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67c6a15b93e9f8b7f7c30c44d4e19b2027e717a4
Commit Graph

145 Commits

Author SHA1 Message Date
André Lison
67df99aa57 fixes for texture mesh export pcl > 1.13.0 (#1039) 
Co-authored-by: FIRST_NAME LAST_NAME <MY_NAME@example.com>
 2023-05-29 19:00:18 -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
34ed9d79c7 export: added --texture_blur filtering option 2022-07-20 22:08:45 -04:00
matlabbe
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 <mathieu@robust.ai>
 2022-07-20 15:20:14 -04:00
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
a56373f66d GUI/ExportClouds: fixed color of scans having RGB instead of intensity. 2022-01-19 16:59:43 -05:00
matlabbe
7a5c50cb0e Fixed compilation warnings 2022-01-16 15:27:52 -05:00
matlabbe
9e0173f4cb Export: added random sample filter, added proportional radius filter, refactored when normals are computed (now after the clouds are assembled and voxelized), moved ceiling and floor filtering inside assembling loop. 2022-01-14 13:36:01 -05:00
matlabbe
67710ef94c Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options. 2021-11-21 17:10:57 -05:00
matlabbe
14b56813d3 Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option. 2021-09-19 20:20:45 -04:00
matlabbe
ed68fe777b Added more options for multiband texturing 2021-08-16 13:14:02 -04:00
matlabbe
5167927d01 report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false. 2021-06-21 17:23:53 -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
matlabbe
8c336e1e39 Voxel filter: added support for very large clouds. Gui/Export: added footprint filtering option. Moved all filtering options under Cloud Filtering group. 2021-05-14 21:02:09 -04:00
matlabbe
1e4b172a7d Export: added poisson polygon size option 2021-03-13 19:01:09 -05:00
matlabbe
752509fb15 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
matlabbe
d119487dd7 Coloring scan (camera projection on point cloud) (#693) 
* ExportClouds: Added camera projection options

* ExportClouds: fixed ceiling/floor filtering options not saved in config

* ExportClouds: fixed colorless scan points still exported when option is unchecked.

* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
 2021-03-01 09:56:37 -05:00
matlabbe
9bf12742b1 fixed #688 2021-02-18 21:04:00 -05:00
matlabbe
0bc483b6d3 Added pdal optional dependency (export to LAS, E57, ...) 2021-01-14 15:49:18 -05:00
matlabbe
3ffc8ce73f DBViewer: enabled Reject button on landmark links 2020-11-30 23:17:47 -05:00
matlabbe
0022b6b993 ExportCloudsDialog: added colormap option when showing scans 2020-11-28 18:02:54 -05:00
matlabbe
98a499b603 Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options. 2020-11-22 01:23:08 -05:00
matlabbe
e7a2f206a0 Gui: fixed warning scan not found when uncompressing data. Don't disable Mem/UseOdomFeatures checkbox anymore in monitoring mode (ROS). 2020-11-05 15:50:05 -05:00
matlabbe
e269067d4c Texturing: add distanceToCamPolicy option 2020-11-03 16:11:37 -05:00
matlabbe
80bee99bfc ExportDialog: show (disabled) multi-band option even if not available for viewing (only for exporting) 2020-02-22 18:16:45 -05:00
matlabbe
edee5acdbf DBViewer: we can now add new links between disconnected maps using only lidar. Export: convert intensity to grayscale when exporting colored mesh. 2019-11-23 17:58:40 -05:00
matlabbe
179f17d267 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
matlabbe
2afa76c07c AliceVision integration, see util3d::multiBandTexturing() 2019-10-28 21:16:02 -04:00
matlabbe
aeb2804da8 ViewClouds: fixed wrong color index used by default when normals are not computed with clouds having intensity 2019-09-24 15:55:25 -04:00
matlabbe
cf1997804f ExportClouds: Fixed exported intensity values (packing/unpacking full float intensity value, not assuming 0-100 like before) 2019-09-24 15:46:35 -04:00
matlabbe
a668ec35ab Export: normal estimation can be disabled, clouds can be exported with normals 2019-04-17 13:45:42 -04:00
matlabbe
77ae8e108a 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
matlabbe
6fc884b575 Export: exporting with intensity for laser scans 2019-02-06 18:46:37 -05:00
matlabbe
8e99291e13 0.18: Camera calibration and LaserScan Info refactoring (#324) 
* Saving full camera calibration in database, added angle min/max/inc to LaserScan.

* Updated laserscan info save/load in db

* Database: added Tag table, added env_sensors field to Node

* fixed serialization/deserialization of stereo camera model

* fixed multi-calibration db saving

* fixed rebase errors

* Tango: Added saving environmental sensors option

* Memory: Save env sensors

* Tango: fixed env sensor ids

* DBViewer: show env sensors values

* DBViewer: added calibration details on tooltip

* increased package version to 0.18.0

* Fixed LaserScan copies when angleIncrement is valid

* fixed build error without OctoMap dependency
 2018-10-23 14:35:14 -04:00
matlabbe
b5dec56eaf Parameters: added RGBD/LoopCovLimited, refactored "detect more loop closures" in MainWindow/DBViewer/rtabmap 2018-10-01 20:22:20 -04:00
matlabbe
95e87fed14 MLS: added output voxel size parameter 2018-09-28 09:45:43 -04:00
matlabbe
714d95cc34 Removing redundant non null check before deleting a ptr in destructors #301 2018-08-09 15:53:47 -04:00
matlabbe
b044bae304 DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices. 2018-04-25 12:34:47 -04:00
matlabbe
79c4bd7850 Export: Added load and save settings buttons (#274) 2018-04-13 18:54:52 -04:00
matlabbe
a82261a4df Export: Added Poisson auto depth (value=0). CloudViewer: Added measuring tool. 2018-04-13 18:19:13 -04:00
matlabbe
d2f7d8a9c4 ExportDialog: Added OpenChisel meshing option 2018-03-26 18:06:41 -04:00
matlabbe
b0b3b491a0 Docker: added android/install_deps_host.bash. ExportClouds: default voxel size 0.02->0.01 2018-03-20 16:47:18 -04:00
matlabbe
d24097f73d 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
matlabbe
a320eb5d8e ExportCloudsDialog: voxel size is now to 0.02 by default to limit the size of generated cloud (using too much RAM may result in a crash) 2018-02-06 11:34:54 -05:00
matlabbe
e40a7d6681 0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset 2017-10-20 12:09:34 +02:00
matlabbe
b187409e59 ExportCloudsDialog: fixed assembled cloud not set to dense (as it should) before voxel filter 2017-09-29 12:03:48 -04:00
matlabbe
9691a4f361 Added GPS class for convenience, database viewer can view GPS values and export to KML format 2017-09-26 14:13:06 -04:00
matlabbe
ef4aff7d34 fixed gps fields missing in non-android build 2017-09-21 21:28:39 -04:00
matlabbe
52a4e8964f 0.13.3: scan2d with normals support/registration 2017-08-28 16:40:07 -04:00
matlabbe
bc2c998b7c MainWindow: Enabled Help action menu 2017-08-22 16:47:48 -04:00