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Author SHA1 Message Date
matlabbe 374df24ac9 report tool: fixed localization session not detected 2024-10-31 19:19:34 -07:00
matlabbe 6b313257f2 Reg/OpticalFlow: fixed missing pt reprojection for last camera 2024-10-30 14:14:29 -07:00
matlabbe 8b21c27f5f Adding FOURCC usb camera support (#1366) 
* Adding FOURCC usb camera support

* Improved warnings

* more checks and warnings
 2024-10-27 18:09:07 -07:00
matlabbe e3fde4ecdd DBViewer: update main slider when index spinbox value changes 2024-10-26 12:04:34 -07:00
matlabbe 17c2142c98 iOS: updated settings information (#1355) 2024-10-13 14:10:29 -07:00
matlabbe 465ea85d91 Removed grid_map as public dependency 2024-10-08 20:01:38 -07:00
matlabbe 595f200a89 iOS various updates (#1340) 
* Added Data Recording Mode. Added option to filter ARKit localization jumps.

* Implemented max acc relocalization filtering (working on iOS)

* Fixed android build, added re-localization max acceleration parameter

* ARCore Java: Fixed pose of depth not available at stamp requested

* Android log fix

* Added libLAS support

* ios: added LAS support

* updated dep install script to skip libraries already installed

* CameraMobile: Fixed origin not updated if updateOnRender() is used

* Default max opt error increased to 2x to reduce number of loop closures rejected. OptimizerGTSAM: updated gravity noise model to use same sigma for both parameters.

* Updated license

* bump 0.21.7

* updated license date
 2024-10-06 17:16:22 -07:00
matlabbe 8c0e57bc52 Landmark poses can be exported with format=11. Report: added option poses_raw to export poses not aligned with ground truth (default it is). 2024-09-22 19:53:27 -07:00
matlabbe 379e11bd66 Supporting GTSAM bearing/range factors for landmarks (#1346) 
* Supporting GTSAM bearing/range factors for landmarks

* refreshing initial covariance after being modified in same sessions
 2024-09-21 18:14:52 -07:00
matlabbe 0e85bd849c Improved image view scene rect size when no images are there. Added warning when transform cannot be computed because some data are missing. 2024-09-16 15:55:38 -07:00
matlabbe 69ac21f811 Adding OpenCV's GPU GFTT/ OpticalFlow and CudaSift support (#1330) 
* Adding GFTT and SIFT Cuda support

* Working CudaSift

* Disable cudasift option when not available

* Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors

* Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv

* Refactored how maximum features are thresholded, to be more similar to OpenCV version

* Updated loop closure benchmark scripts

* Cuda optical flow tmp commit

* Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences)

* Fixed build without opencv cuda

* Fixed build with Opencv 4.10

* ZED: updated parameters to match zed sdk 4

* MRPT requires C++17

* updated max octave limit CudaSift
 2024-09-13 14:22:54 -07:00
matlabbe f3ccfcb452 Fixed iOS install_deps.sh for Xcode15 (min target 11->12) 2024-09-07 22:00:05 -07:00
matlabbe 11a8057246 LocalGrid: fixed overestimated local grid size when Grid/RangeMax is used 2024-09-04 11:39:38 -07:00
matlabbe 12e2caf7d1 removed debug comment 2024-09-01 15:39:01 -07:00
matlabbe 5580e78273 Fixed ZED driver timestamp. Re-ordered build include dirs to keep opencv in front. Fixed build with OpenCV 4.7.0. 2024-09-01 03:55:29 -07:00
matlabbe 58b466288d Update README.md 2024-08-27 15:05:10 -07:00
matlabbe f73e9c02b3 Added cmake option BUILD_WITH_RPATH_NOT_RUNPATH to use old RPATH behavior on build tree (#1308) 2024-08-25 20:48:27 -07:00
matlabbe 4df207acc3 Fixing ChArUco board support on opencv >= 4.7.0 (#1331) 
Fixed https://github.com/introlab/rtabmap_ros/issues/1200
 2024-08-25 19:35:19 -07:00
matlabbe 6ce85b4e55 Added missing freenect driver on docker images 2024-08-18 21:34:01 -07:00
matlabbe 4911dbe9bb With Mem/RotateImagesUpsideUp=true, do not clear features if none of the cameras are rotated. DBViewer: show local transform of all cameras in tooltip 2024-08-12 14:27:08 -07:00
matlabbe cc5da376ec Fixed https://github.com/introlab/rtabmap_ros/issues/1187 2024-07-27 12:12:49 -07:00
matlabbe 9ef94f5a71 docker: fixed typo 2024-07-24 08:22:25 -07:00
matlabbe 41b1a87c34 Update README.md 2024-07-23 16:07:27 -07:00
matlabbe 7fd9646f2e removed ros octomap dep 2024-07-22 21:13:28 -07:00
matlabbe 24ca56248f bump patch 2024-07-22 20:47:59 -07:00
matlabbe 0efd3c6b62 Merge branch 'clalancette-clalancette/switch-octomap-dependency' 2024-07-22 20:44:51 -07:00
matlabbe 49d67302d5 removed jazzy/rolling specific patches 2024-07-22 20:41:05 -07:00
matlabbe 41dcddc48e Merge branch 'clalancette/switch-octomap-dependency' of https://github.com/clalancette/rtabmap into clalancette-clalancette/switch-octomap-dependency 2024-07-22 20:39:56 -07:00
matlabbe 08a44ec44f DBViewer: added option to ignore optimized graph guess when detecting more loop closures 2024-07-19 14:02:03 -07:00
matlabbe 41fe47efdf Fixed build with OpenCV 3.2 (ubuntu bionic). Added more devcontainers for different ubuntu versions for convenience. 2024-06-30 19:11:14 -07:00
matlabbe 7641f28250 Fixed build with OpenCV >= 4.7 (charucoboard errors) 2024-06-30 18:15:56 -07:00
matlabbe f5a477f0f4 Charuco calibration + depthai calibration support (#1302) 
* In progress: adding charuco option

* DepthAI: added raw image publishing mode (added support rtabmap's calibration file). Calibration: working charuco board calibration (on opencv 4.5).

* fixed build with Qt<5.14

* Updated calibration options

* Removed depthai flashing delays

* depthai: fixed camera not detected as calibrated in Mono-depth mode. Calibration: added option to scale sampling factor.
 2024-06-30 17:11:37 -07:00
matlabbe 2fbe31f7cb Split dev containers for standalone and android 2024-06-28 08:08:40 -07:00
matlabbe 623d056436 fixed android build 2024-06-26 05:43:17 +00:00
matlabbe 1611aa14f6 fixed typo 2024-06-25 13:21:02 -07:00
matlabbe 7d970ef020 Fixed DBReader odometry ignored 2024-06-25 12:04:37 -07:00
matlabbe 1ab0133f14 Added uPad function for convenience 2024-06-19 15:58:24 -07:00
matlabbe 4c1822683a Added new parameter: RGBD/AggressiveLoopThr 2024-06-19 10:28:17 -07:00
matlabbe 7c601bb6e8 Fixed #1300 (proximity sort by distance) 2024-06-16 11:11:39 -07:00
matlabbe 0d221a806f Update behavior of Odom/AlignWithGround when odmetry is already aligned with gravity (just update z value). 2024-06-15 17:24:00 -07:00
matlabbe 28fd696c18 Fixed WITH_QT=OFF (to not build with Qt even if any dependency included it) 2024-06-15 14:21:51 -07:00
matlabbe 2a840fe340 Fixed https://github.com/introlab/rtabmap_ros/issues/1173 (edited optimized map regenerated in localization mode) 2024-06-09 20:46:51 -07:00
matlabbe 0f03db9d7f Disabling temporary cmake-ros workflow on ubuntu 24.04/jazzy because of setup-ros failing on that base image 2024-06-09 11:36:49 -07:00
matlabbe 4349f304d2 Merge branch 'borongyuan-xvisio' 2024-06-09 11:13:51 -07:00
matlabbe 80a4ce02c9 Fixed build without xvisio sdk, Added xvisio camera option in main menu. 2024-06-09 11:13:29 -07:00
matlabbe b37f7d6351 docker: Fixed typo 2024-06-09 10:20:18 -07:00
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 ccdddfc83f Refactored android docker to easily re-use rtabmap.bash in a dev container to install Tango/ARCore/AREngine dependencies. 2024-06-09 10:19:22 -07:00
matlabbe 9b255d1f27 docker: Fixed typo 2024-06-03 20:12:17 -07:00
matlabbe 3ab8ae7eaf ci/noble: moved opengv to top image to be built on ci 2024-06-03 07:33:26 -07:00
matlabbe 5b810da73b Fixed compilation warnings on 22.04 (Qt 5.15.3) 2024-06-02 15:04:36 -07:00
matlabbe 098301e52c Added CI for Ubuntu Noble/24.04 + docker 2024-06-02 14:38:50 -07:00
matlabbe 2f21d42555 Calibration tool: added support for rational model (8 coeff) 2024-05-31 10:28:14 -07:00
matlabbe 0f961783c1 merged master->rolling 2024-05-27 11:42:12 -07:00
matlabbe 32e03aaf68 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. 2024-05-26 18:04:07 -07:00
matlabbe 03afb94d92 arcore_java: fixed high speed filtering jumping (#1281) 2024-05-25 15:54:57 -07:00
matlabbe c5c190a2a0 arcore_java: disabled max speed localization filtering by default #1281 2024-05-25 14:42:54 -07:00
matlabbe bc66060fab arcore: fixed pose not updated correctly 2024-05-25 13:50:01 -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