rtabmap

camera

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

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

clams

Fixed build with pcl 1.11 (#550 ). Fixed pcl 1.11 warnings (boost->std).

2020-05-27 16:35:33 -04:00

icp

icpCC: when force3DoF is true, set z to 0 in data conversion

2021-03-28 09:28:55 -04:00

imufilter

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

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

odometry

Added OpenVINS minimal support (tested with EuRoC dataset)

2021-03-28 23:51:02 -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

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

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

pcl18

Fixed build with pcl > 1.11.1 (#641 )

2020-11-14 16:52:01 -05:00

python

Added PyDetector (#677 )

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

resources

Added Db/TargetVersion parameter (#652 )

2020-12-03 15:45:40 -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

Added PyDetector (#677 )

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

BayesFilter.cpp

Fixed android build

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

Camera.cpp

Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames)

2020-06-08 11:40:47 -04:00

CameraModel.cpp

Integrated DepthAI (gen2) (#696 )

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

CameraThread.cpp

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

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

CMakeLists.txt

Added OpenVINS minimal support (tested with EuRoC dataset)

2021-03-28 23:51:02 -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

Added Db/TargetVersion parameter (#652 )

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

DBDriverSqlite3.cpp

Added Db/TargetVersion parameter (#652 )

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

DBReader.cpp

DBReader: set calibrated true when only scans in db. RegIcp: added intensity matching option when complexity is low. OdomF2M: accept first key frame on low complexity if a guess is provided. DbViewer: added gravity visualization in 3D view.

2021-02-01 11:31:45 -05:00

EpipolarGeometry.cpp

Increased version to 0.20.5

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

Features2d.cpp

Added PyDetector (#677 )

2021-01-17 01:56:27 -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

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

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 create2DMap assert on 32FC2 when subscribing 2D scans with intensity. LaserScan: fixed assert when angle_min > angle_max (with angle_increment < 0)

2021-02-16 10:47:31 -05:00

Link.cpp

Added rtabmap-info console tool

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

MarkerDetector.cpp

Fixed build

2020-11-21 17:12:09 -05:00

Memory.cpp

MainWindow::processOdometry() rectify images if Rtabmap/ImagesAlreadyRectified is false.

2021-04-02 19:06:03 -04:00

OccupancyGrid.cpp

Fixed #695 (footprint not cleared correctly when GridGlobal/OccupancyThr>0)

2021-03-05 18:35:49 -05:00

OctoMap.cpp

fixed #648 (build error without OctoMap dependency)

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

Odometry.cpp

Added OpenVINS minimal support (tested with EuRoC dataset)

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

OdometryThread.cpp

Added OpenVINS minimal support (tested with EuRoC dataset)

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

Optimizer.cpp

Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options.

2020-11-22 01:23:08 -05:00

Parameters.cpp

Added OpenVINS minimal support (tested with EuRoC dataset)

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

PDALWriter.cpp

Coloring scan (camera projection on point cloud) (#693 )

2021-03-01 09:56:37 -05:00

Recovery.cpp

Recovery: set back database in mapping mode after being saved in localization mode

2020-08-03 13:46:42 -04:00

Registration.cpp

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

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

RegistrationIcp.cpp

Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704 )

2021-03-27 15:11:20 -04:00

RegistrationVis.cpp

Added PyDetector (#677 )

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

Rtabmap.cpp

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

RtabmapThread.cpp

Memory::getNeighborsId() fixed no link returned when looking in database

2020-05-30 09:20:32 -04:00

SensorData.cpp

Increased version to 0.20.5

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

Signature.cpp

Fixed android build

2020-10-16 14:55:50 -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

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 check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option.

2020-11-06 21:37:59 -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

Added removeNaNFromPointCloud for PCLPointCloud2 type

2021-03-28 00:15:47 -04:00

util3d_mapping.cpp

Fixed #695 (footprint not cleared correctly when GridGlobal/OccupancyThr>0)

2021-03-05 18:35:49 -05:00

util3d_motion_estimation.cpp

Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538 ). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.

2020-05-09 21:13:41 -04:00

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

Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.

2021-02-24 09:43:22 -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

Coloring scan (camera projection on point cloud) (#693 )

2021-03-01 09:56:37 -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