rtabmap

camera

CameraRealSense2: added support for device id like D435, t265, L515, d435i, d415 for convenience (if we have multiple D435, we still need to use on of the serials shown in log info when starting the driver)

2021-06-01 11:40:46 -04:00

clams

Fixed build with pcl 1.11 (#550 ). Fixed pcl 1.11 warnings (boost->std).

2020-05-27 16:35:33 -04:00

icp

icpCC: when force3DoF is true, set z to 0 in data conversion

2021-03-28 09:28:55 -04:00

imufilter

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

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

odometry

Added OpenVINS minimal support (tested with EuRoC dataset)

2021-03-28 23:51:02 -04:00

opencv

Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type.

2020-11-01 11:28:59 -05:00

optimizer

Odom sensor option (#726 )

2021-05-23 17:21:12 -04:00

pcl18

ios first release

2021-06-08 00:06:49 -04:00

python

Added PyDetector (#677 )

2021-01-17 01:56:27 -05:00

resources

Added Db/TargetVersion parameter (#652 )

2020-12-03 15:45:40 -05:00

rtflann

ios first release

2021-06-08 00:06:49 -04:00

sqlite3

Fixed sqlite3 warnings

2015-11-06 14:10:45 -05:00

stereo

Added StereoSGBM (fixed #77 ) (#318 )

2018-10-04 16:10:16 -04:00

superpoint_torch

Added PyDetector (#677 )

2021-01-17 01:56:27 -05:00

BayesFilter.cpp

Fixed android build

2020-10-16 14:55:50 -04:00

Camera.cpp

Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).

2021-05-26 13:40:46 -04:00

CameraModel.cpp

Odometry: when "Rtabmap/ImagesAlreadyRectified" is false and odometry strategy doesn't support raw images, added rectification for RGB-D data (only rgb rectified though) for convenience.

2021-06-01 14:33:17 -04:00

CameraThread.cpp

Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).

2021-05-26 13:40:46 -04:00

CMakeLists.txt

ios first release

2021-06-08 00:06:49 -04:00

Compression.cpp

Fixed PCL extract indices filter workaround for PointNormal type (not defined in current released PCL). Compression: Fixed OpenCV memory leak when converting uncompressed depth image to 32F format.

2018-02-13 12:36:23 -05:00

ConvertUTF.c

moved rtabmap-ros-pkg project in this project

2011-06-05 14:45:39 +00:00

ConvertUTF.h

moved rtabmap-ros-pkg project in this project

2011-06-05 14:45:39 +00:00

DBDriver.cpp

Added Db/TargetVersion parameter (#652 )

2020-12-03 15:45:40 -05:00

DBDriverSqlite3.cpp

Added Db/TargetVersion parameter (#652 )

2020-12-03 15:45:40 -05:00

DBReader.cpp

DBReader: set calibrated true when only scans in db. RegIcp: added intensity matching option when complexity is low. OdomF2M: accept first key frame on low complexity if a guess is provided. DbViewer: added gravity visualization in 3D view.

2021-02-01 11:31:45 -05:00

EpipolarGeometry.cpp

Increased version to 0.20.5

2020-10-05 17:34:32 -04:00

Features2d.cpp

Added PyDetector (#677 )

2021-01-17 01:56:27 -05:00

FlannIndex.cpp

Fixed android build

2020-10-16 14:55:50 -04:00

GainCompensator.cpp

Export: added rgb/gray gain compensation option, added maximum outout textures option (can be useful for #189 ).

2017-06-03 18:24:56 -04:00

GeodeticCoords.cpp

Integrated GPS into likelihood computation

2018-10-22 12:31:07 -04:00

Graph.cpp

Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID.

2021-04-13 15:49:04 -04:00

IMU.cpp

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

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

IMUFilter.cpp

Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.

2019-05-07 18:57:53 -04:00

IMUThread.cpp

Working MSCKF

2018-07-18 16:15:41 -04:00

LaserScan.cpp

Fixed create2DMap assert on 32FC2 when subscribing 2D scans with intensity. LaserScan: fixed assert when angle_min > angle_max (with angle_increment < 0)

2021-02-16 10:47:31 -05:00

Link.cpp

ios first release

2021-06-08 00:06:49 -04:00

MarkerDetector.cpp

ios first release

2021-06-08 00:06:49 -04:00

Memory.cpp

ios first release

2021-06-08 00:06:49 -04:00

OccupancyGrid.cpp

improve flood fill and move it to update function (#727 )

2021-05-30 10:12:07 -04:00

OctoMap.cpp

improve flood fill and move it to update function (#727 )

2021-05-30 10:12:07 -04:00

Odometry.cpp

Odometry: when "Rtabmap/ImagesAlreadyRectified" is false and odometry strategy doesn't support raw images, added rectification for RGB-D data (only rgb rectified though) for convenience.

2021-06-01 14:33:17 -04:00

OdometryThread.cpp

Added OpenVINS minimal support (tested with EuRoC dataset)

2021-03-28 23:51:02 -04:00

Optimizer.cpp

Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options.

2020-11-22 01:23:08 -05:00

Parameters.cpp

Added OpenVINS minimal support (tested with EuRoC dataset)

2021-03-28 23:51:02 -04:00

PDALWriter.cpp

Coloring scan (camera projection on point cloud) (#693 )

2021-03-01 09:56:37 -05:00

Recovery.cpp

Recovery: set back database in mapping mode after being saved in localization mode

2020-08-03 13:46:42 -04:00

Registration.cpp

Removing redundant non null check before deleting a ptr in destructors #301

2018-08-09 15:53:47 -04:00

RegistrationIcp.cpp

Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704 )

2021-03-27 15:11:20 -04:00

RegistrationVis.cpp

Added PyDetector (#677 )

2021-01-17 01:56:27 -05:00

Rtabmap.cpp

ios first release

2021-06-08 00:06:49 -04:00

RtabmapThread.cpp

Memory::getNeighborsId() fixed no link returned when looking in database

2020-05-30 09:20:32 -04:00

SensorData.cpp

Increased version to 0.20.5

2020-10-05 17:34:32 -04:00

Signature.cpp

Fixed android build

2020-10-16 14:55:50 -04:00

SimpleIni.h

removed doc @mainpage from SimpleIni.h

2014-12-05 13:16:36 -05:00

Statistics.cpp

Improved/optimized Rtabmap timing performance for large datasets

2018-11-09 17:28:55 -05:00

Stereo.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

StereoCameraModel.cpp

Integrated DepthAI (gen2) (#696 )

2021-03-07 12:27:21 -05:00

StereoDense.cpp

Added StereoSGBM (fixed #77 ) (#318 )

2018-10-04 16:10:16 -04:00

Transform.cpp

Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option.

2020-11-06 21:37:59 -05:00

util2d.cpp

fixed #648 (build error without OctoMap dependency)

2020-11-30 12:33:08 -05:00

util3d_correspondences.cpp

Fixed build with pcl 1.11 (#550 ). Fixed pcl 1.11 warnings (boost->std).

2020-05-27 16:35:33 -04:00

util3d_features.cpp

Fixed build with pcl 1.11 (#550 ). Fixed pcl 1.11 warnings (boost->std).

2020-05-27 16:35:33 -04:00

util3d_filtering.cpp

commonFiltering(): warn when normals could not be computed (returned all NaNs)

2021-05-16 11:58:17 -04:00

util3d_mapping.cpp

unknownSpaceFilled: refactored approach to fix the case of 360 scan with first ray y>=0 (turtlebot3 sim).

2021-05-27 18:19:34 -04:00

util3d_motion_estimation.cpp

Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538 ). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.

2020-05-09 21:13:41 -04:00

util3d_registration.cpp

Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans.

2020-11-28 17:28:34 -05:00

util3d_surface.cpp

ios first release

2021-06-08 00:06:49 -04:00

util3d_transforms.cpp

Fixed bug with proximity detection (with combined scans) giving wrong transform sometimes if RGBD/ProximityPathFilteringRadius was used (default true). Fixed util3d::computeNormalsComplexity() when scan has intensity.

2019-02-07 11:19:55 -05:00

util3d.cpp

DBViewer: added camera projection on scan option (GUI params). Fixed some deprecated warnings.

2021-04-19 18:14:20 -04:00

VisualWord.cpp

Fixed android build

2020-10-16 14:55:50 -04:00

VWDictionary.cpp

Fixed android build

2020-10-16 14:55:50 -04:00