i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity
3,666 Commits 29 Branches 163 Tags
e61a45e44fbe52a379066215c687c5e15fa7090f
Commit Graph

429 Commits

Author SHA1 Message Date
matlabbe
264c560a2c reverted 87faea7a85 for #783 (just don't include OptimizerCeres if -DWITH_CERES=OFF even if floam or okvis did include it) 2024-03-16 17:10:34 -07:00
matlabbe
1dadd50cf2 cmake: added VTK_GLOBAL_WARNING_DISPLAY option (default off) for VTK>=9 (https://github.com/introlab/rtabmap_ros/issues/1111) 2024-02-03 17:04:48 -08:00
matlabbe
a0559b156b Fixed #1196 2024-01-06 16:11:25 -08:00
matlabbe
79db6b2811 Fixed warning with vtk 7.1. Dont add target "uninstall" if already added from some cmake dependencies 2024-01-03 18:08:06 -08:00
matlabbe
ee09e92496 Fixed build on xenial, VTK<=7. 2023-12-19 19:39:50 -08:00
matlabbe
ec8f9fdcfd typo 2023-12-18 10:29:58 -08:00
matlabbe
71415992ac GridMap integration (#1180) 
* GridMap integration

* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.

* UI: Added elevation map visualization

* Added LocalGridCache class to share cache between global maps

* Fixed OctoMap nans. DbViewer: Added frontiers visualization.

* convenient functions for ros

* Small fix

* fixed build without GridMap

* CI disabled fail-fast

* CI updated checkout action to v4
 2023-12-17 22:44:11 -08:00
matlabbe
a1d43d2353 Remove default AUTOUIC=ON from all non-ui targets. Fixed yaml target not added correctly on Vcpkg. Fixed gui odom processing time. 2023-11-19 19:40:20 -08:00
matlabbe
aaff1abc4f Updating orbslam3 v1 support (#1152) 
* Refactoring ORB_SLAM3 integration. Fixed realsense2 inter IMU stamps.

* Renamed OdometryORBSLAM -> OdometryORBSLAM2

* revert a change

* Fixed build without orb_slam

* Source camera: added feature detection option

* Fixed jfr2018 docker files
 2023-11-19 01:05:52 -08:00
matlabbe
f1cd819673 Fixed superglue deadlock on standalone (#896). Fixed some elemSize opencv asserts in debug build (876) 2023-09-17 01:19:59 -07:00
matlabbe
0b7181fc88 Updated minimum cmake version for https://github.com/introlab/rtabmap/pull/1135#issuecomment-1719701828 2023-09-16 16:32:21 -07:00
matlabbe
97f2b4b65d Fixed autogen cmake warnings. Fixed pytorch requiring c++17. 2023-09-16 14:26:17 -07:00
cdb0y511
49daa211ea use CMAKE_AUTOUIC, CMAKE_AUTOMOC and CMAKE_AUTORCC (#1135) 2023-09-14 08:25:00 -07:00
matlabbe
2d7d0ec424 Fixed backward compatibility (xenial) from #1117 2023-09-05 08:51:57 -07:00
cdb0y511
6a5b844bac fix for Undefined symbols for architecture x86_64: "Nabo::NearestNeighbourSearch (#1117) 
related to https://github.com/ethz-asl/libpointmatcher/issues/514
employ fix from https://github.com/ethz-asl/libpointmatcher/pull/513
 2023-08-27 13:36:49 -07:00
Borong Yuan
f8b761d79b msckf_vio now supports c++14 2023-07-24 14:08:04 +08:00
matlabbe
3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
matlabbe
092f6abccc fixed downstream python cmake not found (#1063) 2023-06-21 21:04:29 -07:00
matlabbe
999c01d71d Fixed https://github.com/introlab/rtabmap_ros/issues/948 2023-05-06 12:45:36 -07:00
matlabbe
a54f76238b cmake: WITH_OPENGV=On by default 2023-04-30 14:33:58 -07:00
matlabbe
f8f6b7788a Fixed #1015 2023-04-16 18:59:18 -07:00
matlabbe
11b4becdde bump 0.21.1 2023-04-09 12:00:53 -07:00
matlabbe
51a7122dbe fixed cmake 2023-03-22 20:58:12 -07:00
matlabbe
d13f594d9c Fixed build with g2o binaries 2023-03-22 20:49:08 -07:00
matlabbe
85cc6fe3c7 fixed build with latest g2o c++17 (#999) 2023-03-22 20:42:33 -07:00
matlabbe
e3b7e9378d integrating c++17 fixes from #959 (ref:https://github.com/flann-lib/flann/pull/392), fixed pop_t error (b6e37553de) 2023-03-16 17:48:40 -07:00
matlabbe
53025bf059 Update for windows release: added FindEigen3.cmake so that g2oConfig.cmake can find Eigen3 not using targets from PCL install, hiding console when creating a bundle app in windows, disabled vtk console 2023-03-13 03:10:16 -07:00
matlabbe
3a3a4ed745 ubuntu 16.04: fixed cmake GREATER_EQUAL not defined 2023-03-05 17:46:01 -08:00
matlabbe
8c5c4f63bf Qt6 compatibility (#968) 
* Qt6 Compilation success

* Fixed qt5 backward compatibility

* Fixed build for qt<=5.9 (bionic)

* Added docker file for easy testing with latest Qt/VTK/PCL/OpenCV

* Fixed cmake for qt
 2023-03-05 16:34:56 -08:00
matlabbe
731d73b798 CMake Config: added "rtabmap::" prefix for all rtabmap's targets, provide RTABMap_TARGETS list (used by ROS2/ament to detect modern cmake packages). 2023-02-22 23:07:30 -08:00
matlabbe
7005a8aa2a fixed android prebuild error 2023-02-12 16:47:55 -08:00
matlabbe
89e3e10d89 Refactoring RTABMapConfig.cmake with targets (#904) 
* Config: Using cmake targets

* fixed RTABMAP_DEPRECATED build error

* fixed melodic build

* cleanup

* Fixed qhull exported library error

* Update svg depend private

* removed g2o from public interface

* Fixed Windows with external project

* removed some required dep

* Fixed nsis error (also fixed unspecified components)

* updated workflow rules
 2023-02-12 16:18:01 -08:00
matlabbe
2acd8f82b5 fixed #969 2023-02-08 19:02:42 -08:00
matlabbe
dcedd8bb6b Added MRPT optional dependency. Updated localization_pose + its covariance to be always published. 2023-02-03 17:25:38 -08:00
matlabbe
95e6a9f039 bump 0.20.23 2023-01-21 16:09:41 -08:00
reito
40ab33031b fix bigobj under MSVC, fix yaml-cpp link. (#957) 2023-01-21 15:50:02 -08:00
matlabbe
22917cc1c3 VTK9: Fixed vtkGUISupportQt -> VTK::GUISupportQt 2023-01-14 20:12:33 -08:00
matlabbe
1297714271 Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache. 2022-10-28 12:25:48 -07:00
matlabbe
87faea7a85 Fixed ceres linker issue with floam dependency (if WITH_CERES is OFF) 2022-09-27 23:35:13 +00:00
matlabbe
675dad5f76 Fixed compilation error about stereoCameraModel() not found (#905) with odometry approaches: Fovis, MSCKF, Okvis, VINS, Viso2. 2022-09-27 18:56:05 +00:00
matlabbe
fa31affea0 Pnp multicam refactoring (#902) 
* gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time)

* Added Vis/PnPMaxVariance and RGBD/InvertedReg parameters. Implemented inlier distribution computation for multicam.

* On loc/small displacement: don't remove from odom cache if loop is rejected (maybe first loc)

* Loc: don't prune odom cache on small movement if delayed loc is enabled

* loc/small movement: cleanup bidirectional links

* Cov/PnP: fixed objPt transform to estimate depth

Co-authored-by: mathieu86 <mathieu@robust.ai>
 2022-09-24 12:29:42 -07:00
matlabbe
33e54430a1 bump version 0.20.20 (api changes on CameraModel) 2022-07-28 10:51:13 -04:00
matlabbe
5943a8b065 Added stereo multi-camera support (#884) 
* Integrated OpenGV

* Fixed build without opengv

* Cmake: moved OpenGV dependency status under solvers group

* Added multi-stereocamera models support

* Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera.

* Fixed multicam 3d points generated from stereo correspondences

* db: Fixed multi stereo models not loaded correctly

* gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration)

* OdomF2M: Fixed map.at error when bundle adjustment is not used

* depthai: added imu firmware update option for convenience

* Fixed various refactor errors

* Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam

* Added error log if ba correspondences are computed with empty signatures

* fixed compilation errors with latest opencv

Co-authored-by: mathieu86 <mathieu@robust.ai>
 2022-07-20 15:20:14 -04:00
matlabbe
8f8256c1dd would fix: #618 #790 #795 (#871) 2022-05-30 07:24:04 -04:00
matlabbe
ff739a98a5 Removed opencv's optflow module from required dependency (https://github.com/introlab/rtabmap/issues/427#issuecomment-1058767133) 2022-03-07 00:12:56 -05:00
matlabbe
9bd758a62c SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components. 2022-02-15 01:28:38 -05:00
matlabbe
b44b212218 Bump 0.20.19. OdomF2M: scale x0.1 covariance when local bundle adjustment is done. Rtabmap: fixed GT localization error when RGBD/MaxOdomCacheSize is used. 2022-02-06 17:41:53 -05:00
matlabbe
c99203bbed CMake: added explicit opencv modules to avoid VTK6-VTK7 issues on Focal (vtk6 dependency coming with opencv_viz 4.2 module and vtk7 coming from PCL) 2022-02-01 13:40:02 -05:00
matlabbe
4d8c1d8b90 bump 0.20.18 2022-01-28 17:12:24 -05:00
matlabbe
03a106ea36 Fixed build without g2o 2022-01-15 13:00:12 -05:00