rtabmap

2021-09-09 17:38:54 -04:00

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

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

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

imufilter

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

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

odometry

FLOAM: added some debug logs

2021-09-24 11:32:25 -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

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

pcl18

ios first release

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

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

ios first release

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

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

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

CameraModel.cpp

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

CameraThread.cpp

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

CMakeLists.txt

Added OdometryFLOAM (Odom/Strategy=11)

2021-09-09 17:38:54 -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

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.cpp

If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table.

2021-07-28 14:32:32 -04:00

DBReader.cpp

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

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

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

Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID.

2021-04-13 15:49:04 -04:00

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

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.cpp

ios first release

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

MarkerDetector.cpp

ios first release

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

Memory.cpp

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.cpp

improve flood fill and move it to update function (#727 )

2021-05-30 10:12:07 -04:00

OctoMap.cpp

improve flood fill and move it to update function (#727 )

2021-05-30 10:12:07 -04:00

Odometry.cpp

Added OdometryFLOAM (Odom/Strategy=11)

2021-09-09 17:38:54 -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

FLOAM: added some debug logs

2021-09-24 11:32:25 -04:00

PDALWriter.cpp

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

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

Recovery.cpp

CloudViewer: fixed opengl not refreshed on update (VTK9). Fixed File Explorer hanging (Qt 5.12). Fixed backup database not deleted after a recovery.

2021-06-18 12:43:08 -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

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

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

RegistrationVis.cpp

Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge.

2021-06-25 12:54:52 -04:00

Rtabmap.cpp

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

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 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

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

Fixed pcl::voxelGrid filtering crash on Windows (latest PCL, eigen allocation issue)

2021-06-18 16:02:17 -04:00

util3d_mapping.cpp

unknownSpaceFilled: refactored approach to fix the case of 360 scan with first ray y>=0 (turtlebot3 sim).

2021-05-27 18:19:34 -04:00

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

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

2021-09-19 20:20:45 -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

💄

2021-09-08 09:38:16 -04:00

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