* 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)
* 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
* CI: only build noetic in noetic-devel branch
* fix ctor and dtor warning for UThreadC
* revert CI changes
---------
Co-authored-by: matlabbe <matlabbe@gmail.com>
* Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.
* ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way).
* Fixed compilation error without libpointmatcher
* CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.
* Fixed build without CCCoreLib
* Cleanup RegistrationIcp from third party functions.
* Preferences: disable libpointmatcher and cccorlib options if not available
Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500", "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".
BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
-CreateSimpleCalibrationDialog updated to create mono/stereo calibration files with advanced option (setting intrinsics of each camera + extrinsics between them). Rectification R and new camera P matrices are then automatically computed.
-Added GeodeticCoords class for convience conversion between GPS values (latitude/longitude/altitude) to local coordinate (ENU).
-Added support of Malaga Urban and St Lucia ground truths.
-CameraImages: added option to debayer images. Timestamps file: added support of "sec millisec" format.
-Added UException class: exceptions are sent instead of exiting the application on UASSERT or UFATAL.
Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
-Added parameter "Mem/ReduceGraph" with new link type (NeighborMerged)
-DatabaseViewer: add Info panel, fixed empty extracted database when "RGB images" is not checked
-ConsoleWidget: added buffer size and refresh rate options
-DBDriver: new database info getters
-Graph: added reduceGraph() method, added Dijsktra computePath() with links only
-Updated default parameters: RGBD/LocalLoopDetectionSpace=true, RGBD/LinearUpdate=0.1 and RGBD/AngularUpdate=0.1
-Goals are saved with label instead of ID if the target node has a label
-DataRecorder: fixed saving incrementally the database (instead of only at the end)
-MainWindow: When waypoints are used, resend the current goal (1 sec delay) if it has failed setting it
