i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-13 23:10:20 +08:00
Code Issues Packages Projects Releases Wiki Activity
3,459 Commits 29 Branches 163 Tags
81ffbca1d6446f8468cdc7f45d2c6d709c89fecc
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
matlabbe 81ffbca1d6 ExportClouds: added support for LAZ format from PDAL 2025-03-29 19:08:32 -07:00
matlabbe 83a2754714 GraphView: added ctrl-shift click mouse move to adjust scale 2025-03-24 16:25:12 -07:00
matlabbe 6a547f4403 Update README.md 2025-03-23 10:07:10 -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 5f946cc26b DBViewer: dont clear optimized map if there are no link changes 2025-03-17 17:50:11 -07:00
matlabbe 28dbf1c98a iOS feb 2025 various updates (#1451) 
* Using shadows on all texts and icons to see them better when background is white. Buffering database previews to show faster the Library. Updated how RAM usage is computed and now show max memory. Added warnings when RAM usage is low.

* Added measuring tool

* fixed map not shown when closing visualization

* Added measure text size setting, changed look and feel of point to point

* Fixed measuring point not showing

* Added fix for #1401

* Addressing #1407

* Export: Added colored OBJ options

* fixed index_t not existing on focal

* Fixed Settings not applied after restoring to all default settings witohut restarting the app (Marker detection not working issue #1455 )

* Marker detection: Fixing wrong depth used when rgb and depth image sizes cannot be divided exactly one from the the other #1455

* Added Marker Max Range option (default 1m)

* Added OBJ texture policy option (keep color on textureless polygons)

* Added texture/color blending option directly in the app. Added LAZ export option.

* Hiding measuring button if not mesh, dont zip if exporting to laz, updating Export XXX button based on the current context, fixed always blending texture/color on not visualization mode

* updated default marker max range to 2m

* bump ios app version

* fixing pcl 1.8.1 build

* fixed android build
 2025-03-15 10:58:03 -07:00
matlabbe f329ebd42b Windows: Fixed build with vcpkg's g2o version 2025-03-13 19:58:13 -07:00
matlabbe 1ae523884f Update LICENSE 2025-03-09 19:01:15 -07:00
matlabbe 6eebca83b2 Improved depth estimation of mono features (#1460) 
* Improved depth estimation of mono features

* typo

* Added OdomF2M/InitDepthFactor parameter
 2025-03-08 20:30:26 -08:00
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