feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,138 @@
+/*
+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/DBDriver.h>
+#include <rtabmap/core/Rtabmap.h>
+#include <rtabmap/core/Optimizer.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/utilite/UFile.h>
+#include <rtabmap/utilite/UStl.h>
+
+using namespace rtabmap;
+
+void showUsage()
+{
+	printf("\nUsage:\n"
+			"rtabmap-globalBundleAdjustment database.db\n"
+			"\n%s", Parameters::showUsage());
+	exit(1);
+}
+
+int main(int argc, char * argv[])
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kError);
+
+	if(argc < 2)
+	{
+		showUsage();
+	}
+
+	for(int i=1; i<argc-1; ++i)
+	{
+		if(std::strcmp(argv[i], "--help") == 0)
+		{
+			showUsage();
+		}
+	}
+	ParametersMap inputParams = Parameters::parseArguments(argc,  argv);
+
+	std::string dbPath = argv[argc-1];
+	if(!UFile::exists(dbPath))
+	{
+		printf("Database %s doesn't exist!\n", dbPath.c_str());
+	}
+
+	// Get parameters
+	ParametersMap parameters;
+	DBDriver * driver = DBDriver::create();
+	if(driver->openConnection(dbPath))
+	{
+		if(uStrNumCmp(driver->getDatabaseVersion(), "0.17.0")<0)
+		{
+			printf("Database is too old (%s), we cannot save back optimized poses. "
+					"Consider upgrading the database with:\n"
+					"rtabmap-reprocess --Db/TargetVersion \"\" \"%s\" \"output.db\"\n",
+					driver->getDatabaseVersion().c_str(),
+					dbPath.c_str());
+			driver->closeConnection(false);
+			delete driver;
+			return -1;
+		}
+
+		parameters = driver->getLastParameters();
+		// This will force rtabmap_ros to regenerate the global occupancy grid if there was one
+		driver->save2DMap(cv::Mat(), 0, 0, 0);
+		driver->saveOptimizedMesh(cv::Mat());
+		driver->closeConnection(false);
+	}
+	else
+	{
+		UERROR("Cannot open database %s!", dbPath.c_str());
+	}
+	delete driver;
+
+	for(ParametersMap::iterator iter=inputParams.begin(); iter!=inputParams.end(); ++iter)
+	{
+		printf("Added custom parameter %s=%s\n",iter->first.c_str(), iter->second.c_str());
+	}
+
+	UTimer timer;
+
+	printf("Loading database \"%s\"...\n", dbPath.c_str());
+	// Get the global optimized map
+	Rtabmap rtabmap;
+	uInsert(parameters, inputParams);
+	rtabmap.init(parameters, dbPath);
+	printf("Loading database \"%s\"... done (%fs).\n", dbPath.c_str(), timer.ticks());
+
+	std::map<int, Signature> nodes;
+	std::map<int, Transform> optimizedPoses;
+	std::multimap<int, Link> links;
+	printf("Optimizing the map...\n");
+	rtabmap.getGraph(optimizedPoses, links, true, true, &nodes, true, true, true, true);
+	printf("Optimizing the map... done (%fs, poses=%d).\n", timer.ticks(), (int)optimizedPoses.size());
+
+	printf("Global bundle adjustment...\n");
+	Optimizer * optimizer = Optimizer::create(Optimizer::kTypeG2O, parameters);
+	optimizedPoses = optimizer->optimizeBA(optimizedPoses.lower_bound(1)->first, optimizedPoses, links, nodes, true, parameters);
+	delete optimizer;
+	printf("Global bundle adjustment... done (%fs).\n", timer.ticks());
+
+	if(!optimizedPoses.empty())
+	{
+		rtabmap.setOptimizedPoses(optimizedPoses, links);
+	}
+	else
+	{
+		UERROR("Returned empty poses!");
+	}
+
+	rtabmap.close();
+
+	return 0;
+}