* 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)
* 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
* Adding support for AprilTag v3 library
* New parameter: Marker/Strategy (default opencv-aruco as before). Optimized multicameras marker detection (do only once with stitched image)
* Exposed all AprilTag parameters. Sharing Marker/Dictionary between opencv and apriltag implementation. Added new Marker/Lengths parameter.
* Support AprilTAg library not built with aruco
* cleanup
* Added marker range support
* Make apriltag detection in same orientation than opencv
* fixed shenanigans when rendering markers with multi cameras
* Don't update odom cache (localization mode) when not moving (detecting loop/landmark or not)
* fixed some quirks (camera viewer + tag working)
* Setting quad decimate to 1 by default
* typo
* Implemented OptimizerG2O::loadGraph()
* added apriltag's aruco support info in the cmake config summary
* fixed warning
* fixed isam2 assert when using landmarks
* Fixed homography on multicam
* Adding marker detection time for convenience
* Added missing MIP 36h12 tag family in UI
* Avoid removing nodes from STM when using CreateIntermediateNodes
* Clean up the data of the intermediate node when IntermediateNodeDataKept is false
* Save intermediate node input features
* Don't delete intermediate nodes
* comment typo
* Updated parameter description, bump patch for DBReader API chang
* When ID is not udpated to new one, don't disable words because that signature is still used in the bayes filter
* updated comment
* rtabmap-reprocess: support Rtabmap/DetectionRate when intermediate nodes are created and -skip option is not used
* Fixed smallMovement when rehearsal is not trigdered at the same time
* GUI: visualize rehearsal darkblue when intermediate nodes are used
* Fixed RtabmapThread not transfering input features on intermediate nodes
* Do not override smallMovement and fastMovement when converting to intermediate nodes to keep GUI visualization color working
---------
Co-authored-by: Borong Yuan <yuanborong@hotmail.com>
* New rtabmap-reduceGraph CLI tool
* fixed some edge cases
* Regenerating optimized map if there was one before reducing the graph
* addMoreLoopClosures: refactored how ctrl-c is handled to stop faster when no loop closures are added
* Added kilted status
* Make offline tool always propagate neighbor merged links
* removed a parameter
* fixed disconnected graph
* fixed --help
* Added error log on Kp/NNStrategy not compatible with huge vocabulary. ReduceGraph/DetectMoreLoopClosures: Make sure original parameters are saved back on closing. g2o: fixing optimizer to Levenberg for SBA to avoid [SetJac] infinite jac fatal error.
* exposing neighbor merged ratio parameter to the tool
* show param in log
* refactored detectMoreLoopClosures to ignore too close nodes in terms of neighbor links based on Mem/STMSize parameter. Reduce graph: added direction parameter.
* Simplified: removed ratio parameter, removed recursive reduction. Just don't reduce if a NM link is longer than maxDistance.
* Removed NNStrategy override, as it was still done on closing when we changed back to original params
* DBViewer: show missing links when showing OptimizedPoses in GraphView, fixed clicking on landmark links
* DetectMoreLoopClosures: Added support for min graph distance option in MainWindow and DbViewer
* slight renaming of ROS jobs
* reprocess: added option --params_last
* CudaSIFT: filter doubles
* removed fixed threshold
* SSC can be used with multicameras. Refactored CudaSIFT to support SSC. Add new parameter SIFT/MaxGaussianThreshold. DbViewer: show negative features with gray color (so that we can know which features are in the vocabulary)
* Added SIFT/MaxGaussianThreshold parameter
* Updated parameter description
* Detect more loop closures from/to specific map ID only option
* default value -1
* Added elapsed time
* Avoid loading ALL signatures in RAM, only load them when necessary
* Avoid creating flann index when initializing with Kp/NNStrategy>=3
* Setting opt params by default
* rtabmap-rgbd_camera: added width/height options,
* using CameraViewer for visualization by default (use -pcl option for old visualization).
* CameraViewer: added capture and render rate.
* Note that non-TOF orbbec cameras could not be tested.
* Prioritize neighbor links in Optimizer::getConnectedGraph() to avoid odometry jumps.
* Fixed landmark order
* report: added search for first valid id
* Fixed non-neighbor comparison logic
* RGBD/LocalizationPriorError can now be 0 (disabled) to avoid using priors to fix the graph (https://github.com/introlab/rtabmap_ros/issues/1371)
* amend previous commit
* Orbbec SDK 2 integration (new CameraOrbbecSDK class)
* Added rectification option, fixed the build without orbbec sdk
* Fixed timestamp issue on Windows
* Removed WITH_ORBBEC_SDK=ON by default in case v1 is installed. Enabled inter imu when selecting orbbec sdk.
* requiring orbbec version=2 to avoid confusion
* Finalizing options
* On init, rebuild the dictionnary only once
* Fixed first dictionary update to avoid rebuilding multiple times. Commented some very verbose debug logs (should create a new level: UVERBOSE or UTRACE)
* bump version 0.23: added parameters "Mem/LoadVisualLocalFeaturesOnInit", "Mem/FlannIndexSaved", "Kp/SerializeWithChecksum".
* Renamed Mem/FlannIndexSaved to Kp/FlannIndexSaved. Update UI Preferences with new parameters.
* commented some very verbose debug logs
* Warn flann index serialization not implemented on windows
* Warn flann index deserialization not implemented on windows
* Removing some verbose logs
* missing header (win32)
* Added GlobalMap::fullUpdateNeeded() function
* Adding log
* Save flann index even if links changed
* log time to serialize flann index
* Make dictionary modified only after we update
---------
Co-authored-by: Mathieu Labbe <mathieu@robust.ai>
