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Author SHA1 Message Date
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 <[email protected]>
 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
Borong Yuan 330fda6522 Minor correction on using tilted sensor model for OAK camera 2025-07-29 14:09:42 +08:00
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. 0.22.1 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 301b6bf49c cleanup 2025-07-07 23:03:35 -07:00
matlabbe 492c52bd5e added devcontainer kilted, fixed source setup.bash, removed ldconfig in ros-cmake workflow 2025-07-07 22:44:48 -07:00
matlabbe fcf7ca7e98 improved all devcontainer 2025-07-08 05:31:24 +00:00
matlabbe 1dda2c72f0 Passing tests on fical 2025-07-08 05:31:00 +00:00
matlabbe 8123a7f028 Added more logs in ros ci 2025-07-07 21:56:55 -07:00
matlabbe 276974c656 Merge branch 'master' of github.com:introlab/rtabmap into gtest 2025-07-07 21:25:33 -07:00
matlabbe f64c56a2cb Added doc for CameraModel and StereoCameraModel 2025-07-07 21:25:11 -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 d30e76bc7a Added Transform and VisualWord tests 2025-07-06 13:23:13 -07:00
matlabbe b8d253129c minimal util3d_surface.h 2025-07-06 12:02:09 -07:00
matlabbe d558c3a93b finished util3d_motion_estimation.h tests 2025-07-06 11:01:37 -07:00
matlabbe 3c5c00456b Added util3d_motion_estimation.h tests (2D->3D done) 2025-07-05 20:42:32 -07:00
matlabbe 7a7c33dd14 finished testing util3d_mapping.hpp 2025-07-05 13:05:35 -07:00
matlabbe 45f342cb41 Merge branch 'master' of github.com:introlab/rtabmap into gtest 2025-07-05 09:37:08 -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
HO4X 2fdd2337c7 TASK: Remove typo in ceres optimizer branch (#1544) 2025-06-30 10:39:53 -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 442a868929 added doc/gtest for util3d_mapping.h (missing hpp functions) 2025-06-22 18:45:43 -07:00
matlabbe 114f673ec2 added doc/tests for util3d_correspondences.h 2025-06-22 15:04:03 -07:00
matlabbe 3ca3c37ee7 Added util3d_features.h doc/tests 2025-06-22 12:43:13 -07:00