rtabmap

clams

Windows: fixe build error (discrete_depth_distortion_model.h)

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

impl

OccupancyGrid: updated parameters check

2017-08-04 11:41:50 -04:00

.gitignore

added some .gitignore

2014-11-25 17:08:42 -05:00

BayesFilter.h

Updated Copyright year and About dialog summary

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

Camera.h

Updated Copyright year and About dialog summary

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

CameraEvent.h

Updated Copyright year and About dialog summary

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

CameraInfo.h

Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters

2017-09-28 13:34:55 -04:00

CameraModel.h

Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy

2016-12-02 13:43:44 -05:00

CameraRGB.h

0.13.3: scan2d with normals support/registration

2017-08-28 16:40:07 -04:00

CameraRGBD.h

RealSense driver: added odometry option (ZR300)

2017-04-21 21:24:23 -04:00

CameraStereo.h

zed 2.0: fixed sensing mode order, fixed conversion from zed pose to transform (when zed odometry is enabled)

2017-04-18 20:16:04 -04:00

CameraThread.h

0.13.3: scan2d with normals support/registration

2017-08-28 16:40:07 -04:00

Compression.h

Updated Copyright year and About dialog summary

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

DBDriver.h

Added GPS class for convenience, database viewer can view GPS values and export to KML format

2017-09-26 14:13:06 -04:00

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

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

Added KAZE feature detector (OpenCV3)

2017-07-25 16:20:05 -04:00

FlannIndex.h

include list in FlannIndex.h

2016-08-31 15:06:50 -07:00

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

Added GPS class for convenience, database viewer can view GPS values and export to KML format

2017-09-26 14:13:06 -04:00

Graph.h

Added GPS class for convenience, database viewer can view GPS values and export to KML format

2017-09-26 14:13:06 -04:00

Image.h

Updated Copyright year and About dialog summary

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

LaserScanInfo.h

0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

2016-08-31 12:43:53 -04:00

Link.h

Added SensorData's globalPose and globalPoseCovariance field. Link: added new type PosePrior. g2o: adding edge prior for self-refering edges. Memory: adding self-refering link when SensorData's globalPose is set.

2017-05-22 21:05:34 -04:00

Memory.h

Added GPS class for convenience, database viewer can view GPS values and export to KML format

2017-09-26 14:13:06 -04:00

OccupancyGrid.h

CameraStereoZed: handling initialization failures

2017-07-31 14:11:32 -04:00

OctoMap.h

Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid).

2017-04-07 18:31:11 -04:00

Odometry.h

Odometry: 2D scans + normals support

2017-08-31 18:01:46 -04:00

OdometryDVO.h

Fixed compilation warning of not used variables when some odom approaches are not supported

2017-09-11 14:00:08 -04:00

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

OdometryF2F.h

0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.

2017-01-03 21:05:00 -05:00

OdometryF2M.h

Added Mem/LaserScanVoxelSize and OdomF2M/ScanSubtractAngle parameters. util3d::computeNormalsComplexity() now returns PCA's eigen vectors and values optionally. RegistrationIcp: detecting complexity of environment when PointToPLane is used, if too low, PointToPoint is done and movements are limited to main direction of the normals.

2017-09-19 14:15:17 -04:00

OdometryFovis.h

Fixed compilation warning of not used variables when some odom approaches are not supported

2017-09-11 14:00:08 -04:00

OdometryInfo.h

Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.

2017-09-11 13:17:53 -04:00

OdometryMono.h

Updated Copyright year and About dialog summary

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

OdometryORBSLAM2.h

Added GPS class for convenience, database viewer can view GPS values and export to KML format

2017-09-26 14:13:06 -04:00

OdometryThread.h

Fixed ProximityByTime wrong guess transform. Fixed Icp correspondence ratio computation when using voxel filter. OdometryResetEvent: added pose to constructor.

2017-08-15 15:26:03 -04:00

OdometryViso2.h

Fixed compilation warning of not used variables when some odom approaches are not supported

2017-09-11 14:00:08 -04:00

Optimizer.h

Added GPS class for convenience, database viewer can view GPS values and export to KML format

2017-09-26 14:13:06 -04:00

OptimizerCVSBA.h

0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.

2017-01-03 21:05:00 -05:00

OptimizerG2O.h

0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.

2017-01-03 21:05:00 -05:00

OptimizerGTSAM.h

GTSAM: added optimizer approach option #172

2017-03-02 16:46:15 -05:00

OptimizerTORO.h

Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.

2016-11-14 19:54:31 -05:00

Parameters.h

Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters

2017-09-28 13:34:55 -04:00

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

Moved ExportCloudsDialog::mergeTextures() method in util3d_surface module

2017-06-13 19:20:09 -04:00

Registration.h

💄

2017-07-26 11:46:59 -04:00

RegistrationIcp.h

Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.

2017-09-11 13:17:53 -04:00

RegistrationInfo.h

Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.

2017-09-11 13:17:53 -04:00

RegistrationVis.h

Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.

2016-11-14 19:54:31 -05:00

Rtabmap.h

Update Rtabmap.h

2017-10-06 16:57:30 +02:00

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

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

SensorData.h

Added GPS class for convenience, database viewer can view GPS values and export to KML format

2017-09-26 14:13:06 -04:00

Signature.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

Statistics.h

Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters

2017-09-28 13:34:55 -04:00

Stereo.h

Updated Copyright year and About dialog summary

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

StereoCameraModel.h

StereoCameraModel: baseline computed with Tx of left camera too. Fixed QMultiComboBox not showing on windows. Avoid updating grid view if there are no local grids in signatrues. Clear cached data of StatsItem when detecting smaller timestamp than last ones.

2016-12-01 21:46:09 -05:00

StereoDense.h

Updated Copyright year and About dialog summary

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

Transform.h

0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.

2017-01-03 21:05:00 -05:00

UserDataEvent.h

Updated Copyright year and About dialog summary

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

util2d.h

Export: Added exposure fusion option

2017-03-31 18:56:52 -04:00

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

0.13.3: scan2d with normals support/registration

2017-08-28 16:40:07 -04:00

util3d_mapping.h

Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid).

2017-04-07 18:31:11 -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

0.13.0 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_surface.h

Added Mem/LaserScanVoxelSize and OdomF2M/ScanSubtractAngle parameters. util3d::computeNormalsComplexity() now returns PCA's eigen vectors and values optionally. RegistrationIcp: detecting complexity of environment when PointToPLane is used, if too low, PointToPoint is done and movements are limited to main direction of the normals.

2017-09-19 14:15:17 -04:00

util3d_transforms.h

Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.

2017-06-20 17:29:06 -04:00

util3d.h

New 2d scan type: CV_32FC5 (x,y,normal_x,normal_y,normal_z)

2017-08-28 16:40:08 -04:00

VisualWord.h

Updated Copyright year and About dialog summary

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

VWDictionary.h

Updated Copyright year and About dialog summary

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