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Author SHA1 Message Date
matlabbe 3093df8e71 Localization: updated how poses with fixed priors are fed to optimization for faster convergence (see https://github.com/introlab/rtabmap_ros/issues/1371) 2025-11-23 13:47:15 -08:00
matlabbe 1edb6a8647 log msg typo 2025-11-23 12:03:17 -08:00
matlabbe 0bf2160939 Fixed odom cache overlay not visible 2025-11-23 11:33:26 -08:00
matlabbe e75baec73e Graph viewer optimizations (#1616) 
* 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
 2025-11-16 18:56:55 -08:00
matlabbe 82fb7ff5d2 DbViewer: coloring graph based on env sensor value (e.g., wifi signal strength) (#1613) 2025-11-16 11:37:47 -08:00
matlabbe e612d103bf ORB-SLAM3 IMU support fixes (#1612) 
* 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
 2025-11-11 14:09:13 -08:00
matlabbe c97f0c10dd Graph: reading pose format 10 or 12 from files saved with format 11 should work 2025-11-10 09:09:39 -08:00
matlabbe e3a60c8672 Set back min RGBD/LocalizationPriorError to 0.0001 (rtabmap_ros#1371) 2025-11-09 09:46:19 -08:00
matlabbe e9c6180d56 Prioritize neighbor links in Optimizer::getConnectedGraph() (#1610) 
* 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
 2025-11-08 10:58:34 -08:00
matlabbe f44a4fc478 GUI: disabling cuvslam from the detector comboboxes if not built with it. 2025-11-02 17:53:01 -08:00
matlabbe a20e161a5b Fixed a realsense2 camera crash on start. Refactored VINS-Fusion to always use rtabmap's calibration model no matter what (improved usability). Preferences/IMU: fixed publish inter imu checkbox disappearing if no imu filter is selected. 2025-11-01 13:07:50 -07:00
matlabbe b04f607828 fixed warning 2025-11-01 10:12:38 -07:00
matlabbe a3076392b5 Fixed RGBD/LocalizationPriorError not used when adding external links 2025-10-28 20:57:32 -07:00
matlabbe 210aadb92b RGBD/LinearUpdate and RGBD/AngularUpdate: updated description and now require both to be 0 to skip motion check. 2025-10-28 20:56:54 -07:00
matlabbe 1def668578 export: support --color_radius disabled (-1) 2025-10-20 20:27:14 -07:00
matlabbe b9d7e8077c DbViewer: fixed new priors added 2 times 2025-10-20 17:38:46 -07:00
matlabbe 098db33547 ios: updated rtabmap include path 2025-10-18 14:09:44 -07:00
matlabbe 5cc16e371c 0.23.2: make g2o sba type check more portable (vcpkg build issue) (#1597) 
* make g2o sba type check more portable

* try fixing latest g2o build
 2025-10-13 22:54:35 -07:00
matlabbe edebf18043 reprocess: handling Rtabmap/CreateIntermediateNodes when recomputing odometry 2025-10-13 15:46:58 -07:00
matlabbe 1c8ac2b82b report: missing end of line in help 2025-10-13 13:53:56 -07:00
matlabbe 17fc6e3485 OrbbecSDK: install extensions folder when packaging 2025-10-12 16:54:05 -07:00
matlabbe 4e5a094491 cleanup 2025-10-12 16:28:25 -07:00
matlabbe 56aa26ce1d MacOSX: fixed combined entitlements and bundle icon 2025-10-12 15:48:50 -07:00
matlabbe 739628aef9 MacOSX: added entitlements to access Documents and camera 2025-10-12 13:30:16 -07:00
matlabbe f54b7685f3 cmake: removed QUIET keywords on default OFF options 2025-10-12 10:35:30 -07:00
matlabbe 99471819d5 reprocess: accepting Identity covariance (cuvslam first frames) 2025-10-10 14:47:50 -07:00
matlabbe ad8bbdc4b2 reprocess: fixing lost odom recovery when -odom_guess_input option is used 2025-10-09 15:39:19 -07:00
matlabbe 059cda85dc reprocess: fixed crash when odometry returns empty covariance. Also added more checks about that in the code in general. 2025-10-09 14:44:13 -07:00
matlabbe d60c15593d reprocess: show number of sessions linked to last pose 2025-10-09 14:04:29 -07:00
matlabbe 1abb70ef36 Let rtabmap-reprocess return 0 when there is no error 2025-10-09 13:37:52 -07:00
matlabbe 40ac961079 Fixed typos 2025-10-09 11:03:04 -07:00
matlabbe f0dab18005 Orbbec SDK v2 integration (new CameraOrbbecSDK class) (#1590) 
* 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
 2025-10-07 10:22:16 -07:00
matlabbe 5f1eccb2cd Odom F2M always report 9999 when lost (#1589) 2025-10-02 09:07:58 -07:00
matlabbe 11577fb553 When external guess is provided, don't report lost for the first ever frame (only on reset). Updated Odom/ResetCountdown description. (#1588) 2025-10-01 10:27:24 -07:00
matlabbe 05f077b950 Fixed auto reset identity jump. If external guess, do not report lost on recovery after auto reset. (#1587) 2025-09-30 16:22:54 -07:00
matlabbe 0f37bafd66 Added source odometry guess option in standalone app 2025-09-28 16:31:42 -07:00
matlabbe a552bdfb2f GUI: Support Optimizer/Robust with RGBD/OptimizeMaxError at the same time. DBReader: fixed repeated odom covariance when Mem/ReduceGraph is used. Memory: avoid error msg when receiving frames without features while we expect odometry features. See also #1573 2025-09-24 23:24:32 -07:00
matlabbe c774ef641a rgbd_dataset: added support for rgbd_bonn ground truth format 2025-09-20 18:08:38 -07:00
matlabbe cb0cc9ed18 VINS Fusion overhaul (#1580) 
* Updated correct focal length used by VINS, updated VINS visualization.

* Renamed OdometryVINS to OdometryVINSFusion
 2025-09-14 19:29:28 -07:00
matlabbe 6a435c968f reorganized includes (added SYSTEM keyword) (#1578) 2025-09-13 15:58:40 -07:00
matlabbe a96d574517 ImageView: fixed assert when depth image is smaller than rgb image if depth colormap is projected in base frame 2025-09-12 10:49:08 -07:00
matlabbe 668494948c fixed build: missing fstream 2025-09-06 16:52:29 -07:00
matlabbe efcfb9be16 Export: added options to export 2D oocupancy grid (--map) and octomap (--octomap) 2025-09-06 16:30:01 -07:00
matlabbeandMathieu Labbe 4603f09389 Loading time optimization (#1569) 
* On init, rebuild the dictionnary only once

* Fixed first dictionary update to avoid rebuilding multiple times. Commented some very verbose debug logs (should create a new level: UVERBOSE or UTRACE)

* bump version 0.23: added parameters "Mem/LoadVisualLocalFeaturesOnInit", "Mem/FlannIndexSaved", "Kp/SerializeWithChecksum".

* Renamed Mem/FlannIndexSaved to Kp/FlannIndexSaved. Update UI Preferences with new parameters.

* commented some very verbose debug logs

* Warn flann index serialization not implemented on windows

* Warn flann index deserialization not implemented on windows

* Removing some verbose logs

* missing header (win32)

* Added GlobalMap::fullUpdateNeeded() function

* Adding log

* Save flann index even if links changed

* log time to serialize flann index

* Make dictionary modified only after we update

---------

Co-authored-by: Mathieu Labbe <mathieu@robust.ai>
 2025-09-03 16:55:54 -07:00
matlabbe 349580299c Fixing chessboard generation #1572 2025-09-03 15:59:37 -07:00
matlabbe 52e770e2d4 Update Dockerfile 2025-08-12 00:13:19 -07:00
matlabbe b9db73a239 devcontainer: don't mount Documents/RTAB-Map by default. latest_deps: using qt5 instead of qt6 because back window issue 2025-08-10 19:03:56 -07:00
matlabbe be5cd3998d Report: fixed gui not built with Qt6. Improved dev containers. Add latest deps dev container for convenience. 2025-08-10 17:00:34 -07:00
matlabbe 7d1a987d5d Planning: fix robot stuck when RGBD/LocalRadius is smaller than a link on the planned path. 2025-08-07 21:16:40 -07:00
matlabbe 4970474320 results_common.m fixed typo 2025-08-06 20:53:14 -07:00
matlabbe f2b9cc1cdd illumination invariant dataset: fixed typo 2025-08-06 20:29:22 -07:00
matlabbe 8328b22c3f depthai: Adding assert for min expected coeffs 2025-08-04 19:40:52 -07:00
matlabbe 9650b71d8e CMake/Eigen: increased minimum major version to 3 if version not set (fixing g2o dep searching eigen without specifying version) 2025-07-13 23:15:06 -07:00
matlabbe df6300e0ba Windows-deploy: added missing zed's dll file. 2025-07-13 16:56:55 -07:00
matlabbe 94e31dcad1 Windows: fixed missing exported symbols (PythonInterface) 2025-07-13 04:15:03 -07:00
matlabbe fa6deba7df bump 0.22.1 2025-07-12 10:11:55 -07:00
matlabbe d34962f908 ImageView: Depth color map in base frame (#1553) 
* ImageView: Depth colormap in base frame option. CloudViewer: added min/max range options for XYZ axes coloring.

* CloudViewer: saving rendering options of the 3D view, re-apply current color index when moving through nodes.

* reset color inverted when reset
 2025-07-12 10:07:47 -07:00
matlabbe e5655b0b96 Fixed #1549 2025-07-06 23:08:47 +00:00
matlabbe 14d270241c Added Rolling dev container 2025-07-06 15:51:49 -07:00
matlabbe 0579d4f39c ImageView: fixed right grayscale image shown with depth colormap 2025-07-04 20:43:06 -07:00
matlabbe 2e71831324 Added libceres-dev dep in CI (#1547) 
* Added libceres-dev dep in CI

* trying to fix 22.04 apt install

* added g2o and gtam deps

* removed libgtsam-dev because missing libCppUnitLite.a

* fixing support of libg2o-dev on ubuntu 24.04

* update cmake
 2025-06-30 21:32:27 -07:00
matlabbe 963ba42a1a OdometryThread: Updated logic on how to sync imu and sensor data (to make sure odom has always all IMUs it needs prior to process images) 2025-06-29 17:00:12 -07:00
matlabbe c9292bea5b GUI: Fixed provided odometry ignored with CameraImages, CameraRGBDImages and CameraStereoImage types 2025-06-28 20:23:34 -07:00
matlabbe 30962119cb GraphViewer: fixed duplicated links added to view 2025-06-26 13:30:51 -07:00
matlabbe ee98be9ef7 Updated base android image (bionic->noble), updated android dev container 2025-06-20 22:38:05 +00:00
matlabbe 0536ddf0c9 Fixed loadOptimizedMeshQuery() when the TextureMesh has more than 1 texture. (#1538) 2025-06-17 20:16:53 -07:00
matlabbe 6e439d2342 GraphView: fixed nodes not added when updating the graph when "Hide Nodes" option is enabled. 2025-06-16 09:45:19 -07:00
matlabbe 4a37855526 CI: update AliceVision patch (#1536) 2025-06-15 17:00:09 -07:00
matlabbe 105ac3bf9e focal: fixing docker-deps 2025-06-11 15:52:05 -07:00
matlabbe 471ed6ade2 GraphViewer: added setNodeInfo() function 2025-06-11 13:55:45 -07:00
matlabbe dbfc4b1dad bump ros package version 2025-06-08 15:50:36 -07:00
matlabbe 1f44d23a08 CI: moving back opengv to deps image 2025-06-08 14:43:39 -07:00
matlabbe 332dde6d74 Fixed icp_odometry freezing 2025-06-07 16:47:40 -07:00
matlabbe 80d463ed20 docker CI: removed armv7 focal build 2025-06-07 10:49:30 -07:00
matlabbe e19b0c3dc4 docker: use -j2 instead of -j4 for jammy-deps (CI freezing) 2025-06-04 11:43:07 -07:00
matlabbe 6d73ba46e2 docker: fixed noble-deps noble-kilted-deps 2025-06-03 20:45:56 -07:00
matlabbe a6b71f4716 docker: remove some COPY to avoid invalidating cache 2025-06-03 20:37:08 -07:00
matlabbe 47e49207ad CI: fixed docker focal-deps missing ros key 2025-06-01 19:11:30 -07:00
matlabbe 2a5af18bf2 CI: more updates 2025-06-01 18:48:59 -07:00
matlabbe 41684644a1 CI: re-enabled docker-deps 2025-06-01 18:38:41 -07:00
matlabbe 7b69bf6696 CI: added kilted, re-enabled deps, removed all nproc variables 2025-06-01 18:36:36 -07:00
matlabbe 6d4e8a4173 New feature: Depth confidence (#1520) 
* New feature: Depth confidence

* iOS app updated to save depth confidence, added util2d::depthBleedingFiltering function

* Updated tools to show/extract depth confidence

* Android: moved smoothing in post-processing, fixed confidence registration, added depth bleeding error option.

* Fixed warning

* removed debug log

* Added new feature types, fixed rendering when exporting texture >4096 (#1469), added depth bleeding filter option to iOS

* fixed some warnings, android: added bleeding error option

* CI: try updating ros2 key

* added sudo

* antoher test

* bump ios app version
 2025-06-01 14:14:29 -07:00
matlabbe 90d195237f CI: added rolling for cmake-ros workflow 2025-05-26 16:22:25 -07:00
matlabbe 9394c0a170 Export Bundler: Fixed custom matching parameters not used when ba iteration >=1 2025-05-26 13:27:55 -07:00
matlabbe 6781930100 fixed typo 2025-05-26 09:54:53 -07:00
matlabbe 9e862cec68 iOS: updated xcode project 2025-05-26 09:01:30 -07:00
matlabbe eb2a8f132c iOS: updated g2o patch to find correctly cholmod 2025-05-26 08:53:04 -07:00
matlabbe 7a317b9f39 iOS added suitesparse dependency for g2o 2025-05-25 21:01:41 -07:00
matlabbe f5f51bc792 Fixed iOS build for XCode 16.3 (#1482 #1491) 2025-05-25 20:35:57 -07:00
matlabbe 478e909742 Fix 6DoF graph angular check (#1511) 
* Fix 6DoF graph angular check

* Updated getAngle to use better version
 2025-05-24 13:25:26 -07:00
matlabbe a02621ef30 Export Bundler: added 0 iteration support (no optimization) 2025-05-18 13:57:26 -07:00
matlabbe 43d2e1bfde rtabmap-export: add --poses_landmark option 2025-05-18 12:40:41 -07:00
matlabbe 802b8f9870 Add/Refine/SBA: create Registration only once to avoid internal initialization for every link refined, added or rematched (e.g., SuperPoint or SuperGlue). 2025-05-17 16:34:31 -07:00
matlabbe f03139d4ff Update rtabmap_superpoint.py 2025-05-17 14:20:39 -07:00
matlabbe 96f8466fa7 Update rtabmap_superpoint.py 2025-05-17 14:16:13 -07:00
matlabbe 5b368fb2f1 Fixed DataRecorder UI asserting if data without images is received (in case of monocular or lidar-only recording). rtabmap-dataRecorder: added auto-close when end of stream is reached. rtabmap-reprocess: added ability to process images without odometry and to record localization poses with -p option in localizatiion mode. 2025-05-11 18:37:35 -07:00
matlabbe a3d4028faa Camera projection: Added max depth error option to colorize more points 2025-05-10 18:20:29 -07:00
matlabbe 087a2cecd8 New parameter: RGBD/LocalizationSecondTryWithoutProximityLinks (#1499) 
* Added parameter RGBD/LocalizationSecondTryWithoutProximityLinks

* Statistics: added new stat to know when proximity links are removed after a successful second loc try

* changed kLoopProximity_links_cleared for a count instead of bool

* Updating odomCachePoses with optimization for better visualization
 2025-05-02 10:35:31 -07:00
matlabbe d2a430ce57 Export: updated usage of --cam_projection_decimation 2025-05-01 20:44:29 -07:00
matlabbe 26f036173d export: fixed texture_depth_error=-1 2025-04-29 21:50:11 -07:00