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 )
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* 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 )
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* 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 )
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* 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 )
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* 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"
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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."
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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 )
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* 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 )
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* 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 )
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* 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