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Author SHA1 Message Date
matlabbe 8328b22c3f depthai: Adding assert for min expected coeffs 2025-08-04 19:40:52 -07:00
matlabbe 9650b71d8e CMake/Eigen: increased minimum major version to 3 if version not set (fixing g2o dep searching eigen without specifying version) 2025-07-13 23:15:06 -07:00
matlabbe df6300e0ba Windows-deploy: added missing zed's dll file. 2025-07-13 16:56:55 -07:00
matlabbe 94e31dcad1 Windows: fixed missing exported symbols (PythonInterface) 2025-07-13 04:15:03 -07:00
matlabbe fa6deba7df bump 0.22.1 2025-07-12 10:11:55 -07:00
matlabbe d34962f908 ImageView: Depth color map in base frame (#1553) 
* ImageView: Depth colormap in base frame option. CloudViewer: added min/max range options for XYZ axes coloring.

* CloudViewer: saving rendering options of the 3D view, re-apply current color index when moving through nodes.

* reset color inverted when reset
 2025-07-12 10:07:47 -07:00
matlabbe e5655b0b96 Fixed #1549 2025-07-06 23:08:47 +00:00
matlabbe 14d270241c Added Rolling dev container 2025-07-06 15:51:49 -07:00
matlabbe 0579d4f39c ImageView: fixed right grayscale image shown with depth colormap 2025-07-04 20:43:06 -07:00
matlabbe 2e71831324 Added libceres-dev dep in CI (#1547) 
* Added libceres-dev dep in CI

* trying to fix 22.04 apt install

* added g2o and gtam deps

* removed libgtsam-dev because missing libCppUnitLite.a

* fixing support of libg2o-dev on ubuntu 24.04

* update cmake
 2025-06-30 21:32:27 -07:00
matlabbe 963ba42a1a OdometryThread: Updated logic on how to sync imu and sensor data (to make sure odom has always all IMUs it needs prior to process images) 2025-06-29 17:00:12 -07:00
matlabbe c9292bea5b GUI: Fixed provided odometry ignored with CameraImages, CameraRGBDImages and CameraStereoImage types 2025-06-28 20:23:34 -07:00
matlabbe 30962119cb GraphViewer: fixed duplicated links added to view 2025-06-26 13:30:51 -07:00
matlabbe ee98be9ef7 Updated base android image (bionic->noble), updated android dev container 2025-06-20 22:38:05 +00:00
matlabbe 0536ddf0c9 Fixed loadOptimizedMeshQuery() when the TextureMesh has more than 1 texture. (#1538) 2025-06-17 20:16:53 -07:00
matlabbe 6e439d2342 GraphView: fixed nodes not added when updating the graph when "Hide Nodes" option is enabled. 2025-06-16 09:45:19 -07:00
matlabbe 4a37855526 CI: update AliceVision patch (#1536) 2025-06-15 17:00:09 -07:00
matlabbe 105ac3bf9e focal: fixing docker-deps 2025-06-11 15:52:05 -07:00
matlabbe 471ed6ade2 GraphViewer: added setNodeInfo() function 2025-06-11 13:55:45 -07:00
matlabbe dbfc4b1dad bump ros package version 2025-06-08 15:50:36 -07:00
matlabbe 1f44d23a08 CI: moving back opengv to deps image 2025-06-08 14:43:39 -07:00
matlabbe 332dde6d74 Fixed icp_odometry freezing 2025-06-07 16:47:40 -07:00
matlabbe 80d463ed20 docker CI: removed armv7 focal build 2025-06-07 10:49:30 -07:00
matlabbe e19b0c3dc4 docker: use -j2 instead of -j4 for jammy-deps (CI freezing) 2025-06-04 11:43:07 -07:00
matlabbe 6d73ba46e2 docker: fixed noble-deps noble-kilted-deps 2025-06-03 20:45:56 -07:00
matlabbe a6b71f4716 docker: remove some COPY to avoid invalidating cache 2025-06-03 20:37:08 -07:00
matlabbe 47e49207ad CI: fixed docker focal-deps missing ros key 2025-06-01 19:11:30 -07:00
matlabbe 2a5af18bf2 CI: more updates 2025-06-01 18:48:59 -07:00
matlabbe 41684644a1 CI: re-enabled docker-deps 2025-06-01 18:38:41 -07:00
matlabbe 7b69bf6696 CI: added kilted, re-enabled deps, removed all nproc variables 2025-06-01 18:36:36 -07:00
matlabbe 6d4e8a4173 New feature: Depth confidence (#1520) 
* New feature: Depth confidence

* iOS app updated to save depth confidence, added util2d::depthBleedingFiltering function

* Updated tools to show/extract depth confidence

* Android: moved smoothing in post-processing, fixed confidence registration, added depth bleeding error option.

* Fixed warning

* removed debug log

* Added new feature types, fixed rendering when exporting texture >4096 (#1469), added depth bleeding filter option to iOS

* fixed some warnings, android: added bleeding error option

* CI: try updating ros2 key

* added sudo

* antoher test

* bump ios app version
 2025-06-01 14:14:29 -07:00
matlabbe 90d195237f CI: added rolling for cmake-ros workflow 2025-05-26 16:22:25 -07:00
matlabbe 9394c0a170 Export Bundler: Fixed custom matching parameters not used when ba iteration >=1 2025-05-26 13:27:55 -07:00
matlabbe 6781930100 fixed typo 2025-05-26 09:54:53 -07:00
matlabbe 9e862cec68 iOS: updated xcode project 2025-05-26 09:01:30 -07:00
matlabbe eb2a8f132c iOS: updated g2o patch to find correctly cholmod 2025-05-26 08:53:04 -07:00
matlabbe 7a317b9f39 iOS added suitesparse dependency for g2o 2025-05-25 21:01:41 -07:00
matlabbe f5f51bc792 Fixed iOS build for XCode 16.3 (#1482 #1491) 2025-05-25 20:35:57 -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 a02621ef30 Export Bundler: added 0 iteration support (no optimization) 2025-05-18 13:57:26 -07:00
matlabbe 43d2e1bfde rtabmap-export: add --poses_landmark option 2025-05-18 12:40:41 -07:00
matlabbe 802b8f9870 Add/Refine/SBA: create Registration only once to avoid internal initialization for every link refined, added or rematched (e.g., SuperPoint or SuperGlue). 2025-05-17 16:34:31 -07:00
matlabbe f03139d4ff Update rtabmap_superpoint.py 2025-05-17 14:20:39 -07:00
matlabbe 96f8466fa7 Update rtabmap_superpoint.py 2025-05-17 14:16:13 -07:00
matlabbe 5b368fb2f1 Fixed DataRecorder UI asserting if data without images is received (in case of monocular or lidar-only recording). rtabmap-dataRecorder: added auto-close when end of stream is reached. rtabmap-reprocess: added ability to process images without odometry and to record localization poses with -p option in localizatiion mode. 2025-05-11 18:37:35 -07:00
matlabbe a3d4028faa Camera projection: Added max depth error option to colorize more points 2025-05-10 18:20:29 -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 d2a430ce57 Export: updated usage of --cam_projection_decimation 2025-05-01 20:44:29 -07:00
matlabbe 26f036173d export: fixed texture_depth_error=-1 2025-04-29 21:50:11 -07:00
matlabbe 16e21697f8 reprocess: fixed -cam_tf option when -cam option is not used at the same time 2025-04-28 15:23:12 -07:00
matlabbe af11afdc9a bump 0.21.13 for last noetic release 2025-04-27 15:27:52 -07:00
matlabbe 8cbee58f07 CI: removing 20.04 2025-04-27 10:37:12 -07:00
matlabbe 1731f91908 CI: removed deprecated ubuntu 20.04 2025-04-27 10:28:33 -07:00
matlabbe d639fcb8e7 CloudViewer: Should use refreshView with VTK>8 2025-04-24 15:44:21 -07:00
matlabbe 2c3f1458e7 Windows: fixing OdometryInfo missing symbols 2025-04-16 15:57:20 -07:00
matlabbe 3d968da30f GraphViewer: deprecating updatePosterior(), replaced by more general function updateNodeColorByValue() 2025-04-16 13:41:17 -07:00
matlabbe ccb6ce67d5 reprocess: added -cam_tf and -cam_tf_lens_offset options 2025-04-16 13:39:54 -07:00
matlabbe b5dce57be8 Computing BA correspondences: added option to use input link's transform as guess for feature matching 2025-04-14 10:28:12 -07:00
matlabbe 43c398a0de Fixed #1478 2025-04-14 10:23:18 -07:00
matlabbe 3678372981 Fising global descriptor type in database (#1485) 2025-04-14 09:53:56 -07:00
matlabbe 1d6c70c1db Removed parameter Vis/ForwardEstOnly. Added odometry statistics (matches,inliers,inliersRatio) per camera. Added OdometryInfo::statistics() function for convenience. 2025-04-14 09:52:41 -07:00
matlabbe b750e94eaa Fixed #1483. 2025-04-13 15:58:21 -07:00
matlabbe 08f031e11c Fixed build with boost >=1.87 2025-04-12 13:39:10 -07:00
matlabbe c0dc4b43f3 GPS prior: using altitude for z instead of odom z. 2025-04-05 16:42:38 -07:00
matlabbe 2d79689675 Increased min cmake version to 3.14 everywhere 2025-04-02 09:39:51 -07:00
matlabbe a7a2d66556 reprocess CLI: added more odom options 2025-04-01 18:02:47 -07:00
matlabbe 21fbf635b3 DBViewer: match highligthed node color with scan color 2025-03-30 14:12:22 -07:00
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