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Author SHA1 Message Date
matlabbe 72a20d849d removed debugging code from #1463 2025-03-08 17:19:12 -08:00
matlabbe a1b602dbe0 Adding support for compressed input data and right color image. (#1463) 2025-03-08 16:40:04 -08:00
matlabbe 4eea83d1af Update README.md 2025-03-06 11:00:33 -08:00
matlabbe 2c7aa5a78f Setting WITH_GRIDMAP=OFF by default till official grid_map_core can be correctly integrated in libraries downstream. 2025-03-01 19:46:03 -08:00
matlabbe a85e732f01 bump to 0.21.11 for api change 2025-03-01 15:53:02 -08:00
matlabbe 258095e0f3 DBReader: added fine-grained camera selection (#1457) 2025-02-26 16:06:13 -08:00
matlabbe 35c3ca20ad 2d ray tracing: Fixed assert when viewpoint is farther than cellSize*10 from the pose. 2025-02-25 16:09:32 -08:00
matlabbe ec4e076a08 CI: moved opengv back in deps dockerfile 2025-02-24 10:29:45 -08:00
matlabbe 7a4f8d9783 reverting qemu version #1454 2025-02-23 13:34:36 -08:00
matlabbe e65c1c2f85 jammy-deps: explicitly uninstall grid-map-core till new humble version is released 2025-02-23 10:49:25 -08:00
matlabbe 7adaa249ff Disabling ****-deps docker from CI (#1454) 2025-02-23 10:07:05 -08:00
matlabbe 079600bf3a Fixing CI #1454 2025-02-22 19:48:33 -08:00
matlabbe 921381b3bd Updated CI action versions 2025-02-21 23:01:24 -08:00
matlabbe c0e83ce9e9 Adding options to bound OdometryF2M keyframes (#1448) 
* Added OdomF2M/BundleAdjustmentMinMotion and OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature parameters

* Added new odom stats localBundleMaxKeyFramesForInlier

* Adjusted how localBundleMaxKeyFramesForInlier is computed when OdomF2M/BundleAdjustmentMaxFrames is used.

* optimization: Dont compute average pixel distance if parameter is not used
 2025-02-21 16:33:29 -08:00
matlabbe d77a3e3e7c Update package.xml 
disabled grid_map_core by default
 2025-02-20 22:19:42 -08:00
matlabbe 1cf051d63b Preferences: fixed Grid/RayTracing not reachable when 3D is unchecked. 2025-02-19 18:39:36 -08:00
matlabbe 15be406509 bump 0.21.10 2025-02-12 19:18:54 -08:00
matlabbe ddaf2f5271 DBViewer: refactored how poses are aligned with GPS to be able to make KMZ files (OBJ/DAE origin matching with first KML pose) 2025-02-02 15:09:59 -08:00
matlabbe fcfadfe489 sql: use single quoted strings #1436 2025-02-01 14:19:41 -08:00
matlabbe 6aa188d2af g2o: fixed iterative optimization (when epsilon>0) not converging as fast as like batch optimization (and not converging at all in some cases). 2025-01-27 14:20:41 -08:00
matlabbe 7baf435600 Fixed #1439 2025-01-19 13:39:17 -08:00
matlabbe 853f603898 OptimizerGTSAM: keep iterating even if error is very large (aarch64 issue), but only when Optimizer/Epsilon is 0. 2025-01-17 10:31:06 -08:00
matlabbe f8b1d50656 Fixed #1434 (gtsam very huge error estimated on aarch64), also decreased log level of voxel filtering to debug. 2025-01-09 16:57:51 -08:00
matlabbe 2f431ce385 Export: added gps/gt export options 2024-12-22 11:33:41 -08:00
matlabbe 02e30ffc69 Fixed #1413 2024-12-15 17:51:15 -08:00
matlabbe 97c56361f8 Export CLI tool memory optimization (#1391) 
* Stashing changes so far

* Tested and working

* removed unused options

* Added density_radius and density_angle options

* improved description

* backward compatibility fixes, matching texture exported file names with base name

* Setting global full opt by default, updated preferences defaulting to g2o or gtsam if one or the other is unavailable
 2024-12-15 13:08:15 -08:00
matlabbe 340248fed0 Refactored gravity links visualization (fixed rotation in some cases). 2024-12-14 16:33:29 -08:00
matlabbe 38cacb7978 Added floor filtering options for features extraction (#1408) 
* Added floor filtering options for features extraction

* cleanup
 2024-12-10 12:36:21 -08:00
matlabbe a613998652 Updated cmake target for latest grid_map_core version 2024-12-08 09:58:37 -08:00
matlabbe d33e98a540 Preferences: making local grid ROI editable 2024-12-06 18:31:27 -08:00
matlabbe 5988f0bb3b CI: only keeping oldest ROS1 and ROS2 not EOL versions (with all working deps) 2024-11-30 19:47:15 -08:00
matlabbe 8f46cc7370 Revert "CI: added builds when pushing to ***-devel branches" 
This reverts commit 10eea91044.
 2024-11-30 18:26:26 -08:00
matlabbe 10eea91044 CI: added builds when pushing to ***-devel branches 2024-11-30 18:06:41 -08:00
matlabbe b55759174d CI: upgrading ros-tooling to 0.7 2024-11-30 17:57:01 -08:00
matlabbe 13ed9137a5 Re-enabling jazzy CI build 2024-11-30 17:43:12 -08:00
matlabbe ca877041e3 Revert "ULogger console: using std::cerr by default to avoid ROS2 default buffering on cout/printf." 
This reverts commit 3eda219f1d.
 2024-11-29 19:49:49 -08:00
matlabbe 3eda219f1d ULogger console: using std::cerr by default to avoid ROS2 default buffering on cout/printf. 2024-11-29 18:59:12 -08:00
matlabbe 13bc3c5c2c bump ros package version 2024-11-29 16:26:12 -08:00
matlabbe 8a26f42687 0.21.9: Grid's noise filtering only done on indices below Grid/RangeMax (when set). We can then keep very far points that would be filtered otherwise, which are useful for ray tracing. 2024-11-28 20:58:40 -08:00
matlabbe 968b9f8609 docker: updated latest deps Dockerfile example 2024-11-24 15:12:55 -08:00
matlabbe afde4af3a7 Fixed OpenVINS build if openvins is built on ROS2 (#1379) 2024-11-24 14:41:41 -08:00
matlabbe cbd3995b60 Applying suggestion of #1388 (#1390) 2024-11-23 20:17:39 -08:00
matlabbe 5fff349623 android: fixed app exiting when about to show toast 2024-11-23 09:30:53 -08:00
matlabbe b2e26e81c1 Fixed #1380 2024-11-16 14:54:15 -08:00
matlabbe a584245029 Fixed all -Wtype-limits warnings 2024-11-15 14:13:13 -08:00
matlabbe 966feefb35 DBViewer: fixed Refine links menu not showing up if there are landmark links 2024-11-14 20:15:04 -08:00
matlabbe fd27380be7 CudaSift: switch to SIFT CPU if no cuda devices were found (instead of asserting). 2024-11-12 15:00:19 -08:00
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