rtabmap

camera

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

clams

Fixed compilation errors with OpenCV 4.0.0 (#309 )

2018-09-18 22:43:18 -04:00

imufilter

CameraRealSense2: Added Dual Mode (T265+D400)

2019-10-03 21:06:33 -04:00

odometry

IMU: removing yaw from local imu transform when creating gravity links

2020-04-10 19:24:45 -04:00

opencv

fixed #503

2020-04-02 15:07:32 -04:00

optimizer

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

pcl18

Added rtabmap::databaseRecovery() function, added rtabmap-recovery tool, added "Database recovery" menu action in DbViewer

2017-10-11 19:36:00 -04:00

resources

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

2018-12-07 18:29:41 -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

SuperPoint: fixed nms bug

2020-04-23 20:06:48 -04:00

BayesFilter.cpp

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.cpp

Camera: fixed freezing when changing online frame rate from non zero to zero

2018-11-10 11:43:58 -05:00

CameraModel.cpp

CameraModel: Fixed fisheye distortion params copy

2019-02-15 16:55:57 -05:00

CameraThread.cpp

GUI/Source: color only option now also available for stereo cameras (meaning only left frame published). Db: fixed non-valid 3d words saved when no ones were in the signature (on loading, we don't set words3 if they are all null).

2020-04-08 20:00:41 -04:00

CMakeLists.txt

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

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

DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features

2020-04-30 14:17:46 -04:00

DBDriverSqlite3.cpp

DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features

2020-04-30 14:17:46 -04:00

DBReader.cpp

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

EpipolarGeometry.cpp

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.cpp

RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted.

2020-04-30 15:07:32 -04:00

FlannIndex.cpp

Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset).

2019-08-14 12:09:56 -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

report tool: exporting poses in RGB-D dataset format by default, also exporting odom, slam and gt poses.

2019-09-29 19:38:54 -04:00

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 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.cpp

Added rtabmap-info console tool

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

MarkerDetector.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

Memory.cpp

RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted.

2020-04-30 15:07:32 -04:00

OccupancyGrid.cpp

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.cpp

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

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

Odometry.cpp

Odometry: rectify stereo images for convenience if Rtabmap/ImagesAlreadyRectified is false and odometry strategy cannot process raw images

2020-03-02 16:57:14 -05:00

OdometryThread.cpp

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

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

Optimizer.cpp

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

Parameters.cpp

0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration.

2020-04-16 17:59:45 -04:00

Recovery.cpp

Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info.

2018-02-20 17:33:48 -05:00

Registration.cpp

Removing redundant non null check before deleting a ptr in destructors #301

2018-08-09 15:53:47 -04:00

RegistrationIcp.cpp

RegInfo: added icpStructuralDistribution info

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

RegistrationVis.cpp

RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted.

2020-04-30 15:07:32 -04:00

Rtabmap.cpp

RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph).

2020-04-23 11:57:01 -04:00

RtabmapThread.cpp

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

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

SensorData.cpp

0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345 : both g2o and gtsam working with GPS. g2o: added gravity edges.

2019-04-09 20:05:24 -04:00

Signature.cpp

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

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 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

StereoDense.cpp

Added StereoSGBM (fixed #77 ) (#318 )

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

Transform.cpp

Deprecated getClosestTransform(), use getTransform() instead. OdometryF2M: removed patch about forcing roll/pitch from IMU (BA is already doing the job).

2019-09-15 17:31:58 -04:00

util2d.cpp

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.cpp

Updated Copyright year and About dialog summary

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

util3d_features.cpp

Tango refactoring (#534 )

2020-04-22 15:05:07 -04:00

util3d_filtering.cpp

Update downsampling filtering approach for ring-like lidars like the ouster

2020-02-21 15:01:31 -05:00

util3d_mapping.cpp

OctoMap: aligned 2D projection map with OctoMap

2019-02-12 15:36:28 -05:00

util3d_motion_estimation.cpp

New parameter: OdomF2M/ValidDepthRatio

2019-03-06 12:35:54 -05:00

util3d_registration.cpp

DbSqlite3: fixed Feature.depth_[x,y,z] not saving correctly NaN values (then NaNs were wrongly converted to 0 on reload). Gui: Added stereo exposure compensation option in Source panel.

2018-02-11 16:07:26 -05:00

util3d_surface.cpp

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.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

Tango refactoring (#534 )

2020-04-22 15:05:07 -04:00

VisualWord.cpp

Updated Copyright year and About dialog summary

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

VWDictionary.cpp

Dictionary: fixed L2SQR format for GPU BF

2020-04-23 22:56:42 -04:00