rtabmap

Windows: fixed CameraRealSense2 driver freezing on close.

2020-07-01 20:58:04 -04:00

Windows: fixe build error (discrete_depth_distortion_model.h)

2017-05-18 16:23:39 -04:00

util3d::segmentObstaclesFromGround() fixed no ground returned if maximum ground height is set and the biggest plane was not under that height (e.g., ceiling having more points than ground)

2020-06-18 21:30:43 -04:00

odometry

OdometryF2M: refactored imu buffer

2020-05-31 14:33:20 -04:00

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

BayesFilter: improved performance when prediction didn't change or only a new id is appended to prediction. Memory: fixed seg fault when using local bundle adjustment on loop closure and memory management is enabled.

2018-11-06 14:45:57 -05:00

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

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

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

Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model.

2020-04-30 00:57:47 -04:00

CameraThread.h

UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.

2019-05-13 18:42:46 -04:00

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

0.20: added GlobalDescriptor table in database

2020-05-03 21:46:25 -04:00

DBDriverSqlite3.h

0.20: added GlobalDescriptor table in database

2020-05-03 21:46:25 -04:00

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

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

Features2d.h

Fixed build with OpenCV >= 3.4.11

2020-07-02 16:29:23 -04:00

FlannIndex.h

Update 0.15.4.

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

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

Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.

2019-05-31 15:36:35 -04:00

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

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

Link.h

Added rtabmap-info console tool

2020-04-24 13:45:41 -04:00

MarkerDetector.h

Added Aruco/MaxDepthError parameter

2019-03-01 18:34:49 -05:00

Memory.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

OccupancyGrid.h

Grid/OctoMap: updated update() interface to return boolean to know if the map has been updated

2019-03-19 14:10:30 -04:00

OctoMap.h

OctoMap::createCloud() added cloud probability output option.

2020-01-22 10:34:21 -05:00

Odometry.h

OdometryF2M: refactored imu buffer

2020-05-31 14:33:20 -04:00

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

Increased ros package version to 0.20.0. Parameters: fixed default feature detector when xfeatures2d is not found

2020-05-26 22:44:44 -04:00

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

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

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

0.19.5: added Icp/RangeMin and Icp/RangeMax parameters

2019-08-01 16:21:01 -04:00

RegistrationInfo.h

RegInfo: added icpStructuralDistribution info

2020-04-14 17:06:53 -04:00

RegistrationVis.h

Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.

2020-05-20 09:45:39 -04:00

Rtabmap.h

Rtabmap::getSignatureCopy() added withWords and withGlobalDescriptors options

2020-06-22 22:56:25 -04:00

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

0.20: added GlobalDescriptor table in database

2020-05-03 21:46:25 -04:00

Signature.h

CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).

2019-09-13 21:45:13 -04:00

Statistics.h

Statistics: Added Odometry_correction_acc_*

2020-06-18 14:47:00 -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

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

StereoDense.h

Added StereoSGBM (fixed #77 ) (#318 )

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

Transform.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

UserDataEvent.h

Updated Copyright year and About dialog summary

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

util2d.h

0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.

2019-11-03 14:10:02 -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

DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited

2020-02-13 17:32:39 -05:00

util3d_mapping.h

0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220 ). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213 ).

2018-04-04 19:14:13 -04:00

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

0.15.3: util3d::computeVarianceAndCorrespondences(): added max angle parameters for normal type. util3d::downsample(): added Normal types support. OccupancyGrid: fixed 2d scan with 5 channels not handled correctly on update.

2017-12-13 18:12:40 -05:00

util3d_surface.h

Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map.

2020-03-28 16:25:27 -04:00

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

DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited

2020-02-13 17:32:39 -05:00

VisualWord.h

Updated Copyright year and About dialog summary

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

VWDictionary.h

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