rtabmap

camera

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

clams

Windows: fixe build error (discrete_depth_distortion_model.h)

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

impl

Fixed build with pcl > 1.11.1 (#641 )

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

odometry

Added OpenVINS minimal support (tested with EuRoC dataset)

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

optimizer

Added OptimizerCeres class (Optimizer/Strategy=3)

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

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

.gitignore

added some .gitignore

2014-11-25 17:08:42 -05:00

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

Added Db/TargetVersion parameter (#652 )

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

DBDriverSqlite3.h

Fixed build with pcl > 1.11.1 (#641 )

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

DBReader.h

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

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

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

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

Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")

2019-02-18 18:19:55 -05:00

LaserScan.h

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

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

Link.h

Added rtabmap-info console tool

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

MarkerDetector.h

Added Marker/MaxRange and Marker/MinRange parameters (#630 )

2020-11-21 16:18:22 -05:00

Memory.h

Fixed build with pcl > 1.11.1 (#641 )

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

OccupancyGrid.h

Increased version to 0.20.5

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

OctoMap.h

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

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

Odometry.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

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

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

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

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

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

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

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

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

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

RegistrationInfo.h

Increased version to 0.20.5

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

RegistrationVis.h

Added PyDetector (#677 )

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

Rtabmap.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

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

Updated Copyright year and About dialog summary

2016-07-17 21:57:10 -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 LoopOptimization_max_ang_error stats

2021-05-27 13:00:29 -04:00

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

2020-11-06 21:37:59 -05:00

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

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_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

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

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

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