i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity
3,372 Commits 29 Branches 163 Tags
b44dd537a78d769817e1cca49b21dbeab85e7a07
Commit Graph

50 Commits

Author SHA1 Message Date
matlabbe
89e3e10d89 Refactoring RTABMapConfig.cmake with targets (#904) 
* Config: Using cmake targets

* fixed RTABMAP_DEPRECATED build error

* fixed melodic build

* cleanup

* Fixed qhull exported library error

* Update svg depend private

* removed g2o from public interface

* Fixed Windows with external project

* removed some required dep

* Fixed nsis error (also fixed unspecified components)

* updated workflow rules
 2023-02-12 16:18:01 -08:00
matlabbe
64cb7fb6fe export: when --images and --cam_projection are used, we export depth image from lidar projection to RGB frames 2022-12-04 17:23:33 -08:00
matlabbe
d59a306ae3 Export: fixed depth image wrongly set for stereo data 2022-11-10 17:18:57 -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
dab7aa6e58 export: added min_range option 2022-05-03 23:12:09 -04:00
matlabbe
656da152b3 multiband: fixed error when intermediate nodes without data are in memory 2022-03-01 18:42:43 -05:00
matlabbe
e7ee025127 Export: fixed texturing assert when there are intermediate nodes 2022-02-25 02:08:08 -05:00
matlabbe
578c19cc38 Export CLI: for --poses_camera option with intermediate nodes in db, re-use previous camera models of last valid node with data. 2022-02-13 14:45:08 -05:00
matlabbe
02140f92db fixed build 2022-01-27 22:55:59 -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
a8e5bbf415 export: added --texture_roi_ratios option 2022-01-26 20:12:04 -05:00
matlabbe
29a2b64a0c RGBD/NeighborLinkRefining: do one proximity detection by time if intermediate nodes are added. Optimized radiusFiltering(). Updated default parameters of proportionalRadiusFiltering(). 2022-01-14 18:47:57 -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
459c7b2bd7 Export: added --min_cluster option. 2021-11-16 11:58:55 -05:00
matlabbe
dbecaac809 Moved bin dir inside build directory (#784) 
* Moved bin directory inside build directory (to make easier different builds with same source directory)

* Switched include order to avoid problems with remaining Version.h still in source directory taen before the one in binary dir. Fixed android build (updated res tool search path).

* workflow-cmake: fixed path to bin directory
 2021-11-14 19:29:37 -05:00
matlabbe
2ad334df90 Added filter_floor and adjusted default values. 2021-10-29 13:58:00 -04:00
Ines
6cb741667d Add ceiling filter to rtabmap-export 2021-10-22 12:36:53 +02:00
matlabbe
bccc5b13af FLOAM: added some debug logs 2021-09-24 11:32:25 -04:00
matlabbe
14b56813d3 Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option. 2021-09-19 20:20:45 -04:00
matlabbe
263e0170f1 export: refactored ba (to support stereo data) 2021-09-09 14:22:02 -04:00
matlabbe
20361400e1 export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required) 2021-09-07 15:57:23 -04:00
matlabbe
c5e4d67f80 export: don't assert if gain is zero (means disabled) 2021-08-16 20:27:31 -04:00
matlabbe
ed68fe777b Added more options for multiband texturing 2021-08-16 13:14:02 -04:00
matlabbe
eeecb21793 export tool: added --camera_projection_keep_all option 2021-08-03 13:46:39 -04:00
matlabbe
f9257beeb8 export: updated default poses format (11) 2021-07-05 12:58:24 -04:00
matlabbe
485bf806bd export tool: use pcl's PLY writer instead of pdal if camera ids are not exported (ply compatibility issue when reading back using pcl) 2021-07-05 10:04:51 -04:00
matlabbe
68ae3b76af export: updated to export calibration for every files (to support auto-focus cameras). Added output_dir option. 2021-07-05 09:46:12 -04:00
matlabbe
d75f9524f3 Export: added --texture_depth_error option 2021-05-12 10:56:16 -04:00
matlabbe
a11492943a Export CLI: added print info for coloring mesh step 2021-05-10 15:19:48 -04:00
matlabbe
854a52c6a5 Export CLI: added noise_radius and noise_k options to filter noise 2021-05-10 14:45:35 -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
f4207979ad Export: fixed calibration not exported if camera name is not set. For multi-camera, added index suffix to yaml. 2021-04-09 16:20:08 -04:00
matlabbe
b92f55be43 Export tool: added multi-camera support when exporting camera poses 2021-04-08 10:23:38 -04:00
matlabbe
c4d127cae4 Export: added more options for pose format and image file name. 2021-03-21 19:05:24 -04:00
matlabbe
ccc519ec58 Export: added --output name option. 2021-03-13 20:58:10 -05:00
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
736c8aceae Export tool: show an error if file doesn't exist 2021-03-09 14:06:33 -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
481a140f84 util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat. 2021-02-07 17:27:55 -05:00
matlabbe
54e2688a1d Fixed build with pcl > 1.11.1 (#641) 2020-11-14 16:52:01 -05:00
matlabbe
d04b1a13be multiband: add multi-camera support. rtabmap-export: updated options (now supporting creating point cloud from scans). 2020-11-04 14:02:18 -05:00
matlabbe
e269067d4c Texturing: add distanceToCamPolicy option 2020-11-03 16:11:37 -05:00
matlabbe
96a628877c reprocess: when merging databases, return number of sessions merged when program exists. export: added --save_in_db option. 2020-08-28 12:29:16 -04:00
matlabbe
13679cc52a Export tool: fixed generated texture output directory 2020-06-09 12:58:55 -04:00
matlabbe
6029b6283d Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true. 2020-06-08 10:14:21 -04:00
matlabbe
1af139134e Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes. 2020-05-06 08:04:58 -04:00
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