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0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

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This commit is contained in:
matlabbe
2016-08-31 12:43:53 -04:00
parent af02e02978
commit 013eba1d58
49 changed files with 3376 additions and 1259 deletions
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corelib/src/Memory.cpp
+36 -65
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@@ -57,10 +57,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Compression.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/Stereo.h"
#include "rtabmap/core/Occupancy.h"
#include <pcl/io/pcd_io.h>
#include <pcl/common/common.h>
#include <rtabmap/core/OccupancyGrid.h>
namespace rtabmap {
@@ -92,7 +91,7 @@ Memory::Memory(const ParametersMap & parameters) :
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
_rehearsalWeightIgnoredWhileMoving(Parameters::defaultMemRehearsalWeightIgnoredWhileMoving()),
_useOdometryFeatures(Parameters::defaultMemUseOdomFeatures()),
_createOccupancyGrid(Parameters::defaultMemCreateOccupancyGrid()),
_createOccupancyGrid(Parameters::defaultRGBDCreateOccupancyGrid()),
_idCount(kIdStart),
_idMapCount(kIdStart),
_lastSignature(0),
@@ -109,7 +108,7 @@ Memory::Memory(const ParametersMap & parameters) :
_vwd = new VWDictionary(parameters);
_registrationPipeline = Registration::create(parameters);
_registrationIcp = new RegistrationIcp(parameters);
_occupancy = new Occupancy(parameters);
_occupancy = new OccupancyGrid(parameters);
this->parseParameters(parameters);
}
@@ -413,7 +412,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
Parameters::parse(parameters, Parameters::kMemRehearsalWeightIgnoredWhileMoving(), _rehearsalWeightIgnoredWhileMoving);
Parameters::parse(parameters, Parameters::kMemUseOdomFeatures(), _useOdometryFeatures);
Parameters::parse(parameters, Parameters::kMemCreateOccupancyGrid(), _createOccupancyGrid);
Parameters::parse(parameters, Parameters::kRGBDCreateOccupancyGrid(), _createOccupancyGrid);
UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str());
UASSERT_MSG(_similarityThreshold >= 0.0f && _similarityThreshold <= 1.0f, uFormat("value=%f", _similarityThreshold).c_str());
@@ -2062,7 +2061,7 @@ void Memory::removeRawData(int id, bool image, bool scan, bool userData)
}
if(scan && !_registrationPipeline->isScanRequired())
{
s->sensorData().setLaserScanRaw(cv::Mat(), s->sensorData().laserScanMaxPts(), s->sensorData().laserScanMaxRange());
s->sensorData().setLaserScanRaw(cv::Mat(), s->sensorData().laserScanInfo());
}
if(userData && !_registrationPipeline->isUserDataRequired())
{
@@ -2305,7 +2304,9 @@ Transform Memory::computeIcpTransformMulti(
{
cv::Mat scan;
s->sensorData().uncompressData(0, 0, &scan);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(scan, toPose.inverse() * iter->second);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(
scan,
s->sensorData().laserScanInfo().localTransform() * toPose.inverse() * iter->second);
if(scan.cols > maxPoints)
{
maxPoints = scan.cols;
@@ -2320,7 +2321,12 @@ Transform Memory::computeIcpTransformMulti(
}
if(assembledToClouds->size())
{
assembledData.setLaserScanRaw(util3d::laserScanFromPointCloud(*assembledToClouds, Transform()), fromS->sensorData().laserScanMaxPts()?fromS->sensorData().laserScanMaxPts():maxPoints, fromS->sensorData().laserScanMaxRange());
assembledData.setLaserScanRaw(
util3d::laserScanFromPointCloud(*assembledToClouds),
LaserScanInfo(
fromS->sensorData().laserScanInfo().maxPoints()?fromS->sensorData().laserScanInfo().maxPoints():maxPoints,
fromS->sensorData().laserScanInfo().maxRange(),
Transform::getIdentity())); // scans are in base frame
}
Transform guess = poses.at(fromId).inverse() * poses.at(toId);
@@ -2985,52 +2991,23 @@ void Memory::getNodeCalibration(int nodeId,
}
}
SensorData Memory::getSignatureDataConst(int locationId) const
SensorData Memory::getSignatureDataConst(int locationId,
bool images, bool scan, bool userData, bool occupancyGrid) const
{
UDEBUG("");
SensorData r;
const Signature * s = this->getSignature(locationId);
if(s && !s->sensorData().imageCompressed().empty())
if(s && (!s->sensorData().imageCompressed().empty() ||
!s->sensorData().laserScanCompressed().empty() ||
!s->sensorData().userDataCompressed().empty() ||
s->sensorData().gridCellSize() != 0.0f))
{
r = s->sensorData();
}
else if(_dbDriver)
{
// load from database
if(s)
{
std::list<Signature*> signatures;
Signature tmp = *s;
signatures.push_back(&tmp);
_dbDriver->loadNodeData(signatures);
r = tmp.sensorData();
}
else
{
std::list<int> ids;
ids.push_back(locationId);
std::list<Signature*> signatures;
std::set<int> loadedFromTrash;
_dbDriver->loadSignatures(ids, signatures, &loadedFromTrash);
if(signatures.size())
{
Signature * sTmp = signatures.front();
if(sTmp->sensorData().imageCompressed().empty())
{
_dbDriver->loadNodeData(signatures);
}
r = sTmp->sensorData();
if(loadedFromTrash.size())
{
//put it back to trash
_dbDriver->asyncSave(sTmp);
}
else
{
delete sTmp;
}
}
}
_dbDriver->getNodeData(locationId, r, images, scan, userData, occupancyGrid);
}
return r;
@@ -3502,7 +3479,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
// downsampling the laser scan?
cv::Mat laserScan = data.laserScanRaw();
int maxLaserScanMaxPts = data.laserScanMaxPts();
int maxLaserScanMaxPts = data.laserScanInfo().maxPoints();
if(!laserScan.empty() && _laserScanDownsampleStepSize > 1)
{
laserScan = util3d::downsample(laserScan, _laserScanDownsampleStepSize);
@@ -3554,8 +3531,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
stereoCameraModel.isValidForProjection()?
SensorData(
ctLaserScan.getCompressedData(),
maxLaserScanMaxPts,
data.laserScanMaxRange(),
LaserScanInfo(maxLaserScanMaxPts, data.laserScanInfo().maxRange(), data.laserScanInfo().localTransform()),
ctImage.getCompressedData(),
ctDepth.getCompressedData(),
stereoCameraModel,
@@ -3564,8 +3540,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
ctUserData.getCompressedData()):
SensorData(
ctLaserScan.getCompressedData(),
maxLaserScanMaxPts,
data.laserScanMaxRange(),
LaserScanInfo(maxLaserScanMaxPts, data.laserScanInfo().maxRange(), data.laserScanInfo().localTransform()),
ctImage.getCompressedData(),
ctDepth.getCompressedData(),
cameraModels,
@@ -3575,12 +3550,9 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
else
{
// just compress laser and user data
rtabmap::CompressionThread ctLaserScan(laserScan);
// just compress user data
rtabmap::CompressionThread ctUserData(data.userDataRaw());
ctLaserScan.start();
ctUserData.start();
ctLaserScan.join();
ctUserData.join();
s = new Signature(id,
@@ -3592,9 +3564,8 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.groundTruth(),
stereoCameraModel.isValidForProjection()?
SensorData(
ctLaserScan.getCompressedData(),
maxLaserScanMaxPts,
data.laserScanMaxRange(),
cv::Mat(),
LaserScanInfo(),
cv::Mat(),
cv::Mat(),
stereoCameraModel,
@@ -3602,9 +3573,8 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
0,
ctUserData.getCompressedData()):
SensorData(
ctLaserScan.getCompressedData(),
maxLaserScanMaxPts,
data.laserScanMaxRange(),
cv::Mat(),
LaserScanInfo(),
cv::Mat(),
cv::Mat(),
cameraModels,
@@ -3620,7 +3590,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
// set raw data
s->sensorData().setImageRaw(image);
s->sensorData().setDepthOrRightRaw(depthOrRightImage);
s->sensorData().setLaserScanRaw(laserScan, maxLaserScanMaxPts, data.laserScanMaxRange());
s->sensorData().setLaserScanRaw(laserScan, LaserScanInfo(maxLaserScanMaxPts, data.laserScanInfo().maxRange(), data.laserScanInfo().localTransform()));
s->sensorData().setUserDataRaw(data.userDataRaw());
s->sensorData().setGroundTruth(data.groundTruth());
@@ -3634,19 +3604,20 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
// Occupancy grid map stuff
/*cv::Mat ground, obstacles;
cv::Mat ground, obstacles;
float cellSize = 0.0f;
cv::Point3f viewPoint(0,0,0);
if(_createOccupancyGrid)
{
_occupancy->segment(s->sensorData(), ground, obstacles);
_occupancy->createLocalMap(*s, ground, obstacles, viewPoint);
cellSize = _occupancy->getCellSize();
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemOccupancy_grid(), t*1000.0f);
UDEBUG("time grid map (%d) = %fs", t);
UDEBUG("time grid map = %fs", t);
}
s->setOccupancyGrid(ground, obstacles, cellSize);
*/
s->sensorData().setOccupancyGrid(ground, obstacles, cellSize, viewPoint);
return s;
}