i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database.

Browse Source
This commit is contained in:
Mathieu Labbe
2015-03-25 13:31:12 -04:00
parent 2be511813e
commit 186dc60a49
32 changed files with 1064 additions and 141 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/include/rtabmap/core/DBDriver.h
View File

@@ -97,7 +97,7 @@ public:
void loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const;
void getNodeData(int signatureId, cv::Mat & imageCompressed, cv::Mat & depthCompressed, cv::Mat & laserScanCompressed, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const;
void getNodeData(int signatureId, cv::Mat & imageCompressed) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, std::vector<unsigned char> & userData) const;
void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
void getWeight(int signatureId, int & weight) const;
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false) const;
@@ -136,7 +136,7 @@ private:
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const = 0;
virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed, cv::Mat & depthCompressed, cv::Mat & laserScanCompressed, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const = 0;
virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, std::vector<unsigned char> & userData) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;

2
corelib/include/rtabmap/core/Memory.h
View File

@@ -110,6 +110,7 @@ public:
int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
bool labelSignature(int id, const std::string & label);
std::map<int, std::string> getAllLabels() const;
bool setUserData(int id, const std::vector<unsigned char> & data);
int getDatabaseMemoryUsed() const; // in bytes
double getDbSavingTime() const;
Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
@@ -119,6 +120,7 @@ public:
int & weight,
std::string & label,
double & stamp,
std::vector<unsigned char> & userData,
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
Signature getSignatureData(int locationId, bool uncompressedData = false);

1
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -103,6 +103,7 @@ public:
int triggerNewMap();
bool labelLocation(int id, const std::string & label);
bool setUserData(int id, const std::vector<unsigned char> & data);
void generateDOTGraph(const std::string & path, int id=0, int margin=5);
void generateTOROGraph(const std::string & path, bool optimized, bool global);
void resetMemory();

6
corelib/include/rtabmap/core/RtabmapThread.h
View File

@@ -69,7 +69,8 @@ public:
kStatePublishingMapGlobal,
kStatePublishingTOROGraphLocal,
kStatePublishingTOROGraphGlobal,
kStateTriggeringMap
kStateTriggeringMap,
kStateAddingUserData
};
public:
@@ -112,6 +113,9 @@ private:
Transform lastPose_;
float _rotVariance;
float _transVariance;
std::vector<unsigned char> _userData;
UMutex _userDataMutex;
};
} /* namespace rtabmap */

14
corelib/include/rtabmap/core/SensorData.h
View File

@@ -43,7 +43,7 @@ class RTABMAP_EXP SensorData
{
public:
SensorData(); // empty constructor
SensorData(const cv::Mat & image, int id = 0, double stamp = 0.0);
SensorData(const cv::Mat & image, int id = 0, double stamp = 0.0, const std::vector<unsigned char> & userData = std::vector<unsigned char>());
// Metric constructor
SensorData(const cv::Mat & image,
@@ -57,7 +57,8 @@ public:
float poseRotVariance,
float poseTransVariance,
int id,
double stamp);
double stamp,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
// Metric constructor + 2d laser scan
SensorData(const cv::Mat & laserScan,
@@ -72,7 +73,8 @@ public:
float poseRotVariance,
float poseTransVariance,
int id,
double stamp);
double stamp,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
virtual ~SensorData() {}
@@ -111,6 +113,9 @@ public:
const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
const cv::Mat & descriptors() const {return _descriptors;}
void setUserData(const std::vector<unsigned char> & data) {_userData = data;}
const std::vector<unsigned char> userData() const {return _userData;}
private:
cv::Mat _image;
int _id;
@@ -131,6 +136,9 @@ private:
// features
std::vector<cv::KeyPoint> _keypoints;
cv::Mat _descriptors;
// user data
std::vector<unsigned char> _userData;
};
}

5
corelib/include/rtabmap/core/Signature.h
View File

@@ -60,6 +60,7 @@ public:
const std::multimap<int, cv::KeyPoint> & words,
const std::multimap<int, pcl::PointXYZ> & words3,
const Transform & pose = Transform(),
const std::vector<unsigned char> & userData = std::vector<unsigned char>(),
const cv::Mat & laserScan = cv::Mat(),
const cv::Mat & image = cv::Mat(),
const cv::Mat & depth = cv::Mat(),
@@ -85,6 +86,9 @@ public:
void setLabel(const std::string & label) {_modified=_label.compare(label)!=0;_label = label;}
const std::string & getLabel() const {return _label;}
void setUserData(const std::vector<unsigned char> & data);
const std::vector<unsigned char> & getUserData() const {return _userData;}
double getStamp() const {return _stamp;}
void addLinks(const std::list<Link> & links);
@@ -153,6 +157,7 @@ private:
std::map<int, Link> _links; // id, transform
int _weight;
std::string _label;
std::vector<unsigned char> _userData;
bool _saved; // If it's saved to bd
bool _modified;
bool _linksModified; // Optimization when updating signatures in database

6
corelib/include/rtabmap/core/Statistics.h
View File

@@ -129,6 +129,8 @@ public:
void setMapIds(const std::map<int, int> & mapIds) {_mapIds = mapIds;}
void setLabels(const std::map<int, std::string> & labels) {_labels = labels;}
void setStamps(const std::map<int, double> & stamps) {_stamps = stamps;}
void setUserDatas(const std::map<int, std::vector<unsigned char> > & userDatas) {_userDatas = userDatas;}
void setSignature(const Signature & s) {_signature = s;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
@@ -149,6 +151,8 @@ public:
const std::map<int, int> & getMapIds() const {return _mapIds;}
const std::map<int, std::string> & getLabels() const {return _labels;}
const std::map<int, double> & getStamps() const {return _stamps;}
const std::map<int, std::vector<unsigned char> > & getUserDatas() const {return _userDatas;}
const Signature & getSignature() const {return _signature;}
const std::map<int, Transform> & poses() const {return _poses;}
@@ -173,6 +177,8 @@ private:
// extended data start here...
std::map<int, int> _mapIds;
std::map<int, std::string> _labels;
std::map<int, double> _stamps;
std::map<int, std::vector<unsigned char> > _userDatas;
// Signature data
Signature _signature;

59
corelib/include/rtabmap/core/UserDataEvent.h Normal file
View File

@@ -0,0 +1,59 @@
/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef USERDATAEVENT_H_
#define USERDATAEVENT_H_
#include <opencv2/opencv.hpp>
#include <rtabmap/utilite/UEvent.h>
namespace rtabmap
{
/**
* The user data event.
*/
class UserDataEvent : public UEvent
{
public:
UserDataEvent(const std::vector<unsigned char> & data) :
UEvent(0),
data_(data)
{}
~UserDataEvent() {}
virtual std::string getClassName() const {return "UserDataEvent";}
const std::vector<unsigned char> & data() const {return data_;}
private:
std::vector<unsigned char> data_;
};
}
#endif /* USERDATAEVENT_H_ */