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reprocess: when merging databases, return number of sessions merged when program exists. export: added --save_in_db option.

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This commit is contained in:
matlabbe
2020-08-28 12:29:16 -04:00
parent 24052a6ebe
commit 96a628877c
2 changed files with 131 additions and 37 deletions
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147
tools/Export/main.cpp
View File

@@ -66,6 +66,7 @@ void showUsage()
" --decimation # Depth image decimation before creating the clouds (default 4).\n"
" --voxel # Voxel size of the created clouds (default 0.01 m).\n"
" --color_radius # Radius used to colorize polygons (default 0.05 m, set 0 for nearest color).\n"
" --save_in_db Save resulting assembled point cloud or mesh in the database.\n"
"\n%s", Parameters::showUsage());
;
exit(1);
@@ -93,10 +94,11 @@ int main(int argc, char * argv[])
float maxRange = 4.0f;
float voxelSize = 0.01f;
int textureSize = 4096;
int textureCount = 8;
int textureCount = 1;
int textureRange = 0;
bool multiband = false;
float colorRadius = 0.05;
bool saveInDb = false;
for(int i=1; i<argc-1; ++i)
{
if(std::strcmp(argv[i], "--help") == 0)
@@ -244,7 +246,26 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--save_in_db") == 0)
{
saveInDb = true;
}
}
if(saveInDb)
{
if(multiband)
{
printf("Option --multiband is not supported with --save_in_db option, disabling multiband...\n");
multiband = false;
}
if(textureCount>1)
{
printf("Option --texture_count > 1 is not supported with --save_in_db option, setting texture_count to 1...\n");
textureCount = 1;
}
}
ParametersMap params = Parameters::parseArguments(argc, argv, false);
std::string dbPath = argv[argc-1];
@@ -263,6 +284,7 @@ int main(int argc, char * argv[])
return -1;
}
delete driver;
driver = 0;
for(ParametersMap::iterator iter=params.begin(); iter!=params.end(); ++iter)
{
@@ -363,15 +385,35 @@ int main(int argc, char * argv[])
if(mergedClouds->size())
{
if(saveInDb)
{
driver = DBDriver::create();
UASSERT(driver->openConnection(dbPath, false));
Transform lastlocalizationPose;
driver->loadOptimizedPoses(&lastlocalizationPose);
//optimized poses have changed, reset 2d map
driver->save2DMap(cv::Mat(), 0, 0, 0);
driver->saveOptimizedPoses(optimizedPoses, lastlocalizationPose);
}
if(!(mesh || texture))
{
printf("Voxel grid filtering of the assembled cloud (voxel=%f, %d points)\n", 0.01f, (int)mergedClouds->size());
mergedClouds = util3d::voxelize(mergedClouds, voxelSize);
std::string outputPath=outputDirectory+"/"+baseName+"_cloud.ply";
printf("Saving %s... (%d points)\n", outputPath.c_str(), (int)mergedClouds->size());
pcl::io::savePLYFile(outputPath, *mergedClouds);
printf("Saving %s... done!\n", outputPath.c_str());
if(saveInDb)
{
printf("Saving in db... (%d points)\n", (int)mergedClouds->size());
driver->saveOptimizedMesh(util3d::laserScanFromPointCloud(*mergedClouds, Transform(), false));
printf("Saving in db... done!\n");
}
else
{
std::string outputPath=outputDirectory+"/"+baseName+"_cloud.ply";
printf("Saving %s... (%d points)\n", outputPath.c_str(), (int)mergedClouds->size());
pcl::io::savePLYFile(outputPath, *mergedClouds);
printf("Saving %s... done!\n", outputPath.c_str());
}
}
else
{
@@ -415,10 +457,23 @@ int main(int argc, char * argv[])
if(!texture)
{
std::string outputPath=outputDirectory+"/"+baseName+"_mesh.ply";
printf("Saving %s...\n", outputPath.c_str());
pcl::io::savePLYFile(outputPath, *mesh);
printf("Saving %s... done!\n", outputPath.c_str());
if(saveInDb)
{
printf("Saving mesh in db...\n");
std::vector<std::vector<std::vector<unsigned int> > > polygons;
polygons.push_back(util3d::convertPolygonsFromPCL(mesh->polygons));
driver->saveOptimizedMesh(
util3d::laserScanFromPointCloud(mesh->cloud, false).data(),
polygons);
printf("Saving mesh in db... done!\n");
}
else
{
std::string outputPath=outputDirectory+"/"+baseName+"_mesh.ply";
printf("Saving %s...\n", outputPath.c_str());
pcl::io::savePLYFile(outputPath, *mesh);
printf("Saving %s... done!\n", outputPath.c_str());
}
}
else
{
@@ -479,38 +534,51 @@ int main(int argc, char * argv[])
&contrastValues);
printf("Merging to %d texture(s)... done (%fs).\n", (int)textureMesh->tex_materials.size(), timer.ticks());
// TextureMesh OBJ
bool success = false;
UASSERT(!textures.empty());
for(size_t i=0; i<textureMesh->tex_materials.size(); ++i)
if(saveInDb)
{
textureMesh->tex_materials[i].tex_file += ".jpg";
printf("Saving texture to %s.\n", textureMesh->tex_materials[i].tex_file.c_str());
UASSERT(textures.cols % textures.rows == 0);
success = cv::imwrite(outputDirectory+"/"+textureMesh->tex_materials[i].tex_file, cv::Mat(textures, cv::Range::all(), cv::Range(textures.rows*i, textures.rows*(i+1))));
if(!success)
{
UERROR("Failed saving %s!", textureMesh->tex_materials[i].tex_file.c_str());
}
else
{
printf("Saved %s.\n", textureMesh->tex_materials[i].tex_file.c_str());
}
printf("Saving texture mesh in db...\n");
driver->saveOptimizedMesh(
util3d::laserScanFromPointCloud(textureMesh->cloud, false).data(),
util3d::convertPolygonsFromPCL(textureMesh->tex_polygons),
textureMesh->tex_coordinates,
textures);
printf("Saving texture mesh in db... done!\n");
}
if(success)
else
{
std::string outputPath=outputDirectory+"/"+baseName+"_mesh.obj";
printf("Saving obj (%d vertices) to %s.\n", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, outputPath.c_str());
success = pcl::io::saveOBJFile(outputPath, *textureMesh) == 0;
// TextureMesh OBJ
bool success = false;
UASSERT(!textures.empty());
for(size_t i=0; i<textureMesh->tex_materials.size(); ++i)
{
textureMesh->tex_materials[i].tex_file += ".jpg";
printf("Saving texture to %s.\n", textureMesh->tex_materials[i].tex_file.c_str());
UASSERT(textures.cols % textures.rows == 0);
success = cv::imwrite(outputDirectory+"/"+textureMesh->tex_materials[i].tex_file, cv::Mat(textures, cv::Range::all(), cv::Range(textures.rows*i, textures.rows*(i+1))));
if(!success)
{
UERROR("Failed saving %s!", textureMesh->tex_materials[i].tex_file.c_str());
}
else
{
printf("Saved %s.\n", textureMesh->tex_materials[i].tex_file.c_str());
}
}
if(success)
{
printf("Saved obj to %s!\n", outputPath.c_str());
}
else
{
UERROR("Failed saving obj to %s!", outputPath.c_str());
std::string outputPath=outputDirectory+"/"+baseName+"_mesh.obj";
printf("Saving obj (%d vertices) to %s.\n", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, outputPath.c_str());
success = pcl::io::saveOBJFile(outputPath, *textureMesh) == 0;
if(success)
{
printf("Saved obj to %s!\n", outputPath.c_str());
}
else
{
UERROR("Failed saving obj to %s!", outputPath.c_str());
}
}
}
@@ -551,5 +619,12 @@ int main(int argc, char * argv[])
printf("Export failed! The cloud is empty.\n");
}
if(driver)
{
driver->closeConnection();
delete driver;
driver = 0;
}
return 0;
}

21
tools/Reprocess/main.cpp
View File

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#endif
#include <rtabmap/core/OccupancyGrid.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UTimer.h>
@@ -634,6 +635,7 @@ int main(int argc, char * argv[])
}
}
int databasesMerged = 0;
if(!incrementalMemory)
{
showLocalizationStats(outputDatabasePath);
@@ -641,6 +643,23 @@ int main(int argc, char * argv[])
else
{
printf("Total loop closures = %d (Loop=%d, Prox=%d, In Motion=%d/%d)\n", loopCount+proxCount, loopCount, proxCount, loopCountMotion, totalFramesMotion);
if(databases.size()>1)
{
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
rtabmap.getGraph(poses, constraints, 0, 1, 0, false, false, false, false, false, false);
std::set<int> mapIds;
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
int id;
if((id=rtabmap.getMemory()->getMapId(iter->first, true))>=0)
{
mapIds.insert(id);
}
}
databasesMerged = mapIds.size();
}
}
printf("Closing database \"%s\"...\n", outputDatabasePath.c_str());
@@ -812,5 +831,5 @@ int main(int argc, char * argv[])
}
#endif
return 0;
return databasesMerged;
}