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Author SHA1 Message Date
matlabbe b6353d6cb3 Added testing to appveyor, github actions cancellable on re-commit on same branch 2025-12-21 19:00:16 -08:00
matlabbe 3f71fa4755 Added utilite tests 2025-12-21 18:51:49 -08:00
matlabbe fdec7829f2 source ros 2025-12-21 12:00:19 -08:00
matlabbe b8ecc36052 Merge branch 'master' of github.com:introlab/rtabmap into gtest 2025-12-21 11:59:54 -08:00
matlabbe 92aff2129f CameraOrbbec: support explicit rate on non-TOF cameras. (#1627) 
* 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.
 2025-12-21 11:52:38 -08:00
matlabbe af10d6b778 Reduced android-deps docker image size (fixing android CI out of space issue) 2025-12-20 18:50:36 -08:00
matlabbe 6f715b4a8d Merge branch 'v4hn-gtsam-4.3' 2025-12-20 14:48:30 -08:00
matlabbe 72bd453078 Fixing build with gtsam 4.3 binaries 2025-12-20 14:48:09 -08:00
matlabbe 86d5c99f5d Merge branch 'gtsam-4.3' of github.com:v4hn/rtabmap into v4hn-gtsam-4.3 2025-12-20 13:58:54 -08:00
matlabbe 07c3b8c901 updating words have changed with getNodeWordsAndGlobalDescriptors() 2025-12-18 17:09:06 -08:00
matlabbe 26573456c2 Fixed assert on words index <0 when addMoreLoopClosures is called 2025-12-18 16:38:13 -08:00
matlabbe af7ff60a6c Added missing cuvslam panel in UI 2025-12-15 15:12:06 -08:00
matlabbe 65867c47ae RegVis: updated error msg on 2D-2D estimation when there are not enough features (https://github.com/introlab/rtabmap_ros/issues/1381) 2025-12-03 21:52:47 -08:00
matlabbe c7da53ac3d Fixed regression when MapVisibility is not shown, poses are missing when exporting clouds #1625 2025-12-01 19:42:27 -08:00
matlabbe 16c0d2fec5 Removed gcc 4 constraint on unix (#1624) 2025-11-29 17:28:27 -08:00
matlabbe 90d7cc3045 Fixed cropBoxImpl() asserting when voxel filtering large 2D clouds (where min z == max z) 2025-11-28 14:41:39 -08:00
matlabbe 3268707c00 g2o: update initial pose estimate when prior is provided (https://github.com/introlab/rtabmap_ros/issues/1371) 2025-11-23 14:07:01 -08:00
matlabbe 3093df8e71 Localization: updated how poses with fixed priors are fed to optimization for faster convergence (see https://github.com/introlab/rtabmap_ros/issues/1371) 2025-11-23 13:47:15 -08:00
matlabbe 1edb6a8647 log msg typo 2025-11-23 12:03:17 -08:00
matlabbe 0bf2160939 Fixed odom cache overlay not visible 2025-11-23 11:33:26 -08:00
matlabbe e75baec73e Graph viewer optimizations (#1616) 
* DbViewer: coloring graph based on env sensor value (e.g., wifi signal strength)

* GraphViewer optimizations

* Fixed link memory allocation

* refactor

* more optimizations

* mainwindow keypoints optimization

* MainWindow optimizations

* Shrink graphics scene on clearAll
 2025-11-16 18:56:55 -08:00
matlabbe 82fb7ff5d2 DbViewer: coloring graph based on env sensor value (e.g., wifi signal strength) (#1613) 2025-11-16 11:37:47 -08:00
matlabbe e612d103bf ORB-SLAM3 IMU support fixes (#1612) 
* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible.

* Output error msg when vocabulary path is wrong.

* Showing full local feature map
 2025-11-11 14:09:13 -08:00
matlabbe c97f0c10dd Graph: reading pose format 10 or 12 from files saved with format 11 should work 2025-11-10 09:09:39 -08:00
matlabbe e3a60c8672 Set back min RGBD/LocalizationPriorError to 0.0001 (rtabmap_ros#1371) 2025-11-09 09:46:19 -08:00
matlabbe e9c6180d56 Prioritize neighbor links in Optimizer::getConnectedGraph() (#1610) 
* 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
 2025-11-08 10:58:34 -08:00
matlabbe f44a4fc478 GUI: disabling cuvslam from the detector comboboxes if not built with it. 2025-11-02 17:53:01 -08:00
matlabbe a20e161a5b Fixed a realsense2 camera crash on start. Refactored VINS-Fusion to always use rtabmap's calibration model no matter what (improved usability). Preferences/IMU: fixed publish inter imu checkbox disappearing if no imu filter is selected. 2025-11-01 13:07:50 -07:00
matlabbe b04f607828 fixed warning 2025-11-01 10:12:38 -07:00
matlabbe a3076392b5 Fixed RGBD/LocalizationPriorError not used when adding external links 2025-10-28 20:57:32 -07:00
matlabbe 210aadb92b RGBD/LinearUpdate and RGBD/AngularUpdate: updated description and now require both to be 0 to skip motion check. 2025-10-28 20:56:54 -07:00
matlabbe 1def668578 export: support --color_radius disabled (-1) 2025-10-20 20:27:14 -07:00
matlabbe b9d7e8077c DbViewer: fixed new priors added 2 times 2025-10-20 17:38:46 -07:00
matlabbe 098db33547 ios: updated rtabmap include path 2025-10-18 14:09:44 -07:00
matlabbe 5cc16e371c 0.23.2: make g2o sba type check more portable (vcpkg build issue) (#1597) 
* make g2o sba type check more portable

* try fixing latest g2o build
 2025-10-13 22:54:35 -07:00
matlabbe edebf18043 reprocess: handling Rtabmap/CreateIntermediateNodes when recomputing odometry 2025-10-13 15:46:58 -07:00
matlabbe 1c8ac2b82b report: missing end of line in help 2025-10-13 13:53:56 -07:00
matlabbe 17fc6e3485 OrbbecSDK: install extensions folder when packaging 2025-10-12 16:54:05 -07:00
matlabbe 4e5a094491 cleanup 2025-10-12 16:28:25 -07:00
matlabbe 56aa26ce1d MacOSX: fixed combined entitlements and bundle icon 2025-10-12 15:48:50 -07:00
matlabbe 739628aef9 MacOSX: added entitlements to access Documents and camera 2025-10-12 13:30:16 -07:00
matlabbe f54b7685f3 cmake: removed QUIET keywords on default OFF options 2025-10-12 10:35:30 -07:00
matlabbe 99471819d5 reprocess: accepting Identity covariance (cuvslam first frames) 2025-10-10 14:47:50 -07:00
matlabbe ad8bbdc4b2 reprocess: fixing lost odom recovery when -odom_guess_input option is used 2025-10-09 15:39:19 -07:00
matlabbe 059cda85dc reprocess: fixed crash when odometry returns empty covariance. Also added more checks about that in the code in general. 2025-10-09 14:44:13 -07:00
matlabbe d60c15593d reprocess: show number of sessions linked to last pose 2025-10-09 14:04:29 -07:00
matlabbe 1abb70ef36 Let rtabmap-reprocess return 0 when there is no error 2025-10-09 13:37:52 -07:00
matlabbe 40ac961079 Fixed typos 2025-10-09 11:03:04 -07:00
matlabbe f0dab18005 Orbbec SDK v2 integration (new CameraOrbbecSDK class) (#1590) 
* 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
 2025-10-07 10:22:16 -07:00
matlabbe 5f1eccb2cd Odom F2M always report 9999 when lost (#1589) 2025-10-02 09:07:58 -07:00
matlabbe 11577fb553 When external guess is provided, don't report lost for the first ever frame (only on reset). Updated Odom/ResetCountdown description. (#1588) 2025-10-01 10:27:24 -07:00
matlabbe 05f077b950 Fixed auto reset identity jump. If external guess, do not report lost on recovery after auto reset. (#1587) 2025-09-30 16:22:54 -07:00
matlabbe 0f37bafd66 Added source odometry guess option in standalone app 2025-09-28 16:31:42 -07:00
matlabbe a552bdfb2f GUI: Support Optimizer/Robust with RGBD/OptimizeMaxError at the same time. DBReader: fixed repeated odom covariance when Mem/ReduceGraph is used. Memory: avoid error msg when receiving frames without features while we expect odometry features. See also #1573 2025-09-24 23:24:32 -07:00
matlabbe c774ef641a rgbd_dataset: added support for rgbd_bonn ground truth format 2025-09-20 18:08:38 -07:00
matlabbe cb0cc9ed18 VINS Fusion overhaul (#1580) 
* Updated correct focal length used by VINS, updated VINS visualization.

* Renamed OdometryVINS to OdometryVINSFusion
 2025-09-14 19:29:28 -07:00
matlabbe 6a435c968f reorganized includes (added SYSTEM keyword) (#1578) 2025-09-13 15:58:40 -07:00
matlabbe a96d574517 ImageView: fixed assert when depth image is smaller than rgb image if depth colormap is projected in base frame 2025-09-12 10:49:08 -07:00
matlabbe 668494948c fixed build: missing fstream 2025-09-06 16:52:29 -07:00
matlabbe efcfb9be16 Export: added options to export 2D oocupancy grid (--map) and octomap (--octomap) 2025-09-06 16:30:01 -07:00
matlabbeandMathieu Labbe 4603f09389 Loading time optimization (#1569) 
* 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 <[email protected]>
 2025-09-03 16:55:54 -07:00
matlabbe 349580299c Fixing chessboard generation #1572 2025-09-03 15:59:37 -07:00
matlabbe 52e770e2d4 Update Dockerfile 2025-08-12 00:13:19 -07:00
matlabbe b9db73a239 devcontainer: don't mount Documents/RTAB-Map by default. latest_deps: using qt5 instead of qt6 because back window issue 2025-08-10 19:03:56 -07:00
matlabbe be5cd3998d Report: fixed gui not built with Qt6. Improved dev containers. Add latest deps dev container for convenience. 2025-08-10 17:00:34 -07:00
matlabbe 7d1a987d5d Planning: fix robot stuck when RGBD/LocalRadius is smaller than a link on the planned path. 2025-08-07 21:16:40 -07:00
matlabbe 4970474320 results_common.m fixed typo 2025-08-06 20:53:14 -07:00
matlabbe f2b9cc1cdd illumination invariant dataset: fixed typo 2025-08-06 20:29:22 -07:00
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 301b6bf49c cleanup 2025-07-07 23:03:35 -07:00
matlabbe 492c52bd5e added devcontainer kilted, fixed source setup.bash, removed ldconfig in ros-cmake workflow 2025-07-07 22:44:48 -07:00
matlabbe fcf7ca7e98 improved all devcontainer 2025-07-08 05:31:24 +00:00
matlabbe 1dda2c72f0 Passing tests on fical 2025-07-08 05:31:00 +00:00
matlabbe 8123a7f028 Added more logs in ros ci 2025-07-07 21:56:55 -07:00
matlabbe 276974c656 Merge branch 'master' of github.com:introlab/rtabmap into gtest 2025-07-07 21:25:33 -07:00
matlabbe f64c56a2cb Added doc for CameraModel and StereoCameraModel 2025-07-07 21:25:11 -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 d30e76bc7a Added Transform and VisualWord tests 2025-07-06 13:23:13 -07:00
matlabbe b8d253129c minimal util3d_surface.h 2025-07-06 12:02:09 -07:00
matlabbe d558c3a93b finished util3d_motion_estimation.h tests 2025-07-06 11:01:37 -07:00
matlabbe 3c5c00456b Added util3d_motion_estimation.h tests (2D->3D done) 2025-07-05 20:42:32 -07:00
matlabbe 7a7c33dd14 finished testing util3d_mapping.hpp 2025-07-05 13:05:35 -07:00
matlabbe 45f342cb41 Merge branch 'master' of github.com:introlab/rtabmap into gtest 2025-07-05 09:37:08 -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 442a868929 added doc/gtest for util3d_mapping.h (missing hpp functions) 2025-06-22 18:45:43 -07:00
matlabbe 114f673ec2 added doc/tests for util3d_correspondences.h 2025-06-22 15:04:03 -07:00
matlabbe 3ca3c37ee7 Added util3d_features.h doc/tests 2025-06-22 12:43:13 -07:00
matlabbe cb6cdcae90 Added util3d_registration tests 2025-06-21 20:12:02 -07:00
matlabbe 9335b9d816 added test for util2d::depthBleedingFiltering 2025-06-21 13:55:14 -07:00
matlabbe 7b1f37b8ee Merge branch 'master' of github.com:introlab/rtabmap into gtest 2025-06-21 13:45:01 -07:00