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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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corelib/src/Memory.cpp
+37 -5
View File
@@ -361,7 +361,7 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::st
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kClosing));
bool databaseNameChanged = false;
if(databaseSaved)
if(databaseSaved && _dbDriver)
{
databaseNameChanged = ouputDatabasePath.size() && _dbDriver->getUrl().size() && _dbDriver->getUrl().compare(ouputDatabasePath) != 0?true:false;
}
@@ -1756,9 +1756,42 @@ cv::Mat Memory::loadPreviewImage() const
return cv::Mat();
}
void Memory::saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const
{
if(_dbDriver)
{
_dbDriver->saveOptimizedPoses(optimizedPoses, lastlocalizationPose);
}
}
std::map<int, Transform> Memory::loadOptimizedPoses(Transform * lastlocalizationPose) const
{
if(_dbDriver)
{
return _dbDriver->loadOptimizedPoses(lastlocalizationPose);
}
return std::map<int, Transform>();
}
void Memory::save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const
{
if(_dbDriver)
{
_dbDriver->save2DMap(map, xMin, yMin, cellSize);
}
}
cv::Mat Memory::load2DMap(float & xMin, float & yMin, float & cellSize) const
{
if(_dbDriver)
{
return _dbDriver->load2DMap(xMin, yMin, cellSize);
}
return cv::Mat();
}
void Memory::saveOptimizedMesh(
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,
@@ -1769,12 +1802,11 @@ void Memory::saveOptimizedMesh(
{
if(_dbDriver)
{
_dbDriver->saveOptimizedMesh(cloud, poses, polygons, texCoords, textures);
_dbDriver->saveOptimizedMesh(cloud, polygons, texCoords, textures);
}
}
cv::Mat Memory::loadOptimizedMesh(
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,
@@ -1785,7 +1817,7 @@ cv::Mat Memory::loadOptimizedMesh(
{
if(_dbDriver)
{
return _dbDriver->loadOptimizedMesh(poses, polygons, texCoords, textures);
return _dbDriver->loadOptimizedMesh(polygons, texCoords, textures);
}
return cv::Mat();
}