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351c659beba8d0cde4748a2914cef96704dd3cce
rtabmap/corelib/include/rtabmap/core
History
matlabbe 351c659beb Integrated DepthAI (gen2) (#696) 
* Added OAK-D camera support (DepthAI)

* Fixed build without DepthAI dependency

* Added minimum version 2 for depthai

* fixed trusty build
2021-03-07 12:27:21 -05:00
..
camera
Integrated DepthAI (gen2) (#696)
2021-03-07 12:27:21 -05:00
clams
Windows: fixe build error (discrete_depth_distortion_model.h)
2017-05-18 16:23:39 -04:00
impl
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
odometry
Refactored how IMU is used in odometry (if guess is not set, use imu orientation for guess). Changed canProcessIMU() to canProcessAsynIMU() to make it more clear for odometry approaches able to process IMU between image frames (VIO approaches). ZedOC: fixed device closed if imu is not detected.
2021-03-01 19:27:24 -05:00
optimizer
Added OptimizerCeres class (Optimizer/Strategy=3)
2019-08-17 03:55:04 -04:00
stereo
Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation.
2020-06-30 23:18:31 -04:00
.gitignore
added some .gitignore
2014-11-25 17:08:42 -05:00
BayesFilter.h
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
Camera.h
Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames)
2020-06-08 11:40:47 -04:00
CameraEvent.h
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
CameraInfo.h
CameraStereoZed: added odomForce3DoF option
2019-01-28 17:05:15 -05:00
CameraModel.h
CameraK4A: added imu support with playback. Fixed windows build error.
2020-09-04 14:10:32 -04:00
CameraRGB.h
Camera refactoring (#315)
2018-10-01 19:33:56 -04:00
CameraRGBD.h
Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.
2019-07-09 20:48:09 -04:00
CameraStereo.h
Integrated DepthAI (gen2) (#696)
2021-03-07 12:27:21 -05:00
CameraThread.h
fixed build
2020-11-28 17:36:42 -05:00
Compression.h
0.15: statistics are now compressed in database. Eigen issue: using linear() instead of rotation() to get rotation from affine3f. Increased loading speed of statistics in DatabaseViewer. Added graph:calcRMSE().
2017-11-09 12:03:01 -05:00
DBDriver.h
Added Db/TargetVersion parameter (#652)
2020-12-03 15:45:40 -05:00
DBDriverSqlite3.h
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
DBReader.h
DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database.
2020-04-22 16:20:29 -04:00
EnvSensor.h
0.18: Camera calibration and LaserScan Info refactoring (#324)
2018-10-23 14:35:14 -04:00
EpipolarGeometry.h
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
Features2d.h
Added PyDetector (#677)
2021-01-17 01:56:27 -05:00
FlannIndex.h
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
GainCompensator.h
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.h
0.18: Camera calibration and LaserScan Info refactoring (#324)
2018-10-23 14:35:14 -04:00
GlobalDescriptor.h
0.20: added GlobalDescriptor table in database
2020-05-03 21:46:25 -04:00
GPS.h
0.18: Camera calibration and LaserScan Info refactoring (#324)
2018-10-23 14:35:14 -04:00
Graph.h
CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth.
2020-11-14 13:39:12 -05:00
Image.h
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
IMU.h
fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.
2019-05-31 16:51:37 -04:00
IMUFilter.h
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.h
0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).
2018-03-07 19:43:30 -05:00
Landmark.h
Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
2019-02-18 18:19:55 -05:00
LaserScan.h
util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.
2021-02-07 17:27:55 -05:00
Link.h
Added rtabmap-info console tool
2020-04-24 13:45:41 -04:00
MarkerDetector.h
Added Marker/MaxRange and Marker/MinRange parameters (#630)
2020-11-21 16:18:22 -05:00
Memory.h
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
OccupancyGrid.h
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
OctoMap.h
fixed #648 (build error without OctoMap dependency)
2020-11-30 12:33:08 -05:00
Odometry.h
Refactored how IMU is used in odometry (if guess is not set, use imu orientation for guess). Changed canProcessIMU() to canProcessAsynIMU() to make it more clear for odometry approaches able to process IMU between image frames (VIO approaches). ZedOC: fixed device closed if imu is not detected.
2021-03-01 19:27:24 -05:00
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
Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel.
2020-05-31 11:22:12 -04:00
OdometryThread.h
0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).
2018-03-07 19:43:30 -05:00
Optimizer.h
Added OptimizerCeres class (Optimizer/Strategy=3)
2019-08-17 03:55:04 -04:00
Parameters.h
Updated some RGBD/Proximity**** parameter descriptions. Added parameter RGBD/LoopClosureIdentityGuess. Fixed local map cleared in localization when RGBD/SavedLocalizationIgnored is true (should then assume it is starting from origin).
2021-03-04 11:26:35 -05:00
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
Coloring scan (camera projection on point cloud) (#693)
2021-03-01 09:56:37 -05:00
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
Added PyDetector (#677)
2021-01-17 01:56:27 -05:00
Recovery.h
Added rtabmap::databaseRecovery() function, added rtabmap-recovery tool, added "Database recovery" menu action in DbViewer
2017-10-11 19:36:00 -04:00
Registration.h
Update 0.15.4.
2018-02-01 22:17:46 -05:00
RegistrationIcp.h
Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.
2021-02-24 09:43:22 -05:00
RegistrationInfo.h
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
RegistrationVis.h
Added PyDetector (#677)
2021-01-17 01:56:27 -05:00
Rtabmap.h
Updated some RGBD/Proximity**** parameter descriptions. Added parameter RGBD/LoopClosureIdentityGuess. Fixed local map cleared in localization when RGBD/SavedLocalizationIgnored is true (should then assume it is starting from origin).
2021-03-04 11:26:35 -05:00
RtabmapEvent.h
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.
2016-11-21 17:09:04 -05:00
RtabmapExp.h
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
RtabmapThread.h
RtabmapThread: when receiving new map event from odometry, wait until the buffer has reached the corresponding timestamp before triggering a new map. DBReader: regenerate stamps when sync capture rate with stamps in database is false. MainWindow: ask for PNG or JPEG format when activating auto capture.
2017-12-11 17:09:04 -05:00
SensorData.h
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
Signature.h
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
Statistics.h
Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed().
2020-10-05 22:11:28 -04:00
Stereo.h
Stereo: min and max disparity parameters are now float. ImageView: adjusted background color of info boxes.
2017-11-14 11:36:37 -05:00
StereoCameraModel.h
Integrated DepthAI (gen2) (#696)
2021-03-07 12:27:21 -05:00
StereoDense.h
Added StereoSGBM (fixed #77) (#318)
2018-10-04 16:10:16 -04:00
Transform.h
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
UserDataEvent.h
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
util2d.h
fixed #648 (build error without OctoMap dependency)
2020-11-30 12:33:08 -05:00
util3d_correspondences.h
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
util3d_features.h
Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.
2020-05-19 15:01:50 -04:00
util3d_filtering.h
util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.
2021-02-07 17:27:55 -05:00
util3d_mapping.h
util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.
2021-02-07 17:27:55 -05:00
util3d_motion_estimation.h
0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".
2017-05-11 15:02:18 -04:00
util3d_registration.h
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.h
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_transforms.h
0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)
2018-02-16 19:20:54 -05:00
util3d.h
Coloring scan (camera projection on point cloud) (#693)
2021-03-01 09:56:37 -05:00
VisualWord.h
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
VWDictionary.h
Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed().
2020-10-05 22:11:28 -04:00