* 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
* CameraImages: support reading multicamera image and calibration files
* Added multi camera support for CameraStereoImages. Refactored single calib per frame option.
* refactored
* refactor
* bump 0.23.8
* CI Ubuntu 26.04 / ROS2 Lyrical and Rolling
* Added resolute docker
* added skip keys
* rolling
* Disabling rolling
* Updated ci config
* Enabling docker build (no push) on PR
* cancel pr jobs on recommit
* Added resolute to docker ci matrix
* OpenGV min cmake version
* bump package.xml version
* enabling rolling
* refactored cmake ros ci jobs
* 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>
* correct the Jacobian calculation of GravityFactor
* reimplement GravityFactor's analytical Jacobian
* adopt some minor changes from the GTSAM mainline
* use GTSAM's native AttitudeFactor instead of GravityFactor
* add missing header file and namespace prefix
* Removed GravityFactor. Fixed build with latest GTSAM version from source. Require c++17 when building with GTSAM>=4.3.0.
* Fixed cmake error when gtsam is not installed
---------
Co-authored-by: matlabbe <matlabbe@gmail.com>
* Support intermediate nodes with memory management enabled
* Adding fix from #1686
* Fixed odomCache overlay shown in mapping mode
* Fixed local retrieval with intermediate nodes
* bumping version for updating API. Fixed getting graph error.
* Disable planning if intermediate nodes are there. Updated usage of Kp/BadSignRatio to support intermediate nodes.
* Added liosam odometry integration
* Add kXYZIRT scan format with per-point ring channel for LIO-SAM integration
Introduce PointXYZIRT point type and kXYZIRT LaserScan format (x,y,z,
intensity,ring,time) so that ring indices survive the scan pipeline.
Update OdometryLIOSAM to require kXYZIRT and properly split ring/time
into the parallel buffers LIO-SAM expects. Extend deskewing to preserve
ring data and disable base-class deskew in OdometryLIOSAM since LIO-SAM
handles it internally.
* Address PR review: config file, deferred init, and GUI panel for LIO-SAM
- Add OdomLIOSAM/ConfigPath parameter to load LIO-SAM settings from a
YAML file. When set, individual params are ignored. Extrinsics from
sensor local transforms always override config file values.
- Defer LioSamCore initialization until both IMU and lidar local
transforms are available, computing T_lidar_imu from sensor data.
IMU samples are buffered and replayed after init.
- Fix deferred init for scan-only messages that arrive after IMU
local transform is already cached.
- Add LIO-SAM entry to odometry strategy combo box (index 14) with
full PreferencesDialog panel including config path browse button
and all parameter widgets.
* OdometryLIOSAM: propagate deskewed scan to SensorData
Capture the deskewed cloud produced by LIO-SAM's image projection
stage and replace the raw scan on SensorData with it, so loop closure
registration and other downstream stages operate on the motion-
compensated points instead of the raw pre-deskew input.
* Minor updates for rtabmap_ros
---------
Co-authored-by: matlabbe <matlabbe@gmail.com>
* 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
* Read-only localization mode
* Localization: don't update map's node timestamps if statistic after run are not saved
* Updated Mem/LocalizationReadOnly description
* Updated description of Kp/FlannIndexSaved
* update cuvslam api call to adhere to new v4.0 changes
* update comment
* parse cuvslam major version from the header and throw an error if theversion doesn't match the expected
* moving average filter + extensive debug logging
* lots more logs
* improvement by turning off use_motion_model in cuvslam config. lots of debug logs.
* slight improvements to velocity guard logic. lots of debug logs
* removing debug logs. working.
* let find_package_handle_standard_args handle the version comparison logic. Custom logic to handle newer then requested major version
* proper warning message if the major version doesn't match
* add back debug logs. Handle no guess transform case.
* adding warnings when no guess transform is provided
* clean up comments
* lowering average window to 5
* moderate odometry mode, 5 value averaging window
* adding comment
* add reset logs to investigate reset issue
* try returning guess or identity on init to avoid reset cascade
* disable motion model again
* big log when tracking
* remove some debug logs
* flag to use original covariance from cuVSLAM
* use raw covariance
* data collection for revised lost detection
* compare guess to estimated transform for lost detection
* re-enable motion model, it appears to reduce false-positives for the new lost detection
* run pose estimation afer init on first frame
* don't initialize if we don't have enough features
* dont warm up GPU everytime we reset
* low estimate velocity guard. Passes all challenges. Debug comments still everywhere.
* Remove debug logs. Add thresholds to header in a config section.
* Cleanup logs
* exposing multi-cam mode as a rtabmap param
* remove max frame delta
* change to use assertion instead of conditional
* replaced some UERROR by UWARN
---------
Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>
* initial python implementation of superpoint rpautrat
* working python implementation of superpoint
* small tweaks to try and work around the GIL issue
* fix missing os import
* begging cpp impl of superpoint python model
* finishing cpp superpoint impl using the same SPDetector interface
* finalizing superpoint cpp impl, working with cpu but needs to be cleaned
* fixing feature matching by reworking nms and filtering logic
* speeding up nms with batched operations and cleaning up
* updating conversion script
* adding args for image dimensions and cuda usage to model tracer
* wiring up UI to parse superpoint params
* adding label to superpoint rpautrat ui
* reverting some unintended ui changes
* typo
* oneline revert
* removing nms and threshold filtering from cpp, this is handled internally by the superpoint model
* using python interface to run the superpoint _to_torchscript.py script at runtime
* generate and load model file on the first incoming frame
* reverting unintented change
* ui changes appear mysteriously again, reverting
* remove topk from model to prevent issue when number of detected keypoints is lower then the k value (scripting fails in this case)
* cleaning up for review
* change dest for model file and remove debug logs
* bump patch and add version comment
* rm unucessary comment
* use resources to load file to ensure it works when rtabmap isn't built from source
* execute with pybind runpy instead of system call
* only build superpoint rpautrat if we have torch and python support
* changing param to accept a path to the weights .pth file directly
* parse the default working directory to save the model file in
* rm extraneous change
* rm setters and re-initialize the detector whenever params change. We cannot support changing params after the model is constructed
* update UI text
* only enable superpoint rpautrat when built with python and torch
* more build information regarding superpoint rpautrat
* generate temporary python script in the working dir
* rm unecessary changes to rtabmap_superpoint.py
* fix comment and only add repo root to sys.path
* introduce a new parameter for the superpoint python model definition
* execute script from string instead of writing to a file
* wrap parse params in a single compiler directive
* remove descriptor spatial matching logic and rely on upstream RTAB-Map processes to take the top-K desc and kpts
* only add python script to resources if built with superpoint rpautrat support. supress warning with type casting
* isolate pybind11 setup so it can't affect any other modules or potential regnerations of the model file
* update about dialog to show superpoint rpautrat
* remove debug logs
---------
Co-authored-by: Felix Toft <felix@robust.ai>
* 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
* integrating cuvslam, stereo cam initialization
* fixing transformations
* use isaac ros TocuVSLAMPose
* organizing
* handling covariance conversion
* cleaning up config
* moving cmake instructions to FindCuVSLAM.cmake file
* fixing ui integration
* updating software license for cuvslam
* improving memory management
* cleaning up header more
* reverting mistake in GUI
* using opaque pointers for header definitions, compiles
* back to typed definitions using forward-referencing
* fixing dangling pointer
* cleaning up
* fixing variable scope issues
* Using cuda to allocate gpu memory
* fixing transfrom from cuvslam back to ros coordinate frame
* reducing excessive logs
* removing redundant if true in cuvslam cmake
* moving find cuda into cuvslam cmake
* cleaning cmake to use modern target
* adding copyright line
* Finding tf2 and eigen3 in cmake
* simplifying clean up logic
* better logs
* moving cuvslam implementation methods into cpp
* fixing build with implmentation function declarations moved to the cpp
* cleaning transformation logic and adding grayscale support
* typo
* removing unecessary class member variable for processed images
* remove trailing underscore from initialize cuvslam function signature
* locally scoping config params since they are copied by cuvslam
* removing unecessary member variables and using locally scoped values since cuvslam seems to copy them
* more cleaning and refactoring
* fixing cmake inconsistancies and surpress warning
* fixing up baseline transform
* trying to remove tf2 for transformations
* fixing incorect baseline transform swap
* comment, begin reset logic investigation
* better handling of previous pose and transform during error cases
* hunting for reset bug, not found
* observation export implementatin, currently getting strange errors
* multi cam support
* Memory fixes
* comments
* make cuda stream a member variable so it isn't initialized and destroyed on every frame
* preparing to add ground constraints
* adding ground constraints, working
* adding wheel odom fusion into cuvslam tracker
* parsing parameter to apply planar constraints
* removing planar constraint in config, doesn't do anything
* using proper cuda stream type for member variable
* cleaning up for merge
* only parse params when cuvslam is compiled
* updating error message if using rgb-d instead of stereo
* removing wheel odom testing logs
* reverting bgr to rgb conversion
* fixing initial pose logic
* return null transform on invalid covariance
* debugging covariance
* guard against low velocity situations where cuvslam covariance spikes, but we aren't lost
* cleaning things up
---------
Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>
* 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>
* 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
* 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
* 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
* Adding GFTT and SIFT Cuda support
* Working CudaSift
* Disable cudasift option when not available
* Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors
* Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv
* Refactored how maximum features are thresholded, to be more similar to OpenCV version
* Updated loop closure benchmark scripts
* Cuda optical flow tmp commit
* Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences)
* Fixed build without opencv cuda
* Fixed build with Opencv 4.10
* ZED: updated parameters to match zed sdk 4
* MRPT requires C++17
* updated max octave limit CudaSift
* Working rtabmap_lidar-mapping example (live and pcap)
* finalizing merge, added some deprecated
* fixed build
* Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI.
* backward compatibility
* fixed some not used variable warnings, fixed qt build for lidar mapping example
* Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8
* ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs.
* Working external lidar on iOS
* util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup
* fixed winsock include order
* reverted camera tool
* disable imu filtering when odom sensor is used
* Updated package version
* fixed windows build
* fixing more windows build erros
