rtabmap

camera

CameraK4A: added imu support with playback. Fixed windows build error.

2020-09-04 14:10:32 -04:00

clams

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

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

imufilter

CameraRealSense2: Added Dual Mode (T265+D400)

2019-10-03 21:06:33 -04:00

odometry

OdomF2M: fixed complexity null for first scan is not having normals already

2020-08-21 14:32:08 -04:00

opencv

Fixing trusty build

2020-05-19 18:06:20 -04:00

optimizer

Fixed "[Setjac] infinite jac" error when Vis/ForwardEstOnly is false. OptimizerG2O: Added a check to ignore invalid 3d points.

2020-09-15 15:18:49 -04:00

pcl18

fixed pcl::getAngle3D not found error on latest pcl version (6df3e602a7 (diff-8e08415b9972a447d115dbca3f8fa0a1))

2020-08-25 10:56:30 -04:00

pydescriptor/__pycache__

Memory: fixed keypoints3d wrongly copied when not using odom features

2020-09-08 21:24:47 -04:00

pymatcher

Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.

2020-05-20 09:45:39 -04:00

resources

0.20: added GlobalDescriptor table in database

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

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

SuperPoint: updated descriptor normalization process to match exactly the implementation in SuperGlue. generateWords3DMono: use variance at 25% instead of 50% of the sqrd variance vector (to do the same than with PnP), also fixed return camera transform to include local transform of the camera model. rtabmap-matcher: updated default parameters when no depth images are used, added reproj error in title bar.

2020-05-10 14:13:41 -04:00

BayesFilter.cpp

BayesFilter: improved performance when prediction didn't change or only a new id is appended to prediction. Memory: fixed seg fault when using local bundle adjustment on loop closure and memory management is enabled.

2018-11-06 14:45:57 -05:00

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

CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification).

2020-09-04 12:48:18 -04:00

CameraThread.cpp

Windows: fixed CameraRealSense2 driver freezing on close.

2020-07-01 20:58:04 -04:00

CMakeLists.txt

Mac: fixed crash when discarding a signature (not moving enough) with self refenced links. Fixed link error with realsense2 library on Mac.

2020-07-02 12:54:43 -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

Memory::getNodeData() removing not wanted data if the node with all its data has been found in working memory.

2020-06-22 22:29:26 -04:00

DBDriverSqlite3.cpp

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

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

DBReader.cpp

DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database.

2020-04-22 16:20:29 -04:00

EpipolarGeometry.cpp

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

Features2d.cpp

Fixed build with OpenCV >= 3.4.11

2020-07-02 16:29:23 -04:00

FlannIndex.cpp

Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset).

2019-08-14 12:09:56 -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

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

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

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 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

Link.cpp

Added rtabmap-info console tool

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

MarkerDetector.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

Memory.cpp

Fixed loop closure rejected if the camera on the robot changes orientation accordingly to base frame (http://official-rtab-map-forum.67519.x6.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6953.html ). The reason why that check was there was because ICP flipping 180 deg in some cases, but should be already detected with that commit 7a1cf84b08 (diff-b65a61c23197f7ff77a877f62b630b2cR283).

2020-09-27 14:38:36 -04:00

OccupancyGrid.cpp

Grid/OctoMap: updated update() interface to return boolean to know if the map has been updated

2019-03-19 14:10:30 -04:00

OctoMap.cpp

OctoMap::createCloud() added cloud probability output option.

2020-01-22 10:34:21 -05:00

Odometry.cpp

Odometry: fixed Reg/Force3DoF ignored if filters are not used

2020-07-08 10:03:54 -04:00

OdometryThread.cpp

OctoMap::createCloud() added cloud probability output option.

2020-01-22 10:34:21 -05:00

Optimizer.cpp

Updated error message when SBA is done on multicam setup.

2020-05-26 11:04:23 -04:00

Parameters.cpp

Added K4A status on --version. About: added Mynteye status

2020-09-04 10:39:15 -04:00

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

RegInfo: added icpStructuralDistribution info

2020-04-14 17:06:53 -04:00

RegistrationVis.cpp

Fixed "[Setjac] infinite jac" error when Vis/ForwardEstOnly is false. OptimizerG2O: Added a check to ignore invalid 3d points.

2020-09-15 15:18:49 -04:00

Rtabmap.cpp

Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder.

2020-09-21 19:32:48 -04:00

RtabmapThread.cpp

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

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

SensorData.cpp

0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345 : both g2o and gtsam working with GPS. g2o: added gravity edges.

2019-04-09 20:05:24 -04:00

Signature.cpp

CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).

2019-09-13 21:45:13 -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

Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model.

2020-04-30 00:57:47 -04:00

StereoDense.cpp

Added StereoSGBM (fixed #77 ) (#318 )

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

Transform.cpp

CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification).

2020-09-04 12:48:18 -04:00

util2d.cpp

0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.

2019-11-03 14:10:02 -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

Update downsampling filtering approach for ring-like lidars like the ouster

2020-02-21 15:01:31 -05:00

util3d_mapping.cpp

OctoMap: aligned 2D projection map with OctoMap

2019-02-12 15:36:28 -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

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

Ported PCL 1.11 deprecated changes to PCL 1.10 (#550 )

2020-05-27 17:45:16 -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

Ported PCL 1.11 deprecated changes to PCL 1.10 (#550 )

2020-05-27 17:45:16 -04:00

VisualWord.cpp

Updated Copyright year and About dialog summary

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

VWDictionary.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