diff --git a/README.md b/README.md index 6be468a2..372c4332 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,6 @@ +# Beam Robotics +https://beamrobotics.github.io/ + Instructions for adding point clouds: High level overview: diff --git a/content.js b/content.js index 1d4dbf10..9653779c 100644 --- a/content.js +++ b/content.js @@ -1,16 +1,24 @@ let settings = { "results_ig": [ + {"thumb": "potree/results/results_ig/Market_Square_Parking/IG_Market_Square_Parking.png", "label": "Market Square Parking", "url": "Market_Square_Parking/IG_Market_Square_Parking.html"}, + {"thumb": "potree/results/results_ig/UW_Parking_Garage/UW_Parking_Garage.png", "label": "UW Parking Garage", "url": "UW_Parking_Garage/UW_Parking_Garage.html"}, + {"thumb": "potree/results/results_ig/UW_Structures_Lab/UW_Structures_Lab.png", "label": "UW Structures Lab", "url": "UW_Structures_Lab/UW_Structures_Lab.html"}, {"thumb": "potree/results/results_ig/UW_Campus_Mapping_Offline/IG_UW_CAMPUS_GS.png", "label": "UW Campus", "url": "UW_Campus_Mapping_Offline/IG_UW_CAMPUS_GS.html"}, {"thumb": "potree/results/results_ig/Conestogo_Bridge_Delams/conestogo_bridge_delams.png", "label": "Conestogo Bridge Delams", "url": "Conestogo_Bridge_Delams/conestogo_bridge_delams.html"}, ], "results_roben": [ - {"thumb": "potree/results/results_roben/ats/ats.png", "label": "ATS", "url": "ats/ats.html"}, - {"thumb": "potree/results/results_roben/fairway/fairway.jpg", "label": "Fairway Bridge", "url": "fairway/fairway.html"}, - + {"thumb": "potree/results/results_roben/ironhorse_bridge/roben_ironhorse_bridge.png", "label": "Iron Horse Trail", "url": "ironhorse_bridge/roben_ironhorse_bridge.html"}, + {"thumb": "potree/results/results_roben/uptown_garage/roben_uptown_garage.png", "label": "Uptown Parking Garage", "url": "uptown_garage/roben_uptown_garage.html"}, + {"thumb": "potree/results/results_roben/uw_garage2/roben_uw_garage2.png", "label": "UW Parking Garage (1/2)", "url": "uw_garage2/roben_uw_garage2.html"}, + {"thumb": "potree/results/results_roben/uw_garage/roben_uw_garage.png", "label": "UW Parking Garage (2/2)", "url": "uw_garage/roben_uw_garage.html"}, + {"thumb": "potree/results/results_roben/market_square/roben_market_square.png", "label": "Market Square Parking", "url": "market_square/roben_market_square.html"}, + {"thumb": "potree/results/results_roben/structures_lab/structures_lab.png", "label": "Structures Lab", "url": "structures_lab/structures_lab.html"}, + {"thumb": "potree/results/results_roben/fairway/fairway.jpg", "label": "Fairway Bridge", "url": "fairway/fairway.html"} ], "results_faro": [ - {"thumb": "potree/results/results_faro/ats_faro/ats_faro.png", "label": "ATS (Faro)", "url": "ats_faro/ats_faro.html"}, - {"thumb": "potree/results/results_faro/fairway_faro/fairway_faro.png", "label": "Fairway Bridge (Faro)", "url": "fairway_faro/fairway_faro.html"} + // {"thumb": "potree/results/results_faro/ats_faro/ats_faro.png", "label": "ATS (Faro)", "url": "ats_faro/ats_faro.html"}, + {"thumb": "potree/results/results_faro/structures_lab_faro/structures_lab_faro.png", "label": "UW Structures Lab", "url": "structures_lab_faro/structures_lab_faro.html"}, + {"thumb": "potree/results/results_faro/fairway_faro/fairway_faro.png", "label": "Fairway Bridge", "url": "fairway_faro/fairway_faro.html"} ] } diff --git a/dataset.html b/dataset.html new file mode 100644 index 00000000..4c677923 --- /dev/null +++ b/dataset.html @@ -0,0 +1,238 @@ + + + + + + + + + + + + + Beam Robotics | Maps + + + + + + + + + + + + + + + + + + +
+
+ +

Beam Robotics IG Handle Dataset

+

+

Welcome to the IG Handle Public Dataset. +

+

+ +

Platform and Sensors

+

+
+
+ IGHandle
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Sensor TypeModelRelevant Specifications
LidarVelodyne VLP16 LiteVertical FOV: 30° 300,000 points per second 100 m range
Camera 1Flir BlackflyS3.2 MP resolution, RGB, 55fps, Fujinon Lens, 2.7mm focal length, 2/3 inch image circle, + C + mount, FOV: 185° x 140°
Camera 2Flir BlackflyS12.3 MP resolution, RGB, 23fps, Flir Tamron Lens, 8mm focal length, 1/1.8 inch image + circle, + C mount, FOV: 50.8° x 38.6°
IMUXsens MTi-30Frequency: 400 Hz, Data types: xyz acceleration, xyz angular velocity, absolute heading, + east-north-up orientation
Micro-controllerTeensy 3.6
+
+
+

+ +

Available Data

+

+ Calibration +

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
DatasetDateBagThumbnail
Park Street Bridge2021-10-07, 9:38link
Park Street Bridge2021-10-07, 10:03link
Park Street Bridge2021-10-07, 10:08link
Park Street Bridge2021-10-07, 10:15link
Kitchener Parking Garage2021-10-07, 10:48link
Kitchener Parking Garage2021-10-07, 11:01link
Conestogo Bridge2021-10-07, 13:11link
Conestogo Bridge2021-10-07, 13:51link
Conestogo Bridge2021-10-27, 16:21link
Conestogo Bridge2021-10-27, 16:28link
Conestogo Bridge2021-10-27, 16:33link
RCH2021-10-08, 17:36link
RCH2021-10-08, 17:39link
Structures Lab2021-10-27, 14:15link
Structures Lab2021-10-27, 14:22link
Hydro Lab2021-10-20, 12:39link
Hydro Lab2021-10-20, 12:48link
E5SDC2021-10-21, 14:18link
+ + +

Scripts/Processing

+

+ All bags in the dataset contain raw data, this includes the hardware timestamp triggers which need to be aligned with the data. The script here can process a bag for the entire inspection pipeline. +

+ + + + + + + diff --git a/images/IGHandle.jpg b/images/IGHandle.jpg new file mode 100644 index 00000000..cbb5b8a5 Binary files /dev/null and b/images/IGHandle.jpg differ diff --git a/images/InspectorGadget.jpg b/images/InspectorGadget.jpg index 96bd9dcf..3b17c7fe 100644 Binary files a/images/InspectorGadget.jpg and b/images/InspectorGadget.jpg differ diff --git a/images/RobEn.jpg b/images/RobEn.jpg index 29ab75d7..f6f188ee 100644 Binary files a/images/RobEn.jpg and b/images/RobEn.jpg differ diff --git a/images/thumbnails/CO.jpg b/images/thumbnails/CO.jpg new file mode 100644 index 00000000..6628b0ba Binary files /dev/null and b/images/thumbnails/CO.jpg differ diff --git a/images/thumbnails/E5.jpg b/images/thumbnails/E5.jpg new file mode 100644 index 00000000..37e6470a Binary files /dev/null and b/images/thumbnails/E5.jpg differ diff --git a/images/thumbnails/HL_1.jpg b/images/thumbnails/HL_1.jpg new file mode 100644 index 00000000..2f7655a1 Binary files /dev/null and b/images/thumbnails/HL_1.jpg differ diff --git a/images/thumbnails/HL_2.jpg b/images/thumbnails/HL_2.jpg new file mode 100644 index 00000000..08039ed3 Binary files /dev/null and b/images/thumbnails/HL_2.jpg differ diff --git a/images/thumbnails/RCH_1.jpg b/images/thumbnails/RCH_1.jpg new file mode 100644 index 00000000..3e2e6da8 Binary files /dev/null and b/images/thumbnails/RCH_1.jpg differ diff --git a/images/thumbnails/RCH_2.jpg b/images/thumbnails/RCH_2.jpg new file mode 100644 index 00000000..5949a274 Binary files /dev/null and b/images/thumbnails/RCH_2.jpg differ diff --git a/images/thumbnails/SL_1.jpg b/images/thumbnails/SL_1.jpg new file mode 100644 index 00000000..07638815 Binary files /dev/null and b/images/thumbnails/SL_1.jpg differ diff --git a/images/thumbnails/SL_2.jpg b/images/thumbnails/SL_2.jpg new file mode 100644 index 00000000..83a12d90 Binary files /dev/null and b/images/thumbnails/SL_2.jpg differ diff --git a/images/thumbnails/park_st_1.jpg b/images/thumbnails/park_st_1.jpg new file mode 100644 index 00000000..43960cf8 Binary files /dev/null and b/images/thumbnails/park_st_1.jpg differ diff --git a/images/thumbnails/park_st_2.jpg b/images/thumbnails/park_st_2.jpg new file mode 100644 index 00000000..92730aee Binary files /dev/null and b/images/thumbnails/park_st_2.jpg differ diff --git a/images/thumbnails/park_st_3.jpg b/images/thumbnails/park_st_3.jpg new file mode 100644 index 00000000..dfd356f2 Binary files /dev/null and b/images/thumbnails/park_st_3.jpg differ diff --git a/images/thumbnails/park_st_4.jpg b/images/thumbnails/park_st_4.jpg new file mode 100644 index 00000000..13261f67 Binary files /dev/null and b/images/thumbnails/park_st_4.jpg differ diff --git a/images/thumbnails/parking_garage_1.jpg b/images/thumbnails/parking_garage_1.jpg new file mode 100644 index 00000000..e57a0673 Binary files /dev/null and b/images/thumbnails/parking_garage_1.jpg differ diff --git a/images/thumbnails/parking_garage_2.jpg b/images/thumbnails/parking_garage_2.jpg new file mode 100644 index 00000000..149e607b Binary files /dev/null and b/images/thumbnails/parking_garage_2.jpg differ diff --git a/images/thumbnails/stogo_bridge_1.jpg b/images/thumbnails/stogo_bridge_1.jpg new file mode 100644 index 00000000..2bc878d9 Binary files /dev/null and b/images/thumbnails/stogo_bridge_1.jpg differ diff --git a/images/thumbnails/stogo_bridge_2.jpg b/images/thumbnails/stogo_bridge_2.jpg new file mode 100644 index 00000000..ed8a183e Binary files /dev/null and b/images/thumbnails/stogo_bridge_2.jpg differ diff --git a/images/thumbnails/stogo_bridge_3.jpg b/images/thumbnails/stogo_bridge_3.jpg new file mode 100644 index 00000000..071343dd Binary files /dev/null and b/images/thumbnails/stogo_bridge_3.jpg differ diff --git a/images/thumbnails/stogo_bridge_4.jpg b/images/thumbnails/stogo_bridge_4.jpg new file mode 100644 index 00000000..2b05236d Binary files /dev/null and b/images/thumbnails/stogo_bridge_4.jpg differ diff --git a/images/thumbnails/stogo_bridge_5.jpg b/images/thumbnails/stogo_bridge_5.jpg new file mode 100644 index 00000000..fc44d141 Binary files /dev/null and b/images/thumbnails/stogo_bridge_5.jpg differ diff --git a/index.html b/index.html index db217ace..21247774 100644 --- a/index.html +++ b/index.html @@ -9,7 +9,7 @@ - BEAM Robotics | Maps + Beam Robotics | Maps @@ -17,46 +17,64 @@ + + + + + +
-

BEAM Robotics | Map Viewer

+

Beam Robotics | Map Viewer



Welcome to our online map viewer! Here you will find interacting maps of - pervious scans performed by BEAM. + pervious scans performed by Beam as well as some of our open source datasets.

Platforms



- We have three scanning platforms: + We have four scanning platforms:

-
+
+
+

4. Inspector Gadget Handle (IG Handle) : IG Handle is designed to be both a mobile + hand scanning platform as well as capable of mounting onto a ground robot for autonomous scanning. + todo: ad all sensors here + We have released data collected from the IG Handle +

+

+
-

1. Inspector Gadget (IG) : this is our continuous scanning platform. - It continously performs localization and mapping as it drives around for - fastest mapping results and best area coverage. This product is still in - early stages of development. We also have on-going work to automatically - detect/locate/quantify defects related to inspection (see Conestogo Bridge Delams - for results on automatic delamination detection) +

1. Inspector Gadget (IG) : IG is more focused on inspection. For localization, + IG relies on a horizontal VLP16 lidar, IMU, and Fisheye SLAM camera. For mapping and inspection, + IG uses the upper sensor system which includes a vertical VLP16 lidar, one high resolution camera + for detecting defects, one fisheye camera for map colourization, and one infrared camera for + detecting subsurface defects or any temperature gradients.



-

2. Robot Eng (RobEn) : this is our stop-and-go scanning solution. This robot - must stop to take scans (<10s/scan). This scanner is very rapid compared to - the Faro but not as quick as IG. The mapping and full colourization of the - map is done automatically within minutes of taking the scan. This product is - in its final stages of development. +

2. Robot Eng (RobEn) : RobEn is more focused on rapid mapping and full coverage. + For localization, RobEn has a horizontal VLP16 lidar, IMU, and Ladybug5+ spherical camera. For + mapping, RobEn uses a vertically mounted rotating VLP16 which gets full 360 degree coverage once + every second, and the spherical Ladybug5+ camera which gets full coverage at a high rate.



@@ -73,6 +91,9 @@

3. Faro Focus : We also have access to a more

+
+ IGHandle
+
IG
diff --git a/potree.css b/potree.css index f3dac600..07ad702a 100644 --- a/potree.css +++ b/potree.css @@ -150,6 +150,12 @@ body{ } +.platform-container { + display: flex; + justify-content: left; + margin: 20px; +} + .unhandled:hover{ border: 1px solid rgba(200, 200, 200, 1); border-radius: 4px; @@ -157,7 +163,7 @@ body{ } a{ - color: #555555; + color: #0078cd; } h1{ @@ -167,9 +173,16 @@ h1{ font-family: "Helvetica Neue", Helvetica, Arial, sans-serif; } +#dataset-table{ + padding-top: 50px; + padding-right: 30px; + padding-bottom: 50px; + padding-left: 80px; +} + #results_container{ display: grid; - grid-template-columns: 30% 30% 30%; + grid-template-columns: 25% 25% 25% 25%; grid-gap: 10px; grid-template-rows: auto auto; diff --git a/potree/results/results_faro/structures_lab_faro/cloud/cloud.js b/potree/results/results_faro/structures_lab_faro/cloud/cloud.js new file mode 100644 index 00000000..6f74d167 --- /dev/null +++ b/potree/results/results_faro/structures_lab_faro/cloud/cloud.js @@ -0,0 +1,29 @@ +{ + "version": "1.7", + "octreeDir": "data", + "projection": "", + "points": 5949167, + "boundingBox": { + "lx": -11.484430313110352, + "ly": -21.441730499267579, + "lz": 282.8360595703125, + "ux": 25.106590270996095, + "uy": 15.149290084838868, + "uz": 319.42708015441897 + }, + "tightBoundingBox": { + "lx": -11.484430297348, + "ly": -21.4417304864671, + "lz": 282.8360595668402, + "ux": 25.106590266794, + "uy": 9.571960457532498, + "uz": 291.78002929852115 + }, + "pointAttributes": [ + "POSITION_CARTESIAN", + "COLOR_PACKED" + ], + "spacing": 0.3168875277042389, + "scale": 0.001, + "hierarchyStepSize": 5 +} \ No newline at end of file diff --git a/potree/results/results_faro/structures_lab_faro/cloud/data/r/04660/r04660.bin b/potree/results/results_faro/structures_lab_faro/cloud/data/r/04660/r04660.bin new file mode 100644 index 00000000..8914cbfd Binary files /dev/null and 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