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NodeData: fixed wrong word indexes (causing visualization issues of corresponding features in rtabmapviz)

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matlabbe
2021-12-24 17:22:08 -05:00
parent 8ea0782e14
commit f22a69d1ce
2 changed files with 67 additions and 47 deletions
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msg/NodeData.msg
+5 -3
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@@ -54,9 +54,11 @@ uint8[] grid_empty_cells
float32 grid_cell_size float32 grid_cell_size
Point3f grid_view_point Point3f grid_view_point
# std::multimap<wordId, cv::Keypoint> # std::multimap<wordId, index>
# std::multimap<wordId, cv::Point3f> # std::vector<cv::Keypoint>
int32[] wordIds # std::vector<cv::Point3f>
int32[] wordIdKeys
int32[] wordIdValues
KeyPoint[] wordKpts KeyPoint[] wordKpts
Point3f[] wordPts Point3f[] wordPts
# compressed descriptors # compressed descriptors
src/MsgConversion.cpp
+62 -44
View File
@@ -1067,31 +1067,45 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
std::vector<cv::Point3f> words3D; std::vector<cv::Point3f> words3D;
cv::Mat wordsDescriptors = rtabmap::uncompressData(msg.wordDescriptors); cv::Mat wordsDescriptors = rtabmap::uncompressData(msg.wordDescriptors);
if(!msg.wordKpts.empty() && msg.wordKpts.size() != msg.wordIds.size()) if(msg.wordIdKeys.size() != msg.wordIdValues.size())
{ {
ROS_ERROR("Word IDs and 2D keypoints should be the same size (%d, %d)!", (int)msg.wordIds.size(), (int)msg.wordKpts.size()); ROS_ERROR("Word ID keys and values should be the same size (%d, %d)!", (int)msg.wordIdKeys.size(), (int)msg.wordIdValues.size());
} }
if(!msg.wordPts.empty() && msg.wordPts.size() != msg.wordIds.size()) if(!msg.wordKpts.empty() && msg.wordKpts.size() != msg.wordIdKeys.size())
{ {
ROS_ERROR("Word IDs and 3D points should be the same size (%d, %d)!", (int)msg.wordIds.size(), (int)msg.wordPts.size()); ROS_ERROR("Word IDs and 2D keypoints should be the same size (%d, %d)!", (int)msg.wordIdKeys.size(), (int)msg.wordKpts.size());
} }
if(!wordsDescriptors.empty() && wordsDescriptors.rows != (int)msg.wordIds.size()) if(!msg.wordPts.empty() && msg.wordPts.size() != msg.wordIdKeys.size())
{ {
ROS_ERROR("Word IDs and descriptors should be the same size (%d, %d)!", (int)msg.wordIds.size(), wordsDescriptors.rows); ROS_ERROR("Word IDs and 3D points should be the same size (%d, %d)!", (int)msg.wordIdKeys.size(), (int)msg.wordPts.size());
}
if(!wordsDescriptors.empty() && wordsDescriptors.rows != (int)msg.wordIdKeys.size())
{
ROS_ERROR("Word IDs and descriptors should be the same size (%d, %d)!", (int)msg.wordIdKeys.size(), wordsDescriptors.rows);
wordsDescriptors = cv::Mat(); wordsDescriptors = cv::Mat();
} }
for(unsigned int i=0; i<msg.wordIds.size(); ++i) if(msg.wordIdKeys.size() == msg.wordIdValues.size())
{ {
words.insert(std::make_pair(msg.wordIds.at(i), words.size())); // ID to index for(unsigned int i=0; i<msg.wordIdKeys.size(); ++i)
if(msg.wordIds.size() == msg.wordKpts.size())
{ {
cv::KeyPoint pt = keypointFromROS(msg.wordKpts.at(i)); words.insert(std::make_pair(msg.wordIdKeys.at(i), msg.wordIdValues.at(i))); // ID to index
wordsKpts.push_back(pt); if(msg.wordIdKeys.size() == msg.wordKpts.size())
} {
if(msg.wordIds.size() == msg.wordPts.size()) if(wordsKpts.empty())
{ {
words3D.push_back(point3fFromROS(msg.wordPts[i])); wordsKpts.reserve(msg.wordKpts.size());
}
wordsKpts.push_back(keypointFromROS(msg.wordKpts.at(i)));
}
if(msg.wordIdKeys.size() == msg.wordPts.size())
{
if(words3D.empty())
{
words3D.reserve(msg.wordPts.size());
}
words3D.push_back(point3fFromROS(msg.wordPts[i]));
}
} }
} }
@@ -1257,43 +1271,47 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
} }
//Features stuff... //Features stuff...
msg.wordIds = uKeys(signature.getWords()); if(!signature.getWordsKpts().empty() &&
if(!signature.getWordsKpts().empty()) signature.getWords().size() != signature.getWordsKpts().size())
{ {
if(msg.wordIds.size() == signature.getWordsKpts().size()) ROS_ERROR("Word IDs and 2D keypoints must have the same size (%d vs %d)!",
{ (int)signature.getWords().size(),
msg.wordKpts.resize(signature.getWordsKpts().size()); (int)signature.getWordsKpts().size());
}
else
{
ROS_ERROR("Word IDs and 2D keypoints must have the same size (%d vs %d)!",
(int)signature.getWords().size(),
(int)signature.getWordsKpts().size());
}
} }
if(!signature.getWords3().empty()) if(!signature.getWords3().empty() &&
signature.getWords().size() != signature.getWords3().size())
{ {
if(msg.wordIds.size() == signature.getWords3().size()) ROS_ERROR("Word IDs and 3D points must have the same size (%d vs %d)!",
{ (int)signature.getWords().size(),
msg.wordPts.resize(signature.getWords3().size()); (int)signature.getWords3().size());
}
else
{
ROS_ERROR("Word IDs and 3D points must have the same size (%d vs %d)!",
(int)signature.getWords().size(),
(int)signature.getWords3().size());
}
} }
if(!msg.wordKpts.empty() || !msg.wordPts.empty()) int i=0;
msg.wordIdKeys.resize(signature.getWords().size());
msg.wordIdValues.resize(signature.getWords().size());
for(std::multimap<int, int>::const_iterator iter=signature.getWords().begin();
iter!=signature.getWords().end();
++iter)
{ {
for(size_t i=0; i<msg.wordIds.size(); ++i) msg.wordIdKeys.at(i) = iter->first;
msg.wordIdValues.at(i) = iter->second;
if(signature.getWordsKpts().size() == signature.getWords().size())
{ {
if(!msg.wordKpts.empty()) if(msg.wordKpts.empty())
keypointToROS(signature.getWordsKpts().at(i), msg.wordKpts.at(i)); {
if(!msg.wordPts.empty()) msg.wordKpts.resize(signature.getWords().size());
point3fToROS(signature.getWords3().at(i), msg.wordPts[i]); }
keypointToROS(signature.getWordsKpts().at(i), msg.wordKpts.at(i));
} }
if(signature.getWords3().size() == signature.getWords().size())
{
if(msg.wordPts.empty())
{
msg.wordPts.resize(signature.getWords().size());
}
point3fToROS(signature.getWords3().at(i), msg.wordPts.at(i));
}
++i;
} }
if(!signature.getWordsDescriptors().empty()) if(!signature.getWordsDescriptors().empty())