feat(slam): add rtabmap_ros
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X-lanni
@@ -0,0 +1,24 @@
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cmake_minimum_required(VERSION 3.14)
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if(POLICY CMP0020)
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cmake_policy(SET CMP0020 NEW)
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endif()
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IF(DEFINED PROJECT_NAME)
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set(internal TRUE)
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ENDIF(DEFINED PROJECT_NAME)
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if(NOT internal)
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# external build
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PROJECT( MyProject )
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FIND_PACKAGE(RTABMap REQUIRED)
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endif()
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ADD_EXECUTABLE(bow_mapping main.cpp)
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TARGET_LINK_LIBRARIES(bow_mapping rtabmap::rtabmap)
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if(internal)
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SET_TARGET_PROPERTIES( bow_mapping
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-bow_mapping)
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endif(internal)
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@@ -0,0 +1,174 @@
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/*
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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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#include "rtabmap/core/Rtabmap.h"
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#include "rtabmap/core/CameraRGB.h"
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#include <opencv2/core/core.hpp>
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#include "rtabmap/utilite/UFile.h"
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#include <stdio.h>
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-bow_mapping [options] \"path\"\n"
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" path Path to a directory of images\n "
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" Options:"
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" -l localization mode: use already built RTAB-Map database to localize\n ");
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exit(1);
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}
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int main(int argc, char * argv[])
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{
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//ULogger::setType(ULogger::kTypeConsole);
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//ULogger::setLevel(ULogger::kDebug);
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std::string path;
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bool localizationMode = false;
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if(argc < 2)
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{
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showUsage();
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}
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for(int i=1; i<argc-1; ++i)
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{
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if(strcmp(argv[i], "-l") == 0)
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{
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localizationMode = true;
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}
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else
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{
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printf("Unrecognized option \"%s\"\n", argv[i]);
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showUsage();
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}
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}
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path = argv[argc-1];
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// rtabmap::Camera is simply a convenience wrapper of OpenCV cv::VideoCapture and cv::imread
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rtabmap::CameraImages camera(path);
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if(!camera.init())
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{
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printf("Camera init failed, using path \"%s\"\n", path.c_str());
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exit(1);
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}
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// Create RTAB-Map
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rtabmap::Rtabmap rtabmap;
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// Set the time threshold
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rtabmap.setTimeThreshold(700.0f); // Time threshold : 700 ms, 0 ms means no limit
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// To set other parameters, the Parameters interface must be used (Parameters.h).
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// Example here to change the loop closure threshold (default 0.15).
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// Lower the threshold, more loop closures are detected but there is more chance of false positives.
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rtabmap::ParametersMap parameters;
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parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapLoopThr(), "0.11"));
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// The time threshold set above is also a parameter, one could have set it the same way:
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// parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), "700"));
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// Or SURF hessian treshold:
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// parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFHessianThreshold(), "150"));
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// Appearance-based only, disable RGB-D mode
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parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDEnabled(), "false"));
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std::string databasePath = rtabmap::Parameters::createDefaultWorkingDirectory()+"/"+rtabmap::Parameters::getDefaultDatabaseName();
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if(localizationMode)
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{
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parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));
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parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpIncrementalDictionary(), "false"));
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parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "1"));
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}
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else
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{
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// delete previous database if there's one...
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UFile::erase(databasePath);
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}
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// Initialize rtabmap: delete/create database...
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rtabmap.init(parameters, databasePath);
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// Process each image of the directory...
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printf("\nProcessing images... from directory \"%s\"\n", path.c_str());
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int countLoopDetected=0;
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int i=0;
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rtabmap::SensorData data = camera.takeImage();
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int nextIndex = rtabmap.getLastLocationId()+1;
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while(!data.imageRaw().empty())
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{
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// Process image : Main loop of RTAB-Map
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rtabmap.process(data.imageRaw(), nextIndex);
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// Check if a loop closure is detected and print some info
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if(rtabmap.getLoopClosureId())
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{
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++countLoopDetected;
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}
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++i;
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if(rtabmap.getLoopClosureId())
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{
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printf(" #%d ptime(%fs) STM(%d) WM(%d) hyp(%d) value(%.2f) *LOOP %d->%d*\n",
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i,
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rtabmap.getLastProcessTime(),
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(int)rtabmap.getSTM().size(), // short-term memory
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(int)rtabmap.getWM().size(), // working memory
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rtabmap.getLoopClosureId(),
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rtabmap.getLoopClosureValue(),
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nextIndex,
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rtabmap.getLoopClosureId());
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}
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else
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{
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printf(" #%d ptime(%fs) STM(%d) WM(%d) hyp(%d) value(%.2f)\n",
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i,
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rtabmap.getLastProcessTime(),
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(int)rtabmap.getSTM().size(), // short-term memory
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(int)rtabmap.getWM().size(), // working memory
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rtabmap.getHighestHypothesisId(), // highest loop closure hypothesis
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rtabmap.getLoopClosureValue());
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}
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++nextIndex;
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//Get next image
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data = camera.takeImage();
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}
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printf("Processing images completed. Loop closures found = %d\n", countLoopDetected);
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// Generate a graph for visualization with Graphiz
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rtabmap.generateDOTGraph("Graph.dot");
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printf("Generated graph \"Graph.dot\", viewable with Graphiz using \"neato -Tpdf Graph.dot -o out.pdf\"\n");
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// Cleanup... save database and logs
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printf("Saving Long-Term Memory to \"rtabmap.db\"...\n");
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rtabmap.close();
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return 0;
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}
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