* 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
* 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)
* 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
* 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]>
* Working rtabmap_lidar-mapping example (live and pcap)
* finalizing merge, added some deprecated
* fixed build
* Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI.
* backward compatibility
* fixed some not used variable warnings, fixed qt build for lidar mapping example
* Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8
* ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs.
* Working external lidar on iOS
* util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup
* fixed winsock include order
* reverted camera tool
* disable imu filtering when odom sensor is used
* Updated package version
* fixed windows build
* fixing more windows build erros
* Integrated OpenGV
* Fixed build without opengv
* Cmake: moved OpenGV dependency status under solvers group
* Added multi-stereocamera models support
* Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera.
* Fixed multicam 3d points generated from stereo correspondences
* db: Fixed multi stereo models not loaded correctly
* gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration)
* OdomF2M: Fixed map.at error when bundle adjustment is not used
* depthai: added imu firmware update option for convenience
* Fixed various refactor errors
* Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam
* Added error log if ba correspondences are computed with empty signatures
* fixed compilation errors with latest opencv
Co-authored-by: mathieu86 <[email protected]>
* ExportClouds: Added camera projection options
* ExportClouds: fixed ceiling/floor filtering options not saved in config
* ExportClouds: fixed colorless scan points still exported when option is unchecked.
* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving).
* Working android app on non-tango android phones (tested on x86_64 android emulator).
* fixed typo
* android: updated tango not available msg
* android: fixed build with latest android sdk/ndk
* Added ARCore limited support for pose and rgb streams.
* Added AREngine support. Don't assert if depth size is not a modulo of rgb size.
* Added ARCore shared camera support
* android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue)
* ARCore NDK: mapping with feature point cloud
* android: Added post build strip command to reduce native library size
* android: fixed some compilation issues
* android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters
* AREngine: min api 24
* android: Fixed build without AREngine
* android: fixed not available libraries for API<24
* android: fixed build with old cmake versions
* android: set arcore min api to 23
* android: fixed arengine error on start when not built with native arengine support
* android: fixed tango camera permission for api>=23
* Added bionic android docker files
* Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size
* CameraMobile: added exact display rotation for local transform
* DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label
* Android: fixed localization mode in visualization, fixed some tansitions between some UI states
* Android: Hide stop button when HUD is hidden. Updated About years.
Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500", "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".
BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
matlabbe