matlabbe
0e85bd849c
Improved image view scene rect size when no images are there. Added warning when transform cannot be computed because some data are missing.
2024-09-16 15:55:38 -07:00
matlabbe
4911dbe9bb
With Mem/RotateImagesUpsideUp=true, do not clear features if none of the cameras are rotated. DBViewer: show local transform of all cameras in tooltip
2024-08-12 14:27:08 -07:00
matlabbe
08a44ec44f
DBViewer: added option to ignore optimized graph guess when detecting more loop closures
2024-07-19 14:02:03 -07:00
matlabbe
5b810da73b
Fixed compilation warnings on 22.04 (Qt 5.15.3)
2024-06-02 15:04:36 -07:00
Borong Yuan
fbeabf0751
Add ANMS (SSC method) ( #1276 )
2024-05-19 18:21:00 -07:00
mathieu86
4e7110930c
DbViewer: switch between left and right views when double-clicking on single nodes
2024-04-11 13:01:00 -07:00
matlabbe
d794669ef9
DBViewer: added buttons to edit/add priors
2024-04-02 17:37:52 -07:00
matlabbe
11adbdcc9f
Fixed #1253
2024-03-31 14:53:00 -07:00
matlabbe
3b735907c8
DbViewer tool: added database's parameter overriding from arguments
2024-03-29 13:30:12 -07:00
matlabbe
a6d9425bce
DBViewer: support doubleclick on node or link in graphview to update correpsonding image view and constraints view, also added "Show pixel depth" menu option in ImageView to show pixel depth and pixel coordinate in map frame.
2024-03-13 22:42:47 -07:00
matlabbe
13cd5e7a5e
Export Poses: Added support of landmarks. Fixed g2o export with 6DoF landmark constaints. Adjusted g2o export landmark id. ( #1199 )
2024-01-20 12:04:26 -08:00
matlabbe
a0559b156b
Fixed #1196
2024-01-06 16:11:25 -08:00
matlabbe
d135ef02e2
DBViewer: updated refine constraints menu action with more options, DBDriver: added updateCalibration for convenience
2023-12-20 14:39:49 -08:00
matlabbe
933d26f005
DbViewer/info tool: Updated number of links to report unique links. Added statistics about length of loop closures in info tool.
2023-12-18 16:27:18 -08:00
matlabbe
71415992ac
GridMap integration ( #1180 )
...
* GridMap integration
* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.
* UI: Added elevation map visualization
* Added LocalGridCache class to share cache between global maps
* Fixed OctoMap nans. DbViewer: Added frontiers visualization.
* convenient functions for ros
* Small fix
* fixed build without GridMap
* CI disabled fail-fast
* CI updated checkout action to v4
2023-12-17 22:44:11 -08:00
matlabbe
be3e6c538c
Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera ( #1182 )
...
* splitting multicam generated clouds
* make sure returned cloud is valid (can be empty)
2023-12-13 12:15:29 -08:00
matlabbe
08d0ef7408
report: added --gt option to input external ground truth file. DBViewer: fixed crash when unchecking "Ignore intermediate nodes".
2023-10-27 17:10:10 -07:00
matlabbe
c7e46c1431
rgbddatset tool: removed local covariance logic. DBViewer: fixed poses not aligned to groundtruth on start.
2023-06-25 17:42:54 -07:00
matlabbe
141f2d3334
DbViewer: added align gps checkbox
2023-04-05 22:19:54 -07:00
matlabbe
8c5c4f63bf
Qt6 compatibility ( #968 )
...
* Qt6 Compilation success
* Fixed qt5 backward compatibility
* Fixed build for qt<=5.9 (bionic)
* Added docker file for easy testing with latest Qt/VTK/PCL/OpenCV
* Fixed cmake for qt
2023-03-05 16:34:56 -08:00
matlabbe
70cbe52fcf
DbViewer: exporting map info in yaml file when exporting 2d occupancy grid ( #978 )
2023-02-25 17:12:51 -08:00
matlabbe
70c3d5d97f
DbViewer: added convenient option to rotate the occupancy grid (affect only optimized graph for localization mode).
2023-02-22 17:20:09 -08:00
matlabbe
b5eef4b86a
DBViewer: ignore marker constraints in refine, add marker priors when optimizing the graph
2023-01-21 15:52:01 -08:00
matlabbe
16e3314e64
💄
2022-11-11 14:45:33 -08:00
matlabbe
97a150b180
DbViewer: added option to regenerate optimized 2d map from OctoMap ( https://github.com/introlab/rtabmap_ros/issues/213 )
2022-10-23 12:16:35 -07:00
matlabbe
fdb78d33b0
DBViewer: added optimzed and prior poses in node details. Reprocess: add start_s, stop_s and pub_loops options.
2022-10-12 13:05:01 -07:00
matlabbe
7e3e5ec50b
DBViewer: fixed matching lines when two images don't have the same number of cameras. Fixed nodes with w=-9 can be used to add constraint (in case localization data is saved in database). Add constraint: compute transform in order of the sliders.
2022-10-04 14:23:12 -07:00
matlabbe and mathieu86
5943a8b065
Added stereo multi-camera support ( #884 )
...
* Integrated OpenGV
* Fixed build without opengv
* Cmake: moved OpenGV dependency status under solvers group
* Added multi-stereocamera models support
* Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera.
* Fixed multicam 3d points generated from stereo correspondences
* db: Fixed multi stereo models not loaded correctly
* gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration)
* OdomF2M: Fixed map.at error when bundle adjustment is not used
* depthai: added imu firmware update option for convenience
* Fixed various refactor errors
* Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam
* Added error log if ba correspondences are computed with empty signatures
* fixed compilation errors with latest opencv
Co-authored-by: mathieu86 <[email protected]
2022-07-20 15:20:14 -04:00
matlabbe
83c1adfd1e
Updated illumination invariant paper documentation
2022-06-26 20:46:08 -07:00
matlabbe
190071678f
Statistics: Added Memory/New_landmark. Rtabmap: don't remove node on small movements when a new landmark has been just detected. DbViewer: fixed missing statistics when ignored nodes are not saved in database.
2022-04-25 12:19:22 -04:00
matlabbe
e46af2c3cd
DbViewer: Added GroundTruth pose in node info labels
2022-03-31 12:00:52 -04:00
matlabbe
6cefc6d00a
DBViewer: added camera frustums in Constraints View
2022-03-25 11:24:34 -04:00
matlabbe
f140e99881
DBViewer: fixed kml export disabled for poses when there are gps values. Fixed commas used instead of dots for float in kml export on french machine.
2022-02-27 15:20:02 -05:00
matlabbe
4776de7931
rtabmap: updated proximity paths check order when likehood is not available (use closest node). MainWindow: don't pause when error happens in monitoring mode / ROS. DbViewer: show local transform of scan.
2022-02-12 16:46:10 -05:00
matlabbe
402afc07ed
ExportDialog: added ground normals up option, added camera projection mask and decimation options. Export CLI: added --ground_normals_up and --cam_projection_mask options, changed --bin option by --ascii option (now binary by default). DBViewer: warn when scan from depth option is enabled but there is no depth.
2022-01-27 17:57:56 -05:00
matlabbe
d56692640e
DBViewer: fixed grid cell size in 3D View. Memory/Grid, using Icp/PointToPlaneGroundNormalsUp parameter when normals are computed. Grid: fixed 2D noHit ray tracing.
2022-01-25 18:10:43 -05:00
matlabbe
aa0e6ef692
GUI:Export Poses: fixed poses!=stamps issue when there are landmarks (landmarks now only exported with g2o format)
2022-01-15 21:49:40 -05:00
matlabbe
580e35afb1
Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 ( https://github.com/introlab/rtabmap_ros/issues/668 ). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.
2021-12-05 17:38:53 -05:00
matlabbe
12906f4490
DBViewer: export poses: added explicit otion for ground truth if available
2021-12-03 13:43:53 -05:00
matlabbe
090ae0c444
DbViewer: added option to show disparity instead of right image in main views for stereo data
2021-11-20 16:36:54 -05:00
matlabbe
ddd5eb5a41
CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.
2021-11-05 18:05:50 -04:00
matlabbe
20bc281db7
DbViewer: don't show landmark links for ignored ndoes (w=-9), auto-zoom grid map if there are a lot of unknowns. Updated Docker nvidia files to include default Documents/RTAB-Map directory.
2021-11-04 13:00:08 -04:00
matlabbe
ab5fd5018b
DbViewer: added update all landmark covariances menu action, also enabled edit constraint on landmark links. Covariance can be set to 9999.
2021-10-06 11:34:40 -04:00
matlabbe
77d947d4fb
Fixed FLOAM not working when local transform is not Identity. DBViewer: warn user when scan from dpeth is checked and there are no depth images in db.
2021-09-30 09:53:50 -04:00
matlabbe
44b057b0d7
DbViewer: fixed icp from depth option not used when refining or adding loop closures automaticaly
2021-09-13 15:59:19 -04:00
matlabbe
e017a0fcf4
DbViewer: fixed initial rootid with older databases, fixed RGBD/OptimizeFromGraphEnd not correctly used.
2021-09-08 18:13:20 -04:00
matlabbe
b932da6dcf
DbViewer: Adjusted GraphView's root id based on latest valid node on initialization
2021-08-28 20:23:44 -04:00
matlabbe
456560b9e4
DBViewer/Extract Images: export calibration for each image, also now export multi-camera calibrations.
2021-07-07 12:21:57 -04:00
matlabbe
d75cc04ad2
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
f94f9cbb9b
improve flood fill and move it to update function ( #727 )
...
* add flood fill filter
* change to use unordoned_multiset
* remove recursivity in flood fill and move the flood fill into the update
* Refactoring of OctoMap constructors (keeping only one). Simplified floodfill parameters to only one and added it to UI.
* Fixed ray tracing not done in local 3D maps (OctoMap)
Co-authored-by: MarcLeclercGit <[email protected] [email protected]
2021-05-30 10:12:07 -04:00
matlabbe