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3,623 Commits 30 Branches 168 Tags
51cfc379231180b66ba1a7f459bde9c7ebea1cc9
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503 Commits
Author SHA1 Message Date
matlabbe 0ef907757b Detect more loop closures from/to specific map ID only option (#1653) 
* Detect more loop closures from/to specific map ID only option

* default value -1

* Added elapsed time

* Avoid loading ALL signatures in RAM, only load them when necessary

* Avoid creating flann index when initializing with Kp/NNStrategy>=3

* Setting opt params by default
 2026-02-13 10:49:12 -08:00
matlabbe d6cf470402 Support proximity detection when switching from localization mode to slam mode (#1644) 2026-02-13 10:46:26 -08:00
matlabbe e6bc39028a Fixed RGBD/StartAtOrigin using landmark position 2026-01-22 17:42:04 -08:00
matlabbe da55168f60 Read-only localization mode (#1643) 
* Read-only localization mode

* Localization: don't update map's node timestamps if statistic after run are not saved

* Updated Mem/LocalizationReadOnly description

* Updated description of Kp/FlannIndexSaved
 2026-01-22 15:59:55 -08:00
matlabbe 42faef3941 DBReader: added ignore imu option, GUI: added tf overrides option (#1637) 
* DBReader: added ignore imu option, GUI: added tf overrides option

* transform offset
 2026-01-17 18:21:16 -08:00
matlabbe 26573456c2 Fixed assert on words index <0 when addMoreLoopClosures is called 2025-12-18 16:38:13 -08:00
matlabbe 3268707c00 g2o: update initial pose estimate when prior is provided (https://github.com/introlab/rtabmap_ros/issues/1371) 2025-11-23 14:07:01 -08:00
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 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 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 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 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 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 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 68e3125358 Fixed graph deformation check without landmark's orientation optimized. Added parameter Marker/VarianceOrientationIgnored to be able to tune correctly GTSAM's bearing/range factor variance. 2025-03-22 20:43:27 -07:00
matlabbe 7baf435600 Fixed #1439 2025-01-19 13:39:17 -08:00
matlabbe a584245029 Fixed all -Wtype-limits warnings 2024-11-15 14:13:13 -08:00
matlabbe 1611aa14f6 fixed typo 2024-06-25 13:21:02 -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 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
Borong Yuan f3cfa7831d adjust likelihood using z-score 2024-04-28 12:22:26 +08:00
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 8612ebba93 fixed https://github.com/introlab/rtabmap_ros/issues/1134 2024-03-31 13:06:52 -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 8019a2dc49 Fixed #1227 2024-03-02 16:17:10 -08:00
matlabbe a11ea291d8 Fixed #1211 2024-02-10 18:27:02 -08:00
matlabbe 510aef19e4 Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before) 2024-02-07 14:43:16 -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 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 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 ba5579f063 Only remove compressed raw data when publish data is false (keep features/occupancy grid) 2023-08-11 16:31:26 -07:00
matlabbe 6395487b58 Stats: distance from last localization not increasing if small motion 2023-08-10 15:17:15 -07:00
matlabbe 64f79813cd Added error log message when graph optimization error is huge (error ratio over > 100) and RGBD/OptimizeMaxError is disabled. 2023-07-03 18:04:54 -07:00
matlabbe 97be9d4ace Localization mode: Fixed proximity detection permanently disabled when Rtabmap/StartNewMapOnLoopClosure is true 2023-06-27 17:25:07 -07:00
matlabbe 0c3b202006 fixed build with MRPT 2023-06-06 08:51:40 -07:00
matlabbe 1cc7c2818f Localization covariance empty till localization 2023-06-05 20:08:21 -07:00
matlabbe ba33c080bc Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032) 
* removed code

* added landmark in graph optimization checks

* reverted smoothing, only if there is already a previous localization link

* Added RGBDLocalizationSmoothing parameter

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml
 2023-05-14 13:03:52 -07:00
matlabbe 437ed09335 DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info 2023-02-10 17:29:10 -08:00
matlabbe 724e068194 fixed a seg fault 2023-02-08 18:46:02 -08:00
matlabbe dcedd8bb6b Added MRPT optional dependency. Updated localization_pose + its covariance to be always published. 2023-02-03 17:25:38 -08:00
matlabbe 83693ed1b9 detectMoreLoopClosures: fixed guess not set for lidar-only registration (https://github.com/introlab/rtabmap_ros/issues/727) 2022-11-26 20:24:43 -08:00
matlabbe 860c14e0ec rtabmap: fixed export poses in format 10 and 11 (#883) 2022-11-26 12:42:04 -08:00
matlabbe 86f66cc8b8 Added missing signature info in republished data 2022-10-30 13:59:08 -07:00