add pull request template

.github/pull_request_template.md

@@ -0,0 +1,7 @@
+## Description
+
+Please include a summary of the change and which issue is fixed (if any).
+
+## Checklist:
+
+- [ ] Did `pre-commit run --all-files` locally to fix any pre-commit failures on CI.

.github/workflows/pre-commit.yml

@@ -0,0 +1,16 @@
+name: pre-commit
+
+on:
+  pull_request:
+    branches: 
+      - '**'
+  push:
+    branches: [master]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v3
+    - uses: pre-commit/action@v3.0.1

.pre-commit-config.yaml

@@ -0,0 +1,31 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+
+exclude: '^build/|^data/|^app/|^archive/|^cmake_modules/|^\..*'
+
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.2.0
+    hooks:
+    -   id: trailing-whitespace
+    -   id: end-of-file-fixer
+    -   id: check-yaml
+    -   id: check-added-large-files
+
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.10
+    hooks:
+    -   id: cmake-format
+    -   id: cmake-lint
+
+-   repo: https://github.com/pryorda/dockerfilelint-precommit-hooks
+    rev: v0.1.0
+    hooks:
+    -   id: dockerfilelint
+
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.1
+    hooks:
+    -   id: clang-format
+        args: ["-style=Google", "-i"]
+        

CMakeLists.txt

@@ -1,5 +1,5 @@
 # Top-Level CmakeLists.txt
-cmake_minimum_required(VERSION 3.14)
+cmake_minimum_required(VERSION 3.10)
 PROJECT( RTABMap )
 SET(PROJECT_PREFIX rtabmap)
 
@@ -252,10 +252,10 @@ endif()
 
 FIND_PACKAGE(ZLIB REQUIRED QUIET)
 
-FIND_PACKAGE(SQLite3 QUIET)
+FIND_PACKAGE(Sqlite3 QUIET)
-IF(SQLite3_FOUND)
+IF(Sqlite3_FOUND)
-   MESSAGE(STATUS "Found SQLite3: ${SQLite3_INCLUDE_DIRS} ${SQLite3_LIBRARIES}")
+   MESSAGE(STATUS "Found Sqlite3: ${Sqlite3_INCLUDE_DIRS} ${Sqlite3_LIBRARIES}")
-ENDIF(SQLite3_FOUND)
+ENDIF(Sqlite3_FOUND)
 
 if(NOT "${PCL_LIBRARIES}" STREQUAL "")
    # fix libproj.so not found on Xenial
@@ -1332,10 +1332,10 @@ ELSE()
 MESSAGE(STATUS "  With Qt                   = NO (Qt not found)")
 ENDIF()
 
-IF(SQLite3_FOUND)
+IF(Sqlite3_FOUND)
 MESSAGE(STATUS "  With external SQLite3     = YES (License: Public Domain)")
 ELSE()
-MESSAGE(STATUS "  With external SQLite3     = NO (SQLite3 not found, internal version is used for convenience)")
+MESSAGE(STATUS "  With external SQLite3     = NO (sqlite3 not found, internal version is used for convenience)")
 ENDIF()
 
 IF(WITH_ORB_OCTREE)

cmake_modules/FindSqlite3.cmake

@@ -0,0 +1,30 @@
+# - Find Sqlite3
+# This module finds an installed Sqlite3 package.
+#
+# It sets the following variables:
+#  Sqlite3_FOUND       - Set to false, or undefined, if Sqlite3 isn't found.
+#  Sqlite3_INCLUDE_DIR - The Sqlite3 include directory.
+#  Sqlite3_LIBRARY     - The Sqlite3 library to link against.
+
+FIND_PATH(Sqlite3_INCLUDE_DIR sqlite3.h PATHS $ENV{Sqlite3_ROOT_DIR}/include $ENV{Sqlite3_ROOT_DIR})
+
+FIND_LIBRARY(Sqlite3_LIBRARY NAMES sqlite3 PATHS $ENV{Sqlite3_ROOT_DIR}/lib $ENV{Sqlite3_ROOT_DIR})
+
+IF (Sqlite3_INCLUDE_DIR AND Sqlite3_LIBRARY)
+   SET(Sqlite3_FOUND TRUE)
+   SET(Sqlite3_INCLUDE_DIRS ${Sqlite3_INCLUDE_DIR})
+   SET(Sqlite3_LIBRARIES ${Sqlite3_LIBRARY})
+ENDIF (Sqlite3_INCLUDE_DIR AND Sqlite3_LIBRARY)
+
+IF (Sqlite3_FOUND)
+   # show which Sqlite3 was found only if not quiet
+   IF (NOT Sqlite3_FIND_QUIETLY)
+      MESSAGE(STATUS "Found Sqlite3: ${Sqlite3_INCLUDE_DIRS} ${Sqlite3_LIBRARIES}")
+   ENDIF (NOT Sqlite3_FIND_QUIETLY)
+ELSE (Sqlite3_FOUND)
+   # fatal error if Sqlite3 is required but not found
+   IF (Sqlite3_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find Sqlite3")
+   ENDIF (Sqlite3_FIND_REQUIRED)
+ENDIF (Sqlite3_FOUND)
+

corelib/src/CMakeLists.txt

@@ -173,14 +173,14 @@ SET(PUBLIC_LIBRARIES
 	${PCL_LIBRARIES}
 )
 
-IF(SQLite3_FOUND)
+IF(Sqlite3_FOUND)
     SET(INCLUDE_DIRS
 		${INCLUDE_DIRS}
-		${SQLite3_INCLUDE_DIRS}
+		${Sqlite3_INCLUDE_DIRS}
 	)
 	SET(LIBRARIES
 		${LIBRARIES}
-		${SQLite3_LIBRARIES}
+		${Sqlite3_LIBRARIES}
 	)
 ELSE()
 	SET(SRC_FILES

corelib/src/Odometry.cpp

@@ -915,7 +915,6 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
 		{
 			UWARN("Odometry automatically reset to latest pose!");
 			this->reset(_pose);
-			_resetCurrentCount = _resetCountdown;
 			if(info)
 			{
 				*info = OdometryInfo();

docker/bionic/Dockerfile

@@ -24,8 +24,11 @@ ARG TARGETPLATFORM
 ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
 RUN echo "I am building for $TARGETPLATFORM"
 
-# cmake >=3.14 required
+# arm64
-RUN apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then ln -s /usr/bin/cmake ~/cmake; fi
+
+# cmake >=3.11 required for amd64 dependencies
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
     wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
     tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz && \
     rm cmake-3.17.0-Linux-x86_64.tar.gz &&\

docker/bionic/android/rtabmap_apiXX/rtabmap.bash

@@ -48,7 +48,7 @@ rm -r arengine
 
 # resource tool
 cd rtabmap-tango/build
-$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DANDROID_PREBUILD=ON ..
+cmake -DANDROID_PREBUILD=ON ..
 make
 cd ../..
 

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-1092</y>
             <width>713</width>
             <height>3933</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>23</number>
+                <number>21</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -23030,7 +23030,7 @@ Lower the ratio -&gt; higher the precision.</string>
                          <double>0.000000000000000</double>
                         </property>
                         <property name="maximum">
-                         <double>1000.000000000000000</double>
+                         <double>1.000000000000000</double>
                         </property>
                         <property name="singleStep">
                          <double>0.001000000000000</double>