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Reprocess: if Mem/IncrementalMemory is false and more than one input file is provided, init rtabmap with the first and do localization with the others.

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matlabbe
2018-10-29 17:00:42 -04:00
parent a43eccdac8
commit e57b722ce2
1 changed files with 37 additions and 1 deletions
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38
tools/Reprocess/main.cpp
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@@ -50,12 +50,15 @@ void showUsage()
" rtabmap-reprocess [options] \"input.db\" \"output.db\"\n"
" rtabmap-reprocess [options] \"input1.db;input2.db;input3.db\" \"output.db\"\n"
" For the second example, only parameters from the first database are used.\n"
" If Mem/IncrementalMemory is false, RTAB-Map is initialized with the first input database.\n"
" To see warnings when loop closures are rejected, add \"--uwarn\" argument.\n"
" Options:\n"
" -r Use database stamps as input rate.\n"
" -c \"path.ini\" Configuration file, overwritting parameters read \n"
" from the database. If custom parameters are also set as \n"
" arguments, they overwrite those in config file and the database.\n"
" -f When there are many inputs databases, initialize rtabmap\n"
" with the first one and process the others afterwards.\n"
" -g2 Assemble 2D occupancy grid map and save it to \"[output]_map.pgm\".\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"
@@ -205,6 +208,9 @@ int main(int argc, char * argv[])
uInsert(parameters, configParameters);
uInsert(parameters, customParameters);
bool incrementalMemory = Parameters::defaultMemIncrementalMemory();
Parameters::parse(parameters, Parameters::kMemIncrementalMemory(), incrementalMemory);
int totalIds = 0;
std::set<int> ids;
dbDriver->getAllNodeIds(ids);
@@ -215,7 +221,10 @@ int main(int argc, char * argv[])
delete dbDriver;
return -1;
}
totalIds = ids.size();
if(!(!incrementalMemory && databases.size() > 1))
{
totalIds = ids.size();
}
dbDriver->closeConnection(false);
// Count remaining ids in the other databases
@@ -240,6 +249,14 @@ int main(int argc, char * argv[])
uInsert(parameters, ParametersPair(Parameters::kRtabmapWorkingDirectory(), workingDirectory));
uInsert(parameters, ParametersPair(Parameters::kRtabmapPublishStats(), "true")); // to log status below
if(!incrementalMemory && databases.size() > 1)
{
UFile::copy(databases.front(), outputDatabasePath);
printf("Parameter \"%s\" is set to false, initializing RTAB-Map with \"%s\" for localization...\n", Parameters::kMemIncrementalMemory().c_str(), databases.front().c_str());
databases.pop_front();
inputDatabasePath = uJoin(databases, ";");
}
Rtabmap rtabmap;
rtabmap.init(parameters, outputDatabasePath);
@@ -260,6 +277,8 @@ int main(int argc, char * argv[])
int processed = 0;
CameraInfo info;
SensorData data = dbReader.takeImage(&info);
int loopCount = 0;
int totalFrames = 0;
while(data.isValid() && g_loopForever)
{
UTimer iterationTime;
@@ -273,6 +292,12 @@ int main(int argc, char * argv[])
if(!odometryIgnored && !info.odomCovariance.empty() && info.odomCovariance.at<double>(0,0)>=9999)
{
printf("High variance detected, triggering a new map...\n");
if(!incrementalMemory)
{
printf("Total localizations on previous session = %d/%d\n", loopCount, totalFrames);
loopCount = 0;
totalFrames = 0;
}
rtabmap.triggerNewMap();
}
UTimer t;
@@ -365,8 +390,10 @@ int main(int argc, char * argv[])
const rtabmap::Statistics & stats = rtabmap.getStatistics();
int loopId = stats.loopClosureId() > 0? stats.loopClosureId(): stats.proximityDetectionId() > 0?stats.proximityDetectionId() :0;
int refMapId = uContains(stats.getSignatures(), stats.refImageId())? stats.getSignatures().at(stats.refImageId()).mapId():-1;
++totalFrames;
if (loopId>0)
{
++loopCount;
int loopMapId = uContains(stats.getSignatures(), loopId) ? stats.getSignatures().at(loopId).mapId() : -1;
printf("Processed %d/%d nodes [%d]... %dms Loop on %d [%d]\n", ++processed, totalIds, refMapId, int(iterationTime.ticks() * 1000), loopId, loopMapId);
}
@@ -378,6 +405,15 @@ int main(int argc, char * argv[])
data = dbReader.takeImage(&info);
}
if(!incrementalMemory)
{
printf("Total localizations on previous session = %d/%d\n", loopCount, totalFrames);
}
else
{
printf("Total loop closures = %d\n", loopCount);
}
printf("Closing database \"%s\"...\n", outputDatabasePath.c_str());
rtabmap.close(true);
printf("Closing database \"%s\"... done!\n", outputDatabasePath.c_str());