4 Commits

Author	SHA1	Message	Date
matlabbe	ee49beaf4f	Adding doc and tests (#1492) ... * added doc and tests for util2d.h * updated cmake-ros ci * Added util3d.h doc and tests * util3d_transforms.h: Added doc and tests * util3d_filtering.h: started doc and test * util3d_filtering.h: more tests and doc * Added more doc/tests * finished util3d_filtering doc and tests * added test for util2d::depthBleedingFiltering * Added util3d_registration tests * Added util3d_features.h doc/tests * added doc/tests for util3d_correspondences.h * added doc/gtest for util3d_mapping.h (missing hpp functions) * finished testing util3d_mapping.hpp * Added util3d_motion_estimation.h tests (2D->3D done) * finished util3d_motion_estimation.h tests * minimal util3d_surface.h * Added Transform and VisualWord tests * Added doc for CameraModel and StereoCameraModel * Added more logs in ros ci * Passing tests on fical * improved all devcontainer * added devcontainer kilted, fixed source setup.bash, removed ldconfig in ros-cmake workflow * cleanup * source ros * Added utilite tests * Added testing to appveyor, github actions cancellable on re-commit on same branch * appveyor testing without all targets * appveyor: specifying ALL_BUILD target * Fixed Util2dTest.NMSImageBoundsRespected test * Fixing PCL Indices error on old pcl * Added VWDictionary tests and doc. Fixed LSH not working (fix from https://github.com/flann-lib/flann/pull/472 * fixing some appveyor CI errors, added test to check dictionary serialization against all type * Added StereoDense, StereoBM and StereoSGBM doc and tests * Added Stereo tests * Added CameraModel and StereoCameraModel tests * Added doc and test for Statistics * Added doc/tests for Signature * Added doc/test for SensorEvent, added doc for SensorCaptureInfo * Added doc to SensorData * Added SensorData tests * Added SensorCapture and SensorCaptureThread doc and tests * fixed sensordata test * updated SSC test and doc * Added doc and tests for BayesFilter class * Enabled testing on mac, updated windows testing like on linux * added test_link * fixed unresolved on windows * fixed ThreadHandle error on macos ci * Added GPS and GeodeticCoords tests * Added tests for compression * Added Odometry tests (base class only) * Added DBDriver tests * Added coverage report * uniformized test names * fixing concurancy and coverage ci * dont built tools, examples and app for coverage build * fixed report tool rebuilt without qt compilation error * updated coverage option * updated coverage config * added doc CI job * fixing windows and mac ci errors * Added DBDriverSqlite3 tests * Added IMU tests * Added Graph tests * fixing flaky macos test * Added IMUThread and IMUFilter tests * Added Landmarks tests * Added LASWriter tests * fixing seed flaky test * fixing flaky macos timing tests * Added LocalGrid tests * Added LocalGridMaker tests * fixing ci errors * Added GlobalMap tests * Added doc for EnvSensor * Added Features2D tests * Added Registration tests * Added RegistrationVis tests * Added doc for Rtabmap and Memory classes * Added Memory and Rtabmap tests * making some tests less flaky * lcov 1.14 support * updated compatible tool arguments * Added integration tests (RGB-D, Stereo, Lidar2d, Lidar3d) * More octomap checks * Refactored how/when python interpretor is created to simplify library usage * Added python tests * fixed some flaky tests * suppressed some third party related warnings * fixed ceres tests * more flaky fixes * Fixing tests without libpointmatcher * Added RANSAC rejection filter to PCL ICP * fixing multi platform flakiness * Added test to detect regression * Fixing windows pcl link error * fixed some macos flakiness * bigger 2D2D registration error on opencv 4.6.0 * flakiness * fixing flaky tests on windows and mac * flaky thread test on slow mac VM * windows slow test * fixing more ci erros * fxing temp dir on windows * Added Optimizer tests and discovered some bugs (fixed) * fixing flaky tests in mac and windows * Added Optimizer doc * Added GTSAM BA, updated Ceres to use g2o ba parameters. Renamed g2o's ba related parameters to Optimizer group and used by both gtsam and ceres. * fixing build without gtsam * fixing home dir * fixing python ci isssues * Added multicam ba tests * Added Ceres multicam BA support * Aligned BundleAdjustment parameters with Optimizer/Strategy to avoid confusion in the code * Added BA integration test * Added robust graph optimization integration test * Added loop3it test * Added stereo20Hz test * Added smartfactor gtsam * Fixed bugged check and warn if python didn't return any descriptors * Fixing gtsam version build issues * fixing tilt on windows ci * loosing ceres integration test for ci * mac ci flakiness * updating missing param in gui * updating test bound for mac * added appearance-based tests, set min gftt quality to quality level * testing more stuff * improving features2d tests * ci flakiness * fixing flaky ci * ci fixes * flaky fixes * Added RegistrationIcp tests * Added icp integration test with real-worl corridor like env * intermediate nodes * fixing enum * Updated test to catch #1714 * Fixed 2d corridor failing on pcl * flaky pnp test * flaky brisk test * Set rtabmap_integration test as long * updating loop closure test * flaky ci tests * TEsting roundtrip g2o/toro save/load * loosing test bound * fixed cuda capable checks * flaky tests * Debugging test hanging * more debugging stuff * updating limit * windows: disabled cuda on ci to avoid incompatible driver issue. Fixing a bad test mem allocation * trying fixing cuda hanging issue * fixing ci flakyness * flaky tests * Updated BOW flaky tests by checking min precision/recall instead of recall@100precision. Fixed signature test * CameraModel::load() test initRectificationMap param * test dbdriver load dictionary idsOnly * Memory: test keepLinkedInDb param * added dummyDictionary tests * test intermediate nodes count * Added MarkerDetector tests * reverted breaking change of UMutex and USemaphore * Features2d: fixed compiltion warnings with clang about override * clang warnings * fixing test build with pcl 1.8 * g2o and gtsam build errors on android * opencv5 test fixes * disabled testing for ios and android builds * normalized endline characters for easier diff * added LF CRLF rule * bump 0.23.10. fixing doc version * Publish rtabmap website doc from ci * fixing MSCVC build error * macos icp flaky test * fixing ceres macos test bound * ficing more flaky tests * fixing opencv5 related test errors. Also fixed an actual bug in ENU_WGS84ToGeocentric_WGS84() * added comment about mrpt change * removed rosdoc2 (will add it for rtabmap_ros later) * fixing website style * updated download links * locally deployable website with api * sweep doxygen issues * improved/revised doxygen main pages * removed examples empty page * Updated doxygen style * more concise doxygen groups * added api link on main readme * fixing utilite test error * fixing CommonFilteringGroundNormalsUp test * updated precisionRecall test bounds for Freak and brief descriptors * fixing scale check in ba tests * disabled tests on windows cuda build (missing dlls amd runner cannot test cuda anyway) * ceres: missing suitesparse dep in windows ci * adjusting recall thr for fast/freak * ficing more flaky tests * fixing flaky tests * disabled coverage in ros ci * Enable integration tests for ros ci jobs * loosing up some threshold for failing tests * trigger cache * fixing test data in ros ci. Updated flaky test for mac * slaking some test limit * Fixed rtabmap-detectMoreLoopClosures inverted output value * loosing up sift recall on mac * optimizer re-ordered distribution for reproducible results (mac g2o) * macos dump test crash log * combining all tests to save time on shared library reload. Also fixed Logs with missing arguments. * Added ENABLE_FORMAT_ERRORS cmake option * do test only one time * fixed all format warnings * format security android build errors * less verbose tests * updated ImuUThread test * fixed a log * Fixed libpointmatcher 2d normals eigen issue * Fixing libpointmatcher conversion issues * fixing libpointmatcher test on windows ci * cleanup comments, relax some test thr * disabled sequoia-intel ci build (too flaky, would need extensive testing directly on that machine)	2026-08-06 13:32:20 -07:00
matlabbe	d069becc72	Windows CI: make vcpkg download compatible with draft release (#1727) ... * Windows CI: make vcpkg download compatible with draft release * forcing nvdia driver dll to be ignored in fixup_bundle * disabling opencv cudec and python * disabling rtabmap-console --version on cuda build * Added assert when bad imu data is provided. Added checks when zed sdk is returning nan imu data. * Updated zed sdk5 resolution and quality * Updated zed sdk5 resolution and quality * Fixing parameters reloaded when testing camera. Also fixed app freezing when closing Preferences dialog after using test camera dialog * cleanup and debug logs * Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents * renamed * found a way to expose ZED model downloads * Updated default config path on Windows * Fixed extra endline in file logging (windows) * Fixed camera local transform when used with lidar and odomSensor * CI(macos): build g2o from source with OpenMP (libomp include/link fix) * Mac: added ceres dep, fixed omp not found by cmake * Mac: bundle orbbec extensions * stripping rpath of orbbec's extensions * cleanup * Realsense2 error as error (not warning) * Fixed config ownership changed to root when sarting in sudo. LidarVLP16: fixed crash on Mac by reimplementing our own socket threading * LidarVLP16: own socket implementation only for Mac (linux and windows use original PCL's reader)	2026-07-04 18:16:37 -07:00
matlabbe	cb34c4bd37	MacOS and Windows binaries update (0.23.8) (#1726) ... * Windows CI: more sensor drivers + Windows/macOS bundle scripts * added opengv to mac build * windows bundle fixes * zed extra neural ddl in separate package * OpenGV macos eigen version error * opengv macos build issues	2026-07-01 18:11:28 -07:00
matlabbe	018b804a46	Adding OpenGV as submodule (optional) and use Github actions for windows CI (#1656) ... * Adding OpenGV as submodule (optional) * Remove submodule to migrate to FetchContent * using FetchContent * remove empty .gitmodules * Fixing OpenGV not able to find eigen on windows * patching opengv to adjust -march=native based on PCL * fixing patching on windows * eigen fix * PR cancel on-going CI builds if new commit is added to PR * try another approach * updating patch with some logs * more debug mesage * fixing EIGEN_INCLUDE_DIR * enable rolling_builds on appveyor * removed rolling_builds appveyor * fixing eigen cache * test * more debug logs * another try * cleanup * updated appveyor to work with fetchcontent * removed mkdir build (appveyor) * appveyor: trying ninja to increase CI speed * removed mkdr * appveyor: spitting opengv and rtabmap builds to be under 60 min per job * appveyor: caching dependencies * using global configuration * using baked image * fixing wget in ps * fixing not support for * pip error * reverted pip install * fixed realsense cache * fixing multi step build * removing baked image * typo * Windows: Converted appveyor to github actions * updated boost version * fixing boost * udpated boost config * boost... * platform_version * install boost directly * silent boost install * very silent boost * fixing ls * added boost install dir * showing boost install dir * moved windows dependencies in external action file * explicitly save boost cache to same time on iterations * pip install gdown * update * caching more deps * caching all depts * removed explicit boost cache save * mscv 14.0 * forcing building visual studio 14 2015 * installing v12 in 2022 instead * setup cmd prompt * init right toolset * fixing system version for opengv compilation error * fixing package and artifact * CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION * removing cmd * find manually psapi.lib * resolve * refactor psapi env * forcing 10.0.19041.0 * using windows=2022 runner instead * added vcpkg * commenting windows-latest for now * trying vcpkg instead * search path * updated path * moved json * removed deleted file for git * adding a real version * using version-string * cleanup vcpkg * building artifacts with vcpkg * removed old windows build approach, added custom dependencies (gtsam, libpointmatcher) to vcpkg build * udpated vcpkg version for issue https://github.com/microsoft/vcpkg/pull/49103 * try with minimal dep first * disable opengv for now * try vcpkg single compilation * space * updated link * fixed qupote * fixing cache name * adding debug folder * adjust path * adjust path * providing vcpkg binaries instead * ident * added triplet * added BOOST_ROOT * boost root * boost root * fixed path * adding eigen headers * try path * cmake prefix path * boost timer def * libnabo fixes * pointmatcher prefix * disabling pointmathcer tests * updated cmake parameters * changed how file is downloaded * trying curl instead * puttoing backe InvokeWeb because it is a dropbox issue * skipping optional deps for now * ficing env variable * triplet * installing triplets * not overriding default vcpkg env variables * missing path * manifet install off * that was working locally * missing protobuf path * fixing tiff not found * fixing vtk not found * more vtk fixes * another thy * changing download url * updated url * try * shoudl work now * protobuf exe * readding tiff * explicit vcpkg installed folder * missing commands * try without tiff * ficing vtk comple path * -DPSAPI_LIBRARIES=Psapi.lib * quoting * fixing psapi required * Set up MSVC Developer Command Prompt * disabling pckaging for now * openni.ini * renabling packing * Added stripped deps * fix name * updated binaries * format * updated opengv eigen path * added tbb dep * updatd archive name with vs version * updated archive in action * fixing patch error * corrupted * updated gtsam version / vcpkg * removed appveyor. Set internal opengv build disabled by defaut (because build can be very long on some machines), will enable it inside the ros release branches instead. * updated opengv patch * gtsam mkl dep * updated vcpkg binaries * updated patches * removed mkl dep * missing eigen in gtsam dep * disabling gtsam till we find a compatible version locally * all working locally! * removed ninja * working python calls * fixed hard symlink for python3.dll * fixed qt missing png, fixed opengv not finding eigen with config, fixed python3.dll missing * fixed flaoting dockwidget on start, removed cmd line window when launching bundled app * use sub-packages cudnn * Added cuda dev workflow * fixed archive name * Updated deps with pytorch cuda * updating ci PATH * fixing ci build without torch * rename cuda artifacts * cache cuda, add job to test internal opengv build * Updated output artifacts zip name * windows package: only zip on pull request * Change USE_INTERNAL_OPENGV to BUILD_OPENGV * use use-github-cache * updated artifacts path	2026-03-15 14:57:27 -07:00