Update CI badges (#1681)

* OptimizerG2O: adding support for priors in SBA

* Fixed computeError

* don't fix root id roll/pitch if gravity constraints are fed (SBA)

* changed number_t to double

* forward compatibility

* cleanup

* log

* Updated CI status

* split cmake workflow in linux and windows

* bump release badge version

* uniformize name

* fixing android build

.github/workflows/cmake-linux.yml

@@ -0,0 +1,66 @@
+name: CMake-Linux
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.build_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv]
+        include:
+        - build_name: ubuntu-22.04
+          os: ubuntu-22.04
+          extra_deps: "libunwind-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON"
+        - build_name: ubuntu-24.04
+          os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON"
+        - build_name: ubuntu-24.04-with-opengv
+          os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON -DBUILD_OPENGV=ON"
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Install Linux Dependencies
+      run: |
+        DEBIAN_FRONTEND=noninteractive
+        sudo apt-get update
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
+
+    - name: Configure CMake
+      run: |
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      

.github/workflows/cmake-windows.yml

@@ -1,4 +1,4 @@
-name: CMake
+name: CMake-Windows
 
 on:
   push:
@@ -22,20 +22,8 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
-        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, windows-2022, windows-2022-cuda]
+        build_name: [windows-2022, windows-2022-cuda]
         include:
-        - build_name: ubuntu-22.04
-          os: ubuntu-22.04
-          extra_deps: "libunwind-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON"
-        - build_name: ubuntu-24.04
-          os: ubuntu-24.04
-          extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON"
-        - build_name: ubuntu-24.04-with-opengv
-          os: ubuntu-24.04
-          extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DBUILD_OPENGV=ON"
         - build_name: windows-2022
           os: windows-2022
           extra_deps: ""
@@ -56,15 +44,7 @@ jobs:
       if: matrix.build_name == 'windows-2022-cuda'
       uses: ./.github/actions/install-windows-cuda-deps
 
-    - name: Install Linux Dependencies
-      if: matrix.os != 'windows-2022'
-      run: |
-        DEBIAN_FRONTEND=noninteractive
-        sudo apt-get update
-        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
-
     - name: Configure CMake
-      if: matrix.os == 'windows-2022'
       run: |
         cmake `
           -B ${{github.workspace}}/build `
@@ -76,16 +56,10 @@ jobs:
           -DCMAKE_TOOLCHAIN_FILE=${{env.VCPKG_EXPORT_PATH}}/scripts/buildsystems/vcpkg.cmake `
           -DTorch_DIR=${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3/Lib/site-packages/torch/share/cmake/Torch
 
-    - name: Configure CMake
-      if: matrix.os != 'windows-2022'
-      run: |
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
-
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
 
     - name: Build Windows Package
-      if: matrix.os == 'windows-2022'
       shell: pwsh
       run: |
         if ("${{ github.event_name }}" -eq "pull_request") {
@@ -105,7 +79,6 @@ jobs:
         ./rtabmap-console --version
 
     - name: Upload RTABMap Artifacts (ZIP)
-      if: matrix.os == 'windows-2022'
       uses: actions/upload-artifact@v4
       with:
         name: RTABMap-Binaries-${{ matrix.build_name }}-zip
@@ -116,7 +89,7 @@ jobs:
         retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
 
     - name: Upload RTABMap Artifacts (Installer)
-      if: matrix.os == 'windows-2022' && github.event_name != 'pull_request'
+      if: github.event_name != 'pull_request'
       uses: actions/upload-artifact@v4
       with:
         name: RTABMap-Binaries-${{ matrix.build_name }}-exe

README.md

@@ -7,7 +7,7 @@ rtabmap
 [![Downloads][downloads-image]][downloads]
 [![License][license-image]][license]
 
-[release-image]: https://img.shields.io/badge/release-0.21.4-green.svg?style=flat
+[release-image]: https://img.shields.io/badge/release-0.23.1-green.svg?style=flat
 [releases]: https://github.com/introlab/rtabmap/releases
 
 [downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
@@ -35,13 +35,7 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
   <table>
     <tbody>
         <tr>
-           <td>Linux</td>
-           <td><a href="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
-           </td>
-        </tr>
-        <tr>
-           <td>Windows</td>
-           <td><a href="https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true" alt="Build Status"/>
+           <td><a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml/badge.svg" alt="CMake Linux Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml/badge.svg" alt="CMake Windows Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="CMake ROS Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Docker Build Status"/>
            </td>
         </tr>
      </tbody>
@@ -59,7 +53,7 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
             <td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
         </tr>
         <tr>
-            <td rowspan="3">ROS 2</td>
+            <td rowspan="4">ROS 2</td>
             <td>Humble</td>
             <td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
         </tr>
@@ -67,6 +61,10 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
             <td>Jazzy</td>
             <td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
         </tr>
+        <tr>
+            <td>Kilted</td>
+            <td><a href="http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
+        </tr>
         <tr>
             <td>Rolling</td>
             <td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>

corelib/src/optimizer/OptimizerG2O.cpp

@@ -1656,7 +1656,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 							pinfo(2, 2) = 1e9;
 							planeConstraint->setInformation(pinfo);
 							g2o::SE3Quat fixedZ = g2o::SE3Quat();
-							fixedZ.setTranslation(g2o::Vector3(0,0,iter->second.z()));
+							fixedZ.setTranslation(Eigen::Vector3d(0,0,iter->second.z()));
 							planeConstraint->setMeasurement(fixedZ);
 							Eigen::Affine3d a = iterModel->second[i].localTransform().inverse().toEigen3d();
 							planeConstraint->setCameraInvLocalTransform(g2o::SE3Quat(a.linear(), a.translation()));