rtabmap

DepthCalibrationDialog: added distortion model parameters

2017-05-11 14:44:15 -04:00

Building more robust OpenCV3's cv::solvePnPRansac() in OpenCV2 build

2016-03-08 19:51:50 -05:00

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

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

resources

0.16.2: Added wm_state field to database's Statistics table. New parameter "Rtabmap/SaveWMState" (default false). DbViewer: added option in GraphView to show only poses of the root id that were in WM at that time

2018-02-21 18:19:20 -05:00

rtflann

Tango: fixed database saved in memory option when disabled (now disabled by default)

2017-10-08 21:55:27 -04:00

sqlite3

Fixed sqlite3 warnings

2015-11-06 14:10:45 -05:00

toro3d

fixed toro warnings

2016-03-07 15:15:48 -05:00

vertigo

Added support for latest g2o code (with c++11 interface)

2018-02-03 15:43:32 -05:00

BayesFilter.cpp

Fixed broken incremental prediction matrix from commit 977d21e

2018-02-07 18:16:19 -05:00

Camera.cpp

0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

2017-11-30 16:52:03 -05:00

CameraModel.cpp

fixed #152

2016-12-05 15:53:19 -05:00

CameraRGB.cpp

Gui 3d rendering: added default color scheme option, added min and max range options for laser scans

2018-02-17 09:46:08 -05:00

CameraRGBD.cpp

CameraK4W2: added depth to color registration. For CameraFreenect2, kTypeColor2DepthSD is now used by default.

2017-11-06 22:59:12 -05:00

CameraStereo.cpp

CameraStereoImages: removed warning telling to calibrate the camera when only pose calibration file is not found

2018-03-22 12:40:16 -04:00

CameraThread.cpp

Fix laserscan from depth

2018-03-28 14:14:13 -04:00

CMakeLists.txt

Windows: Reordered libraries with gtsam at the end (which is static on Windows)

2018-03-28 11:04:18 -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: optimized fetching wm states from db, added checkbox along graph iteration slider to generate intermediate graphes.

2018-02-23 10:12:36 -05:00

DBDriverSqlite3.cpp

Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)

2018-03-21 16:00:12 -04:00

DBDriverSqlite3.h

DbViewer: optimized fetching wm states from db, added checkbox along graph iteration slider to generate intermediate graphes.

2018-02-23 10:12:36 -05:00

DBReader.cpp

0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

2018-02-16 19:20:54 -05:00

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

0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

2017-11-30 16:52:03 -05:00

FlannIndex.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

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

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.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

IMUThread.cpp

IMU: changed members from Eigen to cv to avoid seg faults about Eigen memory alignment when copying IMU object created dynamically (#270 )

2018-03-21 21:31:41 -04:00

LaserScan.cpp

Fixed 2d multi-scan matching fatal error

2018-02-16 20:23:42 -05:00

Link.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

Memory.cpp

ExportDialog: Added OpenChisel meshing option

2018-03-26 18:06:41 -04:00

OccupancyGrid.cpp

Fixed occupancy grid created from PointNormal with RGB

2018-02-18 15:10:25 -05:00

OctoMap.cpp

OctoMap: improved projection performance

2018-02-19 16:25:55 -05:00

Odometry.cpp

0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

2018-03-07 19:43:30 -05:00

OdometryDVO.cpp

0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

2017-11-30 16:52:03 -05:00

OdometryF2F.cpp

OdometryF2F: fixed published localScanMap in wrong frame

2018-03-13 00:01:32 -04:00

OdometryF2M.cpp

0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

2018-02-16 19:20:54 -05:00

OdometryFovis.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

OdometryMono.cpp

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

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

OdometryOkvis.cpp

Okvis: removed some compilation warnings when not built with okvis

2018-03-23 14:54:49 -04:00

OdometryORBSLAM2.cpp

Parameters: updated default of Icp/CorrespondenceRatio and Icp/PMOutlierRatio. Fixed OptimizerG2O build with ORB_SLAM2. Fixed seg fault after restarting ORB_SLAM2 odometry.

2018-03-17 18:20:32 -04:00

OdometryThread.cpp

0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

2018-03-07 19:43:30 -05:00

OdometryViso2.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

Optimizer.cpp

Optimizer: added optimizeIncremental() method to solve optimization error problems when re-opening the database (when graph should be re-optimized from raw odometry poses, not latest optimized poses, #172 )

2018-02-13 18:18:42 -05:00

OptimizerCVSBA.cpp

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.cpp

Parameters: updated default of Icp/CorrespondenceRatio and Icp/PMOutlierRatio. Fixed OptimizerG2O build with ORB_SLAM2. Fixed seg fault after restarting ORB_SLAM2 odometry.

2018-03-17 18:20:32 -04:00

OptimizerGTSAM.cpp

0.15.2: Fixed Transform's not orthogonal rotation matrix causing problems with GTSAM (normalize rotation each time transforms are multiplied, and for backward compatibility automatically normalize rotation of all transforms loaded from old databases prior to 0.15.2). Added Vis/CorGuessMatchToProjection, Icp/PMMatcherKnn and Icp/PMMatcherEpsilon parameters. CameraRGB: fixed max scans number when filtering. Link: transfering maximum covariance when merging. OptimizerGTSAM: updated how covariance are copied based on GTSAM official example. util3d::loadBINCloud(): fixed dim parameter not used. DatabaseViewer: Added option in graph view to ignore intermediate nodes when optimizing the graph.

2017-12-09 21:44:53 -05:00

OptimizerTORO.cpp

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

Parameters.cpp

0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

2018-03-07 19:43:30 -05:00

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

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

RegistrationIcp.cpp

util3d::laserScanFromPointCloud(...): ignore NaN points and normals. RegistrationIcp: ignoring NaNs on conversion to PD format to fix some registration fails caused by NaNs.

2018-03-13 02:27:59 -04:00

RegistrationVis.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

Rtabmap.cpp

Rtabmap: added ebug info when proximity scan matching is disabled

2018-02-23 10:47:07 -05:00

RtabmapThread.cpp

Merge branch 'master' of https://github.com/introlab/rtabmap into devel

2017-12-11 17:10:08 -05:00

SensorData.cpp

0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

2018-03-07 19:43:30 -05:00

Signature.cpp

Tango: fixed database saved in memory option when disabled (now disabled by default)

2017-10-08 21:55:27 -04:00

SimpleIni.h

removed doc @mainpage from SimpleIni.h

2014-12-05 13:16:36 -05:00

Statistics.cpp

0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.

2016-09-20 11:19:34 -04:00

Stereo.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

StereoCameraModel.cpp

0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

2018-03-07 19:43:30 -05:00

StereoDense.cpp

StereoBM: Fixed speckle window size parameter not set correctly (creating a lot of noise in generated disparity images)

2017-04-24 17:14:57 -04:00

Transform.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

util2d.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00

util3d_correspondences.cpp

Updated Copyright year and About dialog summary

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

util3d_features.cpp

Updated Copyright year and About dialog summary

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

util3d_filtering.cpp

fixed Windows build

2018-03-18 19:43:20 -04:00

util3d_mapping.cpp

0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

2018-02-16 19:20:54 -05:00

util3d_motion_estimation.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_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

ExportDialog: Added OpenChisel meshing option

2018-03-26 18:06:41 -04:00

util3d_transforms.cpp

RegistrationIcp: Added laserScanToDP()

2018-02-17 07:48:10 -05:00

util3d.cpp

Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)

2018-03-21 16:00:12 -04:00

VisualWord.cpp

Updated Copyright year and About dialog summary

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

VWDictionary.cpp

Update 0.15.4.

2018-02-01 22:17:46 -05:00