* added doc and tests for util2d.h
* updated cmake-ros ci
* Added util3d.h doc and tests
* util3d_transforms.h: Added doc and tests
* util3d_filtering.h: started doc and test
* util3d_filtering.h: more tests and doc
* Added more doc/tests
* finished util3d_filtering doc and tests
* added test for util2d::depthBleedingFiltering
* Added util3d_registration tests
* Added util3d_features.h doc/tests
* added doc/tests for util3d_correspondences.h
* added doc/gtest for util3d_mapping.h (missing hpp functions)
* finished testing util3d_mapping.hpp
* Added util3d_motion_estimation.h tests (2D->3D done)
* finished util3d_motion_estimation.h tests
* minimal util3d_surface.h
* Added Transform and VisualWord tests
* Added doc for CameraModel and StereoCameraModel
* Added more logs in ros ci
* Passing tests on fical
* improved all devcontainer
* added devcontainer kilted, fixed source setup.bash, removed ldconfig in ros-cmake workflow
* cleanup
* source ros
* Added utilite tests
* Added testing to appveyor, github actions cancellable on re-commit on same branch
* appveyor testing without all targets
* appveyor: specifying ALL_BUILD target
* Fixed Util2dTest.NMSImageBoundsRespected test
* Fixing PCL Indices error on old pcl
* Added VWDictionary tests and doc. Fixed LSH not working (fix from https://github.com/flann-lib/flann/pull/472
* fixing some appveyor CI errors, added test to check dictionary serialization against all type
* Added StereoDense, StereoBM and StereoSGBM doc and tests
* Added Stereo tests
* Added CameraModel and StereoCameraModel tests
* Added doc and test for Statistics
* Added doc/tests for Signature
* Added doc/test for SensorEvent, added doc for SensorCaptureInfo
* Added doc to SensorData
* Added SensorData tests
* Added SensorCapture and SensorCaptureThread doc and tests
* fixed sensordata test
* updated SSC test and doc
* Added doc and tests for BayesFilter class
* Enabled testing on mac, updated windows testing like on linux
* added test_link
* fixed unresolved on windows
* fixed ThreadHandle error on macos ci
* Added GPS and GeodeticCoords tests
* Added tests for compression
* Added Odometry tests (base class only)
* Added DBDriver tests
* Added coverage report
* uniformized test names
* fixing concurancy and coverage ci
* dont built tools, examples and app for coverage build
* fixed report tool rebuilt without qt compilation error
* updated coverage option
* updated coverage config
* added doc CI job
* fixing windows and mac ci errors
* Added DBDriverSqlite3 tests
* Added IMU tests
* Added Graph tests
* fixing flaky macos test
* Added IMUThread and IMUFilter tests
* Added Landmarks tests
* Added LASWriter tests
* fixing seed flaky test
* fixing flaky macos timing tests
* Added LocalGrid tests
* Added LocalGridMaker tests
* fixing ci errors
* Added GlobalMap tests
* Added doc for EnvSensor
* Added Features2D tests
* Added Registration tests
* Added RegistrationVis tests
* Added doc for Rtabmap and Memory classes
* Added Memory and Rtabmap tests
* making some tests less flaky
* lcov 1.14 support
* updated compatible tool arguments
* Added integration tests (RGB-D, Stereo, Lidar2d, Lidar3d)
* More octomap checks
* Refactored how/when python interpretor is created to simplify library usage
* Added python tests
* fixed some flaky tests
* suppressed some third party related warnings
* fixed ceres tests
* more flaky fixes
* Fixing tests without libpointmatcher
* Added RANSAC rejection filter to PCL ICP
* fixing multi platform flakiness
* Added test to detect regression
* Fixing windows pcl link error
* fixed some macos flakiness
* bigger 2D2D registration error on opencv 4.6.0
* flakiness
* fixing flaky tests on windows and mac
* flaky thread test on slow mac VM
* windows slow test
* fixing more ci erros
* fxing temp dir on windows
* Added Optimizer tests and discovered some bugs (fixed)
* fixing flaky tests in mac and windows
* Added Optimizer doc
* Added GTSAM BA, updated Ceres to use g2o ba parameters. Renamed g2o's ba related parameters to Optimizer group and used by both gtsam and ceres.
* fixing build without gtsam
* fixing home dir
* fixing python ci isssues
* Added multicam ba tests
* Added Ceres multicam BA support
* Aligned BundleAdjustment parameters with Optimizer/Strategy to avoid confusion in the code
* Added BA integration test
* Added robust graph optimization integration test
* Added loop3it test
* Added stereo20Hz test
* Added smartfactor gtsam
* Fixed bugged check and warn if python didn't return any descriptors
* Fixing gtsam version build issues
* fixing tilt on windows ci
* loosing ceres integration test for ci
* mac ci flakiness
* updating missing param in gui
* updating test bound for mac
* added appearance-based tests, set min gftt quality to quality level
* testing more stuff
* improving features2d tests
* ci flakiness
* fixing flaky ci
* ci fixes
* flaky fixes
* Added RegistrationIcp tests
* Added icp integration test with real-worl corridor like env
* intermediate nodes
* fixing enum
* Updated test to catch #1714
* Fixed 2d corridor failing on pcl
* flaky pnp test
* flaky brisk test
* Set rtabmap_integration test as long
* updating loop closure test
* flaky ci tests
* TEsting roundtrip g2o/toro save/load
* loosing test bound
* fixed cuda capable checks
* flaky tests
* Debugging test hanging
* more debugging stuff
* updating limit
* windows: disabled cuda on ci to avoid incompatible driver issue. Fixing a bad test mem allocation
* trying fixing cuda hanging issue
* fixing ci flakyness
* flaky tests
* Updated BOW flaky tests by checking min precision/recall instead of recall@100precision. Fixed signature test
* CameraModel::load() test initRectificationMap param
* test dbdriver load dictionary idsOnly
* Memory: test keepLinkedInDb param
* added dummyDictionary tests
* test intermediate nodes count
* Added MarkerDetector tests
* reverted breaking change of UMutex and USemaphore
* Features2d: fixed compiltion warnings with clang about override
* clang warnings
* fixing test build with pcl 1.8
* g2o and gtsam build errors on android
* opencv5 test fixes
* disabled testing for ios and android builds
* normalized endline characters for easier diff
* added LF CRLF rule
* bump 0.23.10. fixing doc version
* Publish rtabmap website doc from ci
* fixing MSCVC build error
* macos icp flaky test
* fixing ceres macos test bound
* ficing more flaky tests
* fixing opencv5 related test errors. Also fixed an actual bug in ENU_WGS84ToGeocentric_WGS84()
* added comment about mrpt change
* removed rosdoc2 (will add it for rtabmap_ros later)
* fixing website style
* updated download links
* locally deployable website with api
* sweep doxygen issues
* improved/revised doxygen main pages
* removed examples empty page
* Updated doxygen style
* more concise doxygen groups
* added api link on main readme
* fixing utilite test error
* fixing CommonFilteringGroundNormalsUp test
* updated precisionRecall test bounds for Freak and brief descriptors
* fixing scale check in ba tests
* disabled tests on windows cuda build (missing dlls amd runner cannot test cuda anyway)
* ceres: missing suitesparse dep in windows ci
* adjusting recall thr for fast/freak
* ficing more flaky tests
* fixing flaky tests
* disabled coverage in ros ci
* Enable integration tests for ros ci jobs
* loosing up some threshold for failing tests
* trigger cache
* fixing test data in ros ci. Updated flaky test for mac
* slaking some test limit
* Fixed rtabmap-detectMoreLoopClosures inverted output value
* loosing up sift recall on mac
* optimizer re-ordered distribution for reproducible results (mac g2o)
* macos dump test crash log
* combining all tests to save time on shared library reload. Also fixed Logs with missing arguments.
* Added ENABLE_FORMAT_ERRORS cmake option
* do test only one time
* fixed all format warnings
* format security android build errors
* less verbose tests
* updated ImuUThread test
* fixed a log
* Fixed libpointmatcher 2d normals eigen issue
* Fixing libpointmatcher conversion issues
* fixing libpointmatcher test on windows ci
* cleanup comments, relax some test thr
* disabled sequoia-intel ci build (too flaky, would need extensive testing directly on that machine)
* 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
* 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>
* 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
* 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>
* Added Odom Sensor option
* Odom Sensor: Added pose time offset parameter
* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)
* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.
* Fixed a warning
* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.
* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse
* Pose3GravityFactor: fixed dllimport error on windows
* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().
* Removed vtkOutputWindow on Windows
* Odom Sensor: added zed sdk support
* bump version 0.20.11
Referred issues:
#655https://github.com/introlab/rtabmap_ros/issues/492
Note: IMU not supported yet with ORB_SLAM3.
Commits:
* Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc.
* fixed regression build error with ORB_SLAM2
* Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
* Added CameraStereoZedOC (Zed Open Capture driver). Calibration: added stereo baseline option, show warning if fx is very different after stereo calibration.
* Fixed build without Zed Open Capture. Fixed "any" prefix added to all tools when WITH_ZEDOC=ON. UI: fixed Zed Open Capture action not disabled when not built with it.
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving).
* Working android app on non-tango android phones (tested on x86_64 android emulator).
* fixed typo
* android: updated tango not available msg
* android: fixed build with latest android sdk/ndk
* Added ARCore limited support for pose and rgb streams.
* Added AREngine support. Don't assert if depth size is not a modulo of rgb size.
* Added ARCore shared camera support
* android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue)
* ARCore NDK: mapping with feature point cloud
* android: Added post build strip command to reduce native library size
* android: fixed some compilation issues
* android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters
* AREngine: min api 24
* android: Fixed build without AREngine
* android: fixed not available libraries for API<24
* android: fixed build with old cmake versions
* android: set arcore min api to 23
* android: fixed arengine error on start when not built with native arengine support
* android: fixed tango camera permission for api>=23
* Added bionic android docker files
* Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size
* CameraMobile: added exact display rotation for local transform
* DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label
* Android: fixed localization mode in visualization, fixed some tansitions between some UI states
* Android: Hide stop button when HUD is hidden. Updated About years.
matlabbe