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0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database.

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This commit is contained in:
matlabbe
2021-09-11 11:35:43 -04:00
parent 3ba02d2ef6
commit a901f20d06
12 changed files with 634 additions and 237 deletions
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1
tools/CMakeLists.txt
View File

@@ -14,6 +14,7 @@ ADD_SUBDIRECTORY( Export )
ADD_SUBDIRECTORY( Report )
ADD_SUBDIRECTORY( Info )
ADD_SUBDIRECTORY( CleanupLocalGrids )
ADD_SUBDIRECTORY( GlobalBundleAdjustment )
IF(OPENCV_NONFREE_FOUND)
ADD_SUBDIRECTORY( VocabularyComparison )

209
tools/CleanupLocalGrids/main.cpp
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@@ -25,8 +25,10 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/util3d_transforms.h>
using namespace rtabmap;
@@ -57,7 +59,7 @@ void showUsage()
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kError);
ULogger::setLevel(ULogger::kInfo);
if(argc < 2)
{
@@ -102,187 +104,34 @@ int main(int argc, char * argv[])
// Get parameters
ParametersMap parameters;
DBDriver * driver = DBDriver::create();
if(driver->openConnection(dbPath))
Rtabmap rtabmap;
rtabmap.init(ParametersMap(), dbPath, true);
float xMin, yMin, cellSize;
cv::Mat map = rtabmap.getMemory()->load2DMap(xMin, yMin, cellSize);
if(map.empty())
{
float xMin, yMin, cellSize;
cv::Mat map = driver->load2DMap(xMin, yMin, cellSize);
if(map.empty())
{
UERROR("Database %s doesn't have optimized 2d map saved in it!", dbPath.c_str());
return -1;
}
printf("Options:\n");
printf(" --radius: %d cell(s) (cell size=%.3fm)\n", cropRadius, cellSize);
printf(" --scan: %s\n", filterScans?"true":"false");
Transform lastLocalizationPose;
std::map<int, Transform> poses = driver->loadOptimizedPoses(&lastLocalizationPose);
if(poses.empty() || poses.lower_bound(1) == poses.end())
{
UERROR("Database %s doesn't have optimized poses saved in it!", dbPath.c_str());
return -1;
}
int maxPoses = 0;
for(std::map<int, Transform>::iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
{
++maxPoses;
}
printf("Processing %d grids...\n", maxPoses);
int processedGrids = 1;
for(std::map<int, Transform>::iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter, ++processedGrids)
{
// local grid
cv::Mat gridGround;
cv::Mat gridObstacles;
cv::Mat gridEmpty;
// scan
SensorData data;
driver->getNodeData(iter->first, data);
LaserScan scan;
data.uncompressData(0,0,&scan,0,&gridGround,&gridObstacles,&gridEmpty);
if(!gridObstacles.empty())
{
cv::Mat filtered = cv::Mat(1, gridObstacles.cols, gridObstacles.type());
int oi = 0;
for(int i=0; i<gridObstacles.cols; ++i)
{
const float * ptr = gridObstacles.ptr<float>(0, i);
cv::Point3f pt(ptr[0], ptr[1], gridObstacles.channels()==2?0:ptr[2]);
pt = util3d::transformPoint(pt, iter->second);
int x = int((pt.x - xMin) / cellSize + 0.5f);
int y = int((pt.y - yMin) / cellSize + 0.5f);
if(x>=0 && x<map.cols &&
y>=0 && y<map.rows)
{
bool obstacleDetected = false;
for(int j=-cropRadius; j<=cropRadius && !obstacleDetected; ++j)
{
for(int k=-cropRadius; k<=cropRadius && !obstacleDetected; ++k)
{
if(x+j>=0 && x+j<map.cols &&
y+k>=0 && y+k<map.rows &&
map.at<unsigned char>(y+k,x+j) == 100)
{
obstacleDetected = true;
}
}
}
if(map.at<unsigned char>(y,x) != 0 || obstacleDetected)
{
// Verify that we don't have an obstacle on neighbor cells
cv::Mat(gridObstacles, cv::Range::all(), cv::Range(i,i+1)).copyTo(cv::Mat(filtered, cv::Range::all(), cv::Range(oi,oi+1)));
++oi;
}
}
}
if(oi != gridObstacles.cols)
{
printf("Grid id=%d (%d/%d) filtered %d -> %d\n", iter->first, processedGrids, maxPoses, gridObstacles.cols, oi);
// update
driver->updateOccupancyGrid(iter->first,
gridGround,
cv::Mat(filtered, cv::Range::all(), cv::Range(0, oi)),
gridEmpty,
cellSize,
data.gridViewPoint());
}
}
if(filterScans && !scan.isEmpty())
{
Transform mapToScan = iter->second * scan.localTransform();
cv::Mat filtered = cv::Mat(1, scan.size(), scan.dataType());
int oi = 0;
for(int i=0; i<scan.size(); ++i)
{
const float * ptr = scan.data().ptr<float>(0, i);
cv::Point3f pt(ptr[0], ptr[1], scan.is2d()?0:ptr[2]);
pt = util3d::transformPoint(pt, mapToScan);
int x = int((pt.x - xMin) / cellSize + 0.5f);
int y = int((pt.y - yMin) / cellSize + 0.5f);
if(x>=0 && x<map.cols &&
y>=0 && y<map.rows)
{
bool obstacleDetected = false;
for(int j=-cropRadius; j<=cropRadius && !obstacleDetected; ++j)
{
for(int k=-cropRadius; k<=cropRadius && !obstacleDetected; ++k)
{
if(x+j>=0 && x+j<map.cols &&
y+k>=0 && y+k<map.rows &&
map.at<unsigned char>(y+k,x+j) == 100)
{
obstacleDetected = true;
}
}
}
if(map.at<unsigned char>(y,x) != 0 || obstacleDetected)
{
// Verify that we don't have an obstacle on neighbor cells
cv::Mat(scan.data(), cv::Range::all(), cv::Range(i,i+1)).copyTo(cv::Mat(filtered, cv::Range::all(), cv::Range(oi,oi+1)));
++oi;
}
}
}
if(oi != scan.size())
{
printf("Scan id=%d (%d/%d) filtered %d -> %d\n", iter->first, processedGrids, maxPoses, (int)scan.size(), oi);
// update
if(scan.angleIncrement()!=0)
{
// copy meta data
scan = LaserScan(
cv::Mat(filtered, cv::Range::all(), cv::Range(0, oi)),
scan.format(),
scan.rangeMin(),
scan.rangeMax(),
scan.angleMin(),
scan.angleMax(),
scan.angleIncrement(),
scan.localTransform());
}
else
{
// copy meta data
scan = LaserScan(
cv::Mat(filtered, cv::Range::all(), cv::Range(0, oi)),
scan.maxPoints(),
scan.rangeMax(),
scan.format(),
scan.localTransform());
}
driver->updateLaserScan(iter->first, scan);
}
}
}
}
else
{
UERROR("Cannot open database %s!", dbPath.c_str());
UERROR("Database %s doesn't have optimized 2d map saved in it!", dbPath.c_str());
return -1;
}
driver->closeConnection();
delete driver;
driver = 0;
printf("Options:\n");
printf(" --radius: %d cell(s) (cell size=%.3fm)\n", cropRadius, cellSize);
printf(" --scan: %s\n", filterScans?"true":"false");
std::map<int, Transform> poses = rtabmap.getLocalOptimizedPoses();
if(poses.empty() || poses.lower_bound(1) == poses.end())
{
UERROR("Database %s doesn't have optimized poses saved in it!", dbPath.c_str());
return -1;
}
UTimer timer;
printf("Cleaning grids...\n");
int modifiedCells = rtabmap.cleanupLocalGrids(poses, map, xMin, yMin, cellSize, cropRadius, filterScans);
printf("Cleanup %d cells! (%fs)\n", modifiedCells, timer.ticks());
rtabmap.close();
printf("Done!\n");
return 0;

40
tools/GlobalBundleAdjustment/CMakeLists.txt Normal file
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@@ -0,0 +1,40 @@
SET(RTABMap_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utilite/include
${PROJECT_SOURCE_DIR}/corelib/include
)
SET(RTABMap_LIBRARIES
rtabmap_core
rtabmap_utilite
)
if(POLICY CMP0020)
cmake_policy(SET CMP0020 NEW)
endif()
SET(INCLUDE_DIRS
${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
SET(LIBRARIES
${RTABMap_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(globalBundleAdjustment main.cpp)
TARGET_LINK_LIBRARIES(globalBundleAdjustment ${LIBRARIES})
SET_TARGET_PROPERTIES( globalBundleAdjustment
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-globalBundleAdjustment)
INSTALL(TARGETS globalBundleAdjustment
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)

138
tools/GlobalBundleAdjustment/main.cpp Normal file
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@@ -0,0 +1,138 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/Optimizer.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UStl.h>
using namespace rtabmap;
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-globalBundleAdjustment database.db\n"
"\n%s", Parameters::showUsage());
exit(1);
}
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kError);
if(argc < 2)
{
showUsage();
}
for(int i=1; i<argc-1; ++i)
{
if(std::strcmp(argv[i], "--help") == 0)
{
showUsage();
}
}
ParametersMap inputParams = Parameters::parseArguments(argc, argv);
std::string dbPath = argv[argc-1];
if(!UFile::exists(dbPath))
{
printf("Database %s doesn't exist!\n", dbPath.c_str());
}
// Get parameters
ParametersMap parameters;
DBDriver * driver = DBDriver::create();
if(driver->openConnection(dbPath))
{
if(uStrNumCmp(driver->getDatabaseVersion(), "0.17.0")<0)
{
printf("Database is too old (%s), we cannot save back optimized poses. "
"Consider upgrading the database with:\n"
"rtabmap-reprocess --Db/TargetVersion \"\" \"%s\" \"output.db\"\n",
driver->getDatabaseVersion().c_str(),
dbPath.c_str());
driver->closeConnection(false);
delete driver;
return -1;
}
parameters = driver->getLastParameters();
// This will force rtabmap_ros to regenerate the global occupancy grid if there was one
driver->save2DMap(cv::Mat(), 0, 0, 0);
driver->saveOptimizedMesh(cv::Mat());
driver->closeConnection(false);
}
else
{
UERROR("Cannot open database %s!", dbPath.c_str());
}
delete driver;
for(ParametersMap::iterator iter=inputParams.begin(); iter!=inputParams.end(); ++iter)
{
printf("Added custom parameter %s=%s\n",iter->first.c_str(), iter->second.c_str());
}
UTimer timer;
printf("Loading database \"%s\"...\n", dbPath.c_str());
// Get the global optimized map
Rtabmap rtabmap;
uInsert(parameters, inputParams);
rtabmap.init(parameters, dbPath);
printf("Loading database \"%s\"... done (%fs).\n", dbPath.c_str(), timer.ticks());
std::map<int, Signature> nodes;
std::map<int, Transform> optimizedPoses;
std::multimap<int, Link> links;
printf("Optimizing the map...\n");
rtabmap.getGraph(optimizedPoses, links, true, true, &nodes, true, true, true, true);
printf("Optimizing the map... done (%fs, poses=%d).\n", timer.ticks(), (int)optimizedPoses.size());
printf("Global bundle adjustment...\n");
Optimizer * optimizer = Optimizer::create(Optimizer::kTypeG2O, parameters);
optimizedPoses = optimizer->optimizeBA(optimizedPoses.lower_bound(1)->first, optimizedPoses, links, nodes, true);
delete optimizer;
printf("Global bundle adjustment... done (%fs).\n", timer.ticks());
if(!optimizedPoses.empty())
{
rtabmap.setOptimizedPoses(optimizedPoses, links);
}
else
{
UERROR("Returned empty poses!");
}
rtabmap.close();
return 0;
}

134
tools/Reprocess/main.cpp
View File

@@ -68,10 +68,11 @@ void showUsage()
" arguments, they overwrite those in config file and the database.\n"
" -start # Start from this node ID.\n"
" -stop # Last node to process.\n"
" -g2 Assemble 2D occupancy grid map and save it to \"[output]_map.pgm\".\n"
" -g2 Assemble 2D occupancy grid map and save it to \"[output]_map.pgm\". Use with -db to save in database.\n"
" -g3 Assemble 3D cloud map and save it to \"[output]_map.pcd\".\n"
" -o2 Assemble OctoMap 2D projection and save it to \"[output]_octomap.pgm\".\n"
" -o2 Assemble OctoMap 2D projection and save it to \"[output]_octomap.pgm\". Use with -db to save in database.\n"
" -o3 Assemble OctoMap 3D cloud and save it to \"[output]_octomap.pcd\".\n"
" -db Save assembled 2D occupancy grid in database instead of a file.\n"
" -p Save odometry and localization poses (*.g2o).\n"
" -scan_from_depth Generate scans from depth images (overwrite previous\n"
" scans if they exist).\n"
@@ -211,6 +212,7 @@ int main(int argc, char * argv[])
showUsage();
}
bool save2DMap = false;
bool assemble2dMap = false;
bool assemble3dMap = false;
bool assemble2dOctoMap = false;
@@ -300,6 +302,11 @@ int main(int argc, char * argv[])
exportPoses = true;
printf("Odometry trajectory and localization poses will be exported in g2o format (-p option).\n");
}
else if(strcmp(argv[i], "-db") == 0 || strcmp(argv[i], "--db") == 0)
{
save2DMap = true;
printf("2D occupancy grid will be saved in database (-db option).\n");
}
else if(strcmp(argv[i], "-g2") == 0 || strcmp(argv[i], "--g2") == 0)
{
assemble2dMap = true;
@@ -856,36 +863,50 @@ int main(int argc, char * argv[])
cv::Mat map = grid.getMap(xMin, yMin);
if(!map.empty())
{
cv::Mat map8U(map.rows, map.cols, CV_8U);
//convert to gray scaled map
for (int i = 0; i < map.rows; ++i)
if(save2DMap)
{
for (int j = 0; j < map.cols; ++j)
DBDriver * driver = DBDriver::create();
if(driver->openConnection(outputDatabasePath))
{
char v = map.at<char>(i, j);
unsigned char gray;
if(v == 0)
{
gray = 178;
}
else if(v == 100)
{
gray = 0;
}
else // -1
{
gray = 89;
}
map8U.at<unsigned char>(i, j) = gray;
driver->save2DMap(map, xMin, yMin, grid.getCellSize());
printf("Saving occupancy grid to database... done!\n");
}
}
if(cv::imwrite(outputPath, map8U))
{
printf("Saving occupancy grid \"%s\"... done!\n", outputPath.c_str());
delete driver;
}
else
{
printf("Saving occupancy grid \"%s\"... failed!\n", outputPath.c_str());
cv::Mat map8U(map.rows, map.cols, CV_8U);
//convert to gray scaled map
for (int i = 0; i < map.rows; ++i)
{
for (int j = 0; j < map.cols; ++j)
{
char v = map.at<char>(i, j);
unsigned char gray;
if(v == 0)
{
gray = 178;
}
else if(v == 100)
{
gray = 0;
}
else // -1
{
gray = 89;
}
map8U.at<unsigned char>(i, j) = gray;
}
}
if(cv::imwrite(outputPath, map8U))
{
printf("Saving occupancy grid \"%s\"... done!\n", outputPath.c_str());
}
else
{
printf("Saving occupancy grid \"%s\"... failed!\n", outputPath.c_str());
}
}
}
else
@@ -937,36 +958,49 @@ int main(int argc, char * argv[])
cv::Mat map = octomap.createProjectionMap(xMin, yMin, cellSize);
if(!map.empty())
{
cv::Mat map8U(map.rows, map.cols, CV_8U);
//convert to gray scaled map
for (int i = 0; i < map.rows; ++i)
if(save2DMap)
{
for (int j = 0; j < map.cols; ++j)
DBDriver * driver = DBDriver::create();
if(driver->openConnection(outputDatabasePath))
{
char v = map.at<char>(i, j);
unsigned char gray;
if(v == 0)
{
gray = 178;
}
else if(v == 100)
{
gray = 0;
}
else // -1
{
gray = 89;
}
map8U.at<unsigned char>(i, j) = gray;
driver->save2DMap(map, xMin, yMin, cellSize);
printf("Saving occupancy grid to database... done!\n");
}
}
if(cv::imwrite(outputPath, map8U))
{
printf("Saving octomap 2D projection \"%s\"... done!\n", outputPath.c_str());
delete driver;
}
else
{
printf("Saving octomap 2D projection \"%s\"... failed!\n", outputPath.c_str());
cv::Mat map8U(map.rows, map.cols, CV_8U);
//convert to gray scaled map
for (int i = 0; i < map.rows; ++i)
{
for (int j = 0; j < map.cols; ++j)
{
char v = map.at<char>(i, j);
unsigned char gray;
if(v == 0)
{
gray = 178;
}
else if(v == 100)
{
gray = 0;
}
else // -1
{
gray = 89;
}
map8U.at<unsigned char>(i, j) = gray;
}
}
if(cv::imwrite(outputPath, map8U))
{
printf("Saving octomap 2D projection \"%s\"... done!\n", outputPath.c_str());
}
else
{
printf("Saving octomap 2D projection \"%s\"... failed!\n", outputPath.c_str());
}
}
}
else