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Author SHA1 Message Date
matlabbe 35d4bd768c ci/noble: moved opengv to top image to be built on ci 2024-06-09 10:20:18 -07:00
matlabbe e6691658bd Fixed compilation warnings on 22.04 (Qt 5.15.3) 2024-06-09 10:20:18 -07:00
matlabbe 3cfcccdb1d Added CI for Ubuntu Noble/24.04 + docker 2024-06-09 10:20:18 -07:00
matlabbe 8310925c81 Calibration tool: added support for rational model (8 coeff) 2024-06-09 10:20:18 -07:00
matlabbe 99cb02fdff ORB_SLAM3: fixed error if left image is color. SensorCaptureThread: stop thread if data cannot be captured (e.g., end of dataset) instead of skipping indefinitly with error log. 2024-06-09 10:20:18 -07:00
matlabbe 8b372b52ac arcore_java: fixed high speed filtering jumping (#1281) 2024-06-09 10:20:18 -07:00
matlabbe c25add868a arcore_java: disabled max speed localization filtering by default #1281 2024-06-09 10:20:18 -07:00
matlabbe 91cbbc8238 arcore: fixed pose not updated correctly 2024-06-09 10:20:18 -07:00
matlabbe 0d4e4730c7 Merge branch 'borongyuan-likelihood_experiment' 2024-05-19 17:46:47 -07:00
matlabbe 995f65b2ec Added parameter Rtabmap/VirtualPlaceLikelihoodRatio to select how likelihood is normalized/adjusted (0=default old approach used in paper). 2024-05-19 17:46:00 -07:00
matlabbe c034a9631c Merge branch 'likelihood_experiment' of https://github.com/borongyuan/rtabmap into borongyuan-likelihood_experiment 2024-05-19 14:57:58 -07:00
matlabbe 256dcbded4 Added script to reproduce results from loop closure detection paper. Added option to show Recall at 100% precision directly from rtabmap-console. Fixed retrieval not working on loop closure detection mode-only. Fixed showLogs.m error with Octave. 2024-05-19 14:54:37 -07:00
matlabbe 812caeeb9a docker: added libtbb-dev 2024-05-12 22:15:20 -07:00
matlabbe a66564f98f docker/jammy/jammy-iron: added WITH_TBB option for opencv 2024-05-12 20:36:27 -07:00
matlabbe 375597af00 docker/focal: added WITH_TBB option for opencv 2024-05-12 19:58:12 -07:00
matlabbe 72d7418011 Fixed build with pcl<1.8 2024-05-12 19:13:05 -07:00
matlabbe 9505a21a7e DBViewer/Matcher tool: Fixed crash when python feature/matcher is used 2024-04-28 17:40:37 -07:00
matlabbe 36304b2cd1 frontiers docker: added missing pybind-dev dep 2024-04-28 11:46:37 -07:00
matlabbe 99c4612c64 Fixed #1268. Fixed ui warnings of labels with same name. 2024-04-27 14:58:33 -07:00
matlabbe 27dea71398 Apply fix from #979 2024-04-15 20:51:50 -07:00
matlabbe 726bceb816 fixing bionic build 2024-04-14 19:46:34 -07:00
matlabbe 700704bec9 LiDAR capture support in standalone library (#1264) 
* 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
 2024-04-14 19:06:04 -07:00
matlabbe 6a6913c939 Fixed #1262 2024-04-13 16:42:58 -07:00
matlabbe a3267c9da6 UI: Added option to change map resolution on UI side, save/restore thresholds in figures, fixed basic panel's slam/rgbd mode checkboxes not changing the state of corresponding parameters. 2024-04-12 17:12:23 -07:00
matlabbe fbbab1c077 Update README.md 2024-04-11 17:12:11 -07:00
matlabbe 9266926a4a docker: enabled focal linux/arm/v7 2024-04-10 09:13:24 -07:00
matlabbe 5ed1bf0ca8 GlobalDescriptor (PyDescriptor / netvlad) (#1163) 
* First commit for pydescriptor

* Fixed Python refactoring errors

* GUI: added PyDescriptor parameters

* reordered python3 includes

* updated rtabmap_netvlad.py test main

* fixed build from last merge

* integrated https://github.com/introlab/rtabmap/pull/1255

* rescaled dot product result

Closing https://github.com/introlab/rtabmap/issues/1105
 2024-04-07 15:48:16 -07:00
matlabbe c33e995e83 Landmark constraints can now be rejected (in case we see same landmark at two different spots or constraint is poorly estimated). Optimizer/Robust can now be used with landmark constraints with orientation. 2024-04-06 13:41:03 -07:00
matlabbe 92edae35fc Fixed map empty on start if there is no global loop closure yet in localization mode when RGBD/OptimizeFromGraphEnd is true 2024-04-06 11:46:26 -07:00
matlabbe d794669ef9 DBViewer: added buttons to edit/add priors 2024-04-02 17:37:52 -07:00
matlabbe 9cb0046734 fixing build with gtsam 4.0 2024-04-02 15:32:04 -07:00
matlabbe 76f63ab79a Fixing build with gtsam 4.2 2024-04-02 13:29:51 -07:00
matlabbe 063ca9c8ee fixed gtsam 4.3 build error (https://github.com/introlab/rtabmap/pull/1033#issuecomment-2031002034) 2024-04-01 23:05:16 -07:00
matlabbe 11adbdcc9f Fixed #1253 2024-03-31 14:53:00 -07:00
matlabbe 8612ebba93 fixed https://github.com/introlab/rtabmap_ros/issues/1134 2024-03-31 13:06:52 -07:00
matlabbe a0476af896 UI: Exposed more depthai options, setting default rectification alpha to -1 to avoid OAK-D Pro crash 2024-03-30 18:08:32 -07:00
matlabbe 3b735907c8 DbViewer tool: added database's parameter overriding from arguments 2024-03-29 13:30:12 -07:00
matlabbe 0ba79be461 depthai >=2.24 requirement 2024-03-28 14:27:17 -07:00
matlabbe cc17ebe92b iSAM2 integration (#1249) 
* isam2 integration

* fonctional iSAM2, added related parameters

* updated default params after testing large-scale enviroment

* proximity search optimization

* boost<1.68 fix

* boost version

* Fixed map not showing in graphview

* iSAM2: supporting MM/localization/multi-session modes
 2024-03-27 17:18:02 -07:00
matlabbe bc6d390fb6 bionic docker: fixing cmake version for arm 2024-03-24 18:49:11 -07:00
matlabbe f8a63ecf10 Fixing bionic docker (with cmake>=3.14) 2024-03-23 14:41:10 -07:00
matlabbe 7183b43c2a missed part from last commit 2024-03-23 14:34:54 -07:00
matlabbe fa3ece5183 Increased minimal cmake version to 3.14 to use cmake's official FindSQLite3.cmake (#1250) 2024-03-23 14:32:18 -07:00
matlabbe 2f132b3a40 GUI: adjusted max limit of Optimizer/Epsilon 2024-03-19 16:34:11 -07:00
matlabbe 79dc180bf4 Fixed Odom/ResetCountdown not resetting anymore if next frame is also bad. 2024-03-17 17:19:08 -07:00
matlabbe 264c560a2c reverted 87faea7a85 for #783 (just don't include OptimizerCeres if -DWITH_CERES=OFF even if floam or okvis did include it) 2024-03-16 17:10:34 -07:00
matlabbe 4ce36ef245 Updated appveyor gdown version 2024-03-13 23:27:47 -07:00
matlabbe d0227694c5 small fix for qt6 2024-03-13 22:52:44 -07:00
matlabbe a6d9425bce DBViewer: support doubleclick on node or link in graphview to update correpsonding image view and constraints view, also added "Show pixel depth" menu option in ImageView to show pixel depth and pixel coordinate in map frame. 2024-03-13 22:42:47 -07:00
matlabbe e299505a64 Fixed ORB_SLAM3 config for stereo mode 2024-03-12 23:13:06 -07:00
matlabbe 57b4954cb3 Update README.md 2024-03-10 15:24:48 -07:00
matlabbe 2577c47e77 Fixed #1232 2024-03-09 15:14:01 -08:00
matlabbe 52e1b01597 Fixed assert when exporting textured mesh with both multiband and blending enabled with grayscale images 2024-03-04 17:05:17 -08:00
matlabbe 8019a2dc49 Fixed #1227 2024-03-02 16:17:10 -08:00
matlabbe 33b875ecbf GraphView: fixed mouse cursor tracking inverted x-y values 2024-03-01 10:13:53 -08:00
matlabbe c24f95a8d9 ExportCloudsDialog: added option to filter off-axis points 2024-02-29 16:19:57 -08:00
matlabbe 6f7e5cc97b Removed RGB option from main menu (#640) 2024-02-26 19:06:39 -08:00
matlabbe fccf33dd96 GraphViewer: added "Show mouse cursor position (m)" context menu option. 2024-02-26 17:13:50 -08:00
matlabbe 81e249b56c Update README.md 2024-02-18 19:02:40 -08:00
matlabbe ff7c8af56f Mac: fixed cloud viewer pushed back behind main window after dialog closes 2024-02-18 13:43:52 -08:00
matlabbe a11ea291d8 Fixed #1211 2024-02-10 18:27:02 -08:00
matlabbe cd615c6e52 docker focal deps: removed gtsam as already installed by ros now (fixing downstream gtsam version conflict errors) 2024-02-10 14:06:41 -08:00
matlabbe 510aef19e4 Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before) 2024-02-07 14:43:16 -08:00
matlabbe 1dadd50cf2 cmake: added VTK_GLOBAL_WARNING_DISPLAY option (default off) for VTK>=9 (https://github.com/introlab/rtabmap_ros/issues/1111) 2024-02-03 17:04:48 -08:00
matlabbe b2a86d640a Fixed zed build errors (windows, #1207) 2024-01-31 07:17:04 -08:00
matlabbe c27507bc77 Added missing Open3D status in --version and About. 2024-01-27 15:20:10 -08:00
matlabbe b374c6cd8e docker: jammy humble dep fix 2024-01-21 15:49:59 -08:00
matlabbe 29dc6c67fa docker: fixing humble arm64 build 2024-01-21 13:26:43 -08:00
matlabbe 10de748531 DatabaseViewer: Fixed seg fault on Mac when opening db 2024-01-21 13:05:02 -08:00
matlabbe 13cd5e7a5e Export Poses: Added support of landmarks. Fixed g2o export with 6DoF landmark constaints. Adjusted g2o export landmark id. (#1199) 2024-01-20 12:04:26 -08:00
matlabbe 856e372dde fixed bundle windows qt plugins destination 2024-01-15 23:53:27 -08:00
matlabbe 423e67558b fixed windows ci 2024-01-15 23:39:41 -08:00
matlabbe ace653593b working qt6/mac deploy 2024-01-15 20:51:12 -08:00
matlabbe 7b31c737be Deploy fix 2024-01-15 20:45:58 -08:00
matlabbe 0b534c9427 Qt6 deploy fixes for Mac 2024-01-15 20:41:18 -08:00
matlabbe cdbdcfe676 Fixing appveyor regression with gdown tool 2024-01-13 18:47:45 -08:00
matlabbe b7239fdc84 Added parameter Mem/RotateImagesUpsideUp 2024-01-10 14:54:55 -08:00
matlabbe a0559b156b Fixed #1196 2024-01-06 16:11:25 -08:00
matlabbe 79db6b2811 Fixed warning with vtk 7.1. Dont add target "uninstall" if already added from some cmake dependencies 2024-01-03 18:08:06 -08:00
matlabbe d135ef02e2 DBViewer: updated refine constraints menu action with more options, DBDriver: added updateCalibration for convenience 2023-12-20 14:39:49 -08:00
matlabbe ee09e92496 Fixed build on xenial, VTK<=7. 2023-12-19 19:39:50 -08:00
matlabbe e619c57759 Removing MRPT from bionic docker 2023-12-19 08:59:16 -08:00
matlabbe f6a0323d46 remove rolling from CI 2023-12-19 00:35:38 -08:00
matlabbe 933d26f005 DbViewer/info tool: Updated number of links to report unique links. Added statistics about length of loop closures in info tool. 2023-12-18 16:27:18 -08:00
matlabbe ec8f9fdcfd typo 2023-12-18 10:29:58 -08:00
matlabbe f4a60f0b6f CI: fixed fail-fast 2023-12-17 22:57:59 -08:00
matlabbe ade94cde1c disabling fail-fast on docker ci 2023-12-17 22:49:18 -08:00
matlabbe 71415992ac GridMap integration (#1180) 
* GridMap integration

* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.

* UI: Added elevation map visualization

* Added LocalGridCache class to share cache between global maps

* Fixed OctoMap nans. DbViewer: Added frontiers visualization.

* convenient functions for ros

* Small fix

* fixed build without GridMap

* CI disabled fail-fast

* CI updated checkout action to v4
 2023-12-17 22:44:11 -08:00
matlabbe be3e6c538c Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera (#1182) 
* splitting multicam generated clouds

* make sure returned cloud is valid (can be empty)
 2023-12-13 12:15:29 -08:00
matlabbe f56875db4a Preferences: Fixed recursive param update bug 2023-11-29 05:28:30 -08:00
matlabbe 3a7f88dc6c Updated error log that should not show up if Optimizer/Robust is true (#1172) 2023-11-28 13:29:33 -08:00
matlabbe 7ab1ee0a0b Update docker.yml 2023-11-23 18:25:50 -08:00
matlabbe fc8ead2237 Update docker.yml 2023-11-23 18:06:24 -08:00
matlabbe a1d43d2353 Remove default AUTOUIC=ON from all non-ui targets. Fixed yaml target not added correctly on Vcpkg. Fixed gui odom processing time. 2023-11-19 19:40:20 -08:00
matlabbe aaff1abc4f Updating orbslam3 v1 support (#1152) 
* Refactoring ORB_SLAM3 integration. Fixed realsense2 inter IMU stamps.

* Renamed OdometryORBSLAM -> OdometryORBSLAM2

* revert a change

* Fixed build without orb_slam

* Source camera: added feature detection option

* Fixed jfr2018 docker files
 2023-11-19 01:05:52 -08:00
matlabbe 9c56a429cc Localization: Refactored getConnectedGraph() for 2d slam and tags (https://github.com/introlab/rtabmap_ros/issues/1057). Transform: Fixed is3DoF() and is 4DoF() 2023-11-16 22:44:32 -08:00
matlabbe 4812ce4eaf Optimizer: fixed some constraints between same nodes with different type ignored. GraphViewer: fixed display of links between same nodes with different type 2023-11-12 17:14:17 -08:00
matlabbe 56552afa6c Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156) 
* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
 2023-11-05 15:14:11 -08:00
matlabbe 08d0ef7408 report: added --gt option to input external ground truth file. DBViewer: fixed crash when unchecking "Ignore intermediate nodes". 2023-10-27 17:10:10 -07:00
matlabbe 64962e8e3d Added multicameras support for F2F odometry / OpticalFlow 2023-10-25 14:54:20 -07:00