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ios first release

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matlabbe
2021-06-08 00:06:49 -04:00
parent 630cb6a59f
commit 289d4afd76
88 changed files with 9260 additions and 473 deletions
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55
corelib/include/rtabmap/core/Landmark.h
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_
#define CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_
#include <rtabmap/core/RtabmapExp.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
@@ -39,38 +40,60 @@ class Landmark
{
public:
Landmark() :
id_(0)
id_(0),
size_(0.0f)
{}
Landmark(const int & id, const Transform & pose, const cv::Mat & covariance) :
id_(id),
pose_(pose),
covariance_(covariance)
{
UASSERT(id_>0);
UASSERT(!pose_.isNull());
UASSERT(covariance_.cols == 6 && covariance_.rows == 6 && covariance_.type() == CV_64FC1);
UASSERT_MSG(uIsFinite(covariance_.at<double>(0,0)) && covariance_.at<double>(0,0)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(0,0)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(1,1)) && covariance_.at<double>(1,1)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(1,1)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(2,2)) && covariance_.at<double>(2,2)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(2,2)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(3,3)) && covariance_.at<double>(3,3)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(3,3)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(4,4)) && covariance_.at<double>(4,4)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(4,4)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(5,5)) && covariance_.at<double>(5,5)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(5,5)).c_str());
}
Landmark(const int & id, const float & size, const Transform & pose, const cv::Mat & covariance) :
id_(id),
size_(size),
pose_(pose),
covariance_(covariance)
{
UASSERT(id_>0);
UASSERT(!pose_.isNull());
UASSERT(covariance_.cols == 6 && covariance_.rows == 6 && covariance_.type() == CV_64FC1);
UASSERT_MSG(uIsFinite(covariance_.at<double>(0,0)) && covariance_.at<double>(0,0)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(0,0)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(1,1)) && covariance_.at<double>(1,1)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(1,1)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(2,2)) && covariance_.at<double>(2,2)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(2,2)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(3,3)) && covariance_.at<double>(3,3)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(3,3)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(4,4)) && covariance_.at<double>(4,4)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(4,4)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(5,5)) && covariance_.at<double>(5,5)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(5,5)).c_str());
}
RTABMAP_DEPRECATED(Landmark(const int & id, const Transform & pose, const cv::Mat & covariance), "Use constructor with size instead.");
virtual ~Landmark() {}
const int & id() const {return id_;}
const float & size() const {return size_;}
const Transform & pose() const {return pose_;}
const cv::Mat & covariance() const {return covariance_;}
private:
int id_;
float size_;
Transform pose_;
cv::Mat covariance_;
};
typedef std::map<int, Landmark> Landmarks;
inline Landmark::Landmark(const int & id, const Transform & pose, const cv::Mat & covariance) :
id_(id),
size_(0.0f),
pose_(pose),
covariance_(covariance)
{
UASSERT(id_>0);
UASSERT(!pose_.isNull());
UASSERT(covariance_.cols == 6 && covariance_.rows == 6 && covariance_.type() == CV_64FC1);
UASSERT_MSG(uIsFinite(covariance_.at<double>(0,0)) && covariance_.at<double>(0,0)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(0,0)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(1,1)) && covariance_.at<double>(1,1)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(1,1)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(2,2)) && covariance_.at<double>(2,2)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(2,2)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(3,3)) && covariance_.at<double>(3,3)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(3,3)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(4,4)) && covariance_.at<double>(4,4)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(4,4)).c_str());
UASSERT_MSG(uIsFinite(covariance_.at<double>(5,5)) && covariance_.at<double>(5,5)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(5,5)).c_str());
}
}
#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_ */

35
corelib/include/rtabmap/core/MarkerDetector.h
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@@ -38,12 +38,43 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
class MarkerDetector {
typedef std::map<int, Transform> MapIdPose;
class MarkerInfo {
public:
MarkerInfo(int id, float length, Transform pose) :
id_(id),
length_(length),
pose_(pose)
{}
int id() const {return id_;}
float length() const {return length_;}
const Transform & pose() const {return pose_;}
private:
int id_;
float length_;
Transform pose_;
};
class RTABMAP_EXP MarkerDetector {
public:
MarkerDetector(const ParametersMap & parameters = ParametersMap());
virtual ~MarkerDetector();
void parseParameters(const ParametersMap & parameters);
std::map<int, Transform> detect(const cv::Mat & image, const CameraModel & model, const cv::Mat & depth = cv::Mat(), float * estimatedMarkerLength = 0, cv::Mat * imageWithDetections = 0);
RTABMAP_DEPRECATED(
MapIdPose detect(const cv::Mat & image,
const CameraModel & model,
const cv::Mat & depth = cv::Mat(),
float * estimatedMarkerLength = 0,
cv::Mat * imageWithDetections = 0), "Use the other constructor, in which the returned map contains the length of each marker detected.");
std::map<int, MarkerInfo> detect(const cv::Mat & image,
const CameraModel & model,
const cv::Mat & depth = cv::Mat(),
const std::map<int, float> & markerLengths = std::map<int, float>(),
cv::Mat * imageWithDetections = 0);
private:
#ifdef HAVE_OPENCV_ARUCO

5
corelib/include/rtabmap/core/Memory.h
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@@ -165,7 +165,6 @@ public:
bool labelSignature(int id, const std::string & label);
const std::map<int, std::string> & getAllLabels() const {return _labels;}
const std::map<int, std::set<int> > & getLandmarksIndex() const {return _landmarksIndex;}
const std::map<int, std::set<int> > & getLandmarksInvertedIndex() const {return _landmarksInvertedIndex;}
bool allNodesInWM() const {return _allNodesInWM;}
/**
@@ -346,8 +345,8 @@ private:
std::map<int, double> _workingMem; // id,age
std::map<int, Transform> _groundTruths;
std::map<int, std::string> _labels;
std::map<int, std::set<int> > _landmarksIndex; // <nodeId, landmarkIds>
std::map<int, std::set<int> > _landmarksInvertedIndex; // <landmarkId, nodeIds>
std::map<int, std::set<int> > _landmarksIndex; // < -landmarkId, nodeIds >
std::map<int, float> _landmarksSize; // +landmarkId
//Keypoint stuff
VWDictionary * _vwd;

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -177,7 +177,7 @@ public:
void setWorkingDirectory(std::string path);
void rejectLastLoopClosure();
void deleteLastLocation();
void setOptimizedPoses(const std::map<int, Transform> & poses);
void setOptimizedPoses(const std::map<int, Transform> & poses, const std::multimap<int, Link> & constraints);
Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const;
RTABMAP_DEPRECATED(
void get3DMap(std::map<int, Signature> & signatures,

2
corelib/include/rtabmap/core/RtabmapExp.h
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@@ -27,7 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef RTABMAPEXP_H
#define RTABMAPEXP_H
#if defined(_WIN32)
#if defined(rtabmap_core_EXPORTS)
#define RTABMAP_EXP __declspec( dllexport )