* Adding support for AprilTag v3 library
* New parameter: Marker/Strategy (default opencv-aruco as before). Optimized multicameras marker detection (do only once with stitched image)
* Exposed all AprilTag parameters. Sharing Marker/Dictionary between opencv and apriltag implementation. Added new Marker/Lengths parameter.
* Support AprilTAg library not built with aruco
* cleanup
* Added marker range support
* Make apriltag detection in same orientation than opencv
* fixed shenanigans when rendering markers with multi cameras
* Don't update odom cache (localization mode) when not moving (detecting loop/landmark or not)
* fixed some quirks (camera viewer + tag working)
* Setting quad decimate to 1 by default
* typo
* Implemented OptimizerG2O::loadGraph()
* added apriltag's aruco support info in the cmake config summary
* fixed warning
* fixed isam2 assert when using landmarks
* Fixed homography on multicam
* Adding marker detection time for convenience
* Added missing MIP 36h12 tag family in UI
* 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 <matlabbe@gmail.com>
* 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
* integrating cuvslam, stereo cam initialization
* fixing transformations
* use isaac ros TocuVSLAMPose
* organizing
* handling covariance conversion
* cleaning up config
* moving cmake instructions to FindCuVSLAM.cmake file
* fixing ui integration
* updating software license for cuvslam
* improving memory management
* cleaning up header more
* reverting mistake in GUI
* using opaque pointers for header definitions, compiles
* back to typed definitions using forward-referencing
* fixing dangling pointer
* cleaning up
* fixing variable scope issues
* Using cuda to allocate gpu memory
* fixing transfrom from cuvslam back to ros coordinate frame
* reducing excessive logs
* removing redundant if true in cuvslam cmake
* moving find cuda into cuvslam cmake
* cleaning cmake to use modern target
* adding copyright line
* Finding tf2 and eigen3 in cmake
* simplifying clean up logic
* better logs
* moving cuvslam implementation methods into cpp
* fixing build with implmentation function declarations moved to the cpp
* cleaning transformation logic and adding grayscale support
* typo
* removing unecessary class member variable for processed images
* remove trailing underscore from initialize cuvslam function signature
* locally scoping config params since they are copied by cuvslam
* removing unecessary member variables and using locally scoped values since cuvslam seems to copy them
* more cleaning and refactoring
* fixing cmake inconsistancies and surpress warning
* fixing up baseline transform
* trying to remove tf2 for transformations
* fixing incorect baseline transform swap
* comment, begin reset logic investigation
* better handling of previous pose and transform during error cases
* hunting for reset bug, not found
* observation export implementatin, currently getting strange errors
* multi cam support
* Memory fixes
* comments
* make cuda stream a member variable so it isn't initialized and destroyed on every frame
* preparing to add ground constraints
* adding ground constraints, working
* adding wheel odom fusion into cuvslam tracker
* parsing parameter to apply planar constraints
* removing planar constraint in config, doesn't do anything
* using proper cuda stream type for member variable
* cleaning up for merge
* only parse params when cuvslam is compiled
* updating error message if using rgb-d instead of stereo
* removing wheel odom testing logs
* reverting bgr to rgb conversion
* fixing initial pose logic
* return null transform on invalid covariance
* debugging covariance
* guard against low velocity situations where cuvslam covariance spikes, but we aren't lost
* cleaning things up
---------
Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>
* 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
* 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
* 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
* 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 <mathieu@robust.ai>
* Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.
* ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way).
* Fixed compilation error without libpointmatcher
* CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.
* Fixed build without CCCoreLib
* Cleanup RegistrationIcp from third party functions.
* Preferences: disable libpointmatcher and cccorlib options if not available
Referred issues:
#655https://github.com/introlab/rtabmap_ros/issues/492
Note: IMU not supported yet with ORB_SLAM3.
Commits:
* Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc.
* fixed regression build error with ORB_SLAM2
* Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
* Added CameraStereoZedOC (Zed Open Capture driver). Calibration: added stereo baseline option, show warning if fx is very different after stereo calibration.
* Fixed build without Zed Open Capture. Fixed "any" prefix added to all tools when WITH_ZEDOC=ON. UI: fixed Zed Open Capture action not disabled when not built with it.
