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5b985f69befdf282ff5b597eba0bb631c29bc161
rtabmap/corelib/src
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Borong Yuanandmatlabbe 5b985f69be Add params to filter out poor stereo flow matches (#1667) 
* Add params to filter out poor stereo flow matches

* Added parameters: Vis/CorFlowUseMinEigenVals, Vis/CorFlowMinEigThreshold, Vis/CorFlowErrorThreshold. Renamed Stereo/GetMinEigenVals to Stereo/UseMinEigenVals

* Setting suggested default value of 20 for Vis/CorFlowErrorThreshold

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
2026-03-17 21:53:14 -07:00
..
camera
Added realsense2 playback support (bag) (#1636)
2026-01-17 18:07:32 -08:00
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
Cleanup OccupancyGrid's cellCount_ unused member (#1639) (#1640)
2026-01-19 15:43:14 -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
DBReader: added ignore imu option, GUI: added tf overrides option (#1637)
2026-01-17 18:21:16 -08:00
opencv
Added stereo multi-camera support (#884)
2022-07-20 15:20:14 -04:00
optimizer
CudaSIFT: using abs(sharpness) instead of sharpness as response value (this slightly change how most significant features are retained with Vis/MaxFeatures or Kp/MaxFeatures). OptimizerTORO: changed a fatal log to error log when loading a link with not existing poses.
2026-02-05 15:45:29 -08:00
pcl18
LiDAR capture support in standalone library (#1264)
2024-04-14 19:06:04 -07:00
python
Adding OpenGV as submodule (optional) and use Github actions for windows CI (#1656)
2026-03-15 14:57:27 -07:00
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
Adding OpenGV as submodule (optional) and use Github actions for windows CI (#1656)
2026-03-15 14:57:27 -07:00
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
Read-only localization mode (#1643)
2026-01-22 15:59:55 -08:00
DBDriverSqlite3.cpp
Read-only localization mode (#1643)
2026-01-22 15:59:55 -08:00
DBReader.cpp
DBReader: added ignore imu option, GUI: added tf overrides option (#1637)
2026-01-17 18:21:16 -08:00
EpipolarGeometry.cpp
Increased version to 0.20.5
2020-10-05 17:34:32 -04:00
Features2d.cpp
CudaSIFT: using abs(sharpness) instead of sharpness as response value (this slightly change how most significant features are retained with Vis/MaxFeatures or Kp/MaxFeatures). OptimizerTORO: changed a fatal log to error log when loading a link with not existing poses.
2026-02-05 15:45:29 -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
Automated dictionary recovery/repairing (#1669)
2026-03-11 15:10:52 -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
CuVSLAM 14 Update (#1618)
2025-12-15 14:21:32 -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
DBReader: added ignore imu option, GUI: added tf overrides option (#1637)
2026-01-17 18:21:16 -08:00
RegistrationVis.cpp
Add params to filter out poor stereo flow matches (#1667)
2026-03-17 21:53:14 -07:00
Rtabmap.cpp
Detect more loop closures from/to specific map ID only option (#1653)
2026-02-13 10:49:12 -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 (https://github.com/flann-lib/flann/commit/b6e37553de0dd47dc8fc9035ba5aef163981b6a4)
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
Add params to filter out poor stereo flow matches (#1667)
2026-03-17 21:53:14 -07:00
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
DBReader: added ignore imu option, GUI: added tf overrides option (#1637)
2026-01-17 18:21:16 -08:00
util3d_filtering.cpp
Fixed cropBoxImpl() asserting when voxel filtering large 2D clouds (where min z == max z)
2025-11-28 14:41:39 -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
Automated dictionary recovery/repairing (#1669)
2026-03-11 15:10:52 -07:00