X-lanni
139 lines
4.6 KiB
C++
139 lines
4.6 KiB
C++
/*
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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/DBDriver.h>
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#include <rtabmap/core/Rtabmap.h>
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#include <rtabmap/core/Optimizer.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <rtabmap/utilite/UFile.h>
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#include <rtabmap/utilite/UStl.h>
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using namespace rtabmap;
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-globalBundleAdjustment database.db\n"
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"\n%s", Parameters::showUsage());
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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::kError);
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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(std::strcmp(argv[i], "--help") == 0)
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{
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showUsage();
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}
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}
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ParametersMap inputParams = Parameters::parseArguments(argc, argv);
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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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printf("Database %s doesn't exist!\n", dbPath.c_str());
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}
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// Get parameters
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ParametersMap parameters;
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DBDriver * driver = DBDriver::create();
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if(driver->openConnection(dbPath))
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{
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if(uStrNumCmp(driver->getDatabaseVersion(), "0.17.0")<0)
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{
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printf("Database is too old (%s), we cannot save back optimized poses. "
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"Consider upgrading the database with:\n"
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"rtabmap-reprocess --Db/TargetVersion \"\" \"%s\" \"output.db\"\n",
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driver->getDatabaseVersion().c_str(),
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dbPath.c_str());
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driver->closeConnection(false);
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delete driver;
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return -1;
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}
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parameters = driver->getLastParameters();
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// This will force rtabmap_ros to regenerate the global occupancy grid if there was one
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driver->save2DMap(cv::Mat(), 0, 0, 0);
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driver->saveOptimizedMesh(cv::Mat());
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driver->closeConnection(false);
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}
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else
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{
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UERROR("Cannot open database %s!", dbPath.c_str());
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}
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delete driver;
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for(ParametersMap::iterator iter=inputParams.begin(); iter!=inputParams.end(); ++iter)
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{
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printf("Added custom parameter %s=%s\n",iter->first.c_str(), iter->second.c_str());
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}
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UTimer timer;
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printf("Loading database \"%s\"...\n", dbPath.c_str());
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// Get the global optimized map
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Rtabmap rtabmap;
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uInsert(parameters, inputParams);
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rtabmap.init(parameters, dbPath);
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printf("Loading database \"%s\"... done (%fs).\n", dbPath.c_str(), timer.ticks());
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std::map<int, Signature> nodes;
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std::map<int, Transform> optimizedPoses;
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std::multimap<int, Link> links;
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printf("Optimizing the map...\n");
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rtabmap.getGraph(optimizedPoses, links, true, true, &nodes, true, true, true, true);
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printf("Optimizing the map... done (%fs, poses=%d).\n", timer.ticks(), (int)optimizedPoses.size());
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printf("Global bundle adjustment...\n");
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Optimizer * optimizer = Optimizer::create(Optimizer::kTypeG2O, parameters);
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optimizedPoses = optimizer->optimizeBA(optimizedPoses.lower_bound(1)->first, optimizedPoses, links, nodes, true, parameters);
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delete optimizer;
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printf("Global bundle adjustment... done (%fs).\n", timer.ticks());
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if(!optimizedPoses.empty())
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{
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rtabmap.setOptimizedPoses(optimizedPoses, links);
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}
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else
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{
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UERROR("Returned empty poses!");
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}
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rtabmap.close();
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return 0;
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}
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