When estimating a missing depth from its 4-connected neighbors, a
neighbor is accepted if it is within depthErrorRatio of the mean of the
neighbors accepted so far. The tolerance was computed from the running
sum instead of the mean, so it grew to 2x and then 3x the ratio for the
third and fourth neighbor, letting inconsistent depths into the average.
Co-authored-by: matlabbe <[email protected]>
* fix(DBDriver): resolve lock-order inversion between dbSafeAccess and trashes mutexes
emptyTrashes() acquired _dbSafeAccessMutex while holding _trashesMutex
(M1->M0), whereas the load() path acquires _dbSafeAccessMutex and then,
inside loadQuery()->getLastWordId(), acquires _trashesMutex (M0->M1).
This opposite nesting forms a lock-order cycle that ThreadSanitizer flags
as a potential deadlock.
Acquire _dbSafeAccessMutex only after releasing _trashesMutex, matching
the sequential 'look in trash, then database' pattern used by every other
DBDriver accessor (getLastWordId, getLastMapId, getInvertedIndexNi, ...).
Refs: #1765
* Fxing the actual deadlock
* Added doc
* DBDriverSqlite3: deny usage of public trash mutex protected functions from internal query implementations
---------
Co-authored-by: webzuweb <[email protected]>
* fix(DBDriver): resolve lock-order inversion between dbSafeAccess and trashes mutexes
emptyTrashes() acquired _dbSafeAccessMutex while holding _trashesMutex
(M1->M0), whereas the load() path acquires _dbSafeAccessMutex and then,
inside loadQuery()->getLastWordId(), acquires _trashesMutex (M0->M1).
This opposite nesting forms a lock-order cycle that ThreadSanitizer flags
as a potential deadlock.
Acquire _dbSafeAccessMutex only after releasing _trashesMutex, matching
the sequential 'look in trash, then database' pattern used by every other
DBDriver accessor (getLastWordId, getLastMapId, getInvertedIndexNi, ...).
Refs: #1765
* Fxing the actual deadlock
* Added doc
---------
Co-authored-by: matlabbe <[email protected]>
Several places look up a multimap with find(key) and then iterate while
iter->first == key, assuming find() returns the first element with that key.
The standard does not guarantee this, and recent libc++ (Apple clang 21 /
libc++ 2200) returns an arbitrary matching element. graph::findLink() then
misses existing links and Optimizer::getConnectedGraph() aborts with
"Condition (kter!=linksIn.end()) not met!" on graphs with loop closures or
multiple sessions (rtabmap-export --opt 0, rtabmap-reprocess, etc.).
Replace find() with lower_bound() at those sites and add a regression test.
Co-authored-by: Claude Opus 5.5 (1M context) <[email protected]>
Co-authored-by: matlabbe <[email protected]>
* Fixing getNodeData missing compressed grids
* Fixing roundtrip laserScan <-> Pointcloud2 on all formats.
* Keep already compressed user_data and laser_scan if possible
* fixed double compression of user_data
* reorder headers
* removed dead function declaration
* expand test coverage
* CI: use ubuntu arm runners instead of QEMU
* removed focal deps docker image ci
* run tests in docker ci
* revert temporary test
* trigger ci jobs with modified files
* ldconfig
* arm64 ldconfig order
* No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0.
* fixing ExtractXYZCorrespondencesRANSAC ci error
* increased windows timeout (probably caused by gftt fix now extracting more features)
* Odom: support features-only frames
* odom: fixed input keypoint scaling when Odom/Decimation is used
* fixing octave scaling when decimating image in Memory
* Gating negative octave scaling on decimation
* backward compatibility with octave issue
* narrowing the change, cleanup comments
* fixing corrupted file copy on windows
* Memory: reuse compressed image/depth blobs when pixels are unchanged
* fixed flaky test. Added tests to make sure reuseCompressedImage is disabled if images have been modified
---------
Co-authored-by: matlabbe <[email protected]>
* VWDictionary: use multi-core FLANN kNN search
* Add parameter with default 1 thread
* Kp/FlannTreads plumbing to UI. Also added to performance tests for comparison.
* fixing ci error
* dump debug data for windows ci
* Adding more dll debugging report windows ci
* install vc2012 runtime explicitly
* updated comment
---------
Co-authored-by: matlabbe <[email protected]>
* Parallelize cloud generation in export/view clouds dialog and rtabmap-export
* Simplified NodeExportData by holding Signature directly. Added --threads option (default max cores) for CLI and UI.
* Parallelized texturing phase the same way than cloud generation
* Fixed not cancelable (right away) cloud generation in UI
---------
Co-authored-by: matlabbe <[email protected]>
* Use BFS instead of A* for proximity graph-depth filtering
* refactored name of the function, added performance test comparison
---------
Co-authored-by: matlabbe <[email protected]>
* Fix local feature map assembly condition
* Allow local BA on merged neighbor links
* On-demand loading local visual features for neighbor signatures
---------
Co-authored-by: matlabbe <[email protected]>
* Sparse Bayes
* updated perf test
* improved tests with real data
* Making sparse works in incremental mapping
* bookkeeping optimization
* small opt
* refactoring
* splitting dense and sparse in different classes to make the code more lisible
* cleanup comments
* fixing CI
* Making all Bayes tests testing both dense and sparse
* Added multisession_3it integration test (test memory management, multisession and dense/sparse bayes in that settings)
* optimized sparse when transfer/retrieval happens (was slower than dense for that case)
* Testing retrieval param variants
* Updated multisession_3it integration tests to compare loop closure hypotheses
* bump version
* Fixed ui sum of prediction
* adding g2o gtsam to linux ci
* cleanup
* added debug crash log for ci
* Simplified Bayes/SparsePrediction description
* Dont show too dense for sparse on small maps (e.g., when we just started a new map)
* fixing amd64v3 issue with gtsam on ci ubuntu 26
* Dot not auto switch to dense based on map size.
* updating test range
* added coverage tests
* Adressing coverage
* ignore one line in coverage for purpose
* Add FlannIndex abstract interface and implement NanoFlannIndex subclass
* Refactored: made NanoFlann a new NN type instead of inheriting FlannIndex. Added tests. Vendoring nanoflann.h directly in the repo. RegistrationVis now use NANOFLANN_INDEX_KDTREE_SINGLE (instead of FLANN_INDEX_KDTREE_SINGLE) flann index for 2d points matching.
* cleanup comments, added FlannIndex doxygen
* Fixing windows tests
* updating flaky test
* Simplified interface, added flann kdtree single approach selectable by parameters.
* RegVis: symmetry of nanoflann for two branches of guess feature matching
* cv::BFMatcher baseline
* Small cmake optimization FLANN_KDTREE_MEM_OPT only defined for FlannIndex
* Refactored where FLANN_KDTREE_MEM_OPT is defined
* fixed file name already exist
* cleanup
* fixup build
---------
Co-authored-by: matlabbe <[email protected]>
* OptimizerG2O: track BA outliers per observation
Track rejected BA projections by word and pose, preserving a landmark's optimized estimate whenever at least one observation remains active. Add a deterministic g2o regression and focused Linux CTest coverage.
* Changed some error logs to warning
---------
Co-authored-by: happyman <[email protected]>
Co-authored-by: matlabbe <[email protected]>
* CI coverage: adding g2o, gtsam, ceres and libpointmatcher. Also fetch test data for integration tests.
* ld
* Increasing ci test timeout for coverage
* Fixed tests when vertigo is not there
* verbose tests
* updating flaky test
* faster coverage by extending unit tests and disable integration test (only for coverage report)
* improving coverage of unit tests in comparison to integrations tests
* fixing not covered new lines
* Fix possible staled flann index
* fixed compatible crc flann index after repair and reload
* Added tests
* test coverage
* testing another possible branch
* removed doxygen tag version not opulated yet
* updated codedev to ignore test code
* Disabled all mac intel ci flaky builds
* added doc and tests for util2d.h
* updated cmake-ros ci
* Added util3d.h doc and tests
* util3d_transforms.h: Added doc and tests
* util3d_filtering.h: started doc and test
* util3d_filtering.h: more tests and doc
* Added more doc/tests
* finished util3d_filtering doc and tests
* added test for util2d::depthBleedingFiltering
* Added util3d_registration tests
* Added util3d_features.h doc/tests
* added doc/tests for util3d_correspondences.h
* added doc/gtest for util3d_mapping.h (missing hpp functions)
* finished testing util3d_mapping.hpp
* Added util3d_motion_estimation.h tests (2D->3D done)
* finished util3d_motion_estimation.h tests
* minimal util3d_surface.h
* Added Transform and VisualWord tests
* Added doc for CameraModel and StereoCameraModel
* Added more logs in ros ci
* Passing tests on fical
* improved all devcontainer
* added devcontainer kilted, fixed source setup.bash, removed ldconfig in ros-cmake workflow
* cleanup
* source ros
* Added utilite tests
* Added testing to appveyor, github actions cancellable on re-commit on same branch
* appveyor testing without all targets
* appveyor: specifying ALL_BUILD target
* Fixed Util2dTest.NMSImageBoundsRespected test
* Fixing PCL Indices error on old pcl
* Added VWDictionary tests and doc. Fixed LSH not working (fix from https://github.com/flann-lib/flann/pull/472
* fixing some appveyor CI errors, added test to check dictionary serialization against all type
* Added StereoDense, StereoBM and StereoSGBM doc and tests
* Added Stereo tests
* Added CameraModel and StereoCameraModel tests
* Added doc and test for Statistics
* Added doc/tests for Signature
* Added doc/test for SensorEvent, added doc for SensorCaptureInfo
* Added doc to SensorData
* Added SensorData tests
* Added SensorCapture and SensorCaptureThread doc and tests
* fixed sensordata test
* updated SSC test and doc
* Added doc and tests for BayesFilter class
* Enabled testing on mac, updated windows testing like on linux
* added test_link
* fixed unresolved on windows
* fixed ThreadHandle error on macos ci
* Added GPS and GeodeticCoords tests
* Added tests for compression
* Added Odometry tests (base class only)
* Added DBDriver tests
* Added coverage report
* uniformized test names
* fixing concurancy and coverage ci
* dont built tools, examples and app for coverage build
* fixed report tool rebuilt without qt compilation error
* updated coverage option
* updated coverage config
* added doc CI job
* fixing windows and mac ci errors
* Added DBDriverSqlite3 tests
* Added IMU tests
* Added Graph tests
* fixing flaky macos test
* Added IMUThread and IMUFilter tests
* Added Landmarks tests
* Added LASWriter tests
* fixing seed flaky test
* fixing flaky macos timing tests
* Added LocalGrid tests
* Added LocalGridMaker tests
* fixing ci errors
* Added GlobalMap tests
* Added doc for EnvSensor
* Added Features2D tests
* Added Registration tests
* Added RegistrationVis tests
* Added doc for Rtabmap and Memory classes
* Added Memory and Rtabmap tests
* making some tests less flaky
* lcov 1.14 support
* updated compatible tool arguments
* Added integration tests (RGB-D, Stereo, Lidar2d, Lidar3d)
* More octomap checks
* Refactored how/when python interpretor is created to simplify library usage
* Added python tests
* fixed some flaky tests
* suppressed some third party related warnings
* fixed ceres tests
* more flaky fixes
* Fixing tests without libpointmatcher
* Added RANSAC rejection filter to PCL ICP
* fixing multi platform flakiness
* Added test to detect regression
* Fixing windows pcl link error
* fixed some macos flakiness
* bigger 2D2D registration error on opencv 4.6.0
* flakiness
* fixing flaky tests on windows and mac
* flaky thread test on slow mac VM
* windows slow test
* fixing more ci erros
* fxing temp dir on windows
* Added Optimizer tests and discovered some bugs (fixed)
* fixing flaky tests in mac and windows
* Added Optimizer doc
* Added GTSAM BA, updated Ceres to use g2o ba parameters. Renamed g2o's ba related parameters to Optimizer group and used by both gtsam and ceres.
* fixing build without gtsam
* fixing home dir
* fixing python ci isssues
* Added multicam ba tests
* Added Ceres multicam BA support
* Aligned BundleAdjustment parameters with Optimizer/Strategy to avoid confusion in the code
* Added BA integration test
* Added robust graph optimization integration test
* Added loop3it test
* Added stereo20Hz test
* Added smartfactor gtsam
* Fixed bugged check and warn if python didn't return any descriptors
* Fixing gtsam version build issues
* fixing tilt on windows ci
* loosing ceres integration test for ci
* mac ci flakiness
* updating missing param in gui
* updating test bound for mac
* added appearance-based tests, set min gftt quality to quality level
* testing more stuff
* improving features2d tests
* ci flakiness
* fixing flaky ci
* ci fixes
* flaky fixes
* Added RegistrationIcp tests
* Added icp integration test with real-worl corridor like env
* intermediate nodes
* fixing enum
* Updated test to catch #1714
* Fixed 2d corridor failing on pcl
* flaky pnp test
* flaky brisk test
* Set rtabmap_integration test as long
* updating loop closure test
* flaky ci tests
* TEsting roundtrip g2o/toro save/load
* loosing test bound
* fixed cuda capable checks
* flaky tests
* Debugging test hanging
* more debugging stuff
* updating limit
* windows: disabled cuda on ci to avoid incompatible driver issue. Fixing a bad test mem allocation
* trying fixing cuda hanging issue
* fixing ci flakyness
* flaky tests
* Updated BOW flaky tests by checking min precision/recall instead of recall@100precision. Fixed signature test
* CameraModel::load() test initRectificationMap param
* test dbdriver load dictionary idsOnly
* Memory: test keepLinkedInDb param
* added dummyDictionary tests
* test intermediate nodes count
* Added MarkerDetector tests
* reverted breaking change of UMutex and USemaphore
* Features2d: fixed compiltion warnings with clang about override
* clang warnings
* fixing test build with pcl 1.8
* g2o and gtsam build errors on android
* opencv5 test fixes
* disabled testing for ios and android builds
* normalized endline characters for easier diff
* added LF CRLF rule
* bump 0.23.10. fixing doc version
* Publish rtabmap website doc from ci
* fixing MSCVC build error
* macos icp flaky test
* fixing ceres macos test bound
* ficing more flaky tests
* fixing opencv5 related test errors. Also fixed an actual bug in ENU_WGS84ToGeocentric_WGS84()
* added comment about mrpt change
* removed rosdoc2 (will add it for rtabmap_ros later)
* fixing website style
* updated download links
* locally deployable website with api
* sweep doxygen issues
* improved/revised doxygen main pages
* removed examples empty page
* Updated doxygen style
* more concise doxygen groups
* added api link on main readme
* fixing utilite test error
* fixing CommonFilteringGroundNormalsUp test
* updated precisionRecall test bounds for Freak and brief descriptors
* fixing scale check in ba tests
* disabled tests on windows cuda build (missing dlls amd runner cannot test cuda anyway)
* ceres: missing suitesparse dep in windows ci
* adjusting recall thr for fast/freak
* ficing more flaky tests
* fixing flaky tests
* disabled coverage in ros ci
* Enable integration tests for ros ci jobs
* loosing up some threshold for failing tests
* trigger cache
* fixing test data in ros ci. Updated flaky test for mac
* slaking some test limit
* Fixed rtabmap-detectMoreLoopClosures inverted output value
* loosing up sift recall on mac
* optimizer re-ordered distribution for reproducible results (mac g2o)
* macos dump test crash log
* combining all tests to save time on shared library reload. Also fixed Logs with missing arguments.
* Added ENABLE_FORMAT_ERRORS cmake option
* do test only one time
* fixed all format warnings
* format security android build errors
* less verbose tests
* updated ImuUThread test
* fixed a log
* Fixed libpointmatcher 2d normals eigen issue
* Fixing libpointmatcher conversion issues
* fixing libpointmatcher test on windows ci
* cleanup comments, relax some test thr
* disabled sequoia-intel ci build (too flaky, would need extensive testing directly on that machine)
* Multi component view implemented except for rotations. Rotations can cause segfaults.
* Implemented: handling rotations and applied rotations on optimized poses. Addition of a notion of main component (for saves in db) abd a node selection tool.
* New feature: merge component using selected nodes
* Refactored with suggestions.
* Fixing QSet error on older Qt versions
---------
Co-authored-by: matlabbe <[email protected]>
* OpenCV 5 support
* RTABMapConfig.cmake, guard from including stereoRectifyFisheye.h
* unified opencv components at the same place
* fixing android build
* Confirmed stereo calibration with fisheye works. Fix camera start/top progress dialog not drawn. Opencv >=4.7 using new opencv's ArucoDetector class.
* pinning opencv for downstream apps
* Avoid changing object/image points between fisheye calibration
* Fixed stereo calib diverging when recalibrating same data
* removed not needed opencv c api
* fixing depthai build on opencv5
* bumped version
* Adding ci opencv5 with homebrew
* fixed ci script
* Fixed OptimizerCeres build with opencv5
* Reduce graph: remove orphan nodes from WM after reduction
* fixed eror
* ignore ids< 0
* add warning and cleanup only when option is used
* updated feedback
* Abort --sync_wm_and_opt_graph if a lot more WM nodes have to be transferred.
* typo
* refactored... completly
* fixed optimized graph cleared
* updated option description
* updated comment
* Added dummy dictionary function to speedup initialization when we dont need the dictionary fully loaded in memory.
* Fixed nodes weight not modified in db when deleted
* Removed AutoUpdate parameter, not needed
* Fixed dummy dictionary usage for detectMoreLoopClosures. Added checks to disable graph reduction when intermediate nodes are detected.
* updated log
* Reprocess: added option -abort_disconnected_sessions (to make reprocess returns error if not all new session
s are connected at the end)
* comments
* updated log
* added warnings when option to abort is not enabled
* Allow ignoring intermediate nodes when calculating WM size
* Fix the retrieval logic to avoid unnecessary code execution
* Making getWorkingMemSize(true) complexity O(1)
* Updated statistics to show STM size, WM size, immunized nodes without intermediate nodes count. Added two new statistics to track number of intermediate nodes in STM and WM.
* Correct the condition for counting intermediate nodes
* Restore the logic of retrieval 2/3 to avoid affecting updateAge
---------
Co-authored-by: matlabbe <[email protected]>
* Windows CI: make vcpkg download compatible with draft release
* forcing nvdia driver dll to be ignored in fixup_bundle
* disabling opencv cudec and python
* disabling rtabmap-console --version on cuda build
* Added assert when bad imu data is provided. Added checks when zed sdk is returning nan imu data.
* Updated zed sdk5 resolution and quality
* Updated zed sdk5 resolution and quality
* Fixing parameters reloaded when testing camera. Also fixed app freezing when closing Preferences dialog after using test camera dialog
* cleanup and debug logs
* Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents
* renamed
* found a way to expose ZED model downloads
* Updated default config path on Windows
* Fixed extra endline in file logging (windows)
* Fixed camera local transform when used with lidar and odomSensor
* CI(macos): build g2o from source with OpenMP (libomp include/link fix)
* Mac: added ceres dep, fixed omp not found by cmake
* Mac: bundle orbbec extensions
* stripping rpath of orbbec's extensions
* cleanup
* Realsense2 error as error (not warning)
* Fixed config ownership changed to root when sarting in sudo. LidarVLP16: fixed crash on Mac by reimplementing our own socket threading
* LidarVLP16: own socket implementation only for Mac (linux and windows use original PCL's reader)
* Windows CI: more sensor drivers + Windows/macOS bundle scripts
* added opengv to mac build
* windows bundle fixes
* zed extra neural ddl in separate package
* OpenGV macos eigen version error
* opengv macos build issues
matlabbe