rtabmap

CameraDepthAI: fixed imu transform and depth mode with latest depthai-core version

2022-03-06 22:25:01 -05:00

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

icp

CCCorelib: updated wrong output check. Updated RGBD/MaxOdomCacheSize approach to work properly with Rtabmap/CreateIntermediateNodes=true.

2022-01-28 14:48:32 -05:00

imufilter

Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698 )

2021-03-09 16:00:41 -05:00

odometry

ORBSLAM2: fixed build

2022-04-10 19:42:15 -04:00

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

Marker priors (#859 )

2022-04-28 09:18:30 -04:00

pcl18

ios first release

2021-06-08 00:06:49 -04:00

python

SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components.

2022-02-15 01:28:38 -05:00

resources

Added Db/TargetVersion parameter (#652 )

2020-12-03 15:45:40 -05:00

rtflann

Fixed compilation warnings

2022-01-16 15:27:52 -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

SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components.

2022-02-15 01:28:38 -05:00

BayesFilter.cpp

Fixed android build

2020-10-16 14:55:50 -04:00

Camera.cpp

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

CameraModel.cpp

GUI: Added Multi-Session Localization view. CameraModel: set localTransform to optical rotation in default constructor (fixed matrix invertion errors with code ignoring setting local transform), save/read local transform in/from camera calibration yaml file (so that local transform is also exported when extracting rgb/depth images). Rtabmap: in localization mode, ignore landmarks farther than RGBD/LocalRadius if no global loop closures are already in odometry cache.

2022-02-12 13:35:23 -05:00

CameraThread.cpp

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

CMakeLists.txt

Marker priors (#859 )

2022-04-28 09:18:30 -04:00

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

report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false.

2021-06-21 17:23:53 -04:00

DBDriverSqlite3.cpp

If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table.

2021-07-28 14:32:32 -04:00

DBReader.cpp

rtabmap/dbreader: save odometry covariance in pose prior link when in localization mode and saving localization data.

2022-02-06 20:17:46 -05:00

EpipolarGeometry.cpp

Increased version to 0.20.5

2020-10-05 17:34:32 -04:00

Features2d.cpp

Improved log error when ROI is set with SuperPoint (https://github.com/introlab/rtabmap_ros/issues/676 )

2021-11-14 20:26:42 -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

DBViewer: fixed kml export disabled for poses when there are gps values. Fixed commas used instead of dots for float in kml export on french machine.

2022-02-27 15:20:02 -05:00

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

Working MSCKF

2018-07-18 16:15:41 -04:00

LaserScan.cpp

Fixed compilation warnings

2022-01-16 15:27:52 -05:00

Link.cpp

ios first release

2021-06-08 00:06:49 -04:00

MarkerDetector.cpp

Fixed error: ‘drawAxis’ is not a member of ‘cv::aruco’ (opencv 4.5.5)

2022-05-10 22:47:15 -04:00

Memory.cpp

SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components.

2022-02-15 01:28:38 -05:00

OccupancyGrid.cpp

DBViewer: fixed grid cell size in 3D View. Memory/Grid, using Icp/PointToPlaneGroundNormalsUp parameter when normals are computed. Grid: fixed 2D noHit ray tracing.

2022-01-25 18:10:43 -05:00

OctoMap.cpp

OctoMap: fixed empty occupancy not correctly updated when ray tracing is done on more than one local map

2022-01-23 16:29:11 -05:00

Odometry.cpp

Added OdometryOpen3D

2021-11-13 19:45:57 -05:00

OdometryThread.cpp

Added OpenVINS minimal support (tested with EuRoC dataset)

2021-03-28 23:51:02 -04:00

Optimizer.cpp

Added RGBD/ProximityMergedScanCovFactor parameter. Localization: fixed output height when Reg/Force3DoF=true but input poses are 6DoF. Transform: added is3DoF() and is4DoF() functions. GTSAM: when Reg/Force3DoF=true, copy input roll,pitch,z values for output poses. RegIcp: fixed working memory dir '~' conversion. RGBD/ProximityGlobalScanMap: fixed map::at error when some nodes don't have scans.

2022-01-12 16:14:42 -05:00

Parameters.cpp

CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.

2021-11-05 18:05:50 -04:00

PDALWriter.cpp

export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)

2021-09-07 15:57:23 -04:00

Recovery.cpp

Recovery: original database is erased/replaced only after successful recovery (in case there is an seg fault during recovery).

2022-02-27 13:50:40 -05:00

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

Export: added random sample filter, added proportional radius filter, refactored when normals are computed (now after the clouds are assembled and voxelized), moved ceiling and floor filtering inside assembling loop.

2022-01-14 13:36:01 -05:00

RegistrationVis.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

Rtabmap.cpp

Fixed _markerPriorsLinearVariance not intitialized

2022-05-05 11:08:44 -04:00

RtabmapThread.cpp

Refactored graph::getPosesInRadius -> graph::findNearestPoses. Labels can be removed: added Remove label option in MainWindow. In localization mode, label set with id=0 is set to nearest node of current pose.

2022-01-20 18:56:38 -05:00

SensorData.cpp

Increased version to 0.20.5

2020-10-05 17:34:32 -04:00

Signature.cpp

Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 (https://github.com/introlab/rtabmap_ros/issues/668 ). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.

2021-12-05 17:38:53 -05:00

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

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

Added RGBD/ProximityMergedScanCovFactor parameter. Localization: fixed output height when Reg/Force3DoF=true but input poses are 6DoF. Transform: added is3DoF() and is4DoF() functions. GTSAM: when Reg/Force3DoF=true, copy input roll,pitch,z values for output poses. RegIcp: fixed working memory dir '~' conversion. RGBD/ProximityGlobalScanMap: fixed map::at error when some nodes don't have scans.

2022-01-12 16:14:42 -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

DBViewer: fixed grid cell size in 3D View. Memory/Grid, using Icp/PointToPlaneGroundNormalsUp parameter when normals are computed. Grid: fixed 2D noHit ray tracing.

2022-01-25 18:10:43 -05:00

util3d_mapping.cpp

DBViewer: fixed grid cell size in 3D View. Memory/Grid, using Icp/PointToPlaneGroundNormalsUp parameter when normals are computed. Grid: fixed 2D noHit ray tracing.

2022-01-25 18:10:43 -05:00

util3d_motion_estimation.cpp

Updated how covariance is computed for 2d-3d estimation without query's depth image available (instead of computed from reprojection error)

2022-02-05 16:41:43 -05:00

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

multiband: fixed error when intermediate nodes without data are in memory

2022-03-01 18:42:43 -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

android: fixed backward compatibility target folder for android <30. Open: files are sorted by last modified date.

2022-01-30 15:47:08 -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