Borong Yuanandmatlabbe 0f56dd4b43 Fixed some issues related to intermediate nodes and retrieval/immunization (#1733) ...

* Allow ignoring intermediate nodes when calculating WM size

* Fix the retrieval logic to avoid unnecessary code execution

* Making getWorkingMemSize(true) complexity O(1)

* Updated statistics to show STM size, WM size, immunized nodes without intermediate nodes count. Added two new statistics to track number of intermediate nodes in STM and WM.

* Correct the condition for counting intermediate nodes

* Restore the logic of retrieval 2/3 to avoid affecting updateAge

---------

Co-authored-by: matlabbe <[email protected]>

2026-07-14 10:14:11 -07:00

..

camera

Windows CI: make vcpkg download compatible with draft release (#1727)

2026-07-04 18:16:37 -07:00

clams

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

global_map

Cleanup OccupancyGrid's cellCount_ unused member (#1639) (#1640)

2026-01-19 15:43:14 -08:00

impl

Add LIO-SAM as an odometry strategy (#1684)

2026-04-12 18:06:44 -07:00

lidar

Windows CI: make vcpkg download compatible with draft release (#1727)

2026-07-04 18:16:37 -07:00

odometry

Add LIO-SAM as an odometry strategy (#1684)

2026-04-12 18:06:44 -07:00

optimizer

Adding support for AprilTag v3 library (#1702)

2026-05-26 17:43:34 -07:00

stereo

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

BayesFilter.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

Camera.h

ORB-SLAM3 IMU support fixes (#1612)

2025-11-11 14:09:13 -08:00

CameraEvent.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

CameraInfo.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

CameraModel.h

CameraImages: support reading multicamera image and calibration files (#1721)

2026-06-23 19:13:18 -07:00

CameraRGB.h

Camera refactoring (#315)

2018-10-01 19:33:56 -04:00

CameraRGBD.h

Orbbec SDK v2 integration (new CameraOrbbecSDK class) (#1590)

2025-10-07 10:22:16 -07:00

CameraStereo.h

add xvDepthColor

2024-05-28 17:08:49 +08:00

CameraThread.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

Compression.h

add support for RVL depth image compression (#1409)

2024-12-15 18:35:05 -08:00

DBDriver.h

Read-only localization mode (#1643)

2026-01-22 15:59:55 -08:00

DBDriverSqlite3.h

Read-only localization mode (#1643)

2026-01-22 15:59:55 -08:00

DBReader.h

Save intermediate node input features (#1698)

2026-05-14 09:20:09 -07:00

EnvSensor.h

0.18: Camera calibration and LaserScan Info refactoring (#324)

2018-10-23 14:35:14 -04:00

EpipolarGeometry.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

Features2d.h

Cudasift tuning and SSC supporting multicameras (#1677)

2026-03-28 18:47:46 -07:00

FlannIndex.h

Loading time optimization (#1569)

2025-09-03 16:55:54 -07:00

GainCompensator.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

GeodeticCoords.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

GlobalDescriptor.h

GlobalDescriptor (PyDescriptor / netvlad) (#1163)

2024-04-07 15:48:16 -07:00

GlobalDescriptorExtractor.h

GlobalDescriptor (PyDescriptor / netvlad) (#1163)

2024-04-07 15:48:16 -07:00

GlobalMap.h

Loading time optimization (#1569)

2025-09-03 16:55:54 -07:00

GPS.h

0.18: Camera calibration and LaserScan Info refactoring (#324)

2018-10-23 14:35:14 -04:00

Graph.h

Auto graph repairing (#1691)

2026-05-04 16:02:55 -07:00

Image.h

Updated Copyright year and About dialog summary

2016-07-17 21:57:10 -04:00

IMU.h

Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698)

2021-03-09 16:00:41 -05:00

IMUFilter.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

IMUThread.h

Added IMU support for camera images source with odom approach not supporting async imu

2023-04-16 17:32:32 -07:00

Landmark.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

LaserScan.h

Add LIO-SAM as an odometry strategy (#1684)

2026-04-12 18:06:44 -07:00

LASWriter.h

iOS various updates (#1340)

2024-10-06 17:16:22 -07:00

Lidar.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

Link.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

LocalGrid.h

GridMap integration (#1180)

2023-12-17 22:44:11 -08:00

LocalGridMaker.h

GridMap integration (#1180)

2023-12-17 22:44:11 -08:00

MarkerDetector.h

Adding support for AprilTag v3 library (#1702)

2026-05-26 17:43:34 -07:00

Memory.h

Fixed some issues related to intermediate nodes and retrieval/immunization (#1733)

2026-07-14 10:14:11 -07:00

OccupancyGrid.h

GridMap integration (#1180)

2023-12-17 22:44:11 -08:00

OctoMap.h

GridMap integration (#1180)

2023-12-17 22:44:11 -08:00

Odometry.h

Add LIO-SAM as an odometry strategy (#1684)

2026-04-12 18:06:44 -07:00

OdometryEvent.h

Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.

2017-09-11 13:17:53 -04:00

OdometryInfo.h

Windows: fixing OdometryInfo missing symbols

2025-04-16 15:57:20 -07:00

OdometryThread.h

Added source odometry guess option in standalone app

2025-09-28 16:31:42 -07:00

Optimizer.h

Add/Refine/SBA: create Registration only once to avoid internal initialization for every link refined, added or rematched (e.g., SuperPoint or SuperGlue).

2025-05-17 16:34:31 -07:00

Parameters.h

OpenVINS config file support (#1719)

2026-06-13 16:20:37 -07:00

ParamEvent.h

Updated Copyright year and About dialog summary

2016-07-17 21:57:10 -04:00

ParticleFilter.h

Updated Copyright year and About dialog summary

2016-07-17 21:57:10 -04:00

PDALWriter.h

export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)

2021-09-07 15:57:23 -04:00

ProgressState.h

Added rtabmap::databaseRecovery() function, added rtabmap-recovery tool, added "Database recovery" menu action in DbViewer

2017-10-11 19:36:00 -04:00

PythonInterface.h

Windows: fixed missing exported symbols (PythonInterface)

2025-07-13 04:15:03 -07:00

Recovery.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

Registration.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

RegistrationIcp.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

RegistrationInfo.h

DBReader: added ignore imu option, GUI: added tf overrides option (#1637)

2026-01-17 18:21:16 -08:00

RegistrationVis.h

Add params to filter out poor stereo flow matches (#1667)

2026-03-17 21:53:14 -07:00

Rtabmap.h

Auto graph repairing (#1691)

2026-05-04 16:02:55 -07:00

RtabmapEvent.h

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

RtabmapThread.h

Support intermediate nodes with memory management enabled (#1687)

2026-04-19 16:08:03 -07:00

rvl_codec.h

add support for RVL depth image compression (#1409)

2024-12-15 18:35:05 -08:00

SensorCapture.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

SensorCaptureInfo.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

SensorCaptureThread.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

SensorData.h

Windows CI: make vcpkg download compatible with draft release (#1727)

2026-07-04 18:16:37 -07:00

SensorEvent.h

LiDAR capture support in standalone library (#1264)

2024-04-14 19:06:04 -07:00

Signature.h

Landmark constraints can now be rejected (in case we see same landmark at two different spots or constraint is poorly estimated). Optimizer/Robust can now be used with landmark constraints with orientation.

2024-04-06 13:41:03 -07:00

Statistics.h

Fixed some issues related to intermediate nodes and retrieval/immunization (#1733)

2026-07-14 10:14:11 -07:00

Stereo.h

Add params to filter out poor stereo flow matches (#1667)

2026-03-17 21:53:14 -07:00

StereoCameraModel.h

CameraImages: support reading multicamera image and calibration files (#1721)

2026-06-23 19:13:18 -07:00

StereoDense.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

Transform.h

Fix 6DoF graph angular check (#1511)

2025-05-24 13:25:26 -07:00

UserDataEvent.h

Updated Copyright year and About dialog summary

2016-07-17 21:57:10 -04:00

util2d.h

New feature: Depth confidence (#1520)

2025-06-01 14:14:29 -07:00

util3d_correspondences.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

util3d_features.h

DBReader: added ignore imu option, GUI: added tf overrides option (#1637)

2026-01-17 18:21:16 -08:00

util3d_filtering.h

0.21.9: Grid's noise filtering only done on indices below Grid/RangeMax (when set). We can then keep very far points that would be filtered otherwise, which are useful for ray tracing.

2024-11-28 20:58:40 -08:00

util3d_mapping.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

util3d_motion_estimation.h

Removed parameter Vis/ForwardEstOnly. Added odometry statistics (matches,inliers,inliersRatio) per camera. Added OdometryInfo::statistics() function for convenience.

2025-04-14 09:52:41 -07:00

util3d_registration.h

Added Icp/ReciprocalCorrespondences (new default true)

2023-04-06 20:57:35 -07:00

util3d_surface.h

iOS feb 2025 various updates (#1451)

2025-03-15 10:58:03 -07:00

util3d_transforms.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

util3d.h

Add LIO-SAM as an odometry strategy (#1684)

2026-04-12 18:06:44 -07:00

VisualWord.h

Refactoring RTABMapConfig.cmake with targets (#904)

2023-02-12 16:18:01 -08:00

VWDictionary.h

Automated dictionary recovery/repairing (#1669)

2026-03-11 15:10:52 -07:00