rtabmap

camera

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

clams

Windows: fixe build error (discrete_depth_distortion_model.h)

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

impl

0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros).

2021-06-27 20:07:00 -04:00

odometry

Added OdometryOpen3D

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

optimizer

Fixed g2o build error with melodic/noetic versions

2022-01-03 15:37:06 -05:00

stereo

Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation.

2020-06-30 23:18:31 -04:00

BayesFilter.h

Increased version to 0.20.5

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

Camera.h

Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).

2021-05-26 13:40:46 -04:00

CameraEvent.h

Updated Copyright year and About dialog summary

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

CameraInfo.h

CameraStereoZed: added odomForce3DoF option

2019-01-28 17:05:15 -05:00

CameraModel.h

Odometry: when "Rtabmap/ImagesAlreadyRectified" is false and odometry strategy doesn't support raw images, added rectification for RGB-D data (only rgb rectified though) for convenience.

2021-06-01 14:33:17 -04:00

CameraRGB.h

Camera refactoring (#315 )

2018-10-01 19:33:56 -04:00

CameraRGBD.h

Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.

2019-07-09 20:48:09 -04:00

CameraStereo.h

Integrated DepthAI (gen2) (#696 )

2021-03-07 12:27:21 -05:00

CameraThread.h

Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).

2021-05-26 13:40:46 -04:00

Compression.h

0.15: statistics are now compressed in database. Eigen issue: using linear() instead of rotation() to get rotation from affine3f. Increased loading speed of statistics in DatabaseViewer. Added graph:calcRMSE().

2017-11-09 12:03:01 -05:00

DBDriver.h

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.h

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

DBReader.h

DBReader: publish landmarks by default (also added option to ignore them)

2021-06-29 16:03:21 -04:00

EnvSensor.h

0.18: Camera calibration and LaserScan Info refactoring (#324 )

2018-10-23 14:35:14 -04:00

EpipolarGeometry.h

Increased version to 0.20.5

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

Features2d.h

Added PyDetector (#677 )

2021-01-17 01:56:27 -05:00

FlannIndex.h

Increased version to 0.20.5

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

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

0.18: Camera calibration and LaserScan Info refactoring (#324 )

2018-10-23 14:35:14 -04:00

GlobalDescriptor.h

0.20: added GlobalDescriptor table in database

2020-05-03 21:46:25 -04:00

GPS.h

0.18: Camera calibration and LaserScan Info refactoring (#324 )

2018-10-23 14:35:14 -04:00

Graph.h

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

Image.h

Updated Copyright year and About dialog summary

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

IMU.h

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

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

IMUFilter.h

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.h

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

Landmark.h

DBReader: publish landmarks by default (also added option to ignore them)

2021-06-29 16:03:21 -04:00

LaserScan.h

Added RGBD/ProximityGlobalScanMap for proximity detection using the whole scan map in localization mode. Added Icp RMS statistics (CCCorelib). Updated how localization is corrected with gravity when available (simply use roll and pitch of current gravity constraint).

2021-06-23 17:13:07 -04:00

Link.h

iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints.

2021-06-12 12:42:56 -04:00

MarkerDetector.h

ios first release

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

Memory.h

0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database.

2021-09-11 11:35:43 -04:00

OccupancyGrid.h

Parameters: Changed Grid/FromDepth to Grid/Sensor to add a new choice to use both scan and depth for local grids. Increased version to 0.20.15.

2021-10-29 20:05:12 -04:00

OctoMap.h

Fixed unknown lines for octomap 2D grid projection. (https://github.com/introlab/rtabmap_ros/issues/684 )

2021-11-30 20:34:51 -05:00

Odometry.h

Added OdometryOpen3D

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

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

OdometryInfo.h

Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds.

2021-03-13 18:42:13 -05:00

OdometryThread.h

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

Optimizer.h

Added OptimizerCeres class (Optimizer/Strategy=3)

2019-08-17 03:55:04 -04:00

Parameters.h

Fixed a debug information

2022-01-11 15:59:53 -05:00

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

PDALWriter.h

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

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

ProgressState.h

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

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

PythonInterface.h

Added PyDetector (#677 )

2021-01-17 01:56:27 -05:00

Recovery.h

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

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

Registration.h

Update 0.15.4.

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

RegistrationIcp.h

For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files.

2021-06-27 20:37:42 -04:00

RegistrationInfo.h

OdometryInfo: fixed IcpRMS not copied in copyWithoutData()

2021-06-24 22:38:19 -04:00

RegistrationVis.h

Added PyDetector (#677 )

2021-01-17 01:56:27 -05:00

Rtabmap.h

Improved localization mode accuracy (decreasing jumps on consecutive loop closures or landmark detections). Updated usage of parameter RGBD/MaxOdomCacheSize (default 0->10)

2021-12-10 17:48:36 -05:00

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

ios first release

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

RtabmapThread.h

RtabmapThread: when receiving new map event from odometry, wait until the buffer has reached the corresponding timestamp before triggering a new map. DBReader: regenerate stamps when sync capture rate with stamps in database is false. MainWindow: ask for PNG or JPEG format when activating auto capture.

2017-12-11 17:09:04 -05:00

SensorData.h

Increased version to 0.20.5

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

Signature.h

Increased version to 0.20.5

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

Statistics.h

Statistics: added OdomCache data for debugging

2021-12-18 18:53:59 -05:00

Stereo.h

Stereo: min and max disparity parameters are now float. ImageView: adjusted background color of info boxes.

2017-11-14 11:36:37 -05:00

StereoCameraModel.h

Integrated DepthAI (gen2) (#696 )

2021-03-07 12:27:21 -05:00

StereoDense.h

Added StereoSGBM (fixed #77 ) (#318 )

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

Transform.h

Added RGBD/ProximityGlobalScanMap for proximity detection using the whole scan map in localization mode. Added Icp RMS statistics (CCCorelib). Updated how localization is corrected with gravity when available (simply use roll and pitch of current gravity constraint).

2021-06-23 17:13:07 -04:00

UserDataEvent.h

Updated Copyright year and About dialog summary

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

util2d.h

fixed #648 (build error without OctoMap dependency)

2020-11-30 12:33:08 -05:00

util3d_correspondences.h

Updated Copyright year and About dialog summary

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

util3d_features.h

Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.

2020-05-19 15:01:50 -04:00

util3d_filtering.h

Export CLI: added noise_radius and noise_k options to filter noise

2021-05-10 14:45:35 -04:00

util3d_mapping.h

util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.

2021-02-07 17:27:55 -05:00

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

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.h

Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.

2021-09-19 20:20:45 -04:00

util3d_transforms.h

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.h

0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros).

2021-06-27 20:07:00 -04:00

VisualWord.h

Increased version to 0.20.5

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

VWDictionary.h

Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed().

2020-10-05 22:11:28 -04:00