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0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).

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This commit is contained in:
matlabbe
2018-04-04 19:14:13 -04:00
parent 34b32f53f6
commit 592b7c66c5
25 changed files with 756 additions and 183 deletions
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12
corelib/include/rtabmap/core/DBDriver.h
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@@ -102,9 +102,12 @@ public:
void addStatistics(const Statistics & statistics) const;
void savePreviewImage(const cv::Mat & image) const;
cv::Mat loadPreviewImage() const;
void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose) const;
void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
void saveOptimizedMesh(
const cv::Mat & cloud,
const std::map<int, Transform> & poses = std::map<int, Transform>(), // if we want to do localization afterward using optimized mesh
const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(), // Textures -> polygons -> vertices
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
@@ -113,7 +116,6 @@ public:
#endif
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
cv::Mat loadOptimizedMesh(
std::map<int, Transform> * poses = 0,
std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
@@ -230,9 +232,12 @@ private:
virtual void addStatisticsQuery(const Statistics & statistics) const = 0;
virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;
virtual cv::Mat loadPreviewImageQuery() const = 0;
virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const = 0;
virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose) const = 0;
virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const = 0;
virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;
virtual void saveOptimizedMeshQuery(
const cv::Mat & cloud,
const std::map<int, Transform> & poses,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
@@ -241,7 +246,6 @@ private:
#endif
const cv::Mat & textures) const = 0;
virtual cv::Mat loadOptimizedMeshQuery(
std::map<int, Transform> * poses,
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,

6
corelib/include/rtabmap/core/Memory.h
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@@ -95,9 +95,12 @@ public:
void saveStatistics(const Statistics & statistics);
void savePreviewImage(const cv::Mat & image) const;
cv::Mat loadPreviewImage() const;
void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose) const;
void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
void saveOptimizedMesh(
const cv::Mat & cloud,
const std::map<int, Transform> & poses = std::map<int, Transform>(), // if we want to do localization afterward using optimized mesh
const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(), // Textures -> polygons -> vertices
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
@@ -106,7 +109,6 @@ public:
#endif
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size)
cv::Mat loadOptimizedMesh(
std::map<int, Transform> * poses = 0,
std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,

1
corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -42,6 +42,7 @@ class RTABMAP_EXP OccupancyGrid
public:
OccupancyGrid(const ParametersMap & parameters = ParametersMap());
void parseParameters(const ParametersMap & parameters);
void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
void setCellSize(float cellSize);
float getCellSize() const {return cellSize_;}
void setCloudAssembling(bool enabled);

9
corelib/include/rtabmap/core/Parameters.h
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@@ -336,6 +336,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
RTABMAP_PARAM(RGBD, OptimizeMaxError, float, 1.0, uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"%s\" if enabled.", kOptimizerRobust().c_str()));
RTABMAP_PARAM(RGBD, SavedLocalizationIgnored, bool, false, "Ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.");
RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
RTABMAP_PARAM(RGBD, PlanStuckIterations, int, 0, "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");
RTABMAP_PARAM(RGBD, PlanLinearVelocity, float, 0, "Linear velocity (m/sec) used to compute path weights.");
@@ -550,11 +551,19 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
RTABMAP_PARAM(Icp, VoxelSize, float, 0.0, "Uniform sampling voxel size (0=disabled).");
RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
#ifdef RTABMAP_POINTMATCHER
RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
#else
RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
#endif
RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
#ifdef RTABMAP_POINTMATCHER
RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
#else
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
#endif
RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 1.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02, "Minimum structural complexity (0.0=low, 1.0=high) of the scan to do point to plane registration, otherwise point to point registration is done instead.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -253,6 +253,7 @@ private:
int _pathStuckIterations;
float _pathLinearVelocity;
float _pathAngularVelocity;
bool _savedLocalizationIgnored;
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;

3
corelib/include/rtabmap/core/util3d_mapping.h
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@@ -114,7 +114,8 @@ void RTABMAP_EXP rayTrace(const cv::Point2i & start,
cv::Mat & grid,
bool stopOnObstacle);
cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat & map8S);
cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat & map8S, bool pgmFormat = false);
cv::Mat RTABMAP_EXP convertImage8U2Map(const cv::Mat & map8U, bool pgmFormat = false);
cv::Mat RTABMAP_EXP erodeMap(const cv::Mat & map);