matlabbe
be3e6c538c
Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera ( #1182 )
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* 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 )
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* 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 )
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* 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 )
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* 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
3b7c6cd1f4
DBViewer: added camera projection on scan option (GUI params). Fixed some deprecated warnings.
2021-04-19 18:14:20 -04:00
matlabbe
2fcef88016
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
matlabbe
f6e17be2b4
Added ViewPlane XY, XZ and YZ options to GraphViewer
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Parameter RGBD/SavedLocalizationIgnored now called RGBD/StartAtOrigin (updated description, used only in localization mode)
IcpReg: if Force4DoF, set lower covariance values for roll and pitch
DbViewer: updated detectMoreLoopClosures with new minRadius option and update optimized poses between each new accepted loop closures.
MainWindow: suppressed warning if depth image is not found in current node data (when rgb is).
3D Map view: changed default map point size to 1 (was 2)
2021-03-12 17:47:36 -05:00
matlabbe
ab8f0e2b34
Fixed #695 (footprint not cleared correctly when GridGlobal/OccupancyThr>0)
2021-03-05 18:35:49 -05:00
matlabbe
03cfaf2063
DBViewer: Added option to export odometry poses
2021-02-12 11:22:02 -05:00
matlabbe
481a140f84
util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.
2021-02-07 17:27:55 -05:00
matlabbe
c1a22609f3
Extract images: added timestamp.jpg/.png filname options (to match RGBD-SLAM pose format). Fixed wrong calibration file when first node is an intermdediate node. Export poses: ignore intermediate nodes when output frame is camera or scan.
2021-02-02 09:36:12 -05:00
matlabbe
b759b1b4d1
DBReader: set calibrated true when only scans in db. RegIcp: added intensity matching option when complexity is low. OdomF2M: accept first key frame on low complexity if a guess is provided. DbViewer: added gravity visualization in 3D view.
2021-02-01 11:31:45 -05:00
matlabbe
3ffc8ce73f
DBViewer: enabled Reject button on landmark links
2020-11-30 23:17:47 -05:00
matlabbe
d733029565
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
matlabbe
80199f23b5
RegIcp: complexity, checking if second eigen value is also under Icp/PointToPlaneMinComplexity to limit to only one axis. DbViewer: fixed refine link with scans having RGB channel.
2020-11-22 19:32:01 -05:00
matlabbe
ccbdb586da
DbViewer: Added datbabase path to window title
2020-11-21 16:37:40 -05:00
matlabbe
7c4d2bbdf4
DbViewer: before resetting all changes, added a confirmation message box!
2020-11-21 16:15:27 -05:00
matlabbe
fb206b4f1e
DbViewer: fixed scan disappearing after editing constraint
2020-11-21 14:35:29 -05:00
matlabbe
54e2688a1d
Fixed build with pcl > 1.11.1 ( #641 )
2020-11-14 16:52:01 -05:00
matlabbe