mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Updated how RtabmapCmdEvent should be called (using UVariant). MainWindow: added new actions to export poses (KITTI, RGBD-SLAM and TORO formats)
This commit is contained in:
matlabbe
@@ -718,7 +718,7 @@ void Rtabmap::generateDOTGraph(const std::string & path, int id, int margin)
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}
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}
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void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool global)
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void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global, int type)
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{
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if(_memory && _memory->getLastWorkingSignature())
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{
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@@ -735,40 +735,70 @@ void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool g
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_memory->getMetricConstraints(uKeysSet(ids), poses, constraints, global);
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}
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graph::TOROOptimizer::saveGraph(path, poses, constraints);
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}
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}
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void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global)
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{
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if(_memory && _memory->getLastWorkingSignature())
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{
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std::map<int, Transform> poses;
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std::multimap<int, Link> constraints;
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if(optimized)
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if(type==2) // TORO
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{
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this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
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graph::TOROOptimizer::saveGraph(path, poses, constraints);
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}
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else
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{
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std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
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_memory->getMetricConstraints(uKeysSet(ids), poses, constraints, global);
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}
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//get timestamps
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std::map<int, double> stamps;
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if(type == 1)
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{
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for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
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{
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Transform o;
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int m, w;
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std::string l;
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double stamp = 0.0;
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_memory->getNodeInfo(iter->first, o, m, w, l, stamp, true);
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stamps.insert(std::make_pair(iter->first, stamp));
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}
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UASSERT(stamps.size()== 0 || stamps.size() == poses.size());
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}
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//get timestamps
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std::map<int, double> stamps;
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for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
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{
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Transform o;
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int m, w;
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std::string l;
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double stamp = 0.0;
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_memory->getNodeInfo(iter->first, o, m, w, l, stamp, true);
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stamps.insert(std::make_pair(iter->first, stamp));
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}
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FILE* fout = 0;
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#ifdef _MSC_VER
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fopen_s(&fout, path.c_str(), "w");
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#else
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fout = fopen(path.c_str(), "w");
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#endif
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if(fout)
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{
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for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
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{
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if(type == 1) // rgbd-slam format
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{
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// Format: stamp x y z qw qx qy qz
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Eigen::Quaternionf q = (*iter).second.getQuaternionf();
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this->dumpPoses(path, poses, stamps);
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UASSERT(uContains(stamps, iter->first));
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fprintf(fout, "%f %f %f %f %f %f %f %f\n",
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stamps.at(iter->first),
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(*iter).second.x(),
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(*iter).second.y(),
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(*iter).second.z(),
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q.w(),
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q.x(),
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q.y(),
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q.z());
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}
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else // default / KITTI format
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{
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// Format: r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz
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const float * p = (const float *)(*iter).second.data();
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fprintf(fout, "%f", p[0]);
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for(int i=1; i<(*iter).second.size(); i++)
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{
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fprintf(fout, " %f", p[i]);
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}
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fprintf(fout, "\n");
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}
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}
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fclose(fout);
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}
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}
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}
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}
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@@ -2476,46 +2506,6 @@ void Rtabmap::dumpData() const
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}
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}
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void Rtabmap::dumpPoses(
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const std::string & path,
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const std::map<int, Transform> & poses,
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const std::map<int, double> & stamps) const
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{
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UDEBUG("");
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UASSERT(stamps.size()== 0 || stamps.size() == poses.size());
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FILE* fout = 0;
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#ifdef _MSC_VER
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fopen_s(&fout, path.c_str(), "w");
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#else
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fout = fopen(path.c_str(), "w");
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#endif
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if(fout)
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{
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for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
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{
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// in camera frame
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const float * p = (const float *)(*iter).second.data();
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int index = 0;
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if(stamps.size() == poses.size())
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{
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UASSERT(uContains(stamps, iter->first));
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fprintf(fout, "%f", stamps.at(iter->first));
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}
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else
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{
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fprintf(fout, "%f", p[index++]);
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}
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for(int i=index; i<(*iter).second.size(); i++)
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{
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fprintf(fout, " %f", p[i]);
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}
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fprintf(fout, "\n");
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}
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fclose(fout);
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}
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}
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// fromId must be in _memory and in _optimizedPoses
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// Get poses in front of the robot, return optimized poses
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std::map<int, Transform> Rtabmap::getForwardWMPoses(
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@@ -117,7 +117,7 @@ void RtabmapThread::createIntermediateNodes(bool enabled)
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enabled = _createIntermediateNodes;
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}
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void RtabmapThread::publishMap(bool optimized, bool full) const
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void RtabmapThread::publishMap(bool optimized, bool full, bool graphOnly) const
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{
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std::map<int, Signature> signatures;
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std::map<int, Transform> poses;
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@@ -127,11 +127,23 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
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std::map<int, std::string> labels;
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std::map<int, std::vector<unsigned char> > userDatas;
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_rtabmap->get3DMap(signatures,
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poses,
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constraints,
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optimized,
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full);
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if(graphOnly)
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{
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_rtabmap->getGraph(poses,
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constraints,
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optimized,
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full,
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&signatures);
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}
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else
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{
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_rtabmap->get3DMap(
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signatures,
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poses,
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constraints,
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optimized,
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full);
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}
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this->post(new RtabmapEvent3DMap(
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signatures,
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@@ -139,29 +151,6 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
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constraints));
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}
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void RtabmapThread::publishGraph(bool optimized, bool full) const
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{
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std::map<int, Signature> signatures;
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std::map<int, Transform> poses;
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std::multimap<int, Link> constraints;
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std::map<int, int> mapIds;
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std::map<int, double> stamps;
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std::map<int, std::string> labels;
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std::map<int, std::vector<unsigned char> > userDatas;
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_rtabmap->getGraph(poses,
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constraints,
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optimized,
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full,
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&signatures);
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this->post(new RtabmapEvent3DMap(
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signatures,
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poses,
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constraints));
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}
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void RtabmapThread::mainLoopKill()
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{
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this->clearBufferedData();
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@@ -229,38 +218,27 @@ void RtabmapThread::mainLoop()
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case kStateDumpingPrediction:
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_rtabmap->dumpPrediction();
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break;
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case kStateGeneratingDOTGraph:
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_rtabmap->generateDOTGraph(parameters.at("path"));
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case kStateExportingDOTGraph:
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_rtabmap->generateDOTGraph(
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parameters.at("path"),
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atoi(parameters.at("id").c_str()),
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atoi(parameters.at("margin").c_str()));
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break;
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case kStateGeneratingDOTLocalGraph:
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_rtabmap->generateDOTGraph(parameters.at("path"), atoi(parameters.at("id").c_str()), atoi(parameters.at("margin").c_str()));
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break;
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case kStateGeneratingTOROGraphLocal:
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_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, false);
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break;
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case kStateGeneratingTOROGraphGlobal:
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_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, true);
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break;
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case kStateExportingPosesLocal:
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_rtabmap->exportPoses(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, false);
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break;
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case kStateExportingPosesGlobal:
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_rtabmap->exportPoses(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, true);
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case kStateExportingPoses:
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_rtabmap->exportPoses(
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parameters.at("path"),
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uStr2Bool(parameters.at("optimized")),
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uStr2Bool(parameters.at("global")),
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atoi(parameters.at("type").c_str()));
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break;
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case kStateCleanDataBuffer:
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this->clearBufferedData();
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break;
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case kStatePublishingMapLocal:
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this->publishMap(atoi(parameters.at("optimized").c_str())!=0, false);
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break;
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case kStatePublishingMapGlobal:
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this->publishMap(atoi(parameters.at("optimized").c_str())!=0, true);
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break;
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case kStatePublishingTOROGraphLocal:
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this->publishGraph(atoi(parameters.at("optimized").c_str())!=0, false);
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break;
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case kStatePublishingTOROGraphGlobal:
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this->publishGraph(atoi(parameters.at("optimized").c_str())!=0, true);
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case kStatePublishingMap:
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this->publishMap(
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uStr2Bool(parameters.at("optimized")),
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uStr2Bool(parameters.at("global")),
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uStr2Bool(parameters.at("graph_only")));
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break;
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case kStateTriggeringMap:
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_rtabmap->triggerNewMap();
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@@ -275,10 +253,10 @@ void RtabmapThread::mainLoop()
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_rtabmap->setUserData(0, userData);
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break;
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case kStateSettingGoal:
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id = atoi(parameters.at("goal_id").c_str());
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if(id == 0 && !parameters.at("goal_label").empty() && _rtabmap->getMemory())
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id = atoi(parameters.at("id").c_str());
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if(id == 0 && !parameters.at("label").empty() && _rtabmap->getMemory())
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{
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id = _rtabmap->getMemory()->getSignatureIdByLabel(parameters.at("goal_label"));
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id = _rtabmap->getMemory()->getSignatureIdByLabel(parameters.at("label"));
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}
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if(id <= 0 || !_rtabmap->computePath(id, true))
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{
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@@ -360,8 +338,8 @@ void RtabmapThread::handleEvent(UEvent* event)
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{
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ULOGGER_DEBUG("CMD_INIT");
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ParametersMap parameters = ((RtabmapEventCmd*)event)->getParameters();
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UASSERT(!rtabmapEvent->getStr().empty());
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UASSERT(parameters.insert(ParametersPair("RtabmapThread/DatabasePath", rtabmapEvent->getStr())).second);
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UASSERT(rtabmapEvent->value1().isStr());
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UASSERT(parameters.insert(ParametersPair("RtabmapThread/DatabasePath", rtabmapEvent->value1().toStr())).second);
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pushNewState(kStateInit, parameters);
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}
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else if(cmd == RtabmapEventCmd::kCmdClose)
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@@ -386,68 +364,30 @@ void RtabmapThread::handleEvent(UEvent* event)
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}
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else if(cmd == RtabmapEventCmd::kCmdGenerateDOTGraph)
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{
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UASSERT(!rtabmapEvent->getStr().empty());
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ULOGGER_DEBUG("CMD_GENERATE_DOT_GRAPH");
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UASSERT(rtabmapEvent->value1().isBool());
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UASSERT(rtabmapEvent->value2().isStr());
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UASSERT(rtabmapEvent->value1().toBool() || rtabmapEvent->value3().isInt() || rtabmapEvent->value3().isUInt());
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UASSERT(rtabmapEvent->value1().toBool() || rtabmapEvent->value4().isInt() || rtabmapEvent->value4().isUInt());
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ParametersMap param;
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param.insert(ParametersPair("path", rtabmapEvent->getStr()));
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pushNewState(kStateGeneratingDOTGraph, param);
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param.insert(ParametersPair("path", rtabmapEvent->value2().toStr()));
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param.insert(ParametersPair("id", !rtabmapEvent->value1().toBool()?rtabmapEvent->value3().toStr():"0"));
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param.insert(ParametersPair("margin", !rtabmapEvent->value1().toBool()?rtabmapEvent->value4().toStr():"0"));
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pushNewState(kStateExportingDOTGraph, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdGenerateDOTLocalGraph)
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else if(cmd == RtabmapEventCmd::kCmdExportPoses)
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{
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std::list<std::string> values = uSplit(rtabmapEvent->getStr(), ';');
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UASSERT(values.size() == 3);
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ULOGGER_DEBUG("CMD_GENERATE_DOT_LOCAL_GRAPH");
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ULOGGER_DEBUG("CMD_EXPORT_POSES");
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UASSERT(rtabmapEvent->value1().isBool());
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UASSERT(rtabmapEvent->value2().isBool());
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UASSERT(rtabmapEvent->value3().isStr());
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UASSERT(rtabmapEvent->value4().isUndef() || rtabmapEvent->value4().isInt() || rtabmapEvent->value4().isUInt());
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ParametersMap param;
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param.insert(ParametersPair("path", *values.begin()));
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param.insert(ParametersPair("id", *(++values.begin())));
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param.insert(ParametersPair("margin", *values.rbegin()));
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pushNewState(kStateGeneratingDOTLocalGraph, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphLocal)
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{
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UASSERT(!rtabmapEvent->getStr().empty());
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ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_LOCAL");
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ParametersMap param;
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param.insert(ParametersPair("path", rtabmapEvent->getStr()));
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param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
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pushNewState(kStateGeneratingTOROGraphLocal, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphGlobal)
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{
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UASSERT(!rtabmapEvent->getStr().empty());
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ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_GLOBAL");
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ParametersMap param;
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param.insert(ParametersPair("path", rtabmapEvent->getStr()));
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param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
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pushNewState(kStateGeneratingTOROGraphGlobal, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdExportPosesLocal)
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{
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UASSERT(!rtabmapEvent->getStr().empty());
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ULOGGER_DEBUG("CMD_EXPORT_POSES_LOCAL");
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ParametersMap param;
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param.insert(ParametersPair("path", rtabmapEvent->getStr()));
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param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
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pushNewState(kStateExportingPosesLocal, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdExportPosesGlobal)
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{
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UASSERT(!rtabmapEvent->getStr().empty());
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ULOGGER_DEBUG("CMD_EXPORT_POSES_GLOBAL");
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ParametersMap param;
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param.insert(ParametersPair("path", rtabmapEvent->getStr()));
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param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
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pushNewState(kStateExportingPosesGlobal, param);
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param.insert(ParametersPair("global", rtabmapEvent->value1().toStr()));
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param.insert(ParametersPair("optimized", rtabmapEvent->value1().toStr()));
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param.insert(ParametersPair("path", rtabmapEvent->value3().toStr()));
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param.insert(ParametersPair("type", rtabmapEvent->value4().isInt()?rtabmapEvent->value4().toStr():"0"));
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pushNewState(kStateExportingPoses, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdCleanDataBuffer)
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@@ -455,33 +395,17 @@ void RtabmapThread::handleEvent(UEvent* event)
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ULOGGER_DEBUG("CMD_CLEAN_DATA_BUFFER");
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pushNewState(kStateCleanDataBuffer);
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}
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else if(cmd == RtabmapEventCmd::kCmdPublish3DMapLocal)
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else if(cmd == RtabmapEventCmd::kCmdPublish3DMap)
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{
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ULOGGER_DEBUG("CMD_PUBLISH_MAP_LOCAL");
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ULOGGER_DEBUG("CMD_PUBLISH_MAP");
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UASSERT(rtabmapEvent->value1().isBool());
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UASSERT(rtabmapEvent->value2().isBool());
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UASSERT(rtabmapEvent->value3().isBool());
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ParametersMap param;
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param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
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pushNewState(kStatePublishingMapLocal, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdPublish3DMapGlobal)
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{
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ULOGGER_DEBUG("CMD_PUBLISH_MAP_GLOBAL");
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ParametersMap param;
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param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
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pushNewState(kStatePublishingMapGlobal, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdPublishTOROGraphLocal)
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{
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ULOGGER_DEBUG("CMD_PUBLISH_TORO_GRAPH_LOCAL");
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ParametersMap param;
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param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
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pushNewState(kStatePublishingTOROGraphLocal, param);
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}
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else if(cmd == RtabmapEventCmd::kCmdPublishTOROGraphGlobal)
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{
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ULOGGER_DEBUG("CMD_PUBLISH_TORO_GRAPH_GLOBAL");
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ParametersMap param;
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param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
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||||
pushNewState(kStatePublishingTOROGraphGlobal, param);
|
||||
param.insert(ParametersPair("global", rtabmapEvent->value1().toStr()));
|
||||
param.insert(ParametersPair("optimized", rtabmapEvent->value2().toStr()));
|
||||
param.insert(ParametersPair("graph_only", rtabmapEvent->value3().toStr()));
|
||||
pushNewState(kStatePublishingMap, param);
|
||||
}
|
||||
else if(cmd == RtabmapEventCmd::kCmdTriggerNewMap)
|
||||
{
|
||||
@@ -496,9 +420,10 @@ void RtabmapThread::handleEvent(UEvent* event)
|
||||
else if(cmd == RtabmapEventCmd::kCmdGoal)
|
||||
{
|
||||
ULOGGER_DEBUG("CMD_GOAL");
|
||||
UASSERT(rtabmapEvent->value1().isStr() || rtabmapEvent->value1().isInt() || rtabmapEvent->value1().isUInt());
|
||||
ParametersMap param;
|
||||
param.insert(ParametersPair("goal_label", rtabmapEvent->getStr()));
|
||||
param.insert(ParametersPair("goal_id", uNumber2Str(rtabmapEvent->getInt())));
|
||||
param.insert(ParametersPair("label", rtabmapEvent->value1().isStr()?rtabmapEvent->value1().toStr():""));
|
||||
param.insert(ParametersPair("id", !rtabmapEvent->value1().isStr()?rtabmapEvent->value1().toStr():"0"));
|
||||
pushNewState(kStateSettingGoal, param);
|
||||
}
|
||||
else if(cmd == RtabmapEventCmd::kCmdCancelGoal)
|
||||
@@ -509,9 +434,10 @@ void RtabmapThread::handleEvent(UEvent* event)
|
||||
else if(cmd == RtabmapEventCmd::kCmdLabel)
|
||||
{
|
||||
ULOGGER_DEBUG("CMD_LABEL");
|
||||
UASSERT(rtabmapEvent->value1().isStr() || rtabmapEvent->value1().isInt() || rtabmapEvent->value1().isUInt());
|
||||
ParametersMap param;
|
||||
param.insert(ParametersPair("label", rtabmapEvent->getStr()));
|
||||
param.insert(ParametersPair("id", uNumber2Str(rtabmapEvent->getInt())));
|
||||
param.insert(ParametersPair("label", rtabmapEvent->value1().isStr()?rtabmapEvent->value1().toStr():""));
|
||||
param.insert(ParametersPair("id", !rtabmapEvent->value1().isStr()?rtabmapEvent->value1().toStr():"0"));
|
||||
pushNewState(kStateLabelling, param);
|
||||
}
|
||||
else
|
||||
|
||||
Reference in New Issue
Block a user