i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

removed ImagesDbExtractor tool (already inside databaseViewer)

Browse Source 
add optional delay to DBReader
added more options to odometryViewer tool


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1264 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-28 22:11:36 +00:00
parent 669e7363cc
commit ac626a846e
13 changed files with 235 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files

191
tools/OdometryViewer/main.cpp
View File

@@ -1,9 +1,11 @@
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/core/Odometry.h>
#include <rtabmap/gui/OdometryViewer.h>
#include <rtabmap/core/CameraOpenni.h>
#include <rtabmap/core/DBReader.h>
#include <QtGui/QApplication>
void showUsage()
@@ -15,7 +17,12 @@ void showUsage()
" -bin Use binary odometry (FAST+BRIEF)\n"
" -icp Use ICP odometry\n"
"\n"
" -in #.# Inliers maximum distance (default 0.005 m)\n"
" -hz #.# Camera rate (default 0, 0 means as fast as the camera can)\n"
" -db \"input.db\" Use database instead of camera (recorded with rtabmap-dataRecorder)\n"
" -clouds # Maximum clouds shown (default 10, zero means inf)\n"
" -sec #.# Delay (seconds) before reading the database (if set)\n"
"\n"
" -in #.# Inliers maximum distance, features/ICP (default 0.005 m)\n"
" -max # Max features used for matching (default 0=inf)\n"
" -min # Minimum inliers to accept the transform (default 20)\n"
" -depth #.# Maximum features depth (default 5.0 m)\n"
@@ -23,16 +30,22 @@ void showUsage()
" -lu # Linear update (default 0.0 m)\n"
" -au # Angular update (default 0.0 radian)\n"
" -reset # Reset countdown (default 0 = disabled)\n"
"\n"
" -bin_brief_bytes # BRIEF bytes (default 32)\n"
" -bin_fast_thr # FAST threshold (default 30)\n"
" -bin_lsh Use nearest neighbor LSH (default brute force hamming)\n"
"\n"
" -d # ICP decimation (default 4)\n"
" -v # ICP voxel size (default 0.005)\n"
" -s # ICP samples (default 0, not used if voxel is set.)\n"
" -f #.# ICP fitness (default 0.01)\n"
"\n"
" -debug Log debug messages\n"
"\n"
"Examples:\n"
" odometryViewer -bow 0 SURF example\n"
" odometryViewer -bow 1 SIFT example\n"
" odometryViewer -bin FAST/BRIEF example\n"
" odometryViewer -bin -hz 10 FAST/BRIEF example\n"
" odometryViewer -icp -in 0.05 -i 30 ICP example\n");
exit(1);
}
@@ -43,6 +56,8 @@ int main (int argc, char * argv[])
ULogger::setLevel(ULogger::kInfo);
// parse arguments
float rate = 0.0;
std::string inputDatabase;
int odomType = 0; // 0=bow 1=bin 2=ICP
int bowType = 0;
float distance = 0.005;
@@ -57,6 +72,11 @@ int main (int argc, char * argv[])
float voxel = 0.005;
int samples = 10000;
float fitness = 0.01f;
int maxClouds = 10;
int briefBytes = 32;
int fastThr = 30;
bool useLSH = false;
float sec = 0.0f;
for(int i=1; i<argc; ++i)
{
@@ -78,6 +98,75 @@ int main (int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-hz") == 0)
{
++i;
if(i < argc)
{
rate = std::atof(argv[i]);
if(rate < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-db") == 0)
{
++i;
if(i < argc)
{
inputDatabase = argv[i];
if(UFile::getExtension(inputDatabase).compare("db") != 0)
{
printf("Database path (%s) should end with \"db\" \n", inputDatabase.c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-clouds") == 0)
{
++i;
if(i < argc)
{
maxClouds = std::atoi(argv[i]);
if(maxClouds < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-sec") == 0)
{
++i;
if(i < argc)
{
sec = std::atof(argv[i]);
if(sec < 0.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-in") == 0)
{
++i;
@@ -282,6 +371,45 @@ int main (int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-bin_brief_bytes") == 0)
{
++i;
if(i < argc)
{
briefBytes = std::atoi(argv[i]);
if(briefBytes < 1)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-bin_fast_thr") == 0)
{
++i;
if(i < argc)
{
fastThr = std::atoi(argv[i]);
if(fastThr < 1)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-bin_lsh") == 0)
{
useLSH = true;
continue;
}
if(strcmp(argv[i], "-bin") == 0)
{
odomType = 1;
@@ -302,6 +430,17 @@ int main (int argc, char * argv[])
showUsage();
}
if(inputDatabase.size())
{
UINFO("Using database input \"%s\"", inputDatabase.c_str());
}
else
{
UINFO("Using OpenNI camera");
}
UINFO("Camera rate = %f Hz", rate);
UINFO("Maximum clouds shown = %d", maxClouds);
UINFO("Delay = %f s", sec);
UINFO("Odometry used = %s", odomType==0?bowType==0?"Bag-of-words SURF":"Bag-of-words SIFT":odomType==1?"Binary (FAST+BRIEF)":"ICP");
UINFO("Inlier/ICP maximum correspondences distance = %f", distance);
UINFO("Max features = %d", maxWords);
@@ -315,10 +454,12 @@ int main (int argc, char * argv[])
UINFO("Cloud voxel size = %f", voxel);
UINFO("Cloud samples = %d", samples);
UINFO("Cloud fitness = %f", fitness);
UINFO("Binary BRIEF bytes = %d", briefBytes);
UINFO("Binary FAST threshold = %f", fastThr);
UINFO("Binary LSH = %f", useLSH?"true":"false");
QApplication app(argc, argv);
rtabmap::CameraOpenni camera("", 0, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
rtabmap::Odometry * odom = 0;
if(odomType == 0)
@@ -344,7 +485,11 @@ int main (int argc, char * argv[])
maxDepth,
linearUpdate,
angularUpdate,
resetCountdown);
resetCountdown,
briefBytes,
fastThr,
true,
!useLSH);
}
else // ICP
{
@@ -361,26 +506,44 @@ int main (int argc, char * argv[])
resetCountdown);
}
rtabmap::OdometryThread odomThread(odom);
rtabmap::OdometryViewer odomViewer(100, 2, 0.0);
rtabmap::OdometryViewer odomViewer(maxClouds, 2, 0.0);
UEventsManager::addHandler(&odomThread);
UEventsManager::addHandler(&odomViewer);
odomViewer.setWindowTitle("Odometry viewer");
odomViewer.setMinimumWidth(500);
odomViewer.setMinimumHeight(300);
odomViewer.showMaximized();
odomViewer.setMinimumWidth(800);
odomViewer.setMinimumHeight(500);
odomViewer.showNormal();
app.processEvents();
if(camera.init())
if(inputDatabase.size())
{
odomThread.start();
camera.start();
rtabmap::DBReader camera(inputDatabase, rate, true, sec);
if(camera.init())
{
odomThread.start();
camera.start();
app.exec();
app.exec();
camera.kill();
odomThread.join(true);
camera.kill();
odomThread.join(true);
}
}
else
{
rtabmap::CameraOpenni camera("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
if(camera.init())
{
odomThread.start();
camera.start();
app.exec();
camera.kill();
odomThread.join(true);
}
}
return 0;