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feat(slam): add rtabmap_ros

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X-lanni
2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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rtabmap/examples/NoEventsExample/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
if(POLICY CMP0020)
cmake_policy(SET CMP0020 NEW)
endif()
IF(DEFINED PROJECT_NAME)
set(internal TRUE)
ENDIF(DEFINED PROJECT_NAME)
if(NOT internal)
# external build
PROJECT( MyProject )
FIND_PACKAGE(RTABMap REQUIRED COMPONENTS gui)
endif()
IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
SET(moc_srcs MapBuilder.h)
ENDIF()
ADD_EXECUTABLE(noEventsExample main.cpp ${moc_srcs})
TARGET_LINK_LIBRARIES(noEventsExample rtabmap::gui)
SET_TARGET_PROPERTIES(
noEventsExample
PROPERTIES
AUTOUIC ON
AUTOMOC ON
AUTORCC ON
)
if(internal)
SET_TARGET_PROPERTIES( noEventsExample
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-noEventsExample)
endif(internal)
rtabmap/examples/NoEventsExample/MapBuilder.h
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/*
Copyright (c) 2010-2016, 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.
*/
#ifndef MAPBUILDER_H_
#define MAPBUILDER_H_
#include <QVBoxLayout>
#include <QtCore/QMetaType>
#include <QAction>
#ifndef Q_MOC_RUN // Mac OS X issue
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/Statistics.h"
#include "rtabmap/core/Signature.h"
#endif
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/ULogger.h"
using namespace rtabmap;
// This class receives RtabmapEvent and construct/update a 3D Map
class MapBuilder : public QWidget
{
Q_OBJECT
public:
//Camera ownership is not transferred!
MapBuilder() :
odometryCorrection_(Transform::getIdentity()),
paused_(false)
{
this->setWindowFlags(Qt::Dialog);
this->setWindowTitle(tr("3D Map"));
this->setMinimumWidth(800);
this->setMinimumHeight(600);
cloudViewer_ = new CloudViewer(this);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(cloudViewer_);
this->setLayout(layout);
QAction * pause = new QAction(this);
this->addAction(pause);
pause->setShortcut(Qt::Key_Space);
connect(pause, SIGNAL(triggered()), this, SLOT(pauseDetection()));
}
virtual ~MapBuilder()
{
}
bool isPaused() const {return paused_;}
void processOdometry(
const SensorData & data,
Transform pose,
const rtabmap::OdometryInfo & odom)
{
if(!this->isVisible())
{
return;
}
if(pose.isNull())
{
//Odometry lost
cloudViewer_->setBackgroundColor(Qt::darkRed);
pose = lastOdomPose_;
}
else
{
cloudViewer_->setBackgroundColor(cloudViewer_->getDefaultBackgroundColor());
}
if(!pose.isNull())
{
lastOdomPose_ = pose;
// 3d cloud
if(data.depthOrRightRaw().cols == data.imageRaw().cols &&
data.depthOrRightRaw().rows == data.imageRaw().rows &&
!data.depthOrRightRaw().empty() &&
(data.stereoCameraModels().size() || data.cameraModels().size()))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
data,
4, // decimation
0.0f); // max depth
if(cloud->size())
{
if(!cloudViewer_->addCloud("cloudOdom", cloud, odometryCorrection_*pose))
{
UERROR("Adding cloudOdom to viewer failed!");
}
}
else
{
cloudViewer_->setCloudVisibility("cloudOdom", false);
UWARN("Empty cloudOdom!");
}
}
if(!pose.isNull())
{
// update camera position
cloudViewer_->updateCameraTargetPosition(odometryCorrection_*pose);
}
}
cloudViewer_->update();
}
void processStatistics(const rtabmap::Statistics & stats)
{
//============================
// Add RGB-D clouds
//============================
const std::map<int, Transform> & poses = stats.poses();
QMap<std::string, Transform> clouds = cloudViewer_->getAddedClouds();
for(std::map<int, Transform>::const_iterator iter = poses.lower_bound(1); iter!=poses.end(); ++iter)
{
if(!iter->second.isNull())
{
std::string cloudName = uFormat("cloud%d", iter->first);
// 3d point cloud
if(clouds.contains(cloudName))
{
// Update only if the pose has changed
Transform tCloud;
cloudViewer_->getPose(cloudName, tCloud);
if(tCloud.isNull() || iter->second != tCloud)
{
if(!cloudViewer_->updateCloudPose(cloudName, iter->second))
{
UERROR("Updating pose cloud %d failed!", iter->first);
}
}
cloudViewer_->setCloudVisibility(cloudName, true);
}
else if(iter->first == stats.getLastSignatureData().id())
{
Signature s = stats.getLastSignatureData();
s.sensorData().uncompressData(); // make sure data is uncompressed
// Add the new cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
s.sensorData(),
4, // decimation
4.0f); // max depth
if(cloud->size())
{
if(!cloudViewer_->addCloud(cloudName, cloud, iter->second))
{
UERROR("Adding cloud %d to viewer failed!", iter->first);
}
}
else
{
UWARN("Empty cloud %d!", iter->first);
}
}
}
else
{
UWARN("Null pose for %d ?!?", iter->first);
}
}
//============================
// Add 3D graph (show all poses)
//============================
cloudViewer_->removeAllGraphs();
cloudViewer_->removeCloud("graph_nodes");
if(poses.size())
{
// Set graph
pcl::PointCloud<pcl::PointXYZ>::Ptr graph(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr graphNodes(new pcl::PointCloud<pcl::PointXYZ>);
for(std::map<int, Transform>::const_iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
{
graph->push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
}
*graphNodes = *graph;
// add graph
cloudViewer_->addOrUpdateGraph("graph", graph, Qt::gray);
cloudViewer_->addCloud("graph_nodes", graphNodes, Transform::getIdentity(), Qt::green);
cloudViewer_->setCloudPointSize("graph_nodes", 5);
}
odometryCorrection_ = stats.mapCorrection();
cloudViewer_->update();
}
protected Q_SLOTS:
void pauseDetection()
{
paused_ = !paused_;
}
protected:
CloudViewer * cloudViewer_;
Transform lastOdomPose_;
Transform odometryCorrection_;
bool paused_;
};
#endif /* MAPBUILDER_H_ */
rtabmap/examples/NoEventsExample/main.cpp
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/*
Copyright (c) 2010-2016, 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/CameraStereo.h>
#include <rtabmap/utilite/UThread.h>
#include "MapBuilder.h"
#include <pcl/visualization/cloud_viewer.h>
#include <rtabmap/core/Odometry.h>
#include <QApplication>
#include <stdio.h>
using namespace rtabmap;
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-noEventsExample camera_rate odom_update map_update calibration_dir calibration_name path_left_images path_right_images\n"
"Description:\n"
" camera_rate Rate (Hz) of the camera.\n"
" odom_update Do odometry update each X camera frames.\n"
" map_update Do map update each X odometry frames.\n"
"\n"
"Example:\n"
" (with images from \"https://github.com/introlab/rtabmap/wiki/Stereo-mapping#process-a-directory-of-stereo-images\") \n"
" $ rtabmap-noEventsExample 20 2 10 stereo_20Hz stereo_20Hz stereo_20Hz/left stereo_20Hz/right\n"
" Camera rate = 20 Hz\n"
" Odometry update rate = 10 Hz\n"
" Map update rate = 1 Hz\n");
exit(1);
}
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kError);
if(argc < 8)
{
showUsage();
}
int argIndex = 1;
int cameraRate = atoi(argv[argIndex++]);
if(cameraRate <= 0)
{
printf("camera_rate should be > 0\n");
showUsage();
}
int odomUpdate = atoi(argv[argIndex++]);
if(odomUpdate <= 0)
{
printf("odom_update should be > 0\n");
showUsage();
}
int mapUpdate = atoi(argv[argIndex++]);
if(mapUpdate <= 0)
{
printf("map_update should be > 0\n");
showUsage();
}
printf("Camera rate = %d Hz\n", cameraRate);
printf("Odometry update rate = %d Hz\n", cameraRate/odomUpdate);
printf("Map update rate = %d Hz\n", (cameraRate/odomUpdate)/mapUpdate);
std::string calibrationDir = argv[argIndex++];
std::string calibrationName = argv[argIndex++];
std::string pathLeftImages = argv[argIndex++];
std::string pathRightImages = argv[argIndex++];
CameraStereoImages camera(
pathLeftImages,
pathRightImages,
false, // assume that images are already rectified
(float)cameraRate);
if(camera.init(calibrationDir, calibrationName))
{
Odometry * odom = Odometry::create();
Rtabmap rtabmap;
rtabmap.init();
QApplication app(argc, argv);
MapBuilder mapBuilder;
mapBuilder.show();
QApplication::processEvents();
SensorData data = camera.takeImage();
int cameraIteration = 0;
int odometryIteration = 0;
printf("Press \"Space\" in the window to pause\n");
while(data.isValid() && mapBuilder.isVisible())
{
if(cameraIteration++ % odomUpdate == 0)
{
OdometryInfo info;
Transform pose = odom->process(data, &info);
if(odometryIteration++ % mapUpdate == 0)
{
if(rtabmap.process(data, pose))
{
mapBuilder.processStatistics(rtabmap.getStatistics());
if(rtabmap.getLoopClosureId() > 0)
{
printf("Loop closure detected!\n");
}
}
}
mapBuilder.processOdometry(data, pose, info);
}
QApplication::processEvents();
while(mapBuilder.isPaused() && mapBuilder.isVisible())
{
uSleep(100);
QApplication::processEvents();
}
data = camera.takeImage();
}
delete odom;
if(mapBuilder.isVisible())
{
printf("Processed all frames\n");
app.exec();
}
}
else
{
UERROR("Camera init failed!");
}
return 0;
}