mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-05 17:47:49 +08:00
matlabbeandBorong Yuan
8d0692eab0
* Avoid removing nodes from STM when using CreateIntermediateNodes * Clean up the data of the intermediate node when IntermediateNodeDataKept is false * Save intermediate node input features * Don't delete intermediate nodes * comment typo * Updated parameter description, bump patch for DBReader API chang * When ID is not udpated to new one, don't disable words because that signature is still used in the bayes filter * updated comment * rtabmap-reprocess: support Rtabmap/DetectionRate when intermediate nodes are created and -skip option is not used * Fixed smallMovement when rehearsal is not trigdered at the same time * GUI: visualize rehearsal darkblue when intermediate nodes are used * Fixed RtabmapThread not transfering input features on intermediate nodes * Do not override smallMovement and fastMovement when converting to intermediate nodes to keep GUI visualization color working --------- Co-authored-by: Borong Yuan <[email protected]>
133 lines
4.6 KiB
C++
133 lines
4.6 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef DBREADER_H_
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#define DBREADER_H_
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#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
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#include <rtabmap/utilite/UTimer.h>
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/core/Camera.h>
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#include <opencv2/core/core.hpp>
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#include <set>
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#include <list>
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namespace rtabmap {
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class DBDriver;
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class RTABMAP_CORE_EXPORT DBReader : public Camera {
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public:
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DBReader(const std::string & databasePath,
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float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
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bool odometryIgnored = false,
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bool ignoreGoalDelay = false,
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bool goalsIgnored = false,
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int startId = 0,
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const std::vector<unsigned int> & cameraIndices = std::vector<unsigned int>(),
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int stopId = 0,
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bool intermediateNodesIgnored = false,
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bool landmarksIgnored = false,
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bool featuresIgnored = false,
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int startMapId = 0,
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int stopMapId = -1,
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bool priorsIgnored = false,
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bool imuIgnored = false,
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bool intermediateNodesAreNormalNodes = false,
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const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
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DBReader(const std::list<std::string> & databasePaths,
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float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
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bool odometryIgnored = false,
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bool ignoreGoalDelay = false,
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bool goalsIgnored = false,
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int startId = 0,
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const std::vector<unsigned int> & cameraIndices = std::vector<unsigned int>(),
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int stopId = 0,
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bool intermediateNodesIgnored = false,
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bool landmarksIgnored = false,
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bool featuresIgnored = false,
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int startMapId = 0,
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int stopMapId = -1,
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bool priorsIgnored = false,
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bool imuIgnored = false,
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bool intermediateNodesAreNormalNodes = false,
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const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
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virtual ~DBReader();
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virtual bool init(
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const std::string & calibrationFolder = ".",
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const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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virtual bool odomProvided() const {return !_odometryIgnored;}
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virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06);
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const DBDriver * driver() const {return _dbDriver;}
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protected:
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virtual SensorData captureImage(SensorCaptureInfo * info = 0);
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private:
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SensorData getNextData(SensorCaptureInfo * info = 0);
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void checkArguments();
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private:
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std::list<std::string> _paths;
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bool _odometryIgnored;
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bool _ignoreGoalDelay;
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bool _goalsIgnored;
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int _startId;
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int _stopId;
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std::vector<unsigned int> _cameraIndices;
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bool _intermediateNodesIgnored;
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bool _intermediateNodesAreNormalNodes;
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bool _landmarksIgnored;
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bool _featuresIgnored;
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bool _priorsIgnored;
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bool _imuIgnored;
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int _startMapId;
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int _stopMapId;
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std::vector<Transform> _cameraLocalTransformOverrides;
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DBDriver * _dbDriver;
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UTimer _timer;
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std::set<int> _ids;
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std::set<int>::iterator _currentId;
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int _previousMapId;
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cv::Mat _previousInfMatrix;
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double _previousStamp;
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int _previousMapID;
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bool _calibrated;
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};
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} /* namespace rtabmap */
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#endif /* DBREADER_H_ */
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