i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity
3,221 Commits 29 Branches 163 Tags
f56875db4ada45ce9e8564c6a3911ebd809b83bd
Commit Graph

1333 Commits

Author SHA1 Message Date
matlabbe
f56875db4a Preferences: Fixed recursive param update bug 2023-11-29 05:28:30 -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
a1d43d2353 Remove default AUTOUIC=ON from all non-ui targets. Fixed yaml target not added correctly on Vcpkg. Fixed gui odom processing time. 2023-11-19 19:40:20 -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
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
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
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
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
Borong Yuan
afd10b1aa6 add histogram equalization (#1137) 2023-09-21 15:46:10 -07:00
cdb0y511
49daa211ea use CMAKE_AUTOUIC, CMAKE_AUTOMOC and CMAKE_AUTORCC (#1135) 2023-09-14 08:25:00 -07:00
matlabbe
fa4a2eb5e3 Fixed build on 22.04 caused by 9e86faa4ad 2023-09-07 10:29:18 -07:00
matlabbe
9e86faa4ad GraphView: added right-click option to export 2d grid map directly from the view 2023-09-07 09:10:04 -07:00
matlabbe
424dc90dce Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance) 2023-07-27 16:13:30 -07:00
matlabbe
3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
matlabbe
c7e46c1431 rgbddatset tool: removed local covariance logic. DBViewer: fixed poses not aligned to groundtruth on start. 2023-06-25 17:42:54 -07:00
matlabbe
d901fb23e3 Merge branch 'depthai-superpoint' of https://github.com/borongyuan/rtabmap into borongyuan-depthai-superpoint 2023-06-19 18:39:15 -07:00
Borong Yuan
55a84cfdaa add depthai superpoint detector 2023-06-17 16:53:25 +08:00
matlabbe
f75839294a Fixes for rtabmap_viz info sub only (with local cache) 2023-06-16 16:30:07 -07:00
Borong Yuan
d031d79369 add depthai gftt detector (#1047) 
* add depthai feature detector draft

* update depthai gftt config

* optimize to detect more features
 2023-06-11 12:57:26 -07:00
matlabbe
d3facb1a84 Added alpha=-1 option 2023-06-05 18:59:59 -07:00
Borong Yuan
31d975acd5 Add alphaScaling option 2023-05-31 22:15:16 +08:00
André Lison
67df99aa57 fixes for texture mesh export pcl > 1.13.0 (#1039) 
Co-authored-by: FIRST_NAME LAST_NAME <MY_NAME@example.com>
 2023-05-29 19:00:18 -07:00
Borong Yuan
8d6c809c3c Update data sync implementation for DepthAI 2023-05-27 21:28:43 +08:00
Borong Yuan
ff83b14b49 Add options to enable IR featues on OAK Pro models 2023-05-18 01:48:38 +08:00
matlabbe
ba33c080bc Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032) 
* removed code

* added landmark in graph optimization checks

* reverted smoothing, only if there is already a previous localization link

* Added RGBDLocalizationSmoothing parameter

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml
 2023-05-14 13:03:52 -07:00
matlabbe
e54195c47f ZED SDK 4 support (#1013) 2023-04-16 18:47:15 -07:00
matlabbe
e300d4c5c1 Added IMU support for camera images source with odom approach not supporting async imu 2023-04-16 17:32:32 -07:00
matlabbe
b91addb261 GUI: create simple calibration->fixed optical rotation 2023-04-15 18:24:14 -07:00
matlabbe
0f221ba3cd ParametersToolbox: fixed unsigned int parameter type not showing in toolbox 2023-04-14 17:50:34 -07:00
matlabbe
8b8a512cbb Added Icp/ReciprocalCorrespondences (new default true) 2023-04-06 20:57:35 -07:00
matlabbe
141f2d3334 DbViewer: added align gps checkbox 2023-04-05 22:19:54 -07:00
matlabbe
6dca8ab0f3 Fixed seg fault on start with >= VTK9.1, MACOSX: fixed bundle with homebrew 2023-03-25 22:41:28 -07:00
matlabbe
e7bea0ec03 Windows: Fixed QVTKWidget error with VTK9.2, fixed ambiguous "byte" compilation error 2023-03-16 19:27:54 -07:00
matlabbe
6fe5e6375f Fixed g2o version not correctly used, D400: set default to IR+Depth 2023-03-13 22:10:24 -07:00
matlabbe
53025bf059 Update for windows release: added FindEigen3.cmake so that g2oConfig.cmake can find Eigen3 not using targets from PCL install, hiding console when creating a bundle app in windows, disabled vtk console 2023-03-13 03:10:16 -07:00
matlabbe
e51d161407 Export explicity Qt include dirs (compatibility with old cmake way) 2023-03-05 18:45:27 -08:00
matlabbe
8c5c4f63bf Qt6 compatibility (#968) 
* Qt6 Compilation success

* Fixed qt5 backward compatibility

* Fixed build for qt<=5.9 (bionic)

* Added docker file for easy testing with latest Qt/VTK/PCL/OpenCV

* Fixed cmake for qt
 2023-03-05 16:34:56 -08:00
matlabbe
98635ae33d GUI: fixed missing cache not republished in appearance-only mode 2023-03-04 13:38:27 -08:00
matlabbe
70cbe52fcf DbViewer: exporting map info in yaml file when exporting 2d occupancy grid (#978) 2023-02-25 17:12:51 -08:00
matlabbe
731d73b798 CMake Config: added "rtabmap::" prefix for all rtabmap's targets, provide RTABMap_TARGETS list (used by ROS2/ament to detect modern cmake packages). 2023-02-22 23:07:30 -08:00
matlabbe
70c3d5d97f DbViewer: added convenient option to rotate the occupancy grid (affect only optimized graph for localization mode). 2023-02-22 17:20:09 -08:00
matlabbe
23b0b37493 ImageView: updated depth color map gradient, added option to set minimum depth. 2023-02-22 12:34:20 -08:00
matlabbe
89e3e10d89 Refactoring RTABMapConfig.cmake with targets (#904) 
* Config: Using cmake targets

* fixed RTABMAP_DEPRECATED build error

* fixed melodic build

* cleanup

* Fixed qhull exported library error

* Update svg depend private

* removed g2o from public interface

* Fixed Windows with external project

* removed some required dep

* Fixed nsis error (also fixed unspecified components)

* updated workflow rules
 2023-02-12 16:18:01 -08:00
matlabbe
437ed09335 DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info 2023-02-10 17:29:10 -08:00
matlabbe
b5eef4b86a DBViewer: ignore marker constraints in refine, add marker priors when optimizing the graph 2023-01-21 15:52:01 -08:00
matlabbe
16e3314e64 💄 2022-11-11 14:45:33 -08:00
matlabbe
2889cf8048 GUI: fixed latest data requested on localization mode 2022-10-31 13:21:13 -07:00