe 08d0ef7408 report: added --gt option to input external ground truth file. DBViewer: fixed crash when unchecking "Ignore intermediate nodes". 2023-10-27 17:10:10 -07:00
Borong Yuanandmatlabbe 8da6ea1707 Add missing filterKeypointsByDepth step (#1150) 
* add missing filterKeypointsByDepth step

* Fix ORBOctree not using the depth mask

---------

Co-authored-by: matlabbe <[email protected]>
 2023-10-26 13:15:34 -07:00
matlabbe 64962e8e3d Added multicameras support for F2F odometry / OpticalFlow 2023-10-25 14:54:20 -07:00
Borong Yuan 948e15c72c Supplement and Adjust OpenVINS Parameters (#1145) 
* set the PrintLevel of OpenVINS to be equivalent to that of ULogger

* use global FAST settings

* add online calibration params

* add dynamic initialization params

* add necessary feature initializer options

* fix segfault of OdomImageDecimation

* add mask settings

* use depth as mask in OpenVINS

* set twist covariance

* restore default values of VisMinDepth and VisMaxDepth
 2023-10-21 14:24:51 -07:00
Borong Yuan f06cc0b17f OAK bug fixes and improvements (#1143) 
* *fix distortion correction problem of small FOV devices
*remove deprecated IMU firmware update API
*add useSpecTranslation option

* reduce depth image noise and simplify calculation for compressed transport
 2023-10-07 20:40:30 -07:00
Borong Yuan 2aa139b579 Update odometry info of OpenVINS (#1142) 
* add msckf features visualization

* fill localMap with active tracked features
 2023-10-07 20:36:00 -07:00
Borong Yuan 67c6a15b93 OpenVINS Update (#1107) 
* fix openvins build

* Add OpenVINS params to UI

* update OdometryOpenVINS implementation

* the pixel noise of most cameras should be less than 3 after factory calibration

* propagation and update are only performed after camera measurement feeding

* fix openvins feature reprojection
 2023-10-02 07:53:29 -07:00
matlabbe 78c029d833 fixed https://github.com/introlab/rtabmap_ros/issues/1038 2023-10-01 09:07:15 -07:00
Borong Yuan afd10b1aa6 add histogram equalization (#1137) 2023-09-21 15:46:10 -07:00
matlabbe f1cd819673 Fixed superglue deadlock on standalone (#896). Fixed some elemSize opencv asserts in debug build (876) 2023-09-17 01:19:59 -07:00
matlabbe fb466a6a96 StereoBM/StereoSGBM: Thresholding output to zero when minDisparity is used 2023-09-16 17:43:00 -07:00
matlabbe 97f2b4b65d Fixed autogen cmake warnings. Fixed pytorch requiring c++17. 2023-09-16 14:26:17 -07:00