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Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).

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This commit is contained in:
matlabbe
2016-11-27 14:30:11 -05:00
parent 693f623e5e
commit 121446d648
15 changed files with 695 additions and 763 deletions
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49
guilib/src/MainWindow.cpp
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@@ -926,7 +926,6 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(!pose.isNull() && (_ui->dockWidget_cloudViewer->isVisible() || _ui->graphicsView_graphView->isVisible()))
{
_lastOdomPose = pose;
_odometryReceived = true;
}
if(_ui->dockWidget_cloudViewer->isVisible())
@@ -1071,19 +1070,22 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
// F2M: scan local map
if(!odom.info().localScanMap.empty())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap);
if(!_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue))
if(!lost)
{
UERROR("Adding scanMapOdom to viewer failed!");
}
else
{
_cloudViewer->setCloudVisibility("scanMapOdom", true);
_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
scanUpdated = true;
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap);
if(!_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue))
{
UERROR("Adding scanMapOdom to viewer failed!");
}
else
{
_cloudViewer->setCloudVisibility("scanMapOdom", true);
_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
}
}
scanUpdated = true;
}
// scan cloud
if(!odom.data().laserScanRaw().empty())
@@ -1117,9 +1119,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
// 3d features
if(_preferencesDialog->isFeaturesShown(1))
if(_preferencesDialog->isFeaturesShown(1) && !odom.info().localMap.empty())
{
if(!odom.info().localMap.empty())
if(!lost)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
cloud->resize(odom.info().localMap.size());
@@ -1140,9 +1142,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
_cloudViewer->setCloudVisibility("featuresOdom", true);
_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
featuresUpdated = true;
}
featuresUpdated = true;
}
}
if(!dataIgnored)
@@ -1168,6 +1169,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(!odom.pose().isNull())
{
_odometryReceived = true;
// update camera position
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
@@ -1434,7 +1436,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
signature = stat.getSignatures().at(stat.refImageId());
signature.sensorData().uncompressData(); // make sure data are uncompressed
if(!smallMovement)
if(!smallMovement && uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())))
{
_cachedSignatures.insert(signature.id(), signature);
_cachedMemoryUsage += signature.sensorData().getMemoryUsed();
@@ -2456,7 +2458,7 @@ void MainWindow::updateMapCloud(
UDEBUG("");
_cloudViewer->setCloudVisibility("scanMapOdom", false);
}
else
else if(_cloudViewer->getBackgroundColor() != Qt::darkRed) // not lost
{
UDEBUG("");
_cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection);
@@ -2471,7 +2473,7 @@ void MainWindow::updateMapCloud(
UDEBUG("");
_cloudViewer->setCloudVisibility("featuresOdom", false);
}
else
else if(_cloudViewer->getBackgroundColor() != Qt::darkRed) // not lost
{
UDEBUG("");
_cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection);
@@ -4236,7 +4238,7 @@ void MainWindow::startDetection()
_odomThread = 0;
}
if(!camera->odomProvided())
if(!camera->odomProvided() && !_preferencesDialog->isOdomDisabled())
{
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
@@ -4282,6 +4284,13 @@ void MainWindow::startDetection()
_occupancyGrid->clear();
_occupancyGrid->parseParameters(parameters);
// clear odometry visual stuff
_cloudViewer->removeCloud("cloudOdom");
_cloudViewer->removeCloud("scanOdom");
_cloudViewer->removeCloud("scanMapOdom");
_cloudViewer->removeCloud("featuresOdom");
_cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor());
emit stateChanged(kDetecting);
}