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Refactored how visualization data are transfered between core and gui: using only Signature object instead of separated image,deph,fx,fy...

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1928 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-26 21:47:29 +00:00
parent 60b0fd2e98
commit 457c068e0f
23 changed files with 514 additions and 1027 deletions
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21
corelib/include/rtabmap/core/Memory.h
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@@ -114,25 +114,7 @@ public:
double getDbSavingTime() const;
int getMapId(int signatureId) const;
std::vector<unsigned char> getImage(int signatureId) const;
void getImageDepth(
int locationId,
std::vector<unsigned char> & rgb,
std::vector<unsigned char> & depth,
std::vector<unsigned char> & depth2d,
float & fx,
float & fy,
float & cx,
float & cy,
Transform & localTransform);
void getImageDepthRaw(
int locationId,
cv::Mat & rgb,
cv::Mat & depth,
float & fx,
float & fy,
float & cx,
float & cy,
Transform & localTransform);
Signature getSignatureData(int locationId, bool uncompressedData = false);
std::set<int> getAllSignatureIds() const;
bool memoryChanged() const {return _memoryChanged;}
bool isIncremental() const {return _incrementalMemory;}
@@ -159,7 +141,6 @@ public:
//keypoint stuff
const VWDictionary * getVWDictionary() const;
std::multimap<int, cv::KeyPoint> getWords(int signatureId) const;
Feature2D::Type getFeatureType() const {return _featureType;}
// RGB-D stuff

3
corelib/include/rtabmap/core/Parameters.h
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@@ -131,7 +131,7 @@ class RTABMAP_EXP Parameters
// Rtabmap parameters
RTABMAP_PARAM(Rtabmap, VhStrategy, int, 0, "None 0, Similarity 1, Epipolar 2.");
RTABMAP_PARAM(Rtabmap, PublishStats, bool, true, "Publishing statistics.");
RTABMAP_PARAM(Rtabmap, PublishImage, bool, true, "Publishing image.");
RTABMAP_PARAM(Rtabmap, PublishLastSignature, bool, true, "Publishing last signature.");
RTABMAP_PARAM(Rtabmap, PublishPdf, bool, true, "Publishing pdf.");
RTABMAP_PARAM(Rtabmap, PublishLikelihood, bool, true, "Publishing likelihood.");
RTABMAP_PARAM(Rtabmap, TimeThr, float, 0.0, "Maximum time allowed for the detector (ms) (0 means infinity).");
@@ -163,7 +163,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.")
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM(Kp, PublishKeypoints, bool, true, "Publishing keypoints.");
RTABMAP_PARAM(Kp, NNStrategy, int, 1, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)");

12
corelib/include/rtabmap/core/Rtabmap.h
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@@ -106,14 +106,7 @@ public:
void setDatabasePath(const std::string & path);
void deleteLocation(int locationId); // Only nodes in STM can be deleted
void rejectLoopClosure(int oldId, int newId);
void get3DMap(std::map<int, std::vector<unsigned char> > & images,
std::map<int, std::vector<unsigned char> > & depths,
std::map<int, std::vector<unsigned char> > & depths2d,
std::map<int, float> & depthFxs,
std::map<int, float> & depthFys,
std::map<int, float> & depthCxs,
std::map<int, float> & depthCys,
std::map<int, Transform> & localTransforms,
void get3DMap(std::map<int, Signature> & signatures,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
std::map<int, int> & mapIds,
@@ -142,10 +135,9 @@ private:
private:
// Modifiable parameters
bool _publishStats;
bool _publishImage;
bool _publishLastSignature;
bool _publishPdf;
bool _publishLikelihood;
bool _publishKeypoints;
float _maxTimeAllowed; // in ms
unsigned int _maxMemoryAllowed; // signatures count in WM
float _loopThr;

36
corelib/include/rtabmap/core/RtabmapEvent.h
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@@ -152,26 +152,12 @@ public:
RtabmapEvent3DMap(int codeError = 0):
UEvent(codeError){}
RtabmapEvent3DMap(
const std::map<int, std::vector<unsigned char> > & images,
const std::map<int, std::vector<unsigned char> > & depths,
const std::map<int, std::vector<unsigned char> > & depths2d,
const std::map<int, float> & depthFxs,
const std::map<int, float> & depthFys,
const std::map<int, float> & depthCxs,
const std::map<int, float> & depthCys,
const std::map<int, Transform> & localTransforms,
const std::map<int, Signature> & signatures,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds) :
UEvent(0),
_images(images),
_depths(depths),
_depths2d(depths2d),
_depthFxs(depthFxs),
_depthFys(depthFys),
_depthCxs(depthCxs),
_depthCys(depthCys),
_localTransforms(localTransforms),
_signatures(signatures),
_poses(poses),
_constraints(constraints),
_mapIds(mapIds)
@@ -179,14 +165,7 @@ public:
virtual ~RtabmapEvent3DMap() {}
const std::map<int, std::vector<unsigned char> > & getImages() const {return _images;}
const std::map<int, std::vector<unsigned char> > & getDepths() const {return _depths;}
const std::map<int, std::vector<unsigned char> > & getDepths2d() const {return _depths2d;}
const std::map<int, float> & getDepthFxs() const {return _depthFxs;}
const std::map<int, float> & getDepthFys() const {return _depthFys;}
const std::map<int, float> & getDepthCxs() const {return _depthCxs;}
const std::map<int, float> & getDepthCys() const {return _depthCys;}
const std::map<int, Transform> & getLocalTransforms() const {return _localTransforms;}
const std::map<int, Signature> & getSignatures() const {return _signatures;}
const std::map<int, Transform> & getPoses() const {return _poses;}
const std::multimap<int, Link> & getConstraints() const {return _constraints;}
const std::map<int, int> & getMapIds() const {return _mapIds;}
@@ -194,14 +173,7 @@ public:
virtual std::string getClassName() const {return std::string("RtabmapEvent3DMap");}
private:
std::map<int, std::vector<unsigned char> > _images;
std::map<int, std::vector<unsigned char> > _depths;
std::map<int, std::vector<unsigned char> > _depths2d;
std::map<int, float> _depthFxs;
std::map<int, float> _depthFys;
std::map<int, float> _depthCxs;
std::map<int, float> _depthCys;
std::map<int, Transform> _localTransforms;
std::map<int, Signature> _signatures;
std::map<int, Transform> _poses;
std::multimap<int, Link> _constraints;
std::map<int, int> _mapIds;

3
corelib/include/rtabmap/core/SensorData.h
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@@ -76,7 +76,8 @@ public:
RTABMAP_DEPRECATED(bool empty() const, "Use !isValid() instead.");
const cv::Mat & image() const {return _image;}
int id() const {return _id;};
int id() const {return _id;}
void setId(int id) {_id = id;}
bool isMetric() const {return !_depthOrRightImage.empty() || _fx != 0.0f || _fyOrBaseline != 0.0f || !_pose.isNull();}
void setPose(const Transform & pose) {_pose = pose;}

9
corelib/include/rtabmap/core/Signature.h
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@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
@@ -40,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <set>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/SensorData.h>
namespace rtabmap
{
@@ -50,6 +50,7 @@ class RTABMAP_EXP Signature
{
public:
Signature();
Signature(int id,
int mapId,
const std::multimap<int, cv::KeyPoint> & words,
@@ -134,6 +135,11 @@ public:
const Transform & getLocalTransform() const {return _localTransform;}
void setDepthRaw(const cv::Mat & depth) {_depthRaw = depth;}
const cv::Mat & getDepthRaw() const {return _depthRaw;}
void setDepth2DRaw(const cv::Mat & depth2D) {_depth2DRaw = depth2D;}
const cv::Mat & getDepth2DRaw() const {return _depth2DRaw;}
SensorData toSensorData();
void uncompressData();
private:
int _id;
@@ -166,6 +172,7 @@ private:
cv::Mat _imageRaw;
cv::Mat _depthRaw;
cv::Mat _depth2DRaw;
};
} // namespace rtabmap

41
corelib/include/rtabmap/core/Statistics.h
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@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/imgproc/imgproc.hpp>
#include <list>
#include <vector>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Link.h>
namespace rtabmap {
@@ -129,26 +130,16 @@ public:
void setLocalLoopClosureId(int localLoopClosureId) {_localLoopClosureId = localLoopClosureId;}
void setMapIds(const std::map<int, int> & mapIds) {_mapIds = mapIds;}
void setImages(const std::map<int, std::vector<unsigned char> > & images) {_images = images;}
void setDepths(const std::map<int, std::vector<unsigned char> > & depths) {_depths = depths;}
void setDepth2ds(const std::map<int, std::vector<unsigned char> > & depth2ds) {_depth2ds = depth2ds;}
void setDepthFxs(const std::map<int, float> & fxs) {_depthFxs = fxs;}
void setDepthFys(const std::map<int, float> & fys) {_depthFys = fys;}
void setDepthCxs(const std::map<int, float> & cxs) {_depthCxs = cxs;}
void setDepthCys(const std::map<int, float> & cys) {_depthCys = cys;}
void setLocalTransforms(const std::map<int, Transform> & localTransforms) {_localTransforms = localTransforms;}
void setSignature(const Signature & s) {_signature = s;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
void setConstraints(const std::multimap<int, Link> & constraints) {_constraints = constraints;}
void setCurrentPose(const Transform & pose) {_currentPose = pose;}
void setMapCorrection(const Transform & mapCorrection) {_mapCorrection = mapCorrection;}
void setLoopClosureTransform(const Transform & loopClosureTransform) {_loopClosureTransform = loopClosureTransform;}
void setWeights(const std::map<int, int> & weights) {_weights = weights;}
void setPosterior(const std::map<int, float> & posterior) {_posterior = posterior;}
void setLikelihood(const std::map<int, float> & likelihood) {_likelihood = likelihood;}
void setRawLikelihood(const std::map<int, float> & rawLikelihood) {_rawLikelihood = rawLikelihood;}
void setRefWords(const std::multimap<int, cv::KeyPoint> & refWords) {_refWords = refWords;}
void setLoopWords(const std::multimap<int, cv::KeyPoint> & loopWords) {_loopWords = loopWords;}
// getters
bool extended() const {return _extended;}
@@ -157,26 +148,16 @@ public:
int localLoopClosureId() const {return _localLoopClosureId;}
const std::map<int, int> & getMapIds() const {return _mapIds;}
const std::map<int, std::vector<unsigned char> > & getImages() const {return _images;}
const std::map<int, std::vector<unsigned char> > & getDepths() const {return _depths;}
const std::map<int, std::vector<unsigned char> > & getDepth2ds() const {return _depth2ds;}
const std::map<int, float> & getDepthFxs() const {return _depthFxs;}
const std::map<int, float> & getDepthFys() const {return _depthFys;}
const std::map<int, float> & getDepthCxs() const {return _depthCxs;}
const std::map<int, float> & getDepthCys() const {return _depthCys;}
const std::map<int, Transform> & getLocalTransforms() const {return _localTransforms;}
const Signature & getSignature() const {return _signature;}
const std::map<int, Transform> & poses() const {return _poses;}
const std::multimap<int, Link> & constraints() const {return _constraints;}
const Transform & currentPose() const {return _currentPose;}
const Transform & mapCorrection() const {return _mapCorrection;}
const Transform & loopClosureTransform() const {return _loopClosureTransform;}
const std::map<int, int> & weights() const {return _weights;}
const std::map<int, float> & posterior() const {return _posterior;}
const std::map<int, float> & likelihood() const {return _likelihood;}
const std::map<int, float> & rawLikelihood() const {return _rawLikelihood;}
const std::multimap<int, cv::KeyPoint> & refWords() const {return _refWords;}
const std::multimap<int, cv::KeyPoint> & loopWords() const {return _loopWords;}
const std::map<std::string, float> & data() const {return _data;}
@@ -189,20 +170,12 @@ private:
// extended data start here...
std::map<int, int> _mapIds;
std::map<int, std::vector<unsigned char> > _images;
// Metric data
std::map<int, std::vector<unsigned char> > _depths;
std::map<int, std::vector<unsigned char> > _depth2ds;
std::map<int, float> _depthFxs;
std::map<int, float> _depthFys;
std::map<int, float> _depthCxs;
std::map<int, float> _depthCys;
std::map<int, Transform> _localTransforms;
// Signature data
Signature _signature;
std::map<int, Transform> _poses;
std::multimap<int, Link> _constraints;
Transform _currentPose;
Transform _mapCorrection;
Transform _loopClosureTransform;
@@ -211,10 +184,6 @@ private:
std::map<int, float> _likelihood;
std::map<int, float> _rawLikelihood;
//keypoint memory
std::multimap<int, cv::KeyPoint> _refWords;
std::multimap<int, cv::KeyPoint> _loopWords;
// Format for statistics (Plottable statistics must go in that map) :
// {"Group/Name/Unit", value}
// Example : {"Timing/Total time/ms", 500.0f}

2
corelib/include/rtabmap/core/util3d.h
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@@ -46,8 +46,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap
{
class Signature;
namespace util3d
{