* Adding support for AprilTag v3 library
* New parameter: Marker/Strategy (default opencv-aruco as before). Optimized multicameras marker detection (do only once with stitched image)
* Exposed all AprilTag parameters. Sharing Marker/Dictionary between opencv and apriltag implementation. Added new Marker/Lengths parameter.
* Support AprilTAg library not built with aruco
* cleanup
* Added marker range support
* Make apriltag detection in same orientation than opencv
* fixed shenanigans when rendering markers with multi cameras
* Don't update odom cache (localization mode) when not moving (detecting loop/landmark or not)
* fixed some quirks (camera viewer + tag working)
* Setting quad decimate to 1 by default
* typo
* Implemented OptimizerG2O::loadGraph()
* added apriltag's aruco support info in the cmake config summary
* fixed warning
* fixed isam2 assert when using landmarks
* Fixed homography on multicam
* Adding marker detection time for convenience
* Added missing MIP 36h12 tag family in UI
* Avoid removing nodes from STM when using CreateIntermediateNodes
* Clean up the data of the intermediate node when IntermediateNodeDataKept is false
* Save intermediate node input features
* Don't delete intermediate nodes
* comment typo
* Updated parameter description, bump patch for DBReader API chang
* When ID is not udpated to new one, don't disable words because that signature is still used in the bayes filter
* updated comment
* rtabmap-reprocess: support Rtabmap/DetectionRate when intermediate nodes are created and -skip option is not used
* Fixed smallMovement when rehearsal is not trigdered at the same time
* GUI: visualize rehearsal darkblue when intermediate nodes are used
* Fixed RtabmapThread not transfering input features on intermediate nodes
* Do not override smallMovement and fastMovement when converting to intermediate nodes to keep GUI visualization color working
---------
Co-authored-by: Borong Yuan <[email protected]>
* Auto graph repairing: detect and remove bad loop closures accepted in the past that block new good loop closures to be accepted
* Added parameter RGBD/OptimizeMaxErrorRepairRadius: added approach to repair the graph (remove bad loop closures added in the past). Refactored max optimization error function, split repairGraph to its own function.
* Handling optimization from graph end in repair
* MaxGraphErrors: changed link's pointers to copy directly to avoid seg fault down the road if not used properly
* Dont publish optimization statistics if it was not computed.
* Support intermediate nodes with memory management enabled
* Adding fix from #1686
* Fixed odomCache overlay shown in mapping mode
* Fixed local retrieval with intermediate nodes
* bumping version for updating API. Fixed getting graph error.
* Disable planning if intermediate nodes are there. Updated usage of Kp/BadSignRatio to support intermediate nodes.
* Enable WITH_PYTHON on CI
* add python-dev
* use python3-dev instead of libpython3-dev
* use action to instlal python
* pybind now missing
* Fixed python build on linux
* warning
* try to install compatible pybind
* explicitly set where to find pybind
* Added liosam odometry integration
* Add kXYZIRT scan format with per-point ring channel for LIO-SAM integration
Introduce PointXYZIRT point type and kXYZIRT LaserScan format (x,y,z,
intensity,ring,time) so that ring indices survive the scan pipeline.
Update OdometryLIOSAM to require kXYZIRT and properly split ring/time
into the parallel buffers LIO-SAM expects. Extend deskewing to preserve
ring data and disable base-class deskew in OdometryLIOSAM since LIO-SAM
handles it internally.
* Address PR review: config file, deferred init, and GUI panel for LIO-SAM
- Add OdomLIOSAM/ConfigPath parameter to load LIO-SAM settings from a
YAML file. When set, individual params are ignored. Extrinsics from
sensor local transforms always override config file values.
- Defer LioSamCore initialization until both IMU and lidar local
transforms are available, computing T_lidar_imu from sensor data.
IMU samples are buffered and replayed after init.
- Fix deferred init for scan-only messages that arrive after IMU
local transform is already cached.
- Add LIO-SAM entry to odometry strategy combo box (index 14) with
full PreferencesDialog panel including config path browse button
and all parameter widgets.
* OdometryLIOSAM: propagate deskewed scan to SensorData
Capture the deskewed cloud produced by LIO-SAM's image projection
stage and replace the raw scan on SensorData with it, so loop closure
registration and other downstream stages operate on the motion-
compensated points instead of the raw pre-deskew input.
* Minor updates for rtabmap_ros
---------
Co-authored-by: matlabbe <[email protected]>
* New rtabmap-reduceGraph CLI tool
* fixed some edge cases
* Regenerating optimized map if there was one before reducing the graph
* addMoreLoopClosures: refactored how ctrl-c is handled to stop faster when no loop closures are added
* Added kilted status
* Make offline tool always propagate neighbor merged links
* removed a parameter
* fixed disconnected graph
* fixed --help
* Added error log on Kp/NNStrategy not compatible with huge vocabulary. ReduceGraph/DetectMoreLoopClosures: Make sure original parameters are saved back on closing. g2o: fixing optimizer to Levenberg for SBA to avoid [SetJac] infinite jac fatal error.
* exposing neighbor merged ratio parameter to the tool
* show param in log
* refactored detectMoreLoopClosures to ignore too close nodes in terms of neighbor links based on Mem/STMSize parameter. Reduce graph: added direction parameter.
* Simplified: removed ratio parameter, removed recursive reduction. Just don't reduce if a NM link is longer than maxDistance.
* Removed NNStrategy override, as it was still done on closing when we changed back to original params
* DBViewer: show missing links when showing OptimizedPoses in GraphView, fixed clicking on landmark links
* DetectMoreLoopClosures: Added support for min graph distance option in MainWindow and DbViewer
* slight renaming of ROS jobs
* reprocess: added option --params_last
* CudaSIFT: filter doubles
* removed fixed threshold
* SSC can be used with multicameras. Refactored CudaSIFT to support SSC. Add new parameter SIFT/MaxGaussianThreshold. DbViewer: show negative features with gray color (so that we can know which features are in the vocabulary)
* Added SIFT/MaxGaussianThreshold parameter
* Updated parameter description
* Adding OpenGV as submodule (optional)
* Remove submodule to migrate to FetchContent
* using FetchContent
* remove empty .gitmodules
* Fixing OpenGV not able to find eigen on windows
* patching opengv to adjust -march=native based on PCL
* fixing patching on windows
* eigen fix
* PR cancel on-going CI builds if new commit is added to PR
* try another approach
* updating patch with some logs
* more debug mesage
* fixing EIGEN_INCLUDE_DIR
* enable rolling_builds on appveyor
* removed rolling_builds appveyor
* fixing eigen cache
* test
* more debug logs
* another try
* cleanup
* updated appveyor to work with fetchcontent
* removed mkdir build (appveyor)
* appveyor: trying ninja to increase CI speed
* removed mkdr
* appveyor: spitting opengv and rtabmap builds to be under 60 min per job
* appveyor: caching dependencies
* using global configuration
* using baked image
* fixing wget in ps
* fixing not support for
* pip error
* reverted pip install
* fixed realsense cache
* fixing multi step build
* removing baked image
* typo
* Windows: Converted appveyor to github actions
* updated boost version
* fixing boost
* udpated boost config
* boost...
* platform_version
* install boost directly
* silent boost install
* very silent boost
* fixing ls
* added boost install dir
* showing boost install dir
* moved windows dependencies in external action file
* explicitly save boost cache to same time on iterations
* pip install gdown
* update
* caching more deps
* caching all depts
* removed explicit boost cache save
* mscv 14.0
* forcing building visual studio 14 2015
* installing v12 in 2022 instead
* setup cmd prompt
* init right toolset
* fixing system version for opengv compilation error
* fixing package and artifact
* CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION
* removing cmd
* find manually psapi.lib
* resolve
* refactor psapi env
* forcing 10.0.19041.0
* using windows=2022 runner instead
* added vcpkg
* commenting windows-latest for now
* trying vcpkg instead
* search path
* updated path
* moved json
* removed deleted file for git
* adding a real version
* using version-string
* cleanup vcpkg
* building artifacts with vcpkg
* removed old windows build approach, added custom dependencies (gtsam, libpointmatcher) to vcpkg build
* udpated vcpkg version for issue https://github.com/microsoft/vcpkg/pull/49103
* try with minimal dep first
* disable opengv for now
* try vcpkg single compilation
* space
* updated link
* fixed qupote
* fixing cache name
* adding debug folder
* adjust path
* adjust path
* providing vcpkg binaries instead
* ident
* added triplet
* added BOOST_ROOT
* boost root
* boost root
* fixed path
* adding eigen headers
* try path
* cmake prefix path
* boost timer def
* libnabo fixes
* pointmatcher prefix
* disabling pointmathcer tests
* updated cmake parameters
* changed how file is downloaded
* trying curl instead
* puttoing backe InvokeWeb because it is a dropbox issue
* skipping optional deps for now
* ficing env variable
* triplet
* installing triplets
* not overriding default vcpkg env variables
* missing path
* manifet install off
* that was working locally
* missing protobuf path
* fixing tiff not found
* fixing vtk not found
* more vtk fixes
* another thy
* changing download url
* updated url
* try
* shoudl work now
* protobuf exe
* readding tiff
* explicit vcpkg installed folder
* missing commands
* try without tiff
* ficing vtk comple path
* -DPSAPI_LIBRARIES=Psapi.lib
* quoting
* fixing psapi required
* Set up MSVC Developer Command Prompt
* disabling pckaging for now
* openni.ini
* renabling packing
* Added stripped deps
* fix name
* updated binaries
* format
* updated opengv eigen path
* added tbb dep
* updatd archive name with vs version
* updated archive in action
* fixing patch error
* corrupted
* updated gtsam version / vcpkg
* removed appveyor. Set internal opengv build disabled by defaut (because build can be very long on some machines), will enable it inside the ros release branches instead.
* updated opengv patch
* gtsam mkl dep
* updated vcpkg binaries
* updated patches
* removed mkl dep
* missing eigen in gtsam dep
* disabling gtsam till we find a compatible version locally
* all working locally!
* removed ninja
* working python calls
* fixed hard symlink for python3.dll
* fixed qt missing png, fixed opengv not finding eigen with config, fixed python3.dll missing
* fixed flaoting dockwidget on start, removed cmd line window when launching bundled app
* use sub-packages cudnn
* Added cuda dev workflow
* fixed archive name
* Updated deps with pytorch cuda
* updating ci PATH
* fixing ci build without torch
* rename cuda artifacts
* cache cuda, add job to test internal opengv build
* Updated output artifacts zip name
* windows package: only zip on pull request
* Change USE_INTERNAL_OPENGV to BUILD_OPENGV
* use use-github-cache
* updated artifacts path
* Detect more loop closures from/to specific map ID only option
* default value -1
* Added elapsed time
* Avoid loading ALL signatures in RAM, only load them when necessary
* Avoid creating flann index when initializing with Kp/NNStrategy>=3
* Setting opt params by default
* Read-only localization mode
* Localization: don't update map's node timestamps if statistic after run are not saved
* Updated Mem/LocalizationReadOnly description
* Updated description of Kp/FlannIndexSaved
* rtabmap-rgbd_camera: added width/height options,
* using CameraViewer for visualization by default (use -pcl option for old visualization).
* CameraViewer: added capture and render rate.
* Note that non-TOF orbbec cameras could not be tested.
* DbViewer: coloring graph based on env sensor value (e.g., wifi signal strength)
* GraphViewer optimizations
* Fixed link memory allocation
* refactor
* more optimizations
* mainwindow keypoints optimization
* MainWindow optimizations
* Shrink graphics scene on clearAll
* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible.
* Output error msg when vocabulary path is wrong.
* Showing full local feature map
* Prioritize neighbor links in Optimizer::getConnectedGraph() to avoid odometry jumps.
* Fixed landmark order
* report: added search for first valid id
* Fixed non-neighbor comparison logic
* RGBD/LocalizationPriorError can now be 0 (disabled) to avoid using priors to fix the graph (https://github.com/introlab/rtabmap_ros/issues/1371)
* amend previous commit
* initial python implementation of superpoint rpautrat
* working python implementation of superpoint
* small tweaks to try and work around the GIL issue
* fix missing os import
* begging cpp impl of superpoint python model
* finishing cpp superpoint impl using the same SPDetector interface
* finalizing superpoint cpp impl, working with cpu but needs to be cleaned
* fixing feature matching by reworking nms and filtering logic
* speeding up nms with batched operations and cleaning up
* updating conversion script
* adding args for image dimensions and cuda usage to model tracer
* wiring up UI to parse superpoint params
* adding label to superpoint rpautrat ui
* reverting some unintended ui changes
* typo
* oneline revert
* removing nms and threshold filtering from cpp, this is handled internally by the superpoint model
* using python interface to run the superpoint _to_torchscript.py script at runtime
* generate and load model file on the first incoming frame
* reverting unintented change
* ui changes appear mysteriously again, reverting
* remove topk from model to prevent issue when number of detected keypoints is lower then the k value (scripting fails in this case)
* cleaning up for review
* change dest for model file and remove debug logs
* bump patch and add version comment
* rm unucessary comment
* use resources to load file to ensure it works when rtabmap isn't built from source
* execute with pybind runpy instead of system call
* only build superpoint rpautrat if we have torch and python support
* changing param to accept a path to the weights .pth file directly
* parse the default working directory to save the model file in
* rm extraneous change
* rm setters and re-initialize the detector whenever params change. We cannot support changing params after the model is constructed
* update UI text
* only enable superpoint rpautrat when built with python and torch
* more build information regarding superpoint rpautrat
* generate temporary python script in the working dir
* rm unecessary changes to rtabmap_superpoint.py
* fix comment and only add repo root to sys.path
* introduce a new parameter for the superpoint python model definition
* execute script from string instead of writing to a file
* wrap parse params in a single compiler directive
* remove descriptor spatial matching logic and rely on upstream RTAB-Map processes to take the top-K desc and kpts
* only add python script to resources if built with superpoint rpautrat support. supress warning with type casting
* isolate pybind11 setup so it can't affect any other modules or potential regnerations of the model file
* update about dialog to show superpoint rpautrat
* remove debug logs
---------
Co-authored-by: Felix Toft <[email protected]>
* Orbbec SDK 2 integration (new CameraOrbbecSDK class)
* Added rectification option, fixed the build without orbbec sdk
* Fixed timestamp issue on Windows
* Removed WITH_ORBBEC_SDK=ON by default in case v1 is installed. Enabled inter imu when selecting orbbec sdk.
* requiring orbbec version=2 to avoid confusion
* Finalizing options
* integrating cuvslam, stereo cam initialization
* fixing transformations
* use isaac ros TocuVSLAMPose
* organizing
* handling covariance conversion
* cleaning up config
* moving cmake instructions to FindCuVSLAM.cmake file
* fixing ui integration
* updating software license for cuvslam
* improving memory management
* cleaning up header more
* reverting mistake in GUI
* using opaque pointers for header definitions, compiles
* back to typed definitions using forward-referencing
* fixing dangling pointer
* cleaning up
* fixing variable scope issues
* Using cuda to allocate gpu memory
* fixing transfrom from cuvslam back to ros coordinate frame
* reducing excessive logs
* removing redundant if true in cuvslam cmake
* moving find cuda into cuvslam cmake
* cleaning cmake to use modern target
* adding copyright line
* Finding tf2 and eigen3 in cmake
* simplifying clean up logic
* better logs
* moving cuvslam implementation methods into cpp
* fixing build with implmentation function declarations moved to the cpp
* cleaning transformation logic and adding grayscale support
* typo
* removing unecessary class member variable for processed images
* remove trailing underscore from initialize cuvslam function signature
* locally scoping config params since they are copied by cuvslam
* removing unecessary member variables and using locally scoped values since cuvslam seems to copy them
* more cleaning and refactoring
* fixing cmake inconsistancies and surpress warning
* fixing up baseline transform
* trying to remove tf2 for transformations
* fixing incorect baseline transform swap
* comment, begin reset logic investigation
* better handling of previous pose and transform during error cases
* hunting for reset bug, not found
* observation export implementatin, currently getting strange errors
* multi cam support
* Memory fixes
* comments
* make cuda stream a member variable so it isn't initialized and destroyed on every frame
* preparing to add ground constraints
* adding ground constraints, working
* adding wheel odom fusion into cuvslam tracker
* parsing parameter to apply planar constraints
* removing planar constraint in config, doesn't do anything
* using proper cuda stream type for member variable
* cleaning up for merge
* only parse params when cuvslam is compiled
* updating error message if using rgb-d instead of stereo
* removing wheel odom testing logs
* reverting bgr to rgb conversion
* fixing initial pose logic
* return null transform on invalid covariance
* debugging covariance
* guard against low velocity situations where cuvslam covariance spikes, but we aren't lost
* cleaning things up
---------
Co-authored-by: Felix Toft <[email protected]>
Co-authored-by: matlabbe <[email protected]>
matlabbe