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Updated for rtabmap 0.20.5

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matlabbe
2020-10-12 21:51:47 -04:00
parent e282586b5d
commit 905e8ada99
3 changed files with 36 additions and 60 deletions
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CMakeLists.txt
+1 -1
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@@ -53,7 +53,7 @@ find_package(image_geometry REQUIRED)
#find_package(find_object_2d)
## System dependencies are found with CMake's conventions
find_package(RTABMap 0.20.0 REQUIRED)
find_package(RTABMap 0.20.5 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system) # dependencies from PCL
find_package(PCL 1.7 REQUIRED COMPONENTS kdtree) #This crashes idl generation if all components are found?! see https://github.com/ros2/rosidl/issues/402#issuecomment-565586908
src/MsgConversion.cpp
+30 -54
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@@ -821,30 +821,33 @@ void mapGraphToROS(
rtabmap::Signature nodeDataFromROS(const rtabmap_ros::msg::NodeData & msg)
{
//Features stuff...
std::multimap<int, cv::KeyPoint> words;
std::multimap<int, cv::Point3f> words3D;
std::multimap<int, cv::Mat> wordsDescriptors;
std::multimap<int, int> words;
std::vector<cv::KeyPoint> wordsKpts;
std::vector<cv::Point3f> words3D;
cv::Mat wordsDescriptors;
pcl::PointCloud<pcl::PointXYZ> cloud;
cv::Mat descriptors;
if(msg.word_pts.data.size() &&
msg.word_pts.height*msg.word_pts.width == msg.word_ids.size())
{
pcl::fromROSMsg(msg.word_pts, cloud);
descriptors = rtabmap::uncompressData(msg.descriptors);
wordsDescriptors = rtabmap::uncompressData(msg.descriptors);
if(wordsDescriptors.rows != (int)msg.word_ids.size())
{
wordsDescriptors = cv::Mat();
}
}
for(unsigned int i=0; i<msg.word_ids.size() && i<msg.word_kpts.size(); ++i)
for(size_t i=0; i<msg.word_ids.size(); ++i)
{
cv::KeyPoint pt = keypointFromROS(msg.word_kpts.at(i));
int wordId = msg.word_ids.at(i);
words.insert(std::make_pair(wordId, pt));
words.insert(std::make_pair(msg.word_ids.at(i), words.size()));
if(i<msg.word_kpts.size())
{
cv::KeyPoint pt = keypointFromROS(msg.word_kpts.at(i));
wordsKpts.push_back(pt);
}
if(i< cloud.size())
{
words3D.insert(std::make_pair(wordId, cv::Point3f(cloud[i].x, cloud[i].y, cloud[i].z)));
}
if(int(i) < descriptors.rows)
{
wordsDescriptors.insert(std::make_pair(wordId, descriptors.row(i).clone()));
words3D.push_back(cv::Point3f(cloud[i].x, cloud[i].y, cloud[i].z));
}
}
@@ -932,9 +935,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::msg::NodeData & msg)
msg.id,
msg.stamp,
compressedMatFromBytes(msg.user_data)));
s.setWords(words);
s.setWords3(words3D);
s.setWordsDescriptors(wordsDescriptors);
s.setWords(words, wordsKpts, words3D, wordsDescriptors);
s.sensorData().setOccupancyGrid(
compressedMatFromBytes(msg.grid_ground),
compressedMatFromBytes(msg.grid_obstacles),
@@ -1009,13 +1010,13 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::msg::NodeD
//Features stuff...
msg.word_ids = uKeys(signature.getWords());
msg.word_kpts.resize(signature.getWords().size());
msg.word_kpts.resize(signature.getWordsKpts().size());
int index = 0;
for(std::multimap<int, cv::KeyPoint>::const_iterator jter=signature.getWords().begin();
jter!=signature.getWords().end();
for(std::vector<cv::KeyPoint>::const_iterator jter=signature.getWordsKpts().begin();
jter!=signature.getWordsKpts().end();
++jter)
{
keypointToROS(jter->second, msg.word_kpts.at(index++));
keypointToROS(*jter, msg.word_kpts.at(index++));
}
if(signature.getWords3().size() && signature.getWords3().size() == signature.getWords().size())
@@ -1023,13 +1024,13 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::msg::NodeD
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.resize(signature.getWords3().size());
index = 0;
for(std::multimap<int, cv::Point3f>::const_iterator jter=signature.getWords3().begin();
for(std::vector<cv::Point3f>::const_iterator jter=signature.getWords3().begin();
jter!=signature.getWords3().end();
++jter)
{
cloud[index].x = jter->second.x;
cloud[index].y = jter->second.y;
cloud[index++].z = jter->second.z;
cloud[index].x = jter->x;
cloud[index].y = jter->y;
cloud[index++].z = jter->z;
}
pcl::toROSMsg(cloud, msg.word_pts);
}
@@ -1040,40 +1041,15 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::msg::NodeD
(int)signature.getWords3().size());
}
if(signature.getWordsDescriptors().size() && signature.getWordsDescriptors().size() == signature.getWords().size())
if(signature.getWordsDescriptors().rows && signature.getWordsDescriptors().rows == (int)signature.getWords().size())
{
cv::Mat descriptors(
signature.getWordsDescriptors().size(),
signature.getWordsDescriptors().begin()->second.cols,
signature.getWordsDescriptors().begin()->second.type());
index = 0;
bool valid = true;
for(std::multimap<int, cv::Mat>::const_iterator jter=signature.getWordsDescriptors().begin();
jter!=signature.getWordsDescriptors().end() && valid;
++jter)
{
if(jter->second.cols == descriptors.cols &&
jter->second.type() == descriptors.type())
{
jter->second.copyTo(descriptors.row(index++));
}
else
{
valid = false;
UERROR("Some descriptors have different type/size! Cannot copy them...");
}
}
if(valid)
{
msg.descriptors = rtabmap::compressData(descriptors);
}
msg.descriptors = rtabmap::compressData(signature.getWordsDescriptors());
}
else if(signature.getWordsDescriptors().size())
else if(signature.getWordsDescriptors().rows)
{
UERROR("Words and descriptors must have the same size (%d vs %d)!",
(int)signature.getWords().size(),
(int)signature.getWordsDescriptors().size());
signature.getWordsDescriptors().rows);
}
}
src/OdometryROS.cpp
+5 -5
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@@ -674,14 +674,14 @@ void OdometryROS::processData(const SensorData & data, const rclcpp::Time & stam
// check which type of Odometry is using
if(odometry_->getType() == Odometry::kTypeF2M) // If it's Frame to Map Odometry
{
const std::multimap<int, cv::Point3f> & words3 = ((OdometryF2M*)odometry_)->getLastFrame().getWords3();
const std::vector<cv::Point3f> & words3 = ((OdometryF2M*)odometry_)->getLastFrame().getWords3();
if(words3.size())
{
pcl::PointCloud<pcl::PointXYZ> cloud;
for(std::multimap<int, cv::Point3f>::const_iterator iter=words3.begin(); iter!=words3.end(); ++iter)
for(std::vector<cv::Point3f>::const_iterator iter=words3.begin(); iter!=words3.end(); ++iter)
{
// transform to odom frame
cv::Point3f pt = util3d::transformPoint(iter->second, pose);
cv::Point3f pt = util3d::transformPoint(*iter, pose);
cloud.push_back(pcl::PointXYZ(pt.x, pt.y, pt.z));
}
@@ -699,10 +699,10 @@ void OdometryROS::processData(const SensorData & data, const rclcpp::Time & stam
if(refFrame.getWords3().size())
{
pcl::PointCloud<pcl::PointXYZ> cloud;
for(std::multimap<int, cv::Point3f>::const_iterator iter=refFrame.getWords3().begin(); iter!=refFrame.getWords3().end(); ++iter)
for(std::vector<cv::Point3f>::const_iterator iter=refFrame.getWords3().begin(); iter!=refFrame.getWords3().end(); ++iter)
{
// transform to odom frame
cv::Point3f pt = util3d::transformPoint(iter->second, pose);
cv::Point3f pt = util3d::transformPoint(*iter, pose);
cloud.push_back(pcl::PointXYZ(pt.x, pt.y, pt.z));
}
sensor_msgs::msg::PointCloud2 cloudMsg;