i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-12 06:20:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap: fixed support of fixed memory and fixed dictionary (localization-only mode from an already built database) -> updated rtabmap example with "-l" option for localization mode

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@878 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-06-06 13:41:49 +00:00
parent 504e51db12
commit 30ab6dca0e
4 changed files with 133 additions and 100 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/main.cpp
+39 -10
View File
@@ -25,8 +25,10 @@
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-example \"path\"\n"
" path Path to a directory of images\n ");
"rtabmap-example [options] \"path\"\n"
" path Path to a directory of images\n "
" Options:"
" -l localization mode: use already built RTAB-Map database to localize\n ");
exit(1);
}
@@ -35,11 +37,28 @@ int main(int argc, char * argv[])
//ULogger::setType(ULogger::kTypeConsole);
//ULogger::setLevel(ULogger::kDebug);
std::string path;
bool localizationMode = false;
if(argc < 2)
{
showUsage();
}
std::string path = argv[1];
for(int i=1; i<argc-1; ++i)
{
if(strcmp(argv[i], "-l") == 0)
{
localizationMode = true;
}
else
{
printf("Unrecognized option \"%s\"\n", argv[i]);
showUsage();
}
}
path = argv[argc-1];
// rtabmap::Camera is simply a convenience wrapper of OpenCV cv::VideoCapture and cv::imread
rtabmap::CameraImages camera(path);
@@ -66,8 +85,15 @@ int main(int argc, char * argv[])
// Or SURF hessian treshold:
// parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFHessianThreshold(), "150"));
if(localizationMode)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpIncrementalDictionary(), "false"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "1"));
}
// Initialize rtabmap: delete/create database...
rtabmap.init(parameters);
rtabmap.init(parameters, !localizationMode);
// Process each image of the directory...
printf("\nProcessing images... from directory \"%s\"\n", path.c_str());
@@ -75,10 +101,11 @@ int main(int argc, char * argv[])
int countLoopDetected=0;
int i=0;
cv::Mat img = camera.takeImage();
int nextIndex = rtabmap.getLastLocationId()+1;
while(!img.empty())
{
// Process image : Main loop of RTAB-Map
rtabmap.process(img);
rtabmap.process(img, nextIndex);
// Check if a loop closure is detected and print some info
if(rtabmap.getLoopClosureId())
@@ -91,11 +118,11 @@ int main(int argc, char * argv[])
printf(" #%d ptime(%fs) STM(%d) WM(%d) hyp(%d) value(%.2f) *LOOP %d->%d*\n",
i,
rtabmap.getLastProcessTime(),
rtabmap.getSTM().size(), // short-term memory
rtabmap.getWM().size(), // working memory
(int)rtabmap.getSTM().size(), // short-term memory
(int)rtabmap.getWM().size(), // working memory
rtabmap.getLoopClosureId(),
rtabmap.getLcHypValue(),
rtabmap.getLastLocationId(),
nextIndex,
rtabmap.getLoopClosureId());
}
else
@@ -103,12 +130,14 @@ int main(int argc, char * argv[])
printf(" #%d ptime(%fs) STM(%d) WM(%d) hyp(%d) value(%.2f)\n",
i,
rtabmap.getLastProcessTime(),
rtabmap.getSTM().size(), // short-term memory
rtabmap.getWM().size(), // working memory
(int)rtabmap.getSTM().size(), // short-term memory
(int)rtabmap.getWM().size(), // working memory
rtabmap.getRetrievedId(), // highest loop closure hypothesis
rtabmap.getLcHypValue());
}
++nextIndex;
//Get next image
img = camera.takeImage();
}