i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/DatabaseViewer.cpp
+120 -186
View File
@@ -304,40 +304,10 @@ void DatabaseViewer::exportDatabase()
for(int i=0; i<ids_.size(); i+=1+framesIgnored)
{
int id = ids_.at(i);
std::vector<unsigned char> compressedRgb, compressedDepth, compressedDepth2d;
float tmpFx, tmpFy, tmpCx, tmpCy;
rtabmap::Transform tmpLocalTransform, pose;
memory_->getImageDepth(id, compressedRgb, compressedDepth, compressedDepth2d, tmpFx, tmpFy, tmpCx, tmpCy, tmpLocalTransform);
if(dialog.isOdomExported())
{
memory_->getPose(id, pose, true);
}
cv::Mat rgb, depth, depth2d;
float fx = 0, fy = 0, cx = 0, cy = 0;
rtabmap::Transform localTransform;
if(dialog.isRgbExported())
{
rgb = rtabmap::util3d::uncompressImage(compressedRgb);
}
if(dialog.isDepthExported())
{
depth = rtabmap::util3d::uncompressImage(compressedDepth);
fx = tmpFx;
fy = tmpFy;
cx = tmpCx;
cy = tmpCy;
localTransform = tmpLocalTransform;
}
if(dialog.isDepth2dExported())
{
depth2d = rtabmap::util3d::uncompressData(compressedDepth2d);
}
rtabmap::SensorData data(rgb, depth, depth2d, fx, fy, cx, cy, pose, localTransform, id);
recorder.addData(data);
Signature data = memory_->getSignatureData(id, true);
rtabmap::SensorData sensorData = data.toSensorData();
recorder.addData(sensorData);
progressDialog.appendText(tr("Exported node %1").arg(id));
progressDialog.incrementStep();
@@ -764,40 +734,35 @@ void DatabaseViewer::view3DMap()
rtabmap::Transform pose = iter->second;
if(!pose.isNull())
{
std::vector<unsigned char> image, depth, depth2d;
float fx, fy, cx, cy;
rtabmap::Transform localTransform;
memory_->getImageDepth(iter->first, image, depth, depth2d, fx, fy, cx, cy, localTransform);
Signature data = memory_->getSignatureData(iter->first, true);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
UASSERT(imageMat.empty() || imageMat.type()==CV_8UC3 || imageMat.type() == CV_8UC1);
UASSERT(depthMat.empty() || depthMat.type()==CV_8UC1 || depthMat.type() == CV_16UC1 || depthMat.type() == CV_32FC1);
if(depthMat.type() == CV_8UC1)
UASSERT(data.getImageRaw().empty() || data.getImageRaw().type()==CV_8UC3 || data.getImageRaw().type() == CV_8UC1);
UASSERT(data.getDepthRaw().empty() || data.getDepthRaw().type()==CV_8UC1 || data.getDepthRaw().type() == CV_16UC1 || data.getDepthRaw().type() == CV_32FC1);
if(data.getDepthRaw().type() == CV_8UC1)
{
cv::Mat leftImg;
if(imageMat.channels() == 3)
if(data.getImageRaw().channels() == 3)
{
cv::cvtColor(imageMat, leftImg, CV_BGR2GRAY);
cv::cvtColor(data.getImageRaw(), leftImg, CV_BGR2GRAY);
}
else
{
leftImg = imageMat;
leftImg = data.getImageRaw();
}
cloud = rtabmap::util3d::cloudFromDisparityRGB(
imageMat,
util3d::disparityFromStereoImages(leftImg, depthMat),
cx, cy,
fx, fy,
data.getImageRaw(),
util3d::disparityFromStereoImages(leftImg, data.getDepthRaw()),
data.getDepthCx(), data.getDepthCy(),
data.getDepthFx(), data.getDepthFy(),
decimation);
}
else
{
cloud = rtabmap::util3d::cloudFromDepthRGB(
imageMat,
depthMat,
cx, cy,
fx, fy,
data.getImageRaw(),
data.getDepthRaw(),
data.getDepthCx(), data.getDepthCy(),
data.getDepthFx(), data.getDepthFy(),
decimation);
}
@@ -806,7 +771,7 @@ void DatabaseViewer::view3DMap()
cloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, maxDepth);
}
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, localTransform);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, data.getLocalTransform());
QColor color = Qt::red;
int mapId = memory_->getMapId(iter->first);
@@ -890,40 +855,35 @@ void DatabaseViewer::generate3DMap()
rtabmap::Transform pose = uValue(optimizedPoses, iter->first, rtabmap::Transform());
if(!pose.isNull())
{
std::vector<unsigned char> image, depth, depth2d;
float fx, fy, cx, cy;
rtabmap::Transform localTransform;
memory_->getImageDepth(iter->first, image, depth, depth2d, fx, fy, cx, cy, localTransform);
Signature data = memory_->getSignatureData(iter->first, true);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
UASSERT(imageMat.empty() || imageMat.type()==CV_8UC3 || imageMat.type() == CV_8UC1);
UASSERT(depthMat.empty() || depthMat.type()==CV_8UC1 || depthMat.type() == CV_16UC1 || depthMat.type() == CV_32FC1);
if(depthMat.type() == CV_8UC1)
UASSERT(data.getImageRaw().empty() || data.getImageRaw().type()==CV_8UC3 || data.getImageRaw().type() == CV_8UC1);
UASSERT(data.getDepthRaw().empty() || data.getDepthRaw().type()==CV_8UC1 || data.getDepthRaw().type() == CV_16UC1 || data.getDepthRaw().type() == CV_32FC1);
if(data.getDepthRaw().type() == CV_8UC1)
{
cv::Mat leftImg;
if(imageMat.channels() == 3)
if(data.getImageRaw().channels() == 3)
{
cv::cvtColor(imageMat, leftImg, CV_BGR2GRAY);
cv::cvtColor(data.getImageRaw(), leftImg, CV_BGR2GRAY);
}
else
{
leftImg = imageMat;
leftImg = data.getImageRaw();
}
cloud = rtabmap::util3d::cloudFromDisparityRGB(
imageMat,
util3d::disparityFromStereoImages(leftImg, depthMat),
cx, cy,
fx, fy,
data.getImageRaw(),
util3d::disparityFromStereoImages(leftImg, data.getDepthRaw()),
data.getDepthCx(), data.getDepthCy(),
data.getDepthFx(), data.getDepthFy(),
decimation);
}
else
{
cloud = rtabmap::util3d::cloudFromDepthRGB(
imageMat,
depthMat,
cx, cy,
fx, fy,
data.getImageRaw(),
data.getDepthRaw(),
data.getDepthCx(), data.getDepthCy(),
data.getDepthFx(), data.getDepthFy(),
decimation);
}
@@ -932,7 +892,7 @@ void DatabaseViewer::generate3DMap()
cloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, maxDepth);
}
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, pose*localTransform);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, pose*data.getLocalTransform());
std::string name = uFormat("%s/node%d.pcd", path.toStdString().c_str(), iter->first);
pcl::io::savePCDFile(name, *cloud);
UINFO("Saved %s (%d points)", name.c_str(), cloud->size());
@@ -1077,25 +1037,19 @@ void DatabaseViewer::update(int value,
QImage imgDepth;
if(memory_)
{
std::vector<unsigned char> image, depth, depth2d;
float fx, fy, cx, cy;
rtabmap::Transform localTransform;
memory_->getImageDepth(id, image, depth, depth2d, fx, fy, cx, cy, localTransform);
cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
if(!image.empty())
Signature data = memory_->getSignatureData(id, true);
if(!data.getImageRaw().empty())
{
img = uCvMat2QImage(imageMat);
img = uCvMat2QImage(data.getImageRaw());
}
if(!depth.empty())
if(!data.getDepthRaw().empty())
{
imgDepth = uCvMat2QImage(depthMat);
imgDepth = uCvMat2QImage(data.getDepthRaw());
}
std::multimap<int, cv::KeyPoint> words = memory_->getWords(id);
if(words.size())
if(data.getWords().size())
{
view->setFeatures(words);
view->setFeatures(data.getWords());
}
mapId = memory_->getMapId(id);
@@ -1388,84 +1342,77 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
if(cloudFrom->size() == 0 && cloudTo->size() == 0)
{
float fxA, fyA, cxA, cyA;
float fxB, fyB, cxB, cyB;
rtabmap::Transform localTransformA, localTransformB;
Signature dataFrom, dataTo;
std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
memory_->getImageDepth(link.from(), imageBytesA, depthBytesA, depth2dBytesA, fxA, fyA, cxA, cyA, localTransformA);
cv::Mat imageA = rtabmap::util3d::uncompressImage(imageBytesA);
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
cv::Mat depth2dA = rtabmap::util3d::uncompressData(depth2dBytesA);
UASSERT(imageA.empty() || imageA.type()==CV_8UC3 || imageA.type() == CV_8UC1);
UASSERT(depthA.empty() || depthA.type()==CV_8UC1 || depthA.type() == CV_16UC1 || depthA.type() == CV_32FC1);
dataFrom = memory_->getSignatureData(link.from(), true);
UASSERT(dataFrom.getImageRaw().empty() || dataFrom.getImageRaw().type()==CV_8UC3 || dataFrom.getImageRaw().type() == CV_8UC1);
UASSERT(dataFrom.getDepthRaw().empty() || dataFrom.getDepthRaw().type()==CV_8UC1 || dataFrom.getDepthRaw().type() == CV_16UC1 || dataFrom.getDepthRaw().type() == CV_32FC1);
dataTo = memory_->getSignatureData(link.to(), true);
UASSERT(dataTo.getImageRaw().empty() || dataTo.getImageRaw().type()==CV_8UC3 || dataTo.getImageRaw().type() == CV_8UC1);
UASSERT(dataTo.getDepthRaw().empty() || dataTo.getDepthRaw().type()==CV_8UC1 || dataTo.getDepthRaw().type() == CV_16UC1 || dataTo.getDepthRaw().type() == CV_32FC1);
std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
memory_->getImageDepth(link.to(), imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
cv::Mat imageB = rtabmap::util3d::uncompressImage(imageBytesB);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
cv::Mat depth2dB = rtabmap::util3d::uncompressData(depth2dBytesB);
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
if(depthA.type() == CV_8UC1)
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFrom;
if(dataFrom.getDepthRaw().type() == CV_8UC1)
{
cloudA = rtabmap::util3d::cloudFromStereoImages(
imageA,
depthA,
cxA, cyA,
fxA, fyA,
cloudFrom = rtabmap::util3d::cloudFromStereoImages(
dataFrom.getImageRaw(),
dataFrom.getDepthRaw(),
dataFrom.getDepthCx(), dataFrom.getDepthCy(),
dataFrom.getDepthFx(), dataFrom.getDepthFy(),
1);
}
else
{
cloudA = rtabmap::util3d::cloudFromDepthRGB(
imageA,
depthA,
cxA, cyA,
fxA, fyA,
cloudFrom = rtabmap::util3d::cloudFromDepthRGB(
dataFrom.getImageRaw(),
dataFrom.getDepthRaw(),
dataFrom.getDepthCx(), dataFrom.getDepthCy(),
dataFrom.getDepthFx(), dataFrom.getDepthFy(),
1);
}
cloudA = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudA);
cloudA = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloudA, localTransformA);
cloudFrom = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudFrom);
cloudFrom = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloudFrom, dataFrom.getLocalTransform());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
if(depthB.type() == CV_8UC1)
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudTo;
if(dataTo.getDepthRaw().type() == CV_8UC1)
{
cloudB = rtabmap::util3d::cloudFromStereoImages(
imageB,
depthB,
cxB, cyB,
fxB, fyB,
cloudTo = rtabmap::util3d::cloudFromStereoImages(
dataTo.getImageRaw(),
dataTo.getDepthRaw(),
dataTo.getDepthCx(), dataTo.getDepthCy(),
dataTo.getDepthFx(), dataTo.getDepthFy(),
1);
}
else
{
cloudB = rtabmap::util3d::cloudFromDepthRGB(
imageB,
depthB,
cxB, cyB,
fxB, fyB,
cloudTo = rtabmap::util3d::cloudFromDepthRGB(
dataTo.getImageRaw(),
dataTo.getDepthRaw(),
dataTo.getDepthCx(), dataTo.getDepthCy(),
dataTo.getDepthFx(), dataTo.getDepthFy(),
1);
}
cloudB = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudB);
cloudB = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloudB, t*localTransformB);
cloudTo = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudTo);
cloudTo = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloudTo, t*dataTo.getLocalTransform());
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = rtabmap::util3d::depth2DToPointCloud(depth2dA);
scanB = rtabmap::util3d::depth2DToPointCloud(depth2dB);
scanA = rtabmap::util3d::depth2DToPointCloud(dataFrom.getDepth2DRaw());
scanB = rtabmap::util3d::depth2DToPointCloud(dataTo.getDepth2DRaw());
scanB = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(scanB, t);
if(cloudA->size())
if(cloudFrom->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud0", cloudA);
ui_->constraintsViewer->addOrUpdateCloud("cloud0", cloudFrom);
}
if(cloudB->size())
if(cloudTo->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud1", cloudB);
ui_->constraintsViewer->addOrUpdateCloud("cloud1", cloudTo);
}
if(scanA->size())
{
@@ -1548,14 +1495,11 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
UINFO("Update scans list...");
for(int i=0; i<ids_.size(); ++i)
{
std::vector<unsigned char> imageBytes, depthBytes, depth2dBytes;
float fx, fy, cx, cy;
rtabmap::Transform localTransform;
memory_->getImageDepth(ids_.at(i), imageBytes, depthBytes, depth2dBytes, fx, fy, cx, cy, localTransform);
if(depth2dBytes.size())
Signature data = memory_->getSignatureData(ids_.at(i), false);
if(data.getDepth2D().size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cv::Mat depth2d = rtabmap::util3d::uncompressData(depth2dBytes);
cv::Mat depth2d = rtabmap::util3d::uncompressData(data.getDepth2D());
cloud = rtabmap::util3d::depth2DToPointCloud(depth2d);
scans_.insert(std::make_pair(ids_.at(i), cloud));
}
@@ -1719,24 +1663,18 @@ void DatabaseViewer::refineConstraint(int from, int to)
double fitness = 0.0f;
Transform transform;
float fxA, fyA, cxA, cyA;
float fxB, fyB, cxB, cyB;
rtabmap::Transform localTransformA, localTransformB;
std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
memory_->getImageDepth(currentLink.from(), imageBytesA, depthBytesA, depth2dBytesA, fxA, fyA, cxA, cyA, localTransformA);
std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
memory_->getImageDepth(currentLink.to(), imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
Signature dataFrom, dataTo;
dataFrom = memory_->getSignatureData(currentLink.from(), false);
dataTo = memory_->getSignatureData(currentLink.to(), false);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudA(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudB(new pcl::PointCloud<pcl::PointXYZ>);
if(ui_->checkBox_icp_2d->isChecked())
{
//2D
cv::Mat oldDepth2D = util3d::uncompressData(depth2dBytesA);
cv::Mat newDepth2D = util3d::uncompressData(depth2dBytesB);
cv::Mat oldDepth2D = util3d::uncompressData(dataFrom.getDepth2D());
cv::Mat newDepth2D = util3d::uncompressData(dataTo.getDepth2D());
if(!oldDepth2D.empty() && !newDepth2D.empty())
{
// 2D
@@ -1764,8 +1702,8 @@ void DatabaseViewer::refineConstraint(int from, int to)
else
{
//3D
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
cv::Mat depthA = rtabmap::util3d::uncompressImage(dataFrom.getDepth());
cv::Mat depthB = rtabmap::util3d::uncompressImage(dataTo.getDepth());
if(depthA.type() == CV_8UC1 || depthB.type() == CV_8UC1)
{
@@ -1775,19 +1713,19 @@ void DatabaseViewer::refineConstraint(int from, int to)
}
cloudA = util3d::getICPReadyCloud(depthA,
fxA, fyA, cxA, cyA,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_voxel->value(),
0, // no sampling
localTransformA);
dataFrom.getDepthFx(), dataFrom.getDepthFy(), dataFrom.getDepthCx(), dataFrom.getDepthCy(),
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_voxel->value(),
0, // no sampling
dataFrom.getLocalTransform());
cloudB = util3d::getICPReadyCloud(depthB,
fxB, fyB, cxB, cyB,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_voxel->value(),
0, // no sampling
currentLink.transform() * localTransformB);
dataTo.getDepthFx(), dataTo.getDepthFy(), dataTo.getDepthCx(), dataTo.getDepthCy(),
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_voxel->value(),
0, // no sampling
currentLink.transform() * dataTo.getLocalTransform());
if(ui_->checkBox_icp_p2plane->isChecked())
{
@@ -1905,26 +1843,22 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
Memory tmpMemory(parameters);
// Add signatures
float fxA, fyA, cxA, cyA;
float fxB, fyB, cxB, cyB;
rtabmap::Transform localTransformA, localTransformB;
SensorData dataFrom = memory_->getSignatureData(from, true).toSensorData();
SensorData dataTo = memory_->getSignatureData(to, true).toSensorData();
std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
memory_->getImageDepth(from, imageBytesA, depthBytesA, depth2dBytesA, fxA, fyA, cxA, cyA, localTransformA);
cv::Mat imageA = rtabmap::util3d::uncompressImage(imageBytesA);
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
SensorData dataFrom(imageA, depthA, fxA, fyA, cxA, cyA, Transform::getIdentity(), localTransformA, 1);
if(from > to)
{
tmpMemory.update(dataTo);
tmpMemory.update(dataFrom);
}
else
{
tmpMemory.update(dataFrom);
tmpMemory.update(dataTo);
}
std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
memory_->getImageDepth(to, imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
cv::Mat imageB = rtabmap::util3d::uncompressImage(imageBytesB);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
SensorData dataTo(imageB, depthB, fxB, fyB, cxB, cyB, Transform::getIdentity(), localTransformB, 2);
tmpMemory.update(dataFrom);
tmpMemory.update(dataTo);
t = tmpMemory.computeVisualTransform(2, 1, &rejectedMsg);
t = tmpMemory.computeVisualTransform(to, from, &rejectedMsg);
}
else
{