i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.

Browse Source
This commit is contained in:
matlabbe
2017-06-20 17:29:06 -04:00
parent 539d500528
commit ee8d48a915
25 changed files with 1376 additions and 100 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/DBDriver.h
+26
View File
@@ -98,6 +98,19 @@ public:
public:
void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
void addStatistics(const Statistics & statistics) const;
void savePreviewImage(const cv::Mat & image) const;
cv::Mat loadPreviewImage() const;
void saveOptimizedMesh(
const cv::Mat & cloud,
const std::map<int, Transform> & poses = std::map<int, Transform>(), // if we want to do localization afterward using optimized mesh
const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(), // Textures -> polygons -> vertices
const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
cv::Mat loadOptimizedMesh(
std::map<int, Transform> * poses = 0,
std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
cv::Mat * textures = 0) const;
public:
// Mutex-protected methods of abstract versions below
@@ -200,6 +213,19 @@ private:
const cv::Mat & image) const = 0;
virtual void addStatisticsQuery(const Statistics & statistics) const = 0;
virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;
virtual cv::Mat loadPreviewImageQuery() const = 0;
virtual void saveOptimizedMeshQuery(
const cv::Mat & cloud,
const std::map<int, Transform> & poses,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
const cv::Mat & textures) const = 0;
virtual cv::Mat loadOptimizedMeshQuery(
std::map<int, Transform> * poses,
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
cv::Mat * textures) const = 0;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const = 0;
corelib/include/rtabmap/core/Memory.h
+18
View File
@@ -43,6 +43,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
namespace pcl
{
class TextureMesh;
}
namespace rtabmap {
class Signature;
@@ -92,6 +97,19 @@ public:
int cleanup();
void saveStatistics(const Statistics & statistics);
void savePreviewImage(const cv::Mat & image) const;
cv::Mat loadPreviewImage() const;
void saveOptimizedMesh(
const cv::Mat & cloud,
const std::map<int, Transform> & poses = std::map<int, Transform>(), // if we want to do localization afterward using optimized mesh
const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(), // Textures -> polygons -> vertices
const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size)
cv::Mat loadOptimizedMesh(
std::map<int, Transform> * poses = 0,
std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
cv::Mat * textures = 0) const;
void emptyTrash();
void joinTrashThread();
bool addLink(const Link & link, bool addInDatabase = false);
corelib/include/rtabmap/core/Rtabmap.h
+5
View File
@@ -41,6 +41,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <stack>
#include <set>
namespace pcl
{
class TextureMesh;
}
namespace rtabmap
{
corelib/include/rtabmap/core/util3d.h
+12 -4
View File
@@ -190,14 +190,16 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImages(
float maxDepth,
float minDepth);
// return CV_32FC3
// return CV_32FC3 (x,y,z)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
// return CV_32FC6
// return CV_32FC6 (x,y,z,normal_z,normal_y,normalz)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
// return CV_32FC4
// return CV_32FC4 (x,y,z,rgb)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform());
// return CV_32FC2
// return CV_32FC7 (x,y,z,rgb,normal_z,normal_y,normalz)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform());
// return CV_32FC2 (x,y)
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
// For laserScan of type CV_32FC2, z is set to null.
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::Mat & laserScan, const Transform & transform = Transform());
@@ -205,6 +207,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP laserScanToPointCloudNormal(const cv::Mat & laserScan, const Transform & transform = Transform());
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const cv::Mat & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC4, normals are set to null.
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP laserScanToPointCloudRGBNormal(const cv::Mat & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
// For laserScan of type CV_32FC2, z is set to null.
pcl::PointXYZ RTABMAP_EXP laserScanToPoint(const cv::Mat & laserScan, int index);
@@ -212,6 +217,9 @@ pcl::PointXYZ RTABMAP_EXP laserScanToPoint(const cv::Mat & laserScan, int index)
pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const cv::Mat & laserScan, int index);
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const cv::Mat & laserScan, int index, unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC4, normals are set to null.
pcl::PointXYZRGBNormal RTABMAP_EXP laserScanToPointRGBNormal(const cv::Mat & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
corelib/include/rtabmap/core/util3d_surface.h
+2 -2
View File
@@ -177,9 +177,9 @@ void RTABMAP_EXP concatenateTextureMaterials(
/**
* Merge all textures in the mesh into "textureCount" textures of size "textureSize".
* @return merged textures corresponding to new materials set in TextureMesh
* @return merged textures corresponding to new materials set in TextureMesh (height=textureSize, width=textureSize*materials)
*/
std::vector<cv::Mat> RTABMAP_EXP mergeTextures(
cv::Mat RTABMAP_EXP mergeTextures(
pcl::TextureMesh & mesh,
const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
const std::map<int, std::vector<CameraModel> > & calibrations, // Should match images
corelib/include/rtabmap/core/util3d_transforms.h
+3
View File
@@ -94,6 +94,9 @@ pcl::PointXYZRGB RTABMAP_EXP transformPoint(
pcl::PointNormal RTABMAP_EXP transformPoint(
const pcl::PointNormal & point,
const Transform & transform);
pcl::PointXYZRGBNormal RTABMAP_EXP transformPoint(
const pcl::PointXYZRGBNormal & point,
const Transform & transform);
} // namespace util3d
} // namespace rtabmap