X-lanni
139 lines
4.5 KiB
C++
139 lines
4.5 KiB
C++
/*
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Copyright (c) 2010-2021, 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/Memory.h>
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#include <rtabmap/utilite/UFile.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <rtabmap/core/util3d_transforms.h>
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using namespace rtabmap;
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void showUsage()
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{
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printf("\n"
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"Clear empty space from local occupancy grids and laser scans based on the saved optimized global 2d grid map.\n"
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"Advantages:\n"
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" * If the map needs to be regenerated in the future (e.g., when \n"
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" we re-use the map in SLAM mode), removed obstacles won't reappear.\n"
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" * [--scan] The cropped laser scans will be also used for localization,\n"
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" so if dynamic obstacles have been removed, localization won't try to\n"
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" match them anymore.\n\n"
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"Disadvantage:\n"
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" * [--scan] Cropping the laser scans cannot be reverted, but grids can.\n"
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"\nUsage:\n"
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"rtabmap-cleanupLocalGrids [options] database.db\n"
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"Options:\n"
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" --radius # Radius in cells around empty cell without obstacles to clear\n"
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" underlying obstacles. Default is 1.\n"
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" --scan Filter also scans, otherwise only local grids are filtered.\n"
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"\n");
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;
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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::kInfo);
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if(argc < 2)
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{
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showUsage();
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}
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int cropRadius = 1;
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bool filterScans = false;
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for(int i=1; i<argc; ++i)
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{
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if(std::strcmp(argv[i], "--help") == 0)
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{
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showUsage();
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}
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else if(std::strcmp(argv[i], "--scan") == 0)
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{
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filterScans = true;
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}
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else if(std::strcmp(argv[i], "--radius") == 0)
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{
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++i;
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if(i<argc-1)
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{
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cropRadius = uStr2Int(argv[i]);
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UASSERT(cropRadius>=0);
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}
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else
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{
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showUsage();
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}
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}
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}
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std::string dbPath = argv[argc-1];
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if(!UFile::exists(dbPath))
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{
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UERROR("File \"%s\" doesn't exist!", dbPath.c_str());
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return -1;
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}
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// Get parameters
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ParametersMap parameters;
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Rtabmap rtabmap;
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rtabmap.init(ParametersMap(), dbPath, true);
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float xMin, yMin, cellSize;
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cv::Mat map = rtabmap.getMemory()->load2DMap(xMin, yMin, cellSize);
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if(map.empty())
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{
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UERROR("Database %s doesn't have optimized 2d map saved in it!", dbPath.c_str());
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return -1;
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}
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printf("Options:\n");
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printf(" --radius: %d cell(s) (cell size=%.3fm)\n", cropRadius, cellSize);
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printf(" --scan: %s\n", filterScans?"true":"false");
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std::map<int, Transform> poses = rtabmap.getLocalOptimizedPoses();
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if(poses.empty() || poses.lower_bound(1) == poses.end())
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{
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UERROR("Database %s doesn't have optimized poses saved in it!", dbPath.c_str());
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return -1;
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}
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UTimer timer;
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printf("Cleaning grids...\n");
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int modifiedCells = rtabmap.cleanupLocalGrids(poses, map, xMin, yMin, cellSize, cropRadius, filterScans);
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printf("Cleanup %d cells! (%fs)\n", modifiedCells, timer.ticks());
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rtabmap.close();
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printf("Done!\n");
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return 0;
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}
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