initial commit

.github/workflows/cmake-ros.yml

@@ -23,12 +23,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ humble, jazzy, rolling ]
+        ros_distribution: [ humble, jazzy, kilted, rolling ]
         include:
         - ros_distribution: 'humble'
           os: ubuntu-22.04
         - ros_distribution: 'jazzy'
           os: ubuntu-24.04
+        - ros_distribution: 'kilted'
+          os: ubuntu-24.04
         - ros_distribution: 'rolling'
           os: ubuntu-24.04
 

.github/workflows/docker.yml

@@ -15,14 +15,14 @@ jobs:
     #    $ sudo apt-get upgrade qemu-user-static
     #    $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
     # More info: https://github.com/introlab/rtabmap/issues/1454
-    if: false
+    # if: false
 
     runs-on: ubuntu-latest
     
     strategy:
       fail-fast: false
       matrix:
-        docker_tag: [focal-deps, jammy-deps, jammy-iron-deps, noble-deps]
+        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps]
         include:
         - docker_tag: focal-deps
           docker_tags: |
@@ -30,7 +30,6 @@ jobs:
           docker_platforms: |
             linux/amd64
             linux/arm64
-            linux/arm/v7
           docker_path: 'focal/deps'
         - docker_tag: jammy-deps
           docker_tags: |
@@ -39,12 +38,6 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'jammy/deps'
-        - docker_tag: jammy-iron-deps
-          docker_tags: |
-            introlab3it/rtabmap:jammy-iron-deps
-          docker_platforms: |
-            linux/amd64
-          docker_path: 'jammy-iron/deps'
         - docker_tag: noble-deps
           docker_tags: |
             introlab3it/rtabmap:noble-deps
@@ -52,6 +45,13 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'noble/deps'
+        - docker_tag: noble-kilted-deps
+          docker_tags: |
+            introlab3it/rtabmap:noble-kilted-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble-kilted/deps'
     
     steps:
       -
@@ -84,13 +84,13 @@ jobs:
           cache-to: type=inline
   
   docker:
-    #needs: docker_deps
+    needs: docker_deps
     runs-on: ubuntu-latest
     
     strategy:
       fail-fast: false
       matrix:
-        docker_tag: [bionic, focal, jammy, jammy-iron, noble, android23, android24, android26, android30]
+        docker_tag: [bionic, focal, jammy, noble, noble-kilted, android23, android24, android26, android30]
         include:
         - docker_tag: bionic
           docker_tags: |
@@ -112,7 +112,6 @@ jobs:
           docker_platforms: |
             linux/amd64
             linux/arm64
-            linux/arm/v7
           docker_path: 'focal'
         - docker_tag: jammy
           docker_tags: |
@@ -124,14 +123,6 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'jammy'
-        - docker_tag: jammy-iron
-          docker_tags: |
-            introlab3it/rtabmap:jammy-iron
-          docker_args: |
-            NOT_USED=0
-          docker_platforms: |
-            linux/amd64
-          docker_path: 'jammy-iron'
         - docker_tag: noble
           docker_tags: |
             introlab3it/rtabmap:noble
@@ -142,6 +133,15 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'noble'
+        - docker_tag: noble-kilted
+          docker_tags: |
+            introlab3it/rtabmap:noble-kilted
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble-kilted'
         - docker_tag: android23
           docker_tags: |
             introlab3it/rtabmap:android23

CMakeLists.txt

@@ -1410,11 +1410,11 @@ MESSAGE(STATUS "  With ORB OcTree           = NO (WITH_ORB_OCTREE=OFF)")
 ENDIF()
 
 IF(TORCH_FOUND)
-MESSAGE(STATUS "  With SupertPoint          = YES (License: GPLv3) libtorch=${Torch_VERSION}")
+MESSAGE(STATUS "  With SuperPoint          = YES (License: GPLv3) libtorch=${Torch_VERSION}")
 ELSEIF(NOT WITH_TORCH)
-MESSAGE(STATUS "  With SupertPoint          = NO (WITH_TORCH=OFF)")
+MESSAGE(STATUS "  With SuperPoint          = NO (WITH_TORCH=OFF)")
 ELSE()
-MESSAGE(STATUS "  With SupertPoint          = NO (libtorch not found)")
+MESSAGE(STATUS "  With SuperPoint          = NO (libtorch not found)")
 ENDIF()
 
 IF(WITH_PYTHON AND Python3_FOUND)

corelib/include/rtabmap/core/Rtabmap.h

@@ -50,6 +50,7 @@ class BayesFilter;
 class Signature;
 class Optimizer;
 class PythonInterface;
+class DBDriver;
 
 class RTABMAP_CORE_EXPORT Rtabmap
 {
@@ -371,6 +372,7 @@ private:
 	Transform _lastLocalizationPose; // Corrected odometry pose. In mapping mode, this corresponds to last pose return by getLocalOptimizedPoses().
 	int _lastLocalizationNodeId; // for localization mode
 	cv::Mat _localizationCovariance;
+	DBDriver * _externalLocalizationDbDriver;
 	std::map<int, std::pair<cv::Point3d, Transform> > _gpsGeocentricCache;
 	bool _currentSessionHasGPS;
 	LaserScan _globalScanMap;

corelib/src/Features2d.cpp

@@ -688,7 +688,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 #ifndef RTABMAP_TORCH
 	if(type == Feature2D::kFeatureSuperPointTorch)
 	{
-		UWARN("SupertPoint Torch feature cannot be used as RTAB-Map is not built with the option enabled. GFTT/ORB is used instead.");
+		UWARN("SuperPoint Torch feature cannot be used as RTAB-Map is not built with the option enabled. GFTT/ORB is used instead.");
 		type = Feature2D::kFeatureGfttOrb;
 	}
 #endif

corelib/src/Rtabmap.cpp

@@ -423,6 +423,32 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
 
 			if(_createGlobalScanMap)
 				createGlobalScanMap();
+
+			if(true)
+			{
+				std::string externalLocalizationDataPath = _wDir +"/rtabmap_log.db"; // use parameter to know prefix, then generate timestamp
+				_externalLocalizationDbDriver = DBDriver::create(allParameters);
+				if(!_externalLocalizationDbDriver->openConnection(externalLocalizationDataPath)) {
+					UERROR("Failed to create database \"%s\" to save external localization data!");
+				}
+				else
+				{
+					float x, y, resolution;
+					cv::Mat map = _memory->load2DMap(x, y, resolution);
+					if(!map.empty()) {
+						_externalLocalizationDbDriver->save2DMap(map, x, y, resolution);
+					}
+					if(!_optimizedPoses.empty()) {
+						_externalLocalizationDbDriver->saveOptimizedPoses(_optimizedPoses, _lastLocalizationPose);
+					}
+					if(!allParameters.empty())
+					{
+						ParametersMap params = allParameters;
+						params.erase(Parameters::kRtabmapWorkingDirectory()); // don't save working directory as it is machine dependent
+						_externalLocalizationDbDriver->addInfoAfterRun(0, 0, 0, 0, 0, params);
+					}
+				}
+			}
 		}
 		else
 		{
@@ -519,6 +545,9 @@ void Rtabmap::close(bool databaseSaved, const std::string & ouputDatabasePath)
 					_optimizedPoses.erase(iter->first);
 				}
 			}
+			if(!_memory->isIncremental() && _externalLocalizationDbDriver) {
+				_externalLocalizationDbDriver->saveOptimizedPoses(_optimizedPoses, _lastLocalizationPose);
+			}
 			_memory->saveOptimizedPoses(_optimizedPoses, _lastLocalizationPose);
 		}
 		_memory->close(databaseSaved, true, ouputDatabasePath);
@@ -528,6 +557,12 @@ void Rtabmap::close(bool databaseSaved, const std::string & ouputDatabasePath)
 	_optimizedPoses.clear();
 	_lastLocalizationPose.setNull();
 
+	if(_externalLocalizationDbDriver) {
+		_externalLocalizationDbDriver->closeConnection();
+		delete _externalLocalizationDbDriver;
+		_externalLocalizationDbDriver = 0;
+	}
+
 	if(_bayesFilter)
 	{
 		delete _bayesFilter;
@@ -4265,9 +4300,19 @@ bool Rtabmap::process(
 
 	// Localization mode and saving localization data: save odometry covariance in a prior link
 	// so that DBReader can republish the covariance of localization data
-	if(!_memory->isIncremental() && _memory->isLocalizationDataSaved() && !odomCovariance.empty())
+	if(!_memory->isIncremental())
 	{
-		_memory->addLink(Link(signature->id(), signature->id(), Link::kPosePrior, odomPose, odomCovariance.inv()));
+		if(_externalLocalizationDbDriver)
+		{
+			Signature * cpy = new Signature();
+			*cpy = *signature;
+			_externalLocalizationDbDriver->asyncSave(cpy);
+		}
+
+		if(_memory->isLocalizationDataSaved() && !odomCovariance.empty())
+		{
+			_memory->addLink(Link(signature->id(), signature->id(), Link::kPosePrior, odomPose, odomCovariance.inv()));
+		}
 	}
 
 	// remove last signature if the memory is not incremental or is a bad signature (if bad signatures are ignored)
@@ -4689,6 +4734,11 @@ bool Rtabmap::process(
 	{
 		_memory->saveStatistics(statistics_, _saveWMState);
 	}
+	
+	if(_externalLocalizationDbDriver) // external db log
+	{
+		_externalLocalizationDbDriver->addStatistics(statistics_, _saveWMState);
+	}
 
 	//Start trashing
 	UDEBUG("Empty trash...");

corelib/src/SensorData.cpp

@@ -306,7 +306,7 @@ void SensorData::setRGBDImage(
 	const std::vector<CameraModel> & models,
 	bool clearPreviousData)
 {
-	setRGBDImage(rgb, depth, models, clearPreviousData);
+	setRGBDImage(rgb, depth, cv::Mat(), models, clearPreviousData);
 }
 void SensorData::setRGBDImage(
 		const cv::Mat & rgb,

docker/bionic/Dockerfile

@@ -46,7 +46,7 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
     mkdir build && \
     cd build && \
     ~/cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r opengv
@@ -63,7 +63,7 @@ COPY . /root/rtabmap
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
     ~/cmake -DWITH_OPENGV=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \

docker/focal/Dockerfile

@@ -2,22 +2,6 @@
 
 FROM introlab3it/rtabmap:focal-deps
 
-# June 19 2023: moved opengv here so that focal-deps can be built on my computer. Not sure why but on my machine opengv arm64 fails, but not on CI.
-#commit Aug 6 2020
-RUN apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/
-RUN git clone https://github.com/laurentkneip/opengv.git && \
-    cd opengv && \
-    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
-    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
-    git apply opengv_disable_march_native.patch && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r opengv
-
 # Will be used to read/store databases on host
 RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 
@@ -28,7 +12,7 @@ COPY . /root/rtabmap
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
     cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \

docker/focal/deps/Dockerfile

@@ -10,6 +10,13 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 WORKDIR /root/
 
+# issue: https://github.com/introlab/rtabmap/issues/1523
+RUN rm /etc/apt/sources.list.d/ros1-latest.list || true && \
+    apt-get update && apt-get install -y curl && \
+    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
+    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
 # Install build dependencies
 RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \
     apt-get update && \
@@ -29,7 +36,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \
     export CFLAGS="-D_FILE_OFFSET_BITS=64" && \
     export CXXFLAGS="-D_FILE_OFFSET_BITS=64" && \
     ./bootstrap && \
-    make -j$(nproc) && \
+    make -j4 && \
     sudo make install && \
     cd .. && \
     cmake --version && \
@@ -52,7 +59,7 @@ RUN apt-get update && apt-get install -y ros-noetic-librealsense2 && \
 # Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
 # K4A binaries on 20.04 not released yet, we should take those from 18.04
 RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing k4a..." && \
-    apt-get update && apt-get install -y curl && \
+    apt-get update && \
     echo "Download libk4a1.3_1.3.0_amd64.deb..." && \
     curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3/libk4a1.3_1.3.0_amd64.deb > /tmp/libk4a1.3_1.3.0_amd64.deb && \
     echo "Download libk4a1.3-dev_1.3.0_amd64.deb..." && \
@@ -84,7 +91,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
     mkdir build && \
     cd build && \
     cmake .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r libfreenect2; fi
@@ -98,7 +105,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
     mkdir build && \
     cd build && \
     cmake .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r zed-open-capture; fi
@@ -117,7 +124,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
     mkdir build && \
     cd build && \
     cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r oiio; fi
@@ -127,7 +134,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
     mkdir build && \
     cd build && \
     cmake .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r assimp; fi
@@ -140,7 +147,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
     git apply geogram_8b2ae61.patch && \
     ./configure.sh && \
     cd build/Linux64-gcc-dynamic-Release && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r geogram; fi
@@ -148,12 +155,12 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
     cd AliceVision && \
     git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
     git submodule update -i && \
-    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/5e3437cf6229c8d534bbaee475ed9bcb92eb84a1/alicevision_0f6115b.patch && \
     git apply alicevision_0f6115b.patch && \
     mkdir build && \
     cd build && \
     cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r AliceVision; fi
@@ -164,11 +171,25 @@ RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
     mkdir build && \
     cd build && \
     cmake -DWITH_TBB=ON -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DWITH_VTK=OFF -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd ../.. && \
     rm -rf opencv opencv_contrib
 
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/; fi
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
 # for jetson (https://github.com/introlab/rtabmap/issues/776)

docker/jammy/Dockerfile

@@ -12,7 +12,7 @@ COPY . /root/rtabmap
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
     cmake -DWITH_OPENGV=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \

docker/jammy/deps/Dockerfile

@@ -49,7 +49,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
     mkdir build && \
     cd build && \
     cmake .. && \
-    make -j$(nproc) && \
+    make -j2 && \
     make install && \
     cd && \
     rm -r libfreenect2; fi
@@ -63,7 +63,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
     mkdir build && \
     cd build && \
     cmake .. && \
-    make -j$(nproc) && \
+    make -j2 && \
     make install && \
     cd && \
     rm -r zed-open-capture; fi
@@ -74,7 +74,7 @@ RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
     mkdir build && \
     cd build && \
     cmake -DWITH_TBB=ON -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
-    make -j$(nproc) && \
+    make -j2 && \
     make install && \
     cd ../.. && \
     rm -rf opencv opencv_contrib
@@ -90,14 +90,14 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
     mkdir build && \
     cd build && \
     cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j2 && \
     make install && \
     cd && \
     rm -r opengv
 
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
-COPY ./docker/jammy/deps/ros_entrypoint.sh /ros_entrypoint.sh
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/humble/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh
 ENTRYPOINT [ "/ros_entrypoint.sh" ]
 

docker/jammy/deps/ros_entrypoint.sh

@@ -1,6 +0,0 @@
-#!/bin/bash
-set -e
-
-# setup ros2 environment
-source "/opt/ros/humble/setup.bash" --
-exec "$@"

docker/noble-kilted/Dockerfile

@@ -0,0 +1,20 @@
+# Image: introlab3it/rtabmap:noble-kilted
+
+FROM introlab3it/rtabmap:noble-kilted-deps
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+

docker/noble-kilted/deps/Dockerfile

@@ -0,0 +1,132 @@
+
+# Image: introlab3it/rtabmap:noble-kilted-deps
+
+FROM ubuntu:24.04
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y \
+      git \
+      wget \
+      libtbb-dev \
+      libproj-dev \
+      libpcl-dev \
+      liboctomap-dev \
+      libfreenect-dev \
+      ros-kilted-ros-base \
+      ros-dev-tools \
+      ros-kilted-cv-bridge \
+      ros-kilted-image-geometry \
+      ros-kilted-laser-geometry \
+      ros-kilted-pcl-conversions \
+      ros-kilted-rviz-common \
+      ros-kilted-rviz-rendering \
+      ros-kilted-rviz-default-plugins \
+      ros-kilted-pcl-ros \
+      ros-kilted-imu-filter-madgwick \
+      ros-kilted-velodyne \
+      ros-kilted-image-transport \
+      ros-kilted-octomap-msgs \
+      ros-kilted-libg2o \
+      ros-kilted-libpointmatcher \
+      ros-kilted-qt-gui-cpp \
+      ros-kilted-diagnostic-updater && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM (we cannot use ros-kilted-gtsam on Noble because it is linked to a different internal Eigen version than system one)
+RUN git clone https://github.com/borglab/gtsam.git && \
+    cd gtsam && \
+    git checkout 4.2.0 && \ 
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+# OpenCV with all modules (same version than distro version to avoid conflicts with cv_bridge ros package)
+RUN git clone --branch 4.6.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.6.0 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    sed -i '/#include <libavformat\/avformat.h>/i #include <libavcodec/version.h>' modules/videoio/src/ffmpeg_codecs.hpp && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/kilted/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kilted/lib/x86_64-linux-gnu:/opt/ros/kilted/lib/aarch64-linux-gnu
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+

docker/noble/Dockerfile

@@ -2,20 +2,6 @@
 
 FROM introlab3it/rtabmap:noble-deps
 
-# OpenGV (issue seg fault on my computer, moved here from noble-deps to be built on ci)
-RUN git clone https://github.com/laurentkneip/opengv.git && \
-    cd opengv && \
-    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
-    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
-    git apply opengv_disable_march_native.patch && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r opengv
-
 # Will be used to read/store databases on host
 RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 
@@ -26,7 +12,7 @@ COPY . /root/rtabmap
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
     cmake -DWITH_OPENGV=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \

docker/noble/deps/Dockerfile

@@ -58,7 +58,7 @@ RUN git clone https://github.com/borglab/gtsam.git && \
     mkdir build && \
     cd build && \
     cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r gtsam
@@ -72,7 +72,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
     mkdir build && \
     cd build && \
     cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r libfreenect2; fi
@@ -86,29 +86,40 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
     mkdir build && \
     cd build && \
     cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd && \
     rm -r zed-open-capture; fi
 
 # OpenCV with all modules (same version than distro version to avoid conflicts with cv_bridge ros package)
-COPY ./docker/noble/deps/opencv_4_6_0_ffmpeg.patch .
 RUN git clone --branch 4.6.0 https://github.com/opencv/opencv.git && \
     git clone --branch 4.6.0 https://github.com/opencv/opencv_contrib.git && \
-    mv opencv_4_6_0_ffmpeg.patch opencv/. && \
     cd opencv && \
-    git apply opencv_4_6_0_ffmpeg.patch && \
+    sed -i '/#include <libavformat\/avformat.h>/i #include <libavcodec/version.h>' modules/videoio/src/ffmpeg_codecs.hpp && \
     mkdir build && \
     cd build && \
     cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
-    make -j$(nproc) && \
+    make -j4 && \
     make install && \
     cd ../.. && \
     rm -rf opencv opencv_contrib
 
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
-COPY ./docker/noble/deps/ros_entrypoint.sh /ros_entrypoint.sh
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/jazzy/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh
 ENTRYPOINT [ "/ros_entrypoint.sh" ]
 

docker/noble/deps/opencv_4_6_0_ffmpeg.patch

@@ -1,12 +0,0 @@
-diff --git a/modules/videoio/src/ffmpeg_codecs.hpp b/modules/videoio/src/ffmpeg_codecs.hpp
-index 61788e0345..faad2596ed 100644
---- a/modules/videoio/src/ffmpeg_codecs.hpp
-+++ b/modules/videoio/src/ffmpeg_codecs.hpp
-@@ -60,6 +60,7 @@ extern "C" {
- #include <errno.h>
- #endif
- 
-+#include <libavcodec/version.h>
- #include <libavformat/avformat.h>
- 
- #ifdef __cplusplus

docker/noble/deps/ros_entrypoint.sh

@@ -1,6 +0,0 @@
-#!/bin/bash
-set -e
-
-# setup ros2 environment
-source "/opt/ros/jazzy/setup.bash" --
-exec "$@"

guilib/include/rtabmap/gui/GraphViewer.h

@@ -80,6 +80,7 @@ public:
 	void updateLocalPath(const std::vector<int> & localPath);
 	void setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath);
 	void setCurrentGoalID(int id, const Transform & pose = Transform());
+	void setNodeInfo(int id, const QString & info);
 	void setLocalRadius(float radius);
 	void highlightNode(int nodeId, int highlightIndex);
 	void clearGraph();

guilib/src/GraphViewer.cpp

@@ -109,6 +109,10 @@ public:
 		_value = value;
 	}
 
+	void setToolTipInfo(const QString & info) {
+		_info = info;
+	}
+
 	void setRadius(float radius)
 	{
 		float r,p,yaw;
@@ -160,6 +164,10 @@ protected:
 		{
 			msg += QString("\n%1=%2").arg(_valueName).arg(_value);
 		}
+		if(!_info.isEmpty())
+		{
+			msg += QString("\n%1").arg(_info);
+		}
 
 		this->setToolTip(msg);
 		
@@ -181,6 +189,7 @@ private:
 	QGraphicsLineItem * _line;
 	QString _valueName;
 	float _value;
+	QString _info;
 };
 
 class NodeGPSItem: public NodeItem
@@ -522,6 +531,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 		}
 		iter.value()->hide();
 		iter.value()->setColor(color); // reset color
+		iter.value()->setToolTipInfo(QString());
 		iter.value()->setZValue(iter.key()<0?21:20);
 	}
 	for(QMultiMap<int, LinkItem*>::iterator iter = _linkItems.begin(); iter!=_linkItems.end(); ++iter)
@@ -1166,6 +1176,19 @@ void GraphViewer::setCurrentGoalID(int id, const Transform & pose)
 	}
 }
 
+void GraphViewer::setNodeInfo(int id, const QString & info)
+{
+	NodeItem * node = _nodeItems.value(id, 0);
+	if(node)
+	{
+		node->setToolTipInfo(info);
+	}
+	else
+	{
+		UWARN("Current goal %d not found in the graph", id);
+	}
+}
+
 void GraphViewer::setLocalRadius(float radius)
 {
 	_localRadius->setRect(-radius*100, -radius*100, radius*200, radius*200);

guilib/src/ui/preferencesDialog.ui

@@ -27222,13 +27222,13 @@ Lower the ratio -&gt; higher the precision.</string>
                  <item>
                   <widget class="QGroupBox" name="groupBox_detector_superpoint_torch2">
                    <property name="title">
-                    <string>SupertPoint Torch</string>
+                    <string>SuperPoint Torch</string>
                    </property>
                    <layout class="QVBoxLayout" name="verticalLayout_147">
                     <item>
                      <widget class="QLabel" name="label_575">
                       <property name="text">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;SupertPoint c++ implementation from &lt;a href=&quot;https://github.com/KinglittleQ/SuperPoint_SLAM&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPoint_SLAM&lt;/span&gt;&lt;/a&gt; project based on pytorch. A &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pt&lt;/span&gt; weights file can be downloaded from its Git. It should be the same weights file &lt;a href=&quot;https://pytorch.org/tutorials/advanced/cpp_export.html&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;converted&lt;/span&gt;&lt;/a&gt; from &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pth&lt;/span&gt; of the &lt;a href=&quot;https://github.com/magicleap/SuperPointPretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPointPretrainedNetwork&lt;/span&gt;&lt;/a&gt; project.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;SuperPoint c++ implementation from &lt;a href=&quot;https://github.com/KinglittleQ/SuperPoint_SLAM&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPoint_SLAM&lt;/span&gt;&lt;/a&gt; project based on pytorch. A &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pt&lt;/span&gt; weights file can be downloaded from its Git. It should be the same weights file &lt;a href=&quot;https://pytorch.org/tutorials/advanced/cpp_export.html&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;converted&lt;/span&gt;&lt;/a&gt; from &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pth&lt;/span&gt; of the &lt;a href=&quot;https://github.com/magicleap/SuperPointPretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPointPretrainedNetwork&lt;/span&gt;&lt;/a&gt; project.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
                       <property name="wordWrap">
                        <bool>true</bool>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>rtabmap</name>
-  <version>0.21.14</version>
+  <version>0.22.0</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>