rtabmap

camera

Fixed a realsense2 camera crash on start. Refactored VINS-Fusion to always use rtabmap's calibration model no matter what (improved usability). Preferences/IMU: fixed publish inter imu checkbox disappearing if no imu filter is selected.

2025-11-01 13:07:50 -07:00

clams

CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.

2021-09-24 17:31:16 -04:00

global_map

Fixed all -Wtype-limits warnings

2024-11-15 14:13:13 -08:00

icp

ICP/intensity: Applying fix from #1111

2023-08-13 14:58:15 -07:00

imufilter

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

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

lidar

LiDAR capture support in standalone library (#1264 )

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

odometry

ORB-SLAM3 IMU support fixes (#1612 )

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

opencv

Added stereo multi-camera support (#884 )

2022-07-20 15:20:14 -04:00

optimizer

log msg typo

2025-11-23 12:03:17 -08:00

pcl18

LiDAR capture support in standalone library (#1264 )

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

python

Limit Max Features (#1614 )

2025-11-16 11:37:03 -08:00

resources

Loading time optimization (#1569 )

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

rtflann

Loading time optimization (#1569 )

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

sqlite3

Fixed sqlite3 warnings

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

stereo

Adding support for compressed input data and right color image. (#1463 )

2025-03-08 16:40:04 -08:00

superpoint_rpautrat

Limit Max Features (#1614 )

2025-11-16 11:37:03 -08:00

superpoint_torch

Handle edge case when SuperPoint detects only 1 keypoint (#1509 )

2025-05-24 15:38:44 -07:00

BayesFilter.cpp

Fixed android build

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

Camera.cpp

ORB-SLAM3 IMU support fixes (#1612 )

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

CameraModel.cpp

Loading time optimization (#1569 )

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

CMakeLists.txt

SuperPoint Rpautrat (MIT license) (#1603 )

2025-11-07 17:22:35 -08:00

Compression.cpp

add support for RVL depth image compression (#1409 )

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

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

Loading time optimization (#1569 )

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

DBDriverSqlite3.cpp

Loading time optimization (#1569 )

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

DBReader.cpp

reprocess: fixing lost odom recovery when -odom_guess_input option is used

2025-10-09 15:39:19 -07:00

EpipolarGeometry.cpp

Increased version to 0.20.5

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

Features2d.cpp

Limit Max Features (#1614 )

2025-11-16 11:37:03 -08:00

FlannIndex.cpp

Loading time optimization (#1569 )

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

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

GlobalDescriptorExtractor.cpp

GlobalDescriptor (PyDescriptor / netvlad) (#1163 )

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

GlobalMap.cpp

Graph viewer optimizations (#1616 )

2025-11-16 18:56:55 -08:00

Graph.cpp

Graph: reading pose format 10 or 12 from files saved with format 11 should work

2025-11-10 09:09:39 -08:00

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

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

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

LaserScan.cpp

LiDAR capture support in standalone library (#1264 )

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

LASWriter.cpp

iOS various updates (#1340 )

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

Link.cpp

report: added --gt option to input external ground truth file. DBViewer: fixed crash when unchecking "Ignore intermediate nodes".

2023-10-27 17:10:10 -07:00

LocalGrid.cpp

Loading time optimization (#1569 )

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

LocalGridMaker.cpp

GridMap integration (#1180 )

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

MarkerDetector.cpp

iOS feb 2025 various updates (#1451 )

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

Memory.cpp

GUI: Support Optimizer/Robust with RGBD/OptimizeMaxError at the same time. DBReader: fixed repeated odom covariance when Mem/ReduceGraph is used. Memory: avoid error msg when receiving frames without features while we expect odometry features. See also #1573

2025-09-24 23:24:32 -07:00

Odometry.cpp

CuVSLAM VO Strategy (#1583 )

2025-10-03 11:49:21 -07:00

OdometryInfo.cpp

reprocess: fixed crash when odometry returns empty covariance. Also added more checks about that in the code in general.

2025-10-09 14:44:13 -07:00

OdometryThread.cpp

reprocess: fixed crash when odometry returns empty covariance. Also added more checks about that in the code in general.

2025-10-09 14:44:13 -07:00

Optimizer.cpp

Prioritize neighbor links in Optimizer::getConnectedGraph() (#1610 )

2025-11-08 10:58:34 -08:00

Parameters.cpp

ORB-SLAM3 IMU support fixes (#1612 )

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

PDALWriter.cpp

ExportClouds: added support for LAZ format from PDAL

2025-03-29 19:08:32 -07:00

Recovery.cpp

LiDAR capture support in standalone library (#1264 )

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

Registration.cpp

Bump 0.20.19. OdomF2M: scale x0.1 covariance when local bundle adjustment is done. Rtabmap: fixed GT localization error when RGBD/MaxOdomCacheSize is used.

2022-02-06 17:41:53 -05:00

RegistrationIcp.cpp

LiDAR capture support in standalone library (#1264 )

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

RegistrationVis.cpp

SuperPoint Rpautrat (MIT license) (#1603 )

2025-11-07 17:22:35 -08:00

Rtabmap.cpp

Localization: updated how poses with fixed priors are fed to optimization for faster convergence (see https://github.com/introlab/rtabmap_ros/issues/1371 )

2025-11-23 13:47:15 -08:00

RtabmapThread.cpp

reprocess: fixed crash when odometry returns empty covariance. Also added more checks about that in the code in general.

2025-10-09 14:44:13 -07:00

rvl_codec.cpp

add support for RVL depth image compression (#1409 )

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

SensorCapture.cpp

LiDAR capture support in standalone library (#1264 )

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

SensorCaptureThread.cpp

Fixed a realsense2 camera crash on start. Refactored VINS-Fusion to always use rtabmap's calibration model no matter what (improved usability). Preferences/IMU: fixed publish inter imu checkbox disappearing if no imu filter is selected.

2025-11-01 13:07:50 -07:00

SensorData.cpp

Loading time optimization (#1569 )

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

Signature.cpp

Loading time optimization (#1569 )

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

SimpleIni.h

integrating c++17 fixes from #959 (ref:https://github.com/flann-lib/flann/pull/392 ), fixed pop_t error (b6e37553de)

2023-03-16 17:48:40 -07:00

Statistics.cpp

Refactoring RTABMapConfig.cmake with targets (#904 )

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

Stereo.cpp

Adding support for compressed input data and right color image. (#1463 )

2025-03-08 16:40:04 -08:00

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

Fix 6DoF graph angular check (#1511 )

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

util2d.cpp

New feature: Depth confidence (#1520 )

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

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

Fixed #1434 (gtsam very huge error estimated on aarch64), also decreased log level of voxel filtering to debug.

2025-01-09 16:57:51 -08:00

util3d_mapping.cpp

2d ray tracing: Fixed assert when viewpoint is farther than cellSize*10 from the pose.

2025-02-25 16:09:32 -08:00

util3d_motion_estimation.cpp

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.cpp

Added Icp/ReciprocalCorrespondences (new default true)

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

util3d_surface.cpp

export: fixed texture_depth_error=-1

2025-04-29 21:50:11 -07:00

util3d_transforms.cpp

Added stereo multi-camera support (#884 )

2022-07-20 15:20:14 -04:00

util3d.cpp

New feature: Depth confidence (#1520 )

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

VisualWord.cpp

Loading time optimization (#1569 )

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

VWDictionary.cpp

GUI: Support Optimizer/Robust with RGBD/OptimizeMaxError at the same time. DBReader: fixed repeated odom covariance when Mem/ReduceGraph is used. Memory: avoid error msg when receiving frames without features while we expect odometry features. See also #1573

2025-09-24 23:24:32 -07:00