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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/Rtabmap.cpp
+10 -3
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@@ -413,8 +413,10 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDProximityMaxPaths(), _proximityMaxPaths);
Parameters::parse(parameters, Parameters::kRGBDProximityPathFilteringRadius(), _proximityFilteringRadius);
Parameters::parse(parameters, Parameters::kRGBDProximityPathRawPosesUsed(), _proximityRawPosesUsed);
Parameters::parse(parameters, Parameters::kRGBDProximityAngle(), _proximityAngle);
_proximityAngle *= M_PI/180.0f;
if(Parameters::parse(parameters, Parameters::kRGBDProximityAngle(), _proximityAngle))
{
_proximityAngle *= M_PI/180.0f;
}
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), _optimizeFromGraphEnd);
Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), _optimizationMaxLinearError);
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
@@ -2386,7 +2388,7 @@ bool Rtabmap::process(
signaturesRemoved.insert(signaturesRemoved.end(), transferred.begin(), transferred.end());
if(!_someNodesHaveBeenTransferred && transferred.size())
{
_someNodesHaveBeenTransferred = true; // only used to hide a warning on close ndoes immunization
_someNodesHaveBeenTransferred = true; // only used to hide a warning on close nodes immunization
}
}
_lastProcessTime = totalTime;
@@ -2502,6 +2504,7 @@ bool Rtabmap::process(
UINFO("Adding data %d (rgb/left=%d depth/right=%d)", lastSignatureData.id(), lastSignatureData.sensorData().imageRaw().empty()?0:1, lastSignatureData.sensorData().depthOrRightRaw().empty()?0:1);
signatures.insert(std::make_pair(lastSignatureData.id(), lastSignatureData));
}
UDEBUG("");
// Set local graph
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
@@ -2516,6 +2519,7 @@ bool Rtabmap::process(
poses = _optimizedPoses;
constraints = _constraints;
}
UDEBUG("Get all node infos...");
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
Transform odomPose;
@@ -2540,15 +2544,18 @@ bool Rtabmap::process(
statistics_.setSignatures(signatures);
statistics_.addStatistic(Statistics::kMemoryLocal_graph_size(), poses.size());
localGraphSize = (int)poses.size();
UDEBUG("");
}
//Start trashing
UDEBUG("Empty trash...");
_memory->emptyTrash();
// Log info...
// TODO : use a specific class which will handle the RtabmapEvent
if(_foutFloat && _foutInt)
{
UDEBUG("Logging...");
std::string logF = uFormat("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\n",
totalTime,
timeMemoryUpdate,