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rtabmap/corelib/include/rtabmap/core
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matlabbe db43479e44 Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698) 
Referred issues:
#655
https://github.com/introlab/rtabmap_ros/issues/492

Note: IMU not supported yet with ORB_SLAM3.

Commits:
* Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc.

* fixed regression build error with ORB_SLAM2

* Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
2021-03-09 16:00:41 -05:00
..
camera
Integrated DepthAI (gen2) (#696)
2021-03-07 12:27:21 -05:00
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 ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698)
2021-03-09 16:00:41 -05:00
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
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
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
CameraK4A: added imu support with playback. Fixed windows build error.
2020-09-04 14:10:32 -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
Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698)
2021-03-09 16:00:41 -05:00
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
CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth.
2020-11-14 13:39:12 -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
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
fixed #648 (build error without OctoMap dependency)
2020-11-30 12:33:08 -05:00
Odometry.h
Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698)
2021-03-09 16:00:41 -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
Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel.
2020-05-31 11:22:12 -04:00
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
Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698)
2021-03-09 16:00:41 -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
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
Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.
2021-02-24 09:43:22 -05:00
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
Updated some RGBD/Proximity**** parameter descriptions. Added parameter RGBD/LoopClosureIdentityGuess. Fixed local map cleared in localization when RGBD/SavedLocalizationIgnored is true (should then assume it is starting from origin).
2021-03-04 11:26:35 -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
Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed().
2020-10-05 22:11:28 -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
util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.
2021-02-07 17:27:55 -05:00
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