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Author SHA1 Message Date
matlabbe f4a60f0b6f CI: fixed fail-fast 2023-12-17 22:57:59 -08:00
matlabbe ade94cde1c disabling fail-fast on docker ci 2023-12-17 22:49:18 -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 be3e6c538c Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera (#1182) 
* splitting multicam generated clouds

* make sure returned cloud is valid (can be empty)
 2023-12-13 12:15:29 -08:00
matlabbe f56875db4a Preferences: Fixed recursive param update bug 2023-11-29 05:28:30 -08:00
matlabbe 3a7f88dc6c Updated error log that should not show up if Optimizer/Robust is true (#1172) 2023-11-28 13:29:33 -08:00
matlabbe 7ab1ee0a0b Update docker.yml 2023-11-23 18:25:50 -08:00
matlabbe fc8ead2237 Update docker.yml 2023-11-23 18:06:24 -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 9c56a429cc Localization: Refactored getConnectedGraph() for 2d slam and tags (https://github.com/introlab/rtabmap_ros/issues/1057). Transform: Fixed is3DoF() and is 4DoF() 2023-11-16 22:44:32 -08:00
matlabbe 4812ce4eaf Optimizer: fixed some constraints between same nodes with different type ignored. GraphViewer: fixed display of links between same nodes with different type 2023-11-12 17:14:17 -08:00
matlabbe 56552afa6c Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156) 
* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
 2023-11-05 15:14:11 -08:00
matlabbe 08d0ef7408 report: added --gt option to input external ground truth file. DBViewer: fixed crash when unchecking "Ignore intermediate nodes". 2023-10-27 17:10:10 -07:00
matlabbe 64962e8e3d Added multicameras support for F2F odometry / OpticalFlow 2023-10-25 14:54:20 -07:00
matlabbe 71bb0cf226 ios/android: fixed database loading failing when one node doesn't have any depth or scan (#1147). 2023-10-21 14:52:29 -07:00
matlabbe 78c029d833 fixed https://github.com/introlab/rtabmap_ros/issues/1038 2023-10-01 09:07:15 -07:00
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 fb466a6a96 StereoBM/StereoSGBM: Thresholding output to zero when minDisparity is used 2023-09-16 17:43:00 -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
matlabbe 39dedba93a workflow: removing EOL xenial 2023-09-14 08:44:26 -07:00
matlabbe 01c2e70b11 rtabmap-info: added --dump ini option 2023-09-08 14:53:21 -07:00
matlabbe fa4a2eb5e3 Fixed build on 22.04 caused by 9e86faa4ad 2023-09-07 10:29:18 -07:00
matlabbe 9e86faa4ad GraphView: added right-click option to export 2d grid map directly from the view 2023-09-07 09:10:04 -07:00
matlabbe e31eec2c55 docker: fixed typo jammy-iron-deps 2023-09-05 09:07:16 -07:00
matlabbe 2d7d0ec424 Fixed backward compatibility (xenial) from #1117 2023-09-05 08:51:57 -07:00
matlabbe 191e4250ef docker: Fixing jammy-iron build without arm64 2023-09-04 17:18:43 -07:00
matlabbe e56e0c37f7 Fixed https://github.com/introlab/rtabmap_ros/issues/1024 2023-09-04 11:55:52 -07:00
matlabbe 20ad6cca2c ros2/iron docker: disabled arm64 build for now (arm64 binaries not available) 2023-08-27 13:35:27 -07:00
matlabbe f90fede65c ci: added ros2 iron docker image 2023-08-27 12:38:24 -07:00
matlabbe cdd8cd9e34 ICP/intensity: Applying fix from #1111 2023-08-13 14:58:15 -07:00
matlabbe 6d36fc1fcd package.xml: Added ROS gtsam as dependency 2023-08-13 13:50:08 -07:00
matlabbe ba5579f063 Only remove compressed raw data when publish data is false (keep features/occupancy grid) 2023-08-11 16:31:26 -07:00
matlabbe 6395487b58 Stats: distance from last localization not increasing if small motion 2023-08-10 15:17:15 -07:00
matlabbe a94a4c9802 adding ros2 iron CI / docker, fixing #1103 2023-08-05 14:38:39 -07:00
matlabbe e2f037189a git push origin masterMerge branch 'borongyuan-msckf_vio_update' 2023-07-30 12:15:03 -07:00
matlabbe bcb29cfb66 msckf: backward compatibility update for euroc dataset evaluation 2023-07-30 12:14:35 -07:00
matlabbe d25bb758ca Merge branch 'msckf_vio_update' of https://github.com/borongyuan/rtabmap into borongyuan-msckf_vio_update 2023-07-30 11:43:06 -07:00
matlabbe 424dc90dce Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance) 2023-07-27 16:13:30 -07:00
matlabbe 446590b19f Merge branch 'guoqingzh-guoqingz/multi_noncentral' 2023-07-22 11:06:14 -04:00
matlabbe 3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
matlabbe a593b0d525 Merge branch 'guoqingz/multi_noncentral' of https://github.com/guoqingzh/rtabmap into guoqingzh-guoqingz/multi_noncentral 2023-07-21 11:35:26 -04:00
matlabbe ca4276a951 Merge branch 'borongyuan-oak-d-poe-update' 2023-07-21 09:10:27 -04:00
matlabbe e8b54de94a CameraDepthAi: Fixed buffered frames 2023-07-21 09:10:06 -04:00
matlabbe 64f79813cd Added error log message when graph optimization error is huge (error ratio over > 100) and RGBD/OptimizeMaxError is disabled. 2023-07-03 18:04:54 -07:00
matlabbe b8c298efd9 Added devcontainer 2023-07-02 23:49:02 -07:00
matlabbe 97be9d4ace Localization mode: Fixed proximity detection permanently disabled when Rtabmap/StartNewMapOnLoopClosure is true 2023-06-27 17:25:07 -07:00
matlabbe a1168ba8a9 docker: removed focal-foxy (EOL) 2023-06-27 12:14:00 -07:00
matlabbe c307f5c65f Removing foxy from CI (EOL) 2023-06-27 12:11:07 -07:00
matlabbe b0cf2e9927 Update cmake-ros.yml with setup-ros 0.6 2023-06-27 11:16:14 -07:00
matlabbe c7e46c1431 rgbddatset tool: removed local covariance logic. DBViewer: fixed poses not aligned to groundtruth on start. 2023-06-25 17:42:54 -07:00
matlabbe 092f6abccc fixed downstream python cmake not found (#1063) 2023-06-21 21:04:29 -07:00
matlabbe dcbad6a0aa NMS: optimized descriptor copy by rows 2023-06-20 21:52:43 -07:00
matlabbe 337832e1b8 Fixed NMS seg fault #1064 2023-06-20 20:53:32 -07:00
matlabbe d901fb23e3 Merge branch 'depthai-superpoint' of https://github.com/borongyuan/rtabmap into borongyuan-depthai-superpoint 2023-06-19 18:39:15 -07:00
matlabbe 59d5675fe6 docker: remixed where deps are built for convenience 2023-06-19 15:17:02 -07:00
matlabbe ab3ade0309 fixed #1051 2023-06-19 15:06:16 -07:00
matlabbe 33fb2f75ad Fixed Python.h not found error (#1054) 2023-06-17 15:46:44 -07:00
matlabbe 36c0054070 docker: focal-foxy-deps, switched opengv and opencv 2023-06-17 12:30:55 -07:00
matlabbe f75839294a Fixes for rtabmap_viz info sub only (with local cache) 2023-06-16 16:30:07 -07:00
matlabbe 0c476936e3 docker: added tegra path to LD_LIBRARY_PATH to images 2023-06-11 10:15:40 -07:00
matlabbe d86193036f docker ros2: fixed entrypoint.sh not exec 2023-06-11 10:02:17 -07:00
matlabbe 0c3b202006 fixed build with MRPT 2023-06-06 08:51:40 -07:00
matlabbe 1cc7c2818f Localization covariance empty till localization 2023-06-05 20:08:21 -07:00
matlabbe 1e145550df Merge branch 'borongyuan-alphascaling' 2023-06-05 19:01:42 -07:00
matlabbe 2a3580e060 Merge branch 'master' of https://github.com/introlab/rtabmap into borongyuan-alphascaling 2023-06-05 19:00:44 -07:00
matlabbe d3facb1a84 Added alpha=-1 option 2023-06-05 18:59:59 -07:00
matlabbe bf5c70d2e2 docker: fixed copy of ros_entrypoint.sh 2023-06-05 08:24:07 -07:00
matlabbe 7f7609075f docker: fixed humble->jammy 2023-06-04 21:04:21 -07:00
matlabbe cf49ebf238 Split ros2 docker images into 2 jobs for easier maintenance 2023-06-04 21:01:24 -07:00
matlabbe 879f0f6941 Merge branch 'alphascaling' of https://github.com/borongyuan/rtabmap into borongyuan-alphascaling 2023-06-04 16:14:24 -07:00
matlabbe af481fc730 docker/foxy: re-enabled opencv 2023-06-04 16:12:43 -07:00
matlabbe 1b67d6a86a Triggering focal-foxy docker 2023-06-01 19:38:15 -07:00
matlabbe bfc4e939d1 Docker: updated ros2 base image to support arm64 2023-05-29 23:24:47 -07:00
matlabbe d88c816ca1 Merge branch 'borongyuan-master' 2023-05-29 18:12:25 -07:00
matlabbe 5b1c9e7233 IMU board fix for original OAK-D 2023-05-29 17:02:53 -07:00
matlabbe ae3fda37a9 Fixed not invertible error ofter wrong graph optimization (seen on localization mode, gtsam returning inf poses) 2023-05-22 17:56:59 -07:00
matlabbe 263eb6fbde Update README.md 2023-05-15 11:10:28 -07:00
matlabbe e7d61b3856 Update README.md 2023-05-15 10:45:16 -07:00
matlabbe 682d54725a Fixed build with gtsam 4.3.0 (#1033) 2023-05-14 13:14:53 -07:00
matlabbe ba33c080bc Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032) 
* removed code

* added landmark in graph optimization checks

* reverted smoothing, only if there is already a previous localization link

* Added RGBDLocalizationSmoothing parameter

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml
 2023-05-14 13:03:52 -07:00
matlabbe 2da448f4ee Docker: updated latest_deps dockerfile 2023-05-14 12:20:00 -07:00
matlabbe 376c82325e docker/focal: re-enabling opencv for arm64 (CI time limit issue) 2023-05-09 09:05:49 -07:00
matlabbe 95f65e1599 docker/focal: temporary disable opencv on arm64 build 2023-05-08 23:40:36 -07:00
matlabbe 060af6f7bb docker: cleanup files with nvidia, see new instructions on the wiki (no need to make another image anymore). Added latest OpenCV with xfeatures2d+nonfree modules. 2023-05-07 18:41:44 -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 e54195c47f ZED SDK 4 support (#1013) 2023-04-16 18:47:15 -07:00
matlabbe e300d4c5c1 Added IMU support for camera images source with odom approach not supporting async imu 2023-04-16 17:32:32 -07:00
matlabbe b91addb261 GUI: create simple calibration->fixed optical rotation 2023-04-15 18:24:14 -07:00
matlabbe 0f221ba3cd ParametersToolbox: fixed unsigned int parameter type not showing in toolbox 2023-04-14 17:50:34 -07:00
matlabbe 0070de4aaf explicitly set deps to install instead of relying on buildfarm (#1012) 
* explicitly set deps to install instead of relying on buildfarm rtabmap (in case buildfarm build is failing)

* use rosdep instead

* missing rosdep update

* updated rosdep command

* removed rosdep init

* fixed qt_gui_cpp not found

* revert last commit, should be able to use qt_gui_cpp in rosdep

* removed deprecated 18.04
 2023-04-09 14:40:57 -07:00
matlabbe 11b4becdde bump 0.21.1 2023-04-09 12:00:53 -07:00
matlabbe 8b8a512cbb Added Icp/ReciprocalCorrespondences (new default true) 2023-04-06 20:57:35 -07:00
matlabbe 141f2d3334 DbViewer: added align gps checkbox 2023-04-05 22:19:54 -07:00
matlabbe 6dca8ab0f3 Fixed seg fault on start with >= VTK9.1, MACOSX: fixed bundle with homebrew 2023-03-25 22:41:28 -07:00
matlabbe fc7a6708c5 iOS: updated copyright years 2023-03-25 14:19:34 -07:00
matlabbe 11e5437eba iOS: Addressing #998 #1001 2023-03-25 14:11:42 -07:00