rtabmap

camera

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

clams

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

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

imufilter

Allow partial support for AliceVision v2.3.0 (see #564 for remaining issues)

2020-11-20 13:42:56 -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

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

fixed #674

2021-01-11 11:38:31 -05:00

pcl18

Fixed build with pcl > 1.11.1 (#641 )

2020-11-14 16:52:01 -05:00

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

Added FLANN_KDTREE_MEM_OPT cmake option

2019-02-07 20:52:20 -05:00

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

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

CameraModel.cpp

Extract images: added timestamp.jpg/.png filname options (to match RGBD-SLAM pose format). Fixed wrong calibration file when first node is an intermdediate node. Export poses: ignore intermediate nodes when output frame is camera or scan.

2021-02-02 09:36:12 -05:00

CameraThread.cpp

util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.

2021-02-07 17:27:55 -05:00

CMakeLists.txt

CMake: updated to support latest g2oConfig.cmake (using targets)

2021-03-02 18:17:09 +00:00

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

Extract images: added timestamp.jpg/.png filname options (to match RGBD-SLAM pose format). Fixed wrong calibration file when first node is an intermdediate node. Export poses: ignore intermediate nodes when output frame is camera or scan.

2021-02-02 09:36:12 -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

Added rtabmap-info console tool

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

MarkerDetector.cpp

Fixed build

2020-11-21 17:12:09 -05:00

Memory.cpp

Fixed optimized map cleared when optimized graph is smaller than WM (poses should still refer to nodes in WM). Removed warning about max scan points smaller than actual scan (this can happen when assembling scans for proximity detection). Lowering default Icp/PMOutlierRatio to 0.85.

2021-02-12 18:40:40 -05:00

OccupancyGrid.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

OctoMap.cpp

fixed #648 (build error without OctoMap dependency)

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

Odometry.cpp

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

OdometryThread.cpp

CameraImages: support scan only dataset.

2021-01-24 13:21:30 -05:00

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 PyDetector (#677 )

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

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

Fixed Force4DoF param not used exception on older libpointmatcher versions

2021-03-02 17:27:25 -05:00

RegistrationVis.cpp

Added PyDetector (#677 )

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

Rtabmap.cpp

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

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

Added CameraStereoZedOC (Zed Open Capture driver).

2021-02-28 10:31:18 -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

util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.

2021-02-07 17:27:55 -05:00

util3d_mapping.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

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

Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.

2021-02-24 09:43:22 -05:00

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

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

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

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