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Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache.

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This commit is contained in:
matlabbe
2022-10-28 12:25:48 -07:00
parent 8e30c1c812
commit 1297714271
18 changed files with 1021 additions and 610 deletions
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3
corelib/include/rtabmap/core/Parameters.h
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@@ -183,7 +183,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
RTABMAP_PARAM(Rtabmap, CreateIntermediateNodes, bool, false, uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()));
RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, "", "Working directory.");
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2, "Maximum locations retrieved at the same time from LTM.");
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2, "Maximum nodes retrieved at the same time from LTM.");
RTABMAP_PARAM(Rtabmap, MaxRepublished, unsigned int, 2, uFormat("Maximum nodes republished when requesting missing data. When %s=false, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if %s=false.", kRGBDEnabled().c_str(), kRtabmapPublishLastSignature().c_str()));
RTABMAP_PARAM(Rtabmap, StatisticLogsBufferedInRAM, bool, true, "Statistic logs buffered in RAM instead of written to hard drive after each iteration.");
RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
RTABMAP_PARAM(Rtabmap, StatisticLoggedHeaders, bool, true, "Add column header description to log files.");

4
corelib/include/rtabmap/core/Rtabmap.h
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@@ -223,6 +223,7 @@ public:
int refineLinks();
bool addLink(const Link & link);
cv::Mat getInformation(const cv::Mat & covariance) const;
void addNodesToRepublish(const std::vector<int> & ids);
int getPathStatus() const {return _pathStatus;} // -1=failed 0=idle/executing 1=success
void clearPath(int status); // -1=failed 0=idle/executing 1=success
@@ -284,6 +285,7 @@ private:
bool _verifyLoopClosureHypothesis;
unsigned int _maxRetrieved;
unsigned int _maxLocalRetrieved;
unsigned int _maxRepublished;
bool _rawDataKept;
bool _statisticLogsBufferedInRAM;
bool _statisticLogged;
@@ -368,6 +370,8 @@ private:
std::vector<float> _odomCorrectionAcc;
std::map<int, Transform> _markerPriors;
std::set<int> _nodesToRepublish;
// Planning stuff
int _pathStatus;
std::vector<std::pair<int,Transform> > _path;

3
corelib/include/rtabmap/core/RtabmapEvent.h
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@@ -59,15 +59,18 @@ class RtabmapEventCmd : public UEvent
public:
enum dummy {d}; // Hack, to fix Eclipse complaining about not defined Cmd enum ?!
enum Cmd {
kCmdUndef,
kCmdInit, // params: [string] database path + ParametersMap
kCmdResetMemory,
kCmdClose, // params: [bool] database saved (default true), [string] output database path (empty=use same database to save, only work when Db/Sqlite3InMemory=true)
kCmdUpdateParams, // params: ParametersMap
kCmdDumpMemory,
kCmdDumpPrediction,
kCmdGenerateDOTGraph, // params: [bool] global, [string] path, if global=false: [int] id, [int] margin
kCmdExportPoses, // params: [bool] global, [bool] optimized, [string] path, [int] type (0=raw format, 1=RGBD-SLAM format, 2=KITTI format, 3=TORO, 4=g2o)
kCmdCleanDataBuffer,
kCmdPublish3DMap, // params: [bool] global, [bool] optimized, [bool] graphOnly
kCmdRepublishData, // params: [vector<int>] ids
kCmdTriggerNewMap,
kCmdPause,
kCmdResume,

20
corelib/include/rtabmap/core/RtabmapThread.h
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@@ -54,22 +54,8 @@ class RTABMAP_EXP RtabmapThread :
{
public:
enum State {
kStateInit,
kStateDetecting,
kStateReseting,
kStateClose,
kStateChangingParameters,
kStateDumpingMemory,
kStateDumpingPrediction,
kStateExportingDOTGraph,
kStateExportingPoses,
kStateCleanDataBuffer,
kStatePublishingMap,
kStateTriggeringMap,
kStateSettingGoal,
kStateCancellingGoal,
kStateLabelling,
kStateRemovingLabel
kStateProcessCommand
};
public:
@@ -105,13 +91,13 @@ private:
void process();
void addData(const OdometryEvent & odomEvent);
bool getData(OdometryEvent & data);
void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
void pushNewState(State newState, const RtabmapEventCmd & cmdEvent = RtabmapEventCmd(RtabmapEventCmd::kCmdUndef));
void publishMap(bool optimized, bool full, bool graphOnly) const;
private:
UMutex _stateMutex;
std::queue<State> _state;
std::queue<ParametersMap> _stateParam;
std::queue<RtabmapEventCmd> _stateParam;
std::list<OdometryEvent> _dataBuffer;
std::list<double> _newMapEvents;

10
corelib/include/rtabmap/core/Statistics.h
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@@ -241,7 +241,9 @@ public:
void setProximityDetectionMapId(int id) {_proximiyDetectionMapId = id;}
void setStamp(double stamp) {_stamp = stamp;}
void setLastSignatureData(const Signature & data) {_lastSignatureData = data;}
RTABMAP_DEPRECATED(void setLastSignatureData(const Signature & data) {_signaturesData.insert(std::make_pair(data.id(), data));}, "Use addSignatureData() instead.");
void addSignatureData(const Signature & data) {_signaturesData.insert(std::make_pair(data.id(), data));}
void setSignaturesData(const std::map<int, Signature> & data) {_signaturesData = data;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
void setConstraints(const std::multimap<int, Link> & constraints) {_constraints = constraints;}
@@ -270,7 +272,8 @@ public:
int proximityDetectionMapId() const {return _proximiyDetectionMapId;}
double stamp() const {return _stamp;}
const Signature & getLastSignatureData() const {return _lastSignatureData;}
const Signature & getLastSignatureData() const {return _signaturesData.empty()?_dummyEmptyData:_signaturesData.rbegin()->second;}
const std::map<int, Signature> & getSignaturesData() const {return _signaturesData;}
const std::map<int, Transform> & poses() const {return _poses;}
const std::multimap<int, Link> & constraints() const {return _constraints;}
@@ -302,7 +305,8 @@ private:
int _proximiyDetectionMapId;
double _stamp;
Signature _lastSignatureData;
std::map<int, Signature> _signaturesData;
Signature _dummyEmptyData;
std::map<int, Transform> _poses;
std::multimap<int, Link> _constraints;