rtabmap

camera

CameraStereoZed: added odomForce3DoF option

2019-01-28 17:05:15 -05:00

clams

Windows: fixe build error (discrete_depth_distortion_model.h)

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

impl

OccupancyGrid:segmentCloud() reset indices ptr to make sure the returned pointer is valid

2018-11-15 10:08:04 -05:00

odometry

Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.

2018-10-24 20:01:57 -04:00

optimizer

Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.

2018-10-24 20:01:57 -04:00

stereo

Added StereoSGBM (fixed #77 ) (#318 )

2018-10-04 16:10:16 -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

0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

2017-11-30 16:52:03 -05:00

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

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

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

CameraRGB.h

Camera refactoring (#315 )

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

CameraRGBD.h

Camera refactoring (#315 )

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

CameraStereo.h

Tara Camera added to Master branch (#331 )

2018-11-01 02:57:07 +12:00

CameraThread.h

CameraImages: moved scan filtering stuff to CameraThread

2019-01-15 15:41:07 -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

DbViewer: In graph view, nodes in latest working memory state are highlighted in red

2018-12-13 13:24:57 -05:00

DBDriverSqlite3.h

DbViewer: In graph view, nodes in latest working memory state are highlighted in red

2018-12-13 13:24:57 -05:00

DBReader.h

Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.

2017-02-15 19:07:10 -05:00

EnvSensor.h

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

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

EpipolarGeometry.h

Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.

2017-02-15 19:07:10 -05:00

Features2d.h

0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

2017-11-30 16:52:03 -05:00

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

GPS.h

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

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

Graph.h

exportGraph: added RGBD-SLAM format (10) without motion capture coordinate transformation (#332 )

2018-11-08 12:26:37 -05:00

Image.h

Updated Copyright year and About dialog summary

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

IMU.h

Working MSCKF

2018-07-18 16:15:41 -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

0.18.3: added landmarks (graph optimization, localization, navigation)

2018-12-07 18:29:41 -05:00

MarkerDetector.h

Added Aruco/MaxDepthError parameter

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

Memory.h

Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")

2019-02-18 18:19:55 -05:00

OccupancyGrid.h

Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269

2018-08-16 14:42:05 -04:00

OctoMap.h

OctoMap: fixed not dense empty cells

2018-12-07 19:50:15 -05:00

Odometry.h

0.18.2: Added Odom/GuessSmoothingDelay parameter

2018-11-21 11:57:04 -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

0.18.2: Added Odom/GuessSmoothingDelay parameter

2018-11-21 11:57:04 -05:00

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

0.18.3: added landmarks (graph optimization, localization, navigation)

2018-12-07 18:29:41 -05:00

Parameters.h

Added Aruco/MaxDepthError parameter

2019-03-01 18:34:49 -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

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

Update 0.15.4.

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

RegistrationInfo.h

Update 0.15.4.

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

RegistrationVis.h

Update 0.15.4.

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

Rtabmap.h

0.18.3: added landmarks (graph optimization, localization, navigation)

2018-12-07 18:29:41 -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

0.18.3: added landmarks (graph optimization, localization, navigation)

2018-12-07 18:29:41 -05:00

Signature.h

0.18.3: added landmarks (graph optimization, localization, navigation)

2018-12-07 18:29:41 -05:00

Statistics.h

Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")

2019-02-18 18:19:55 -05:00

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

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

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

StereoDense.h

Added StereoSGBM (fixed #77 ) (#318 )

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

Transform.h

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

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

UserDataEvent.h

Updated Copyright year and About dialog summary

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

util2d.h

0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

2017-11-30 16:52:03 -05:00

util3d_correspondences.h

Updated Copyright year and About dialog summary

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

util3d_features.h

Updated Copyright year and About dialog summary

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

util3d_filtering.h

util3d::downsample() added intensity type support

2019-02-20 17:53:53 -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

DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices.

2018-04-25 12:34:47 -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

Export: exporting with intensity for laser scans

2019-02-06 18:46:37 -05:00

VisualWord.h

Updated Copyright year and About dialog summary

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

VWDictionary.h

fixed a compilation warning and updated usage of benchmarking tools

2018-02-02 08:51:38 -05:00