mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database.
This commit is contained in:
Mathieu Labbe
@@ -0,0 +1,33 @@
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SET(INCLUDE_DIRS
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${PROJECT_SOURCE_DIR}/utilite/include
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${PROJECT_SOURCE_DIR}/corelib/include
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${PROJECT_SOURCE_DIR}/guilib/include
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${OpenCV_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
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INCLUDE(${QT_USE_FILE})
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ENDIF()
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SET(LIBRARIES
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${OpenCV_LIBRARIES}
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${QT_LIBRARIES}
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${PCL_LIBRARIES}
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)
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
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QT4_WRAP_CPP(moc_srcs ../RGBDMapping/MapBuilder.h MapBuilderWifi.h)
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ELSE()
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QT5_WRAP_CPP(moc_srcs ../RGBDMapping/MapBuilder.h MapBuilderWifi.h)
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ENDIF()
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ADD_EXECUTABLE(wifi_mapping main.cpp ${moc_srcs})
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TARGET_LINK_LIBRARIES(wifi_mapping rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
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SET_TARGET_PROPERTIES( wifi_mapping
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-wifi_mapping)
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@@ -0,0 +1,175 @@
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/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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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.
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||||
*/
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#ifndef MAPBUILDERWIFI_H_
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#define MAPBUILDERWIFI_H_
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#include "../RGBDMapping/MapBuilder.h"
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using namespace rtabmap;
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class MapBuilderWifi : public MapBuilder
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{
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Q_OBJECT
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public:
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// Camera ownership is not transferred!
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MapBuilderWifi(CameraThread * camera = 0) :
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MapBuilder(camera)
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{}
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virtual ~MapBuilderWifi()
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{
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this->unregisterFromEventsManager();
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}
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protected slots:
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virtual void processStatistics(const rtabmap::Statistics & stats)
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{
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processingStatistics_ = true;
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const std::map<int, Transform> & poses = stats.poses();
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QMap<std::string, Transform> clouds = cloudViewer_->getAddedClouds();
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//============================
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// Add WIFI symbols
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//============================
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// Sort stamps by stamps
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std::map<double, int> nodeStamps; // <stamp, id>
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for(std::map<int, double>::const_iterator iter = stats.getStamps().begin(); iter!=stats.getStamps().end(); ++iter)
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{
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nodeStamps.insert(std::make_pair(iter->second, iter->first));
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}
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// convert userData to wifi levels
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std::map<int, std::pair<int, double> > wifiLevels;
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for(std::map<int, std::vector<unsigned char> >::const_iterator iter = stats.getUserDatas().begin(); iter!=stats.getUserDatas().end(); ++iter)
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{
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UASSERT(iter->second.size() == sizeof(int)+sizeof(double));
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// format [int level, double stamp]
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int level;
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double stamp;
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memcpy(&level, iter->second.data(), sizeof(int));
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memcpy(&stamp, iter->second.data()+sizeof(int), sizeof(double));
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wifiLevels.insert(std::make_pair(iter->first, std::make_pair(level, stamp)));
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}
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for(std::map<int, std::pair<int, double> >::iterator iter=wifiLevels.begin(); iter!=wifiLevels.end(); ++iter)
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{
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// The Wifi value may be taken between two nodes, interpolate its position.
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double stampWifi = iter->second.second;
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std::map<double, int>::iterator previousNode = nodeStamps.lower_bound(stampWifi); // lower bound of the stamp
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if(previousNode!=nodeStamps.end() && previousNode->first > stampWifi && previousNode != nodeStamps.begin())
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{
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--previousNode;
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}
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std::map<double, int>::iterator nextNode = nodeStamps.upper_bound(iter->second.second); // upper bound of the stamp
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if(previousNode != nodeStamps.end() && nextNode != nodeStamps.end() &&
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previousNode->second != nextNode->second &&
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uContains(poses, previousNode->second) && uContains(poses, nextNode->second))
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{
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Transform poseA = poses.at(previousNode->second);
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Transform poseB = poses.at(nextNode->second);
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double stampA = previousNode->first;
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double stampB = nextNode->first;
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UASSERT(stampWifi>=stampA && stampWifi <=stampB);
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Transform v = poseA.inverse() * poseB;
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double ratio = (stampWifi-stampA)/(stampB-stampA);
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v.x()*=ratio;
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v.y()*=ratio;
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v.z()*=ratio;
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Transform wifiPose = (poseA*v).translation(); // rip off the rotation
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std::string cloudName = uFormat("level%d", iter->first);
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if(clouds.contains(cloudName))
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{
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if(!cloudViewer_->updateCloudPose(cloudName, wifiPose))
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{
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UERROR("Updating pose cloud %d failed!", iter->first);
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}
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}
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else
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{
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// Make a line with points
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int level = -iter->second.first;
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level = level < 30 ? 0 : level > 80 ? 50: level - 30; // set between 0 and 50
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level/=5; // set between 0 and 10
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level = 10 - level; // make higher level to 10
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
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for(int i=0; i<10; ++i)
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{
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// 2 cm between each points
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// the number of points depends on the dBm (which varies from -30 (near) to -80 (far))
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pcl::PointXYZRGB pt;
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pt.z = float(i+1)*0.02f;
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if(i<level)
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{
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// yellow
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pt.r = 255;
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pt.g = 255;
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}
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else
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{
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// gray
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pt.r = pt.g = pt.b = 100;
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}
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cloud->push_back(pt);
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}
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pcl::PointXYZRGB anchor(255, 0, 0);
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cloud->push_back(anchor);
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//UWARN("level %d -> %d pose=%s size=%d", level, iter->second.first, wifiPose.prettyPrint().c_str(), (int)cloud->size());
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if(!cloudViewer_->addOrUpdateCloud(cloudName, cloud, wifiPose, Qt::yellow))
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{
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UERROR("Adding cloud %d to viewer failed!", iter->first);
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}
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else
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{
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cloudViewer_->setCloudPointSize(cloudName, 5);
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}
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}
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}
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else
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{
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UWARN("Bounds not found!");
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}
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}
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//============================
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// Add RGB-D clouds
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//============================
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MapBuilder::processStatistics(stats);
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}
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};
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#endif /* MAPBUILDERWIFI_H_ */
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@@ -0,0 +1,106 @@
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/*
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Copyright (c) 2010-2014, 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.
|
||||
*/
|
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#ifndef WIFITHREAD_H_
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#define WIFITHREAD_H_
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#include <sys/socket.h>
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#include <linux/wireless.h>
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#include <sys/ioctl.h>
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#include <rtabmap/core/UserDataEvent.h>
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#include <rtabmap/utilite/UTimer.h>
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class WifiThread : public UThread, public UEventsSender
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{
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public:
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WifiThread(const std::string & interfaceName, float rate = 0.5) :
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interfaceName_(interfaceName),
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rate_(rate)
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{}
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virtual ~WifiThread() {}
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private:
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virtual void mainLoop()
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{
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uSleep(1000/rate_);
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if(!this->isKilled())
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{
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// Code inspired from http://blog.ajhodges.com/2011/10/using-ioctl-to-gather-wifi-information.html
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//have to use a socket for ioctl
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int sockfd;
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/* Any old socket will do, and a datagram socket is pretty cheap */
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if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1) {
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UERROR("Could not create simple datagram socket");
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return;
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}
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struct iwreq req;
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struct iw_statistics stats;
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strncpy(req.ifr_name, interfaceName_.c_str(), IFNAMSIZ);
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//make room for the iw_statistics object
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req.u.data.pointer = (caddr_t) &stats;
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req.u.data.length = sizeof(stats);
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// clear updated flag
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req.u.data.flags = 1;
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//this will gather the signal strength
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if(ioctl(sockfd, SIOCGIWSTATS, &req) == -1)
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{
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//die with error, invalid interface
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UERROR("Invalid interface (\"%s\"). Tip: Try with sudo!", interfaceName_.c_str());
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}
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else if(((iw_statistics *)req.u.data.pointer)->qual.updated & IW_QUAL_DBM)
|
||||
{
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//signal is measured in dBm and is valid for us to use
|
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int level = ((iw_statistics *)req.u.data.pointer)->qual.level - 256;
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double stamp = UTimer::now();
|
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|
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// Create user data [level, stamp] with the value (int = 4 bytes) and a timestamp (double = 8 bytes)
|
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std::vector<unsigned char> data(sizeof(int) + sizeof(double));
|
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memcpy(data.data(), &level, sizeof(int));
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memcpy(data.data()+sizeof(int), &stamp, sizeof(double));
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this->post(new UserDataEvent(data));
|
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//UWARN("posting level %d dBm", level);
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("Could not get signal level.");
|
||||
}
|
||||
|
||||
close(sockfd);
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
std::string interfaceName_;
|
||||
float rate_;
|
||||
};
|
||||
|
||||
#endif /* WIFITHREAD_H_ */
|
||||
@@ -0,0 +1,191 @@
|
||||
/*
|
||||
Copyright (c) 2010-2014, 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/Rtabmap.h"
|
||||
#include "rtabmap/core/RtabmapThread.h"
|
||||
#include "rtabmap/core/CameraRGBD.h"
|
||||
#include "rtabmap/core/CameraThread.h"
|
||||
#include "rtabmap/core/Odometry.h"
|
||||
#include "rtabmap/utilite/UEventsManager.h"
|
||||
#include <QApplication>
|
||||
#include <stdio.h>
|
||||
|
||||
#include "MapBuilderWifi.h"
|
||||
#include "WifiThread.h"
|
||||
|
||||
void showUsage()
|
||||
{
|
||||
printf("\nUsage:\n"
|
||||
"rtabmap-wifi_mapping interface_name [driver]\n"
|
||||
" interface_name Wifi interface name (e.g. \"eth0\")\n"
|
||||
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
using namespace rtabmap;
|
||||
int main(int argc, char * argv[])
|
||||
{
|
||||
ULogger::setType(ULogger::kTypeConsole);
|
||||
ULogger::setLevel(ULogger::kWarning);
|
||||
|
||||
std::string interfaceName;
|
||||
int driver = 0;
|
||||
if(argc < 2)
|
||||
{
|
||||
showUsage();
|
||||
}
|
||||
else
|
||||
{
|
||||
interfaceName = argv[1];
|
||||
if(interfaceName.size() == 0)
|
||||
{
|
||||
UERROR("Interface name invalid!");
|
||||
showUsage();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Using Wifi interface \"%s\"\n", interfaceName.c_str());
|
||||
}
|
||||
if(argc > 2)
|
||||
{
|
||||
driver = atoi(argv[2]);
|
||||
if(driver < 0 || driver > 4)
|
||||
{
|
||||
UERROR("driver should be between 0 and 4.");
|
||||
showUsage();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Here is the pipeline that we will use:
|
||||
// CameraOpenni -> "CameraEvent" -> OdometryThread -> "OdometryEvent" -> RtabmapThread -> "RtabmapEvent"
|
||||
|
||||
// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
|
||||
// Set transform to camera so z is up, y is left and x going forward
|
||||
CameraRGBD * camera = 0;
|
||||
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
|
||||
if(driver == 1)
|
||||
{
|
||||
if(!CameraOpenNI2::available())
|
||||
{
|
||||
UERROR("Not built with OpenNI2 support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new CameraOpenNI2("", 0, opticalRotation);
|
||||
}
|
||||
else if(driver == 2)
|
||||
{
|
||||
if(!CameraFreenect::available())
|
||||
{
|
||||
UERROR("Not built with Freenect support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new CameraFreenect(0, 0, opticalRotation);
|
||||
}
|
||||
else if(driver == 3)
|
||||
{
|
||||
if(!CameraOpenNICV::available())
|
||||
{
|
||||
UERROR("Not built with OpenNI from OpenCV support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new CameraOpenNICV(false, 0, opticalRotation);
|
||||
}
|
||||
else if(driver == 4)
|
||||
{
|
||||
if(!CameraOpenNICV::available())
|
||||
{
|
||||
UERROR("Not built with OpenNI from OpenCV support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new CameraOpenNICV(true, 0, opticalRotation);
|
||||
}
|
||||
else
|
||||
{
|
||||
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);
|
||||
}
|
||||
|
||||
CameraThread cameraThread(camera);
|
||||
if(!cameraThread.init())
|
||||
{
|
||||
UERROR("Camera init failed!");
|
||||
//exit(1);
|
||||
}
|
||||
|
||||
// GUI stuff, there the handler will receive RtabmapEvent and construct the map
|
||||
// We give it the camera so the GUI can pause/resume the camera
|
||||
QApplication app(argc, argv);
|
||||
MapBuilderWifi mapBuilderWifi(&cameraThread);
|
||||
|
||||
// Create an odometry thread to process camera events, it will send OdometryEvent.
|
||||
OdometryThread odomThread(new OdometryBOW());
|
||||
|
||||
// Create RTAB-Map to process OdometryEvent
|
||||
Rtabmap * rtabmap = new Rtabmap();
|
||||
ParametersMap param;
|
||||
param.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // disable rehearsal (node merging when not moving)
|
||||
rtabmap->init(param);
|
||||
RtabmapThread rtabmapThread(rtabmap); // ownership is transfered
|
||||
|
||||
// Create Wifi monitoring thread
|
||||
WifiThread wifiThread(interfaceName); // 0.5 Hz, should be under RTAB-Map rate (which is 1 Hz by default)
|
||||
|
||||
// Setup handlers
|
||||
odomThread.registerToEventsManager();
|
||||
rtabmapThread.registerToEventsManager();
|
||||
mapBuilderWifi.registerToEventsManager();
|
||||
|
||||
// The RTAB-Map is subscribed by default to CameraEvent, but we want
|
||||
// RTAB-Map to process OdometryEvent instead, ignoring the CameraEvent.
|
||||
// We can do that by creating a "pipe" between the camera and odometry, then
|
||||
// only the odometry will receive CameraEvent from that camera. RTAB-Map is
|
||||
// also subscribed to OdometryEvent by default, so no need to create a pipe between
|
||||
// odometry and RTAB-Map.
|
||||
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
|
||||
|
||||
// Let's start the threads
|
||||
rtabmapThread.start();
|
||||
odomThread.start();
|
||||
cameraThread.start();
|
||||
wifiThread.start();
|
||||
|
||||
mapBuilderWifi.show();
|
||||
app.exec(); // main loop
|
||||
|
||||
// remove handlers
|
||||
mapBuilderWifi.unregisterFromEventsManager();
|
||||
rtabmapThread.unregisterFromEventsManager();
|
||||
odomThread.unregisterFromEventsManager();
|
||||
|
||||
// Kill all threads
|
||||
cameraThread.kill();
|
||||
odomThread.join(true);
|
||||
rtabmapThread.join(true);
|
||||
wifiThread.join(true);
|
||||
|
||||
return 0;
|
||||
}
|
||||
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Reference in New Issue
Block a user