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agv_pro_ros2/rtabmap/app/android/jni/RTABMapApp.cpp
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X-lanni 943ce5b06f feat(slam): add rtabmap_ros
2025-07-14 11:34:38 +08:00

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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 <tango-gl/conversions.h>
#include "RTABMapApp.h"
#ifdef __ANDROID__
#include "CameraAvailability.h"
#endif
#ifdef RTABMAP_TANGO
#include "CameraTango.h"
#endif
#ifdef RTABMAP_ARCORE
#include "CameraARCore.h"
#include <media/NdkImage.h>
#endif
#ifdef RTABMAP_ARENGINE
#include "CameraAREngine.h"
#endif
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_surface.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UFile.h>
#include <opencv2/opencv_modules.hpp>
#include <rtabmap/core/util3d_surface.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/ParamEvent.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/core/Optimizer.h>
#include <rtabmap/core/VWDictionary.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/GainCompensator.h>
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Recovery.h>
#include <rtabmap/core/lidar/LidarVLP16.h>
#include <pcl/common/common.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/surface/poisson.h>
#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
#ifdef RTABMAP_PDAL
#include <rtabmap/core/PDALWriter.h>
#elif defined(RTABMAP_LIBLAS)
#include <rtabmap/core/LASWriter.h>
#endif
#define LOW_RES_PIX 2
#define DEBUG_RENDERING_PERFORMANCE
const int g_optMeshId = -100;
const float g_bilateralFilteringSigmaS = 2.0f;
const float g_bilateralFilteringSigmaR = 0.075f;
#ifdef __ANDROID__
static JavaVM *jvm;
static jobject RTABMapActivity = 0;
#endif
#ifdef __ANDROID__
#ifndef DISABLE_LOG
//ref: https://codelab.wordpress.com/2014/11/03/how-to-use-standard-output-streams-for-logging-in-android-apps/
static int pfd[2];
static pthread_t thr;
static void *thread_func(void*)
{
ssize_t rdsz;
char buf[128];
while((rdsz = read(pfd[0], buf, sizeof buf - 1)) > 0) {
if(buf[rdsz - 1] == '\n') --rdsz;
buf[rdsz] = 0; /* add null-terminator */
__android_log_write(ANDROID_LOG_DEBUG, LOG_TAG, buf);
}
return 0;
}
int start_logger()
{
/* make stdout line-buffered and stderr unbuffered */
setvbuf(stdout, 0, _IOLBF, 0);
setvbuf(stderr, 0, _IONBF, 0);
/* create the pipe and redirect stdout and stderr */
pipe(pfd);
dup2(pfd[1], 1);
dup2(pfd[1], 2);
/* spawn the logging thread */
if(pthread_create(&thr, 0, thread_func, 0) == -1)
return -1;
pthread_detach(thr);
return 0;
}
#endif
#endif
rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
{
rtabmap::ParametersMap parameters;
parameters.insert(mappingParameters_.begin(), mappingParameters_.end());
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("200")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(cameraColor_&&fullResolution_?"2":"1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kBRIEFBytes(), std::string("64")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("800")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishLikelihood(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishPdf(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_ && !dataRecorderMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAggressiveLoopThr(), "0.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapMaxRetrieved(), "1"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDMaxLocalRetrieved(), "0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemCompressionParallelized(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpParallelized(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("25")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisPnPVarianceMedianRatio(), std::string("2")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityPathMaxNeighbors(), std::string("0"))); // disable scan matching to merged nodes
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLinearUpdate(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAngularUpdate(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMarkerLength(), std::string("0.0")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemUseOdomGravity(), "true"));
if(parameters.find(rtabmap::Parameters::kOptimizerStrategy()) != parameters.end())
{
if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("2") == 0) // GTSAM
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0.2"));
}
else if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("1") == 0) // g2o
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0.2"));
}
else // TORO
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "100"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0"));
}
}
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpPointToPlane(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemLaserScanNormalK(), std::string("0")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpIterations(), std::string("10")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpEpsilon(), std::string("0.001")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxRotation(), std::string("0.17"))); // 10 degrees
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxTranslation(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.49")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), std::string("0.05")));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kKpMaxFeatures()));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemRehearsalSimilarity()));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemMapLabelsAdded()));
if(dataRecorderMode_)
{
// Example taken from https://github.com/introlab/rtabmap_ros/blob/master/rtabmap_launch/launch/data_recorder.launch
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemRehearsalSimilarity(), "1.0")); // deactivate rehearsal
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), "-1")); // deactivate keypoints extraction
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapMaxRetrieved(), "0")); // deactivate global retrieval
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRGBDMaxLocalRetrieved(), "0")); // deactivate local retrieval
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapMemoryThr(), "2")); // keep the WM empty
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "1")); // STM=1 -->
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), "false"));
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLinearUpdate(), "0"));
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAngularUpdate(), "0"));
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemNotLinkedNodesKept(), std::string("true")));
}
return parameters;
}
#ifdef __ANDROID__
RTABMapApp::RTABMapApp(JNIEnv* env, jobject caller_activity) :
#else //__APPLE__
RTABMapApp::RTABMapApp() :
#endif
cameraDriver_(0),
camera_(0),
sensorCaptureThread_(0),
rtabmapThread_(0),
rtabmap_(0),
logHandler_(0),
odomCloudShown_(true),
graphOptimization_(true),
nodesFiltering_(false),
localizationMode_(false),
trajectoryMode_(false),
rawScanSaved_(false),
smoothing_(true),
depthBleedingError_(0.0f),
depthFromMotion_(false),
cameraColor_(true),
fullResolution_(false),
appendMode_(true),
useExternalLidar_(false),
maxCloudDepth_(2.5),
minCloudDepth_(0.0),
cloudDensityLevel_(1),
meshTrianglePix_(2),
meshAngleToleranceDeg_(20.0),
meshDecimationFactor_(0),
clusterRatio_(0.1),
maxGainRadius_(0.02f),
renderingTextureDecimation_(4),
backgroundColor_(0.2f),
#ifndef RTABMAP_ARCORE
depthConfidence_(100), // iOS
#else
depthConfidence_(0),
#endif
upstreamRelocalizationMaxAcc_(0.0f),
exportPointCloudFormat_("ply"),
dataRecorderMode_(false),
clearSceneOnNextRender_(false),
openingDatabase_(false),
exporting_(false),
postProcessing_(false),
filterPolygonsOnNextRender_(false),
gainCompensationOnNextRender_(0),
bilateralFilteringOnNextRender_(false),
takeScreenshotOnNextRender_(false),
cameraJustInitialized_(false),
totalPoints_(0),
totalPolygons_(0),
lastDrawnCloudsCount_(0),
renderingTime_(0.0f),
lastPostRenderEventTime_(0.0),
lastPoseEventTime_(0.0),
visualizingMesh_(false),
exportedMeshUpdated_(false),
optTextureMesh_(new pcl::TextureMesh),
optRefId_(0),
optRefPose_(0),
measuresUpdated_(false),
metricSystem_(true),
measuringTextSize_(0.05f),
snapAxisThr_(0.95),
measuringMode_(0),
addMeasureClicked_(false),
teleportClicked_(false),
removeMeasureClicked_(false),
targetPoint_(new pcl::PointCloud<pcl::PointXYZRGB>),
quadSample_(new pcl::PointCloud<pcl::PointXYZ>),
quadSamplePolygons_(2),
mapToOdom_(rtabmap::Transform::getIdentity())
{
pcl::PointXYZRGB ptWhite;
ptWhite.r = ptWhite.g = ptWhite.b = 255;
targetPoint_->push_back(ptWhite);
snapAxes_.push_back(cv::Vec3f(1,0,0));
snapAxes_.push_back(cv::Vec3f(0,1,0));
snapAxes_.push_back(cv::Vec3f(0,0,1));
float quadSize = 0.05f;
quadSample_->push_back(pcl::PointXYZ(-quadSize, -quadSize, 0.0f));
quadSample_->push_back(pcl::PointXYZ(quadSize, -quadSize, 0.0f));
quadSample_->push_back(pcl::PointXYZ(quadSize, quadSize, 0.0f));
quadSample_->push_back(pcl::PointXYZ(-quadSize, quadSize, 0.0f));
quadSamplePolygons_[0].vertices.resize(3);
quadSamplePolygons_[0].vertices[0] = 0;
quadSamplePolygons_[0].vertices[1] = 1;
quadSamplePolygons_[0].vertices[2] = 2;
quadSamplePolygons_[1].vertices.resize(3);
quadSamplePolygons_[1].vertices[0] = 0;
quadSamplePolygons_[1].vertices[1] = 2;
quadSamplePolygons_[1].vertices[2] = 3;
#ifdef __ANDROID__
env->GetJavaVM(&jvm);
RTABMapActivity = env->NewGlobalRef(caller_activity);
#endif
LOGI("RTABMapApp::RTABMapApp()");
#ifdef __ANDROID__
progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
#endif
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
logHandler_ = new rtabmap::LogHandler();
this->registerToEventsManager();
LOGI("RTABMapApp::RTABMapApp() end");
#ifdef __ANDROID__
#ifndef DISABLE_LOG
start_logger();
#endif
#endif
}
#ifndef __ANDROID__ // __APPLE__
void RTABMapApp::setupSwiftCallbacks(void * classPtr,
void(*progressCallback)(void *, int, int),
void(*initCallback)(void *, int, const char*),
void(*statsUpdatedCallback)(void *,
int, int, int, int,
float,
int, int, int, int, int ,int,
float,
int,
float,
int,
float, float, float, float,
int, int,
float, float, float, float, float, float),
void(*cameraInfoEventCallback)(void *, int, const char*, const char*))
{
swiftClassPtr_ = classPtr;
progressionStatus_.setSwiftCallback(classPtr, progressCallback);
swiftInitCallback = initCallback;
swiftStatsUpdatedCallback = statsUpdatedCallback;
swiftCameraInfoEventCallback = cameraInfoEventCallback;
}
#endif
RTABMapApp::~RTABMapApp() {
LOGI("~RTABMapApp() begin");
stopCamera();
if(rtabmapThread_)
{
rtabmapThread_->close(false);
}
delete rtabmapThread_;
delete logHandler_;
delete optRefPose_;
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
if(rtabmapEvents_.size())
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents_.begin(); iter!=rtabmapEvents_.end(); ++iter)
{
delete *iter;
}
}
rtabmapEvents_.clear();
}
LOGI("~RTABMapApp() end");
}
void RTABMapApp::setScreenRotation(int displayRotation, int cameraRotation)
{
rtabmap::ScreenRotation rotation = rtabmap::GetAndroidRotationFromColorCameraToDisplay(displayRotation, cameraRotation);
//LOGI("Set orientation: display=%d camera=%d -> %d", displayRotation, cameraRotation, (int)rotation);
main_scene_.setScreenRotation(rotation);
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_)
{
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
}
}
int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
{
LOGW("Opening database %s (inMemory=%d, optimize=%d, clearDatabase=%d)", databasePath.c_str(), databaseInMemory?1:0, optimize?1:0, clearDatabase?1:0);
this->unregisterFromEventsManager(); // to ignore published init events when closing rtabmap
status_.first = rtabmap::RtabmapEventInit::kInitializing;
rtabmapMutex_.lock();
if(rtabmapEvents_.size())
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents_.begin(); iter!=rtabmapEvents_.end(); ++iter)
{
delete *iter;
}
}
rtabmapEvents_.clear();
openingDatabase_ = true;
bool restartThread = false;
if(rtabmapThread_)
{
restartThread = rtabmapThread_->isRunning();
rtabmapThread_->close(false);
delete rtabmapThread_;
rtabmapThread_ = 0;
rtabmap_ = 0;
}
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
lastPostRenderEventTime_ = 0.0;
lastPoseEventTime_ = 0.0;
bufferedStatsData_.clear();
graphOptimization_ = true;
measuresUpdated_ = !measures_.empty();
measures_.clear();
this->registerToEventsManager();
int status = 0;
// Open visualization while we load (if there is an optimized mesh saved in database)
optTextureMesh_.reset(new pcl::TextureMesh);
optMesh_ = rtabmap::Mesh();
optTexture_ = cv::Mat();
optRefId_ = 0;
if(optRefPose_)
{
delete optRefPose_;
optRefPose_ = 0;
}
visualizingMesh_ = false;
cv::Mat cloudMat;
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
if(!databasePath.empty() && UFile::exists(databasePath) && !clearDatabase)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud/mesh..."));
rtabmap::DBDriver * driver = rtabmap::DBDriver::create();
if(driver->openConnection(databasePath))
{
cloudMat = driver->loadOptimizedMesh(&polygons, &texCoords, &textures);
if(!cloudMat.empty())
{
LOGI("Open: Found optimized mesh! Visualizing it.");
optTextureMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optMesh_ = rtabmap::Mesh();
if(textures.rows > 4096) // Limitation iOS, just for rendering on device
{
cv::resize(textures, optTexture_, cv::Size(4096, 4096), 0.0f, 0.0f, cv::INTER_AREA);
}
else {
optTexture_ = textures;
}
if(!optTexture_.empty())
{
LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows);
status=3;
}
else if(optTextureMesh_->tex_polygons.size())
{
LOGI("Open: Polygon mesh");
status=2;
}
else if(!optTextureMesh_->cloud.data.empty())
{
LOGI("Open: Point cloud");
status=1;
}
}
else
{
LOGI("Open: No optimized mesh found.");
}
delete driver;
}
}
if(status > 0)
{
if(status==1)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud...done!"));
}
else if(status==2)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized mesh...done!"));
}
else
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized texture mesh...done!"));
}
boost::mutex::scoped_lock lockRender(renderingMutex_);
visualizingMesh_ = true;
exportedMeshUpdated_ = true;
}
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading database..."));
if(clearDatabase)
{
LOGI("Erasing database \"%s\"...", databasePath.c_str());
UFile::erase(databasePath);
}
//Rtabmap
mapToOdom_.setIdentity();
rtabmap_ = new rtabmap::Rtabmap();
rtabmap::ParametersMap parameters = getRtabmapParameters();
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), uBool2Str(databaseInMemory && !dataRecorderMode_)));
LOGI("Initializing database...");
rtabmap_->init(parameters, databasePath);
rtabmapThread_ = new rtabmap::RtabmapThread(rtabmap_);
if(parameters.find(rtabmap::Parameters::kRtabmapDetectionRate()) != parameters.end())
{
rtabmapThread_->setDetectorRate(uStr2Float(parameters.at(rtabmap::Parameters::kRtabmapDetectionRate())));
}
// Generate all meshes
std::map<int, rtabmap::Signature> signatures;
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
LOGI("Loading full map from database...");
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading data from database..."));
rtabmap_->getGraph(
poses,
links,
true,
false, // Make sure poses are the same than optimized mesh (in case we switched RGBD/OptimizedFromGraphEnd)
&signatures,
true,
true,
true,
true);
if(signatures.size() && poses.empty())
{
LOGE("Failed to optimize the graph!");
status = -1;
}
{
LOGI("Creating the meshes (%d)....", (int)poses.size());
boost::mutex::scoped_lock lock(meshesMutex_);
createdMeshes_.clear();
int i=0;
UTimer addTime;
rawPoses_.clear();
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end() && status>=0; ++iter)
{
try
{
int id = iter->first;
if(!iter->second.isNull())
{
if(uContains(signatures, id))
{
UTimer timer;
rtabmap::SensorData data = signatures.at(id).sensorData();
rawPoses_.insert(std::make_pair(id, signatures.at(id).getPose()));
cv::Mat tmpA, tmpB, tmpC;
data.uncompressData(&tmpA, &tmpB, 0, 0, 0, 0, 0, depthConfidence_>0?&tmpC:0);
if(!(!data.imageRaw().empty() && !data.depthRaw().empty()) && !data.laserScanCompressed().isEmpty())
{
rtabmap::LaserScan scan;
data.uncompressData(0, 0, &scan);
}
if((!data.imageRaw().empty() && !data.depthRaw().empty()) || !data.laserScanRaw().isEmpty())
{
// Voxelize and filter depending on the previous cloud?
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
if(!data.imageRaw().empty() && !data.depthRaw().empty() && (!useExternalLidar_ || data.laserScanRaw().isEmpty()))
{
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
if(smoothing_ || depthBleedingError_>0.0f)
{
cv::Mat depth = data.depthRaw();
if(depthBleedingError_ > 0.0f)
{
rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
}
if(smoothing_)
{
depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
}
data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
}
cloud = rtabmap::util3d::cloudRGBFromSensorData(
data,
meshDecimation,
maxCloudDepth_,
minCloudDepth_,
indices.get(),
rtabmap::ParametersMap(),
std::vector<float>(),
depthConfidence_);
}
else
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
if(cloud->size() && indices->size())
{
std::vector<pcl::Vertices> polygons;
std::vector<pcl::Vertices> polygonsLowRes;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texCoords;
#else
std::vector<Eigen::Vector2f> texCoords;
#endif
if(cloud->isOrganized() && main_scene_.isMeshRendering() && main_scene_.isMapRendering())
{
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
#ifndef DISABLE_VTK
if(meshDecimationFactor_ > 0.0f && !polygons.empty())
{
pcl::PolygonMesh::Ptr tmpMesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*cloud, tmpMesh->cloud);
tmpMesh->polygons = polygons;
rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGB>(tmpMesh, meshDecimationFactor_, 0, cloud, 0);
if(!tmpMesh->polygons.empty())
{
if(main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
{
std::map<int, rtabmap::Transform> cameraPoses;
std::map<int, rtabmap::CameraModel> cameraModels;
cameraPoses.insert(std::make_pair(0, rtabmap::Transform::getIdentity()));
cameraModels.insert(std::make_pair(0, data.cameraModels()[0]));
pcl::TextureMesh::Ptr textureMesh = rtabmap::util3d::createTextureMesh(
tmpMesh,
cameraPoses,
cameraModels,
std::map<int, cv::Mat>());
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
polygons = textureMesh->tex_polygons[0];
texCoords = textureMesh->tex_coordinates[0];
}
else
{
pcl::fromPCLPointCloud2(tmpMesh->cloud, *cloud);
polygons = tmpMesh->polygons;
}
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
else
{
LOGE("Mesh decimation factor is too high (%f), returning full mesh (id=%d).", meshDecimationFactor_, data.id());
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
}
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Mesh simplication, %d polygons, %d points (%fs)", (int)polygons.size(), (int)cloud->size(), timer.ticks());
#endif
}
else
#endif
{
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
}
}
std::pair<std::map<int, rtabmap::Mesh>::iterator, bool> inserted = createdMeshes_.insert(std::make_pair(id, rtabmap::Mesh()));
UASSERT(inserted.second);
inserted.first->second.cloud = cloud;
inserted.first->second.indices = indices;
inserted.first->second.polygons = polygons;
inserted.first->second.polygonsLowRes = polygonsLowRes;
inserted.first->second.visible = true;
inserted.first->second.cameraModel = data.cameraModels()[0];
inserted.first->second.gains[0] = 1.0;
inserted.first->second.gains[1] = 1.0;
inserted.first->second.gains[2] = 1.0;
if((cloud->isOrganized() || !texCoords.empty()) && main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
{
inserted.first->second.texCoords = texCoords;
if(renderingTextureDecimation_>1)
{
cv::Size reducedSize(data.imageRaw().cols/renderingTextureDecimation_, data.imageRaw().rows/renderingTextureDecimation_);
cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
}
else
{
inserted.first->second.texture = data.imageRaw();
}
}
LOGI("Created cloud %d (%fs, %d points)", id, timer.ticks(), (int)cloud->size());
}
else
{
UWARN("Cloud %d is empty", id);
}
}
else if(!data.depthOrRightCompressed().empty() || !data.laserScanCompressed().isEmpty())
{
UERROR("Failed to uncompress data! (rgb=%d, depth=%d, scan=%d)", data.imageCompressed().cols, data.depthOrRightCompressed().cols, data.laserScanCompressed().size());
status=-2;
}
}
else
{
UWARN("Data for node %d not found", id);
}
}
else
{
UWARN("Pose %d is null !?", id);
}
++i;
if(addTime.elapsed() >= 4.0f)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, uFormat("Created clouds %d/%d", i, (int)poses.size())));
addTime.restart();
}
}
catch(const UException & e)
{
UERROR("Exception! msg=\"%s\"", e.what());
status = -2;
}
catch (const cv::Exception & e)
{
UERROR("Exception! msg=\"%s\"", e.what());
status = -2;
}
catch (const std::exception & e)
{
UERROR("Exception! msg=\"%s\"", e.what());
status = -2;
}
}
if(status < 0)
{
createdMeshes_.clear();
rawPoses_.clear();
}
else
{
LOGI("Created %d meshes...", (int)createdMeshes_.size());
}
}
if(optimize && status>=0)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Visual optimization..."));
gainCompensation();
LOGI("Polygon filtering...");
boost::mutex::scoped_lock lock(meshesMutex_);
UTimer time;
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
if(iter->second.polygons.size())
{
// filter polygons
iter->second.polygons = filterOrganizedPolygons(iter->second.polygons, iter->second.cloud->size());
}
}
}
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Updating scene..."));
LOGI("Open: add rtabmap event to update the scene");
rtabmap::Statistics stats;
stats.addStatistic(rtabmap::Statistics::kMemoryWorking_memory_size(), (float)rtabmap_->getWMSize());
stats.addStatistic(rtabmap::Statistics::kKeypointDictionary_size(), (float)rtabmap_->getMemory()->getVWDictionary()->getVisualWords().size());
stats.addStatistic(rtabmap::Statistics::kMemoryDatabase_memory_used(), (float)rtabmap_->getMemory()->getDatabaseMemoryUsed());
stats.setPoses(poses);
stats.setConstraints(links);
rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
rtabmap_->setOptimizedPoses(poses, links);
// for optimized mesh
if(poses.size())
{
// just take the last as reference
optRefId_ = poses.rbegin()->first;
optRefPose_ = new rtabmap::Transform(poses.rbegin()->second);
}
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_)
{
camera_->resetOrigin();
if(dataRecorderMode_)
{
// Don't update faster than we record, so that we see is what is recorded
camera_->setFrameRate(rtabmapThread_->getDetectorRate());
rtabmapThread_->setDetectorRate(0);
}
else
{
// set default 10
camera_->setFrameRate(10);
}
}
}
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInitialized, ""));
if(restartThread)
{
rtabmapThread_->registerToEventsManager();
rtabmapThread_->start();
}
rtabmapMutex_.unlock();
boost::mutex::scoped_lock lockRender(renderingMutex_);
if(poses.empty() || status>0)
{
openingDatabase_ = false;
}
clearSceneOnNextRender_ = status<=0;
return status;
}
int RTABMapApp::updateMeshDecimation(int width, int height)
{
int meshDecimation = 1;
if(cloudDensityLevel_ == 3) // very low
{
if((height >= 480 || width >= 480) && width % 20 == 0 && height % 20 == 0)
{
meshDecimation = 20;
}
else if(width % 15 == 0 && height % 15 == 0)
{
meshDecimation = 15;
}
else if(width % 10 == 0 && height % 10 == 0)
{
meshDecimation = 10;
}
else if(width % 8 == 0 && height % 8 == 0)
{
meshDecimation = 8;
}
else
{
UERROR("Could not set decimation to high (size=%dx%d)", width, height);
}
}
else if(cloudDensityLevel_ == 2) // low
{
if((height >= 480 || width >= 480) && width % 10 == 0 && height % 10 == 0)
{
meshDecimation = 10;
}
else if(width % 5 == 0 && height % 5 == 0)
{
meshDecimation = 5;
}
else if(width % 4 == 0 && height % 4 == 0)
{
meshDecimation = 4;
}
else
{
UERROR("Could not set decimation to medium (size=%dx%d)", width, height);
}
}
else if(cloudDensityLevel_ == 1) // high
{
if((height >= 480 || width >= 480) && width % 5 == 0 && height % 5 == 0)
{
meshDecimation = 5;
}
else if(width % 3 == 0 && height % 3 == 0)
{
meshDecimation = 3;
}
else if(width % 2 == 0 && height % 2 == 0)
{
meshDecimation = 2;
}
else
{
UERROR("Could not set decimation to low (size=%dx%d)", width, height);
}
}
// else maximum
LOGI("Set decimation to %d (image=%dx%d, density level=%d)", meshDecimation, width, height, cloudDensityLevel_);
return meshDecimation;
}
bool RTABMapApp::isBuiltWith(int cameraDriver) const
{
if(cameraDriver == 0)
{
#ifdef RTABMAP_TANGO
return true;
#else
return false;
#endif
}
if(cameraDriver == 1)
{
#ifdef RTABMAP_ARCORE
return true;
#else
return false;
#endif
}
if(cameraDriver == 2)
{
#ifdef RTABMAP_ARENGINE
return true;
#else
return false;
#endif
}
return false;
}
#ifdef __ANDROID__
bool RTABMapApp::startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver)
#else // __APPLE__
bool RTABMapApp::startCamera()
#endif
{
stopCamera();
//ccapp = new computer_vision::ComputerVisionApplication();
//ccapp->OnResume(env, context, activity);
//return true;
#ifdef __ANDROID__
cameraDriver_ = driver;
#else // __APPLE__
cameraDriver_ = 3;
#endif
LOGW("startCamera() camera driver=%d", cameraDriver_);
boost::mutex::scoped_lock lock(cameraMutex_);
if(cameraDriver_ == 0) // Tango
{
#ifdef RTABMAP_TANGO
camera_ = new rtabmap::CameraTango(cameraColor_, !cameraColor_ || fullResolution_?1:2, rawScanSaved_);
if (TangoService_setBinder(env, iBinder) != TANGO_SUCCESS) {
UERROR("TangoHandler::ConnectTango, TangoService_setBinder error");
delete camera_;
camera_ = 0;
return false;
}
#else
UERROR("RTAB-Map is not built with Tango support!");
#endif
}
else if(cameraDriver_ == 1)
{
#ifdef RTABMAP_ARCORE
camera_ = new rtabmap::CameraARCore(env, context, activity, depthFromMotion_, upstreamRelocalizationMaxAcc_);
#else
UERROR("RTAB-Map is not built with ARCore support!");
#endif
}
else if(cameraDriver_ == 2)
{
#ifdef RTABMAP_ARENGINE
camera_ = new rtabmap::CameraAREngine(env, context, activity, upstreamRelocalizationMaxAcc_);
#else
UERROR("RTAB-Map is not built with AREngine support!");
#endif
}
else if(cameraDriver_ == 3)
{
camera_ = new rtabmap::CameraMobile(upstreamRelocalizationMaxAcc_);
}
if(camera_ == 0)
{
UERROR("Unknown or not supported camera driver! %d", cameraDriver_);
return false;
}
if(rtabmapThread_ && dataRecorderMode_)
{
// Don't update faster than we record, so that we see is what is recorded
camera_->setFrameRate(rtabmapThread_->getDetectorRate());
rtabmapThread_->setDetectorRate(0);
}
if(camera_->init())
{
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
//update mesh decimation based on camera calibration
LOGI("Cloud density level %d", cloudDensityLevel_);
LOGI("Start camera thread");
cameraJustInitialized_ = true;
if(useExternalLidar_)
{
#if BOOST_VERSION >= 108700
rtabmap::LidarVLP16 * lidar = new rtabmap::LidarVLP16(boost::asio::ip::make_address("192.168.1.201"), 2368, true);
#else
rtabmap::LidarVLP16 * lidar = new rtabmap::LidarVLP16(boost::asio::ip::address_v4::from_string("192.168.1.201"), 2368, true);
#endif
lidar->init();
camera_->setImageRate(0); // if lidar, to get close camera synchronization
sensorCaptureThread_ = new rtabmap::SensorCaptureThread(lidar, camera_, camera_, rtabmap::Transform::getIdentity());
sensorCaptureThread_->setScanParameters(false, 1, 0.0f, 0.0f, 0.0f, 0, 0.0f, 0.0f, true);
}
else
{
sensorCaptureThread_ = new rtabmap::SensorCaptureThread(camera_);
}
sensorCaptureThread_->start();
return true;
}
UERROR("Failed camera initialization!");
return false;
}
void RTABMapApp::stopCamera()
{
LOGI("stopCamera()");
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(sensorCaptureThread_!=0)
{
camera_->close();
sensorCaptureThread_->join(true);
delete sensorCaptureThread_; // camera_ is closed and deleted inside
sensorCaptureThread_ = 0;
camera_ = 0;
}
}
{
boost::mutex::scoped_lock lock(renderingMutex_);
delete main_scene_.background_renderer_;
main_scene_.background_renderer_ = 0;
}
}
std::vector<pcl::Vertices> RTABMapApp::filterOrganizedPolygons(
const std::vector<pcl::Vertices> & polygons,
int cloudSize) const
{
std::vector<int> vertexToCluster(cloudSize, 0);
std::map<int, std::list<int> > clusters;
int lastClusterID = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
int clusterID = 0;
for(unsigned int j=0;j<polygons[i].vertices.size(); ++j)
{
if(vertexToCluster[polygons[i].vertices[j]]>0)
{
clusterID = vertexToCluster[polygons[i].vertices[j]];
break;
}
}
if(clusterID>0)
{
clusters.at(clusterID).push_back(i);
}
else
{
clusterID = ++lastClusterID;
std::list<int> polygons;
polygons.push_back(i);
clusters.insert(std::make_pair(clusterID, polygons));
}
for(unsigned int j=0;j<polygons[i].vertices.size(); ++j)
{
vertexToCluster[polygons[i].vertices[j]] = clusterID;
}
}
unsigned int biggestClusterSize = 0;
for(std::map<int, std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
//LOGD("cluster %d = %d", iter->first, (int)iter->second.size());
if(iter->second.size() > biggestClusterSize)
{
biggestClusterSize = iter->second.size();
}
}
unsigned int minClusterSize = (unsigned int)(float(biggestClusterSize)*clusterRatio_);
//LOGI("Biggest cluster %d -> minClusterSize(ratio=%f)=%d",
// biggestClusterSize, clusterRatio_, (int)minClusterSize);
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi = 0;
for(std::map<int, std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
if(iter->second.size() >= minClusterSize)
{
for(std::list<int>::iterator jter=iter->second.begin(); jter!=iter->second.end(); ++jter)
{
filteredPolygons[oi++] = polygons[*jter];
}
}
}
filteredPolygons.resize(oi);
return filteredPolygons;
}
std::vector<pcl::Vertices> RTABMapApp::filterPolygons(
const std::vector<pcl::Vertices> & polygons,
int cloudSize) const
{
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
rtabmap::util3d::createPolygonIndexes(
polygons,
cloudSize,
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(neighbors);
unsigned int biggestClusterSize = 0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
if(iter->size() > biggestClusterSize)
{
biggestClusterSize = iter->size();
}
}
unsigned int minClusterSize = (unsigned int)(float(biggestClusterSize)*clusterRatio_);
LOGI("Biggest cluster = %d -> minClusterSize(ratio=%f)=%d",
biggestClusterSize, clusterRatio_, (int)minClusterSize);
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator jter=clusters.begin(); jter!=clusters.end(); ++jter)
{
if(jter->size() >= minClusterSize)
{
for(std::list<int>::iterator kter=jter->begin(); kter!=jter->end(); ++kter)
{
filteredPolygons[oi++] = polygons.at(*kter);
}
}
}
filteredPolygons.resize(oi);
return filteredPolygons;
}
// OpenGL thread
void RTABMapApp::InitializeGLContent()
{
UINFO("");
main_scene_.InitGLContent();
float v = backgroundColor_ == 0.5f?0.4f:1.0f-backgroundColor_;
main_scene_.setGridColor(v, v, v);
}
// OpenGL thread
void RTABMapApp::SetViewPort(int width, int height)
{
main_scene_.SetupViewPort(width, height);
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_)
{
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
}
}
class PostRenderEvent : public UEvent
{
public:
PostRenderEvent(rtabmap::RtabmapEvent * event = 0) :
rtabmapEvent_(event)
{
}
~PostRenderEvent()
{
if(rtabmapEvent_!=0)
{
delete rtabmapEvent_;
}
}
virtual std::string getClassName() const {return "PostRenderEvent";}
const rtabmap::RtabmapEvent * getRtabmapEvent() const {return rtabmapEvent_;}
private:
rtabmap::RtabmapEvent * rtabmapEvent_;
};
// OpenGL thread
bool RTABMapApp::smoothMesh(int id, rtabmap::Mesh & mesh)
{
UTimer t;
// reconstruct depth image
UASSERT(mesh.indices.get() && mesh.indices->size());
cv::Mat depth = cv::Mat::zeros(mesh.cloud->height, mesh.cloud->width, CV_32FC1);
rtabmap::Transform localTransformInv = mesh.cameraModel.localTransform().inverse();
for(unsigned int i=0; i<mesh.indices->size(); ++i)
{
int index = mesh.indices->at(i);
// FastBilateralFilter works in camera frame
if(mesh.cloud->at(index).x > 0)
{
pcl::PointXYZRGB pt = rtabmap::util3d::transformPoint(mesh.cloud->at(index), localTransformInv);
depth.at<float>(index) = pt.z;
}
}
depth = rtabmap::util2d::fastBilateralFiltering(depth, 2.0f, 0.075f);
LOGI("smoothMesh() Bilateral filtering of %d, time=%fs", id, t.ticks());
if(!depth.empty() && mesh.indices->size())
{
pcl::IndicesPtr newIndices(new std::vector<int>(mesh.indices->size()));
int oi = 0;
for(unsigned int i=0; i<mesh.indices->size(); ++i)
{
int index = mesh.indices->at(i);
pcl::PointXYZRGB & pt = mesh.cloud->at(index);
pcl::PointXYZRGB newPt = rtabmap::util3d::transformPoint(mesh.cloud->at(index), localTransformInv);
if(depth.at<float>(index) > 0)
{
newPt.z = depth.at<float>(index);
newPt = rtabmap::util3d::transformPoint(newPt, mesh.cameraModel.localTransform());
newIndices->at(oi++) = index;
}
else
{
newPt.x = newPt.y = newPt.z = std::numeric_limits<float>::quiet_NaN();
}
pt.x = newPt.x;
pt.y = newPt.y;
pt.z = newPt.z;
}
newIndices->resize(oi);
mesh.indices = newIndices;
//reconstruct the mesh with smoothed surfaces
std::vector<pcl::Vertices> polygons;
if(main_scene_.isMeshRendering())
{
polygons = rtabmap::util3d::organizedFastMesh(mesh.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
}
LOGI("smoothMesh() Reconstructing the mesh of %d, time=%fs", id, t.ticks());
mesh.polygons = polygons;
}
else
{
UERROR("smoothMesh() Failed to smooth surface %d", id);
return false;
}
return true;
}
void RTABMapApp::gainCompensation(bool full)
{
UTimer tGainCompensation;
LOGI("Gain compensation...");
boost::mutex::scoped_lock lock(meshesMutex_);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds;
std::map<int, pcl::IndicesPtr> indices;
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
clouds.insert(std::make_pair(iter->first, iter->second.cloud));
indices.insert(std::make_pair(iter->first, iter->second.indices));
}
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, true, true);
if(full)
{
// full compensation
links.clear();
for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator iter=clouds.begin(); iter!=clouds.end(); ++iter)
{
int from = iter->first;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator jter = iter;
++jter;
for(;jter!=clouds.end(); ++jter)
{
int to = jter->first;
links.insert(std::make_pair(from, rtabmap::Link(from, to, rtabmap::Link::kUserClosure, poses.at(from).inverse()*poses.at(to))));
}
}
}
UASSERT(maxGainRadius_>0.0f);
rtabmap::GainCompensator compensator(maxGainRadius_, 0.0f, 0.01f, 1.0f);
if(clouds.size() > 1 && links.size())
{
compensator.feed(clouds, indices, links);
LOGI("Gain compensation... compute gain: links=%d, time=%fs", (int)links.size(), tGainCompensation.ticks());
}
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
if(!iter->second.cloud->empty())
{
if(clouds.size() > 1 && links.size())
{
compensator.getGain(iter->first, &iter->second.gains[0], &iter->second.gains[1], &iter->second.gains[2]);
LOGI("%d mesh has gain %f,%f,%f", iter->first, iter->second.gains[0], iter->second.gains[1], iter->second.gains[2]);
}
}
}
LOGI("Gain compensation... applying gain: meshes=%d, time=%fs", (int)createdMeshes_.size(), tGainCompensation.ticks());
}
// OpenGL thread
int RTABMapApp::Render()
{
std::list<rtabmap::RtabmapEvent*> rtabmapEvents;
try
{
if(sensorCaptureThread_ == 0)
{
// We are not doing continous drawing, just measure single draw
fpsTime_.restart();
}
#ifdef DEBUG_RENDERING_PERFORMANCE
UTimer time;
#endif
boost::mutex::scoped_lock lock(renderingMutex_);
bool notifyDataLoaded = false;
bool notifyCameraStarted = false;
if(clearSceneOnNextRender_)
{
visualizingMesh_ = false;
}
// ARCore and AREngine capture should be done in opengl thread!
const float* uvsTransformed = 0;
glm::mat4 arProjectionMatrix(0);
glm::mat4 arViewMatrix(0);
rtabmap::Mesh occlusionMesh;
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
{
if(cameraDriver_ <= 2)
{
camera_->updateOnRender();
}
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGD("Camera updateOnRender %fs", time.ticks());
#endif
// We check if we are in measuring mode: not visualizing mesh or rtabmap is not started (localization mode)
if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0 && (!visualizingMesh_ || !(rtabmapThread_ == 0 || !rtabmapThread_->isRunning())))
{
main_scene_.background_renderer_ = new BackgroundRenderer();
main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraMobile*)camera_)->getTextureId(), cameraDriver_ <= 2);
}
if(camera_->uvsInitialized())
{
uvsTransformed = ((rtabmap::CameraMobile*)camera_)->uvsTransformed();
((rtabmap::CameraMobile*)camera_)->getVPMatrices(arViewMatrix, arProjectionMatrix);
if(graphOptimization_ && !mapToOdom_.isIdentity())
{
rtabmap::Transform mapCorrection = rtabmap::opengl_world_T_rtabmap_world * mapToOdom_ *rtabmap::rtabmap_world_T_opengl_world;
arViewMatrix = glm::inverse(rtabmap::glmFromTransform(mapCorrection)*glm::inverse(arViewMatrix));
}
}
if(!visualizingMesh_ && !dataRecorderMode_ && main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
rtabmap::CameraModel occlusionModel;
cv::Mat occlusionImage = ((rtabmap::CameraMobile*)camera_)->getOcclusionImage(&occlusionModel);
if(occlusionModel.isValidForProjection())
{
pcl::IndicesPtr indices(new std::vector<int>);
int meshDecimation = updateMeshDecimation(occlusionImage.cols, occlusionImage.rows);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(occlusionImage, occlusionModel, meshDecimation, 0, 0, indices.get());
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*occlusionModel.localTransform());
occlusionMesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::copyPointCloud(*cloud, *occlusionMesh.cloud);
occlusionMesh.indices = indices;
occlusionMesh.polygons = rtabmap::util3d::organizedFastMesh(cloud, 1.0*M_PI/180.0, false, meshTrianglePix_);
}
else if(!occlusionImage.empty())
{
UERROR("invalid occlusionModel: %f %f %f %f %dx%d", occlusionModel.fx(), occlusionModel.fy(), occlusionModel.cx(), occlusionModel.cy(), occlusionModel.imageWidth(), occlusionModel.imageHeight());
}
}
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGD("Update background and occlusion mesh %fs", time.ticks());
#endif
}
}
// process only pose events in visualization mode
rtabmap::Transform pose;
{
boost::mutex::scoped_lock lock(poseMutex_);
if(poseEvents_.size())
{
pose = poseEvents_.back();
poseEvents_.clear();
}
}
rtabmap::SensorEvent sensorEvent;
{
boost::mutex::scoped_lock lock(sensorMutex_);
if(sensorEvents_.size())
{
LOGI("Process sensor events");
sensorEvent = sensorEvents_.back();
sensorEvents_.clear();
if(cameraJustInitialized_)
{
notifyCameraStarted = true;
cameraJustInitialized_ = false;
}
}
}
if(!pose.isNull())
{
// update camera pose?
if(graphOptimization_ && !mapToOdom_.isIdentity())
{
main_scene_.SetCameraPose(rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*pose*rtabmap::optical_T_opengl);
}
else
{
main_scene_.SetCameraPose(rtabmap::opengl_world_T_rtabmap_world*pose*rtabmap::optical_T_opengl);
}
if(sensorCaptureThread_!=0 && cameraJustInitialized_)
{
notifyCameraStarted = true;
cameraJustInitialized_ = false;
}
lastPoseEventTime_ = UTimer::now();
}
if(visualizingMesh_)
{
if(exportedMeshUpdated_)
{
main_scene_.clear();
exportedMeshUpdated_ = false;
measuresUpdated_ = measures_.size()>0;
}
if(!main_scene_.hasCloud(g_optMeshId))
{
LOGI("Adding optimized mesh to opengl (%d points, %d polygons, %d tex_coords, materials=%d texture=%dx%d)...",
optTextureMesh_->cloud.point_step==0?0:(int)optTextureMesh_->cloud.data.size()/optTextureMesh_->cloud.point_step,
optTextureMesh_->tex_polygons.size()!=1?0:(int)optTextureMesh_->tex_polygons[0].size(),
optTextureMesh_->tex_coordinates.size()!=1?0:(int)optTextureMesh_->tex_coordinates[0].size(),
(int)optTextureMesh_->tex_materials.size(),
optTexture_.cols, optTexture_.rows);
if(optTextureMesh_->tex_polygons.size() && optTextureMesh_->tex_polygons[0].size())
{
optMesh_ = rtabmap::Mesh();
optMesh_.gains[0] = optMesh_.gains[1] = optMesh_.gains[2] = 1.0;
optMesh_.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
optMesh_.normals.reset(new pcl::PointCloud<pcl::Normal>);
pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *optMesh_.cloud);
pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *optMesh_.normals);
bool hasColors = false;
for(unsigned int i=0; i<optTextureMesh_->cloud.fields.size(); ++i)
{
if(optTextureMesh_->cloud.fields[i].name.compare("rgb") == 0)
{
hasColors = true;
break;
}
}
if(!hasColors)
{
std::uint8_t r = 255, g = 255, b = 255; // White
std::uint32_t rgb = ((std::uint32_t)r << 16 | (std::uint32_t)g << 8 | (std::uint32_t)b);
for(size_t i=0; i<optMesh_.cloud->size(); ++i)
{
optMesh_.cloud->at(i).rgb = *reinterpret_cast<float*>(&rgb);
}
}
optMesh_.polygons = optTextureMesh_->tex_polygons[0];
if(optTextureMesh_->tex_coordinates.size())
{
optMesh_.texCoords = optTextureMesh_->tex_coordinates[0];
optMesh_.texture = optTexture_;
}
main_scene_.addMesh(g_optMeshId, optMesh_, rtabmap::opengl_world_T_rtabmap_world, true);
}
else
{
pcl::IndicesPtr indices(new std::vector<int>); // null
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *cloud);
main_scene_.addCloud(g_optMeshId, cloud, indices, rtabmap::opengl_world_T_rtabmap_world);
}
if(!measures_.empty())
{
measuresUpdated_ = true;
}
}
if(camera_ != 0 && (rtabmapThread_ == 0 || !rtabmapThread_->isRunning()))
{
updateMeasuringState();
}
else
{
main_scene_.removeLine(55555);
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
main_scene_.removeCircle(55555);
main_scene_.removeCircle(55556);
main_scene_.removeText(55555);
main_scene_.removeCloudOrMesh(-99999);
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
}
if(measuresUpdated_)
{
std::list<Measure> measures = measures_;
measuresUpdated_ = false;
main_scene_.clearLines();
main_scene_.clearTexts();
main_scene_.clearQuads();
main_scene_.clearCircles();
int lineId = 0;
int textId = 0;
int quadId = 0;
int circleId = 0;
float quadSize=0.05f;
float quadAlpha = 0.3f;
tango_gl::Color color(1.0f, 0.0f, 1.0f);
tango_gl::Color xColor(1.0f, 0.0f, 0.0f);
tango_gl::Color yColor(0.0f, 1.0f, 0.0f);
tango_gl::Color zColor(0.0f, 0.0f, 1.0f);
float restrictiveSnapThr = 0.9999;
for(std::list<Measure>::iterator iter=measures.begin(); iter!=measures.end(); ++iter)
{
// Determinate color based on current snap axes
tango_gl::Color quadColor = color;
bool sameNormal = false;
if(iter->n1().dot(iter->n2()) > 0.99) // Same normal, plane to plane
{
sameNormal = true;
Eigen::Vector3f n(iter->n1()[0], iter->n1()[1], iter->n1()[2]);
float n1ProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
float n1ProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
float n1ProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
if(fabs(n1ProdX) > restrictiveSnapThr)
{
quadColor = xColor;
}
else if(fabs(n1ProdY) > restrictiveSnapThr)
{
quadColor = yColor;
}
else if(fabs(n1ProdZ) > restrictiveSnapThr)
{
quadColor = zColor;
}
}
const Measure & m = *iter;
LOGI("dist=%f, %f,%f,%f -> %f,%f,%f", m.length(),
m.pt1().x, m.pt1().y, m.pt1().z,
m.pt2().x, m.pt2().y, m.pt2().z);
cv::Point3f pt1 = rtabmap::util3d::transformPoint(m.pt1(), rtabmap::opengl_world_T_rtabmap_world);
cv::Point3f pt2 = rtabmap::util3d::transformPoint(m.pt2(), rtabmap::opengl_world_T_rtabmap_world);
main_scene_.addLine(++lineId, pt1, pt2, quadColor);
if (fabs(iter->n1()[2]) < 0.00001 && sameNormal)
{
// Add a line so that in orthogonal view, we can see better where the lines are starting/finishing
cv::Point3f n = cv::Vec3f(0,0,1).cross(iter->n1());
n = rtabmap::util3d::transformPoint(n, rtabmap::opengl_world_T_rtabmap_world) * (quadSize/2);
cv::Point3f pa = pt1 + n;
cv::Point3f pb = pt1 - n;
main_scene_.addLine(++lineId, pa, pb, quadColor);
cv::Point3f pc = pt2 + n;
cv::Point3f pd = pt2 - n;
main_scene_.addLine(++lineId, pc, pd, quadColor);
}
float diff = m.length();
std::string text = uFormat("%0.2f m", diff);
if(!metricSystem_)
{
static const double METERS_PER_FOOT = 0.3048;
static double INCHES_PER_FOOT = 12.0;
double lengthInFeet = diff / METERS_PER_FOOT;
int feet = (int)lengthInFeet;
float inches = (lengthInFeet - feet) * INCHES_PER_FOOT;
if(feet > 0)
{
text = uFormat("%d' %0.1f\"", feet, inches);
}
else
{
text = uFormat("%0.1f\"", inches);
}
}
main_scene_.addText(++textId, text, rtabmap::Transform((pt1.x+pt2.x)/2.0f, (pt1.y+pt2.y)/2.0f, (pt1.z+pt2.z)/2.0f, 0, 0,0), measuringTextSize_, quadColor);
cv::Vec3f n1 = rtabmap::util3d::transformPoint(m.n1(), rtabmap::opengl_world_T_rtabmap_world);
cv::Vec3f n2 = rtabmap::util3d::transformPoint(m.n2(), rtabmap::opengl_world_T_rtabmap_world);
Eigen::Quaternionf q1, q2;
q1.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(n1[0],n1[1],n1[2]));
q2.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(n2[0],n2[1],n2[2]));
if(sameNormal)
{
main_scene_.addQuad(++quadId, quadSize, rtabmap::Transform(pt1.x, pt1.y, pt1.z, q1.x(), q1.y(), q1.z(), q1.w()), quadColor, quadAlpha);
main_scene_.addQuad(++quadId, quadSize, rtabmap::Transform(pt2.x, pt2.y, pt2.z, q2.x(), q2.y(), q2.z(), q2.w()), quadColor, quadAlpha);
}
else
{
main_scene_.addCircle(++circleId, quadSize/2, rtabmap::Transform(pt1.x, pt1.y, pt1.z, q1.x(), q1.y(), q1.z(), q1.w()), quadColor, quadAlpha);
main_scene_.addCircle(++circleId, quadSize/2, rtabmap::Transform(pt2.x, pt2.y, pt2.z, q2.x(), q2.y(), q2.z(), q2.w()), quadColor, quadAlpha);
}
}
}
if(!openingDatabase_)
{
rtabmapMutex_.lock();
rtabmapEvents = rtabmapEvents_;
rtabmapEvents_.clear();
rtabmapMutex_.unlock();
if(rtabmapEvents.size())
{
const rtabmap::Statistics & stats = rtabmapEvents.back()->getStats();
if(!stats.mapCorrection().isNull())
{
mapToOdom_ = stats.mapCorrection();
}
std::map<int, rtabmap::Transform>::const_iterator iter = stats.poses().find(optRefId_);
if(iter != stats.poses().end() && !iter->second.isNull() && optRefPose_)
{
// adjust opt mesh pose
main_scene_.setCloudPose(g_optMeshId, rtabmap::opengl_world_T_rtabmap_world * iter->second * (*optRefPose_).inverse());
}
int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
int loopClosure = (int)uValue(stats.data(), rtabmap::Statistics::kLoopAccepted_hypothesis_id(), 0.0f);
int proximityClosureId = int(uValue(stats.data(), rtabmap::Statistics::kProximitySpace_last_detection_id(), 0.0f));
int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
int landmark = (int)uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
if(rtabmapThread_ && rtabmapThread_->isRunning() && loopClosure>0)
{
main_scene_.setBackgroundColor(0, 0.5f, 0); // green
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && proximityClosureId>0)
{
main_scene_.setBackgroundColor(0.5f, 0.5f, 0); // yellow
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && landmark!=0)
{
if(rejected)
{
main_scene_.setBackgroundColor(0.5, 0.325f, 0); // dark orange
}
else
{
main_scene_.setBackgroundColor(1, 0.65f, 0); // orange
}
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && rejected>0)
{
main_scene_.setBackgroundColor(0, 0.2f, 0); // dark green
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && fastMovement)
{
main_scene_.setBackgroundColor(0.2f, 0, 0.2f); // dark magenta
}
else
{
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}
// Update markers
for(std::map<int, rtabmap::Transform>::const_iterator iter=stats.poses().begin();
iter!=stats.poses().end() && iter->first<0;
++iter)
{
int id = iter->first;
if(main_scene_.hasMarker(id))
{
//just update pose
main_scene_.setMarkerPose(id, rtabmap::opengl_world_T_rtabmap_world*iter->second);
}
else
{
main_scene_.addMarker(id, rtabmap::opengl_world_T_rtabmap_world*iter->second);
}
}
}
}
//backup state
bool isMeshRendering = main_scene_.isMeshRendering();
bool isTextureRendering = main_scene_.isMeshTexturing();
main_scene_.setMeshRendering(main_scene_.hasMesh(g_optMeshId), main_scene_.hasTexture(g_optMeshId));
main_scene_.setFrustumVisible(camera_!=0);
lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix);
double fpsTime = fpsTime_.ticks();
if(renderingTime_ < fpsTime)
{
renderingTime_ = fpsTime;
}
// revert state
main_scene_.setMeshRendering(isMeshRendering, isTextureRendering);
if(rtabmapEvents.size())
{
// send statistics to GUI
if(rtabmapEvents.back()->getStats().refImageId()>0 ||
!rtabmapEvents.back()->getStats().data().empty())
{
UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
rtabmapEvents.pop_back();
}
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
lastPostRenderEventTime_ = UTimer::now();
}
}
else
{
if(main_scene_.hasCloud(g_optMeshId))
{
main_scene_.clear();
optTextureMesh_.reset(new pcl::TextureMesh);
optMesh_ = rtabmap::Mesh();
optTexture_ = cv::Mat();
}
// should be before clearSceneOnNextRender_ in case database is reset
if(!openingDatabase_)
{
rtabmapMutex_.lock();
rtabmapEvents = rtabmapEvents_;
rtabmapEvents_.clear();
rtabmapMutex_.unlock();
if(!clearSceneOnNextRender_ && rtabmapEvents.size())
{
boost::mutex::scoped_lock lockMesh(meshesMutex_);
if(createdMeshes_.size())
{
if(rtabmapEvents.front()->getStats().refImageId()>0 && rtabmapEvents.front()->getStats().refImageId() < createdMeshes_.rbegin()->first)
{
LOGI("Detected new database! new=%d old=%d", rtabmapEvents.front()->getStats().refImageId(), createdMeshes_.rbegin()->first);
clearSceneOnNextRender_ = true;
}
}
}
#ifdef DEBUG_RENDERING_PERFORMANCE
if(rtabmapEvents.size())
{
LOGW("begin and getting rtabmap events %fs", time.ticks());
}
#endif
}
if(clearSceneOnNextRender_)
{
LOGI("Clearing all rendering data...");
sensorMutex_.lock();
sensorEvents_.clear();
sensorMutex_.unlock();
poseMutex_.lock();
poseEvents_.clear();
poseMutex_.unlock();
main_scene_.clear();
clearSceneOnNextRender_ = false;
if(!openingDatabase_)
{
boost::mutex::scoped_lock lock(meshesMutex_);
LOGI("Clearing meshes...");
createdMeshes_.clear();
rawPoses_.clear();
}
else
{
notifyDataLoaded = true;
}
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
lastPostRenderEventTime_ = 0.0;
lastPoseEventTime_ = 0.0;
bufferedStatsData_.clear();
measuresUpdated_ = !measures_.empty();
measures_.clear();
}
// Did we lose OpenGL context? If so, recreate the context;
std::set<int> added = main_scene_.getAddedClouds();
added.erase(-1);
if(!openingDatabase_)
{
boost::mutex::scoped_lock lock(meshesMutex_);
unsigned int meshes = (unsigned int)createdMeshes_.size();
if(added.size() != meshes)
{
LOGI("added (%d) != meshes (%d)", (int)added.size(), meshes);
boost::mutex::scoped_lock lockRtabmap(rtabmapMutex_);
UASSERT(rtabmap_!=0);
for(std::map<int, rtabmap::Mesh>::iterator iter=createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
if(!main_scene_.hasCloud(iter->first) && !iter->second.pose.isNull())
{
LOGI("Re-add mesh %d to OpenGL context", iter->first);
if(iter->second.cloud->isOrganized() && main_scene_.isMeshRendering() && iter->second.polygons.size() == 0)
{
iter->second.polygons = rtabmap::util3d::organizedFastMesh(iter->second.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
iter->second.polygonsLowRes = rtabmap::util3d::organizedFastMesh(iter->second.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
}
if(iter->second.cloud->isOrganized() && main_scene_.isMeshTexturing())
{
cv::Mat textureRaw;
textureRaw = rtabmap::uncompressImage(rtabmap_->getMemory()->getImageCompressed(iter->first));
if(!textureRaw.empty())
{
if(renderingTextureDecimation_ > 1)
{
cv::Size reducedSize(textureRaw.cols/renderingTextureDecimation_, textureRaw.rows/renderingTextureDecimation_);
LOGD("resize image from %dx%d to %dx%d", textureRaw.cols, textureRaw.rows, reducedSize.width, reducedSize.height);
cv::resize(textureRaw, iter->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
}
else
{
iter->second.texture = textureRaw;
}
}
}
main_scene_.addMesh(iter->first, iter->second, rtabmap::opengl_world_T_rtabmap_world*iter->second.pose, true);
main_scene_.setCloudVisible(iter->first, iter->second.visible);
iter->second.texture = cv::Mat(); // don't keep textures in memory
}
}
}
}
else if(notifyDataLoaded)
{
rtabmapMutex_.lock();
rtabmapEvents = rtabmapEvents_;
rtabmapEvents_.clear();
rtabmapMutex_.unlock();
openingDatabase_ = false;
}
if(rtabmapEvents.size())
{
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Process rtabmap events %fs", time.ticks());
#else
LOGI("Process rtabmap events");
#endif
// update buffered signatures
std::map<int, rtabmap::SensorData> bufferedSensorData;
if(!dataRecorderMode_)
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
const rtabmap::Statistics & stats = (*iter)->getStats();
// Don't create mesh for the last node added if rehearsal happened or if discarded (small movement)
int smallMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemorySmall_movement(), 0.0f);
int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
int rehearsalMerged = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_merged(), 0.0f);
if(!localizationMode_ && stats.getLastSignatureData().id() > 0 &&
smallMovement == 0 && rehearsalMerged == 0 && fastMovement == 0)
{
int id = stats.getLastSignatureData().id();
const rtabmap::Signature & s = stats.getLastSignatureData();
if(!trajectoryMode_ &&
((!s.sensorData().imageRaw().empty() && !s.sensorData().depthRaw().empty()) ||
!s.sensorData().laserScanRaw().isEmpty()))
{
uInsert(bufferedSensorData, std::make_pair(id, s.sensorData()));
}
uInsert(rawPoses_, std::make_pair(id, s.getPose()));
}
int loopClosure = (int)uValue(stats.data(), rtabmap::Statistics::kLoopAccepted_hypothesis_id(), 0.0f);
int proximityClosureId = int(uValue(stats.data(), rtabmap::Statistics::kProximitySpace_last_detection_id(), 0.0f));
int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
int landmark = (int)uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
if(rtabmapThread_ && rtabmapThread_->isRunning() && loopClosure>0)
{
main_scene_.setBackgroundColor(0, 0.5f, 0); // green
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && proximityClosureId>0)
{
main_scene_.setBackgroundColor(0.5f, 0.5f, 0); // yellow
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && landmark!=0)
{
main_scene_.setBackgroundColor(1, 0.65f, 0); // orange
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && rejected>0)
{
main_scene_.setBackgroundColor(0, 0.2f, 0); // dark green
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && rehearsalMerged>0)
{
main_scene_.setBackgroundColor(0, 0, 0.2f); // blue
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && fastMovement)
{
main_scene_.setBackgroundColor(0.2f, 0, 0.2f); // dark magenta
}
else
{
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}
}
}
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Looking for data to load (%d) %fs", (int)bufferedSensorData.size(), time.ticks());
#endif
std::map<int, rtabmap::Transform> posesWithMarkers = rtabmapEvents.back()->getStats().poses();
if(!rtabmapEvents.back()->getStats().mapCorrection().isNull())
{
mapToOdom_ = rtabmapEvents.back()->getStats().mapCorrection();
}
// Transform pose in OpenGL world
for(std::map<int, rtabmap::Transform>::iterator iter=posesWithMarkers.begin(); iter!=posesWithMarkers.end(); ++iter)
{
if(!graphOptimization_ && !dataRecorderMode_)
{
std::map<int, rtabmap::Transform>::iterator jter = rawPoses_.find(iter->first);
if(jter != rawPoses_.end())
{
iter->second = rtabmap::opengl_world_T_rtabmap_world*jter->second;
}
}
else
{
iter->second = rtabmap::opengl_world_T_rtabmap_world*iter->second;
}
}
std::map<int, rtabmap::Transform> poses(posesWithMarkers.lower_bound(0), posesWithMarkers.end());
const std::multimap<int, rtabmap::Link> & links = rtabmapEvents.back()->getStats().constraints();
if(poses.size())
{
//update graph
main_scene_.updateGraph(poses, links);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Update graph: %fs", time.ticks());
#endif
// update clouds
boost::mutex::scoped_lock lock(meshesMutex_);
std::set<std::string> strIds;
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
int id = iter->first;
if(!iter->second.isNull())
{
if(main_scene_.hasCloud(id))
{
//just update pose
main_scene_.setCloudPose(id, iter->second);
main_scene_.setCloudVisible(id, true);
std::map<int, rtabmap::Mesh>::iterator meshIter = createdMeshes_.find(id);
UASSERT(meshIter!=createdMeshes_.end());
meshIter->second.pose = rtabmap::opengl_world_T_rtabmap_world.inverse()*iter->second;
meshIter->second.visible = true;
}
else
{
if(createdMeshes_.find(id) == createdMeshes_.end() &&
bufferedSensorData.find(id) != bufferedSensorData.end())
{
rtabmap::SensorData data = bufferedSensorData.at(id);
cv::Mat tmpA, tmpB, tmpC;
data.uncompressData(&tmpA, &tmpB, 0, 0, 0, 0, 0, depthConfidence_>0?&tmpC:0);
if(!(!data.imageRaw().empty() && !data.depthRaw().empty()) && !data.laserScanCompressed().isEmpty())
{
rtabmap::LaserScan scan;
data.uncompressData(0, 0, &scan);
}
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Decompressing data: %fs", time.ticks());
#endif
if((!data.imageRaw().empty() && !data.depthRaw().empty()) || !data.laserScanRaw().isEmpty())
{
// Voxelize and filter depending on the previous cloud?
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
if(!data.imageRaw().empty() && !data.depthRaw().empty() && (!useExternalLidar_ || data.laserScanRaw().isEmpty()))
{
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
if(smoothing_ || depthBleedingError_>0.0f)
{
cv::Mat depth = data.depthRaw();
if(depthBleedingError_ > 0.0f)
{
rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
}
if(smoothing_)
{
depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
}
data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
}
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get(), rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
}
else
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Creating node cloud %d (depth=%dx%d rgb=%dx%d, %fs)", id, data.depthRaw().cols, data.depthRaw().rows, data.imageRaw().cols, data.imageRaw().rows, time.ticks());
#endif
if(cloud->size() && indices->size())
{
std::vector<pcl::Vertices> polygons;
std::vector<pcl::Vertices> polygonsLowRes;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texCoords;
#else
std::vector<Eigen::Vector2f> texCoords;
#endif
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
if(cloud->isOrganized() && main_scene_.isMeshRendering() && main_scene_.isMapRendering())
{
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
#endif
#ifndef DISABLE_VTK
if(meshDecimationFactor_ > 0.0f && !polygons.empty())
{
pcl::PolygonMesh::Ptr tmpMesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*cloud, tmpMesh->cloud);
tmpMesh->polygons = polygons;
rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGB>(tmpMesh, meshDecimationFactor_, 0, cloud, 0);
if(!tmpMesh->polygons.empty())
{
if(main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
{
std::map<int, rtabmap::Transform> cameraPoses;
std::map<int, rtabmap::CameraModel> cameraModels;
cameraPoses.insert(std::make_pair(0, rtabmap::Transform::getIdentity()));
cameraModels.insert(std::make_pair(0, data.cameraModels()[0]));
pcl::TextureMesh::Ptr textureMesh = rtabmap::util3d::createTextureMesh(
tmpMesh,
cameraPoses,
cameraModels,
std::map<int, cv::Mat>());
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
polygons = textureMesh->tex_polygons[0];
texCoords = textureMesh->tex_coordinates[0];
}
else
{
pcl::fromPCLPointCloud2(tmpMesh->cloud, *cloud);
polygons = tmpMesh->polygons;
}
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
else
{
LOGE("Mesh decimation factor is too high (%f), returning full mesh (id=%d).", meshDecimationFactor_, data.id());
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
#endif
}
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Mesh simplication, %d polygons, %d points (%fs)", (int)polygons.size(), (int)cloud->size(), time.ticks());
#endif
}
else
#endif
{
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
#endif
}
}
std::pair<std::map<int, rtabmap::Mesh>::iterator, bool> inserted = createdMeshes_.insert(std::make_pair(id, rtabmap::Mesh()));
UASSERT(inserted.second);
inserted.first->second.cloud = cloud;
inserted.first->second.indices = indices;
inserted.first->second.polygons = polygons;
inserted.first->second.polygonsLowRes = polygonsLowRes;
inserted.first->second.visible = true;
inserted.first->second.cameraModel = data.cameraModels()[0];
inserted.first->second.gains[0] = 1.0;
inserted.first->second.gains[1] = 1.0;
inserted.first->second.gains[2] = 1.0;
if((cloud->isOrganized() || !texCoords.empty()) && main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
{
inserted.first->second.texCoords = texCoords;
if(renderingTextureDecimation_ > 1)
{
cv::Size reducedSize(data.imageRaw().cols/renderingTextureDecimation_, data.imageRaw().rows/renderingTextureDecimation_);
cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("resize image from %dx%d to %dx%d (%fs)", data.imageRaw().cols, data.imageRaw().rows, reducedSize.width, reducedSize.height, time.ticks());
#endif
}
else
{
inserted.first->second.texture = data.imageRaw();
}
}
}
}
}
if(createdMeshes_.find(id) != createdMeshes_.end())
{
rtabmap::Mesh & mesh = createdMeshes_.at(id);
totalPoints_+=mesh.indices->size();
totalPolygons_ += mesh.polygons.size();
mesh.pose = rtabmap::opengl_world_T_rtabmap_world.inverse()*iter->second;
main_scene_.addMesh(id, mesh, iter->second, true);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Adding mesh to scene: %fs", time.ticks());
#endif
mesh.texture = cv::Mat(); // don't keep textures in memory
}
}
}
}
}
//filter poses?
if(poses.size() > 2)
{
if(nodesFiltering_)
{
for(std::multimap<int, rtabmap::Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() != rtabmap::Link::kNeighbor)
{
int oldId = iter->second.to()>iter->second.from()?iter->second.from():iter->second.to();
poses.erase(oldId);
}
}
}
}
if(!poses.empty())
{
//update cloud visibility
boost::mutex::scoped_lock lock(meshesMutex_);
std::set<int> addedClouds = main_scene_.getAddedClouds();
for(std::set<int>::const_iterator iter=addedClouds.begin();
iter!=addedClouds.end();
++iter)
{
if(*iter > 0 && poses.find(*iter) == poses.end())
{
main_scene_.setCloudVisible(*iter, false);
std::map<int, rtabmap::Mesh>::iterator meshIter = createdMeshes_.find(*iter);
UASSERT(meshIter!=createdMeshes_.end());
meshIter->second.visible = false;
}
}
}
// Update markers
std::set<int> addedMarkers = main_scene_.getAddedMarkers();
for(std::set<int>::const_iterator iter=addedMarkers.begin();
iter!=addedMarkers.end();
++iter)
{
if(posesWithMarkers.find(*iter) == posesWithMarkers.end())
{
main_scene_.removeMarker(*iter);
}
}
for(std::map<int, rtabmap::Transform>::const_iterator iter=posesWithMarkers.begin();
iter!=posesWithMarkers.end() && iter->first<0;
++iter)
{
int id = iter->first;
if(main_scene_.hasMarker(id))
{
//just update pose
main_scene_.setMarkerPose(id, iter->second);
}
else
{
main_scene_.addMarker(id, iter->second);
}
}
}
if(dataRecorderMode_ || !rtabmapEvents.size())
{
main_scene_.setCloudVisible(-1, odomCloudShown_ && !trajectoryMode_ && sensorCaptureThread_!=0);
//just process the last one
if(!sensorEvent.info().odomPose.isNull())
{
if(odomCloudShown_ && !trajectoryMode_)
{
if((!sensorEvent.data().imageRaw().empty() && !sensorEvent.data().depthRaw().empty()) || !sensorEvent.data().laserScanRaw().isEmpty())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
if(!sensorEvent.data().imageRaw().empty() && !sensorEvent.data().depthRaw().empty() && (!useExternalLidar_ || sensorEvent.data().laserScanRaw().isEmpty()))
{
int meshDecimation = updateMeshDecimation(sensorEvent.data().depthRaw().cols, sensorEvent.data().depthRaw().rows);
cloud = rtabmap::util3d::cloudRGBFromSensorData(sensorEvent.data(), meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get(), rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
}
else
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(sensorEvent.data().laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), sensorEvent.data().laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
if(cloud->size() && indices->size())
{
LOGI("Created odom cloud (rgb=%dx%d depth=%dx%d cloud=%dx%d)",
sensorEvent.data().imageRaw().cols, sensorEvent.data().imageRaw().rows,
sensorEvent.data().depthRaw().cols, sensorEvent.data().depthRaw().rows,
(int)cloud->width, (int)cloud->height);
main_scene_.addCloud(-1, cloud, indices, rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*sensorEvent.info().odomPose);
main_scene_.setCloudVisible(-1, true);
}
else
{
UERROR("Generated cloud is empty!");
}
}
else
{
UWARN("Odom data images/scans are empty!");
}
}
}
}
if(gainCompensationOnNextRender_>0)
{
gainCompensation(gainCompensationOnNextRender_==2);
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
main_scene_.updateGains(iter->first, iter->second.gains[0], iter->second.gains[1], iter->second.gains[2]);
}
gainCompensationOnNextRender_ = 0;
notifyDataLoaded = true;
}
if(bilateralFilteringOnNextRender_)
{
LOGI("Bilateral filtering...");
bilateralFilteringOnNextRender_ = false;
boost::mutex::scoped_lock lock(meshesMutex_);
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
if(iter->second.cloud->size() && iter->second.indices->size())
{
if(smoothMesh(iter->first, iter->second))
{
main_scene_.updateMesh(iter->first, iter->second);
}
}
}
notifyDataLoaded = true;
}
if(filterPolygonsOnNextRender_ && clusterRatio_>0.0f)
{
LOGI("Polygon filtering...");
filterPolygonsOnNextRender_ = false;
boost::mutex::scoped_lock lock(meshesMutex_);
UTimer time;
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
if(iter->second.polygons.size())
{
// filter polygons
iter->second.polygons = filterOrganizedPolygons(iter->second.polygons, iter->second.cloud->size());
main_scene_.updateCloudPolygons(iter->first, iter->second.polygons);
}
}
notifyDataLoaded = true;
}
main_scene_.setFrustumVisible(camera_!=0);
lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix, occlusionMesh, true);
double fpsTime = fpsTime_.ticks();
if(renderingTime_ < fpsTime)
{
renderingTime_ = fpsTime;
}
if(rtabmapEvents.size())
{
// send statistics to GUI
LOGI("New data added to map, rendering time: %fs", renderingTime_);
if(rtabmapEvents.back()->getStats().refImageId()>0 ||
!rtabmapEvents.back()->getStats().data().empty())
{
UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
rtabmapEvents.pop_back();
}
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
lastPostRenderEventTime_ = UTimer::now();
if(sensorCaptureThread_!=0 && lastPoseEventTime_>0.0 && UTimer::now()-lastPoseEventTime_ > 1.0)
{
UERROR("TangoPoseEventNotReceived");
UEventsManager::post(new rtabmap::CameraInfoEvent(10, "TangoPoseEventNotReceived", uNumber2Str(UTimer::now()-lastPoseEventTime_, 6)));
}
}
}
if(takeScreenshotOnNextRender_)
{
takeScreenshotOnNextRender_ = false;
int w = main_scene_.getViewPortWidth();
int h = main_scene_.getViewPortHeight();
cv::Mat image(h, w, CV_8UC4);
glReadPixels(0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, image.data);
cv::flip(image, image, 0);
cv::cvtColor(image, image, cv::COLOR_RGBA2BGRA);
cv::Mat roi;
if(w>h)
{
int offset = (w-h)/2;
roi = image(cv::Range::all(), cv::Range(offset,offset+h));
}
else
{
int offset = (h-w)/2;
roi = image(cv::Range(offset,offset+w), cv::Range::all());
}
rtabmapMutex_.lock();
LOGI("Saving screenshot %dx%d...", roi.cols, roi.rows);
rtabmap_->getMemory()->savePreviewImage(roi);
rtabmapMutex_.unlock();
screenshotReady_.release();
}
if((rtabmapThread_==0 || !rtabmapThread_->isRunning()) && lastPostRenderEventTime_ > 0.0)
{
double interval = UTimer::now() - lastPostRenderEventTime_;
double updateInterval = 1.0;
if(!openingDatabase_ && rtabmapThread_)
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
if(rtabmapThread_ && rtabmapThread_->getDetectorRate()>0.0f)
{
updateInterval = 1.0f/rtabmapThread_->getDetectorRate();
}
}
if(interval >= updateInterval)
{
if(!openingDatabase_)
{
// don't send event when we are opening the database (init events already sent)
UEventsManager::post(new PostRenderEvent());
}
lastPostRenderEventTime_ = UTimer::now();
}
}
return notifyDataLoaded||notifyCameraStarted?1:0;
}
catch(const UException & e)
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
UERROR("Exception! msg=\"%s\"", e.what());
return -2;
}
catch(const cv::Exception & e)
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
UERROR("Exception! msg=\"%s\"", e.what());
return -1;
}
catch(const std::exception & e)
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
UERROR("Exception! msg=\"%s\"", e.what());
return -2;
}
}
void RTABMapApp::updateMeasuringState()
{
rtabmap::Transform openglCam = main_scene_.GetOpenGLCameraPose();
rtabmap::Transform rtabmapCam = rtabmap::rtabmap_world_T_opengl_world * openglCam * rtabmap::opengl_world_T_rtabmap_world;
Eigen::Vector3f origin(openglCam.x(), openglCam.y(), openglCam.z());
Eigen::Vector3f rtabmapOrigin(rtabmapCam.x(), rtabmapCam.y(), rtabmapCam.z());
rtabmap::Transform v = openglCam.rotation() * rtabmap::Transform(0,0,-1,0,0,0);
Eigen::Vector3f dir(v.x(), v.y(), v.z());
v = rtabmapCam.rotation() * rtabmap::Transform(1,0,0,0,0,0);
Eigen::Vector3f rtabmapDir(v.x(), v.y(), v.z());
tango_gl::Color color(1.0f, 0.0f, 1.0f);
tango_gl::Color xColor(1.0f, 0.0f, 0.0f); // in rtabmap world
tango_gl::Color yColor(0.0f, 1.0f, 0.0f); // in rtabmap world
tango_gl::Color zColor(0.0f, 0.0f, 1.0f); // in rtabmap world
float circleRadius = 0.025;
float quadSize=0.05f;
float quadAlpha = 0.3f;
main_scene_.removeQuad(55555);
main_scene_.removeQuad(55556);
main_scene_.removeCircle(55555);
main_scene_.removeCircle(55556);
main_scene_.removeLine(55555);
main_scene_.removeText(55555);
if(removeMeasureClicked_)
{
if(!measuringTmpPts_.empty())
{
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
}
else
{
bool removed = false;
for(std::list<Measure>::iterator iter=measures_.begin(); iter!=measures_.end() && !removed; ++iter)
{
const Measure & m = *iter;
for(int i=0; i<2;++i)
{
// intersecting the quad?
cv::Point3f pt = i==0?m.pt1():m.pt2();
cv::Point3f n = i==0?m.n1():m.n2();
pt = rtabmap::util3d::transformPoint(pt, rtabmap::opengl_world_T_rtabmap_world);
n = rtabmap::util3d::transformPoint(n, rtabmap::opengl_world_T_rtabmap_world);
Eigen::Quaternionf q;
q.setFromTwoVectors(Eigen::Vector3f(0,0,-1), Eigen::Vector3f(n.x,n.y,n.z));
float dTmp;
Eigen::Vector3f nTmp;
int indexTmp;
if(rtabmap::util3d::intersectRayMesh(
origin,
dir,
*rtabmap::util3d::transformPointCloud(quadSample_, rtabmap::Transform(pt.x, pt.y, pt.z, q.x(), q.y(), q.z(), q.w())),
quadSamplePolygons_,
false,
dTmp,
nTmp,
indexTmp))
{
measures_.erase(iter);
removed = true;
break;
}
}
}
measuresUpdated_ |= removed;
}
}
float distance =0.0f;
Eigen::Vector3f n;
int index;
if(rtabmap::util3d::intersectRayMesh(
rtabmapOrigin,
rtabmapDir,
*optMesh_.cloud,
optMesh_.polygons,
true,
distance,
n,
index))
{
Eigen::Vector3f intersectionPt = origin + dir*distance;
cv::Point3f pt(intersectionPt[0], intersectionPt[1], intersectionPt[2]);
cv::Point3f normal(n[0], n[1], n[2]); // rtabmap world
cv::Point3f normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world); // opengl world
tango_gl::Color quadColor = color;
float normalProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
float normalProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
float normalProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
if(fabs(normal.x) > fabs(normal.z) && fabs(normal.y) > fabs(normal.z))
{
if(fabs(normalProdX) > snapAxisThr_)
{
normal.x = snapAxes_[0][0] * (normalProdX>0?1:-1);
normal.y = snapAxes_[0][1] * (normalProdX>0?1:-1);
normal.z = snapAxes_[0][2] * (normalProdX>0?1:-1);
quadColor = xColor;
}
else if(fabs(normalProdY) > snapAxisThr_)
{
normal.x = snapAxes_[1][0] * (normalProdY>0?1:-1);
normal.y = snapAxes_[1][1] * (normalProdY>0?1:-1);
normal.z = snapAxes_[1][2] * (normalProdY>0?1:-1);
quadColor = yColor;
}
else if(measuringMode_ == 0)
{
// We force to be aligned with xy plane
normal.z = 0;
float n = cv::norm(normal);
normal.x/=n;
normal.y/=n;
normal.z/=n;
}
}
else if(fabs(normalProdZ) > snapAxisThr_)
{
normal.x = snapAxes_[2][0] * (normalProdZ>0?1:-1);
normal.y = snapAxes_[2][1] * (normalProdZ>0?1:-1);
normal.z = snapAxes_[2][2] * (normalProdZ>0?1:-1);
quadColor = zColor;
}
normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world);
if(teleportClicked_)
{
camera_->resetOrigin(rtabmap::Transform(-pt.z, -pt.x, pt.y-Scene::kHeightOffset.y,0,0,0));
}
else if(addMeasureClicked_) // Add measure
{
if((measuringMode_ == 1 || measuringTmpPts_.size()==1))
{
if(measuringMode_ == 1) // Height single click
{
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
normal.x=0;
normal.y=0;
normal.z=1;
normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world);
measuringTmpPts_.push_back(pt);
measuringTmpNormals_.push_back(normalGl);
pt.y = 0;
measuringTmpPts_.push_back(pt);
measuringTmpNormals_.push_back(normalGl);
}
else if(measuringMode_ == 0 || measuringMode_ == 2) // Plane to Plane or point to point
{
if(measuringMode_ == 0)
{
normalGl = measuringTmpNormals_.front();
// project point on line
float n = (pt-measuringTmpPts_.front()).dot(measuringTmpNormals_.front());
pt = measuringTmpPts_.front() + (measuringTmpNormals_.front() * n);
}
measuringTmpPts_.push_back(pt);
measuringTmpNormals_.push_back(normalGl);
}
// Add measure!
const cv::Point3f & pt1 = measuringTmpPts_.at(0);
const cv::Point3f & pt2 = measuringTmpPts_.at(1);
const cv::Vec3f & n1 = measuringTmpNormals_.at(0);
const cv::Vec3f & n2 = measuringTmpNormals_.at(1);
Measure measure(
rtabmap::util3d::transformPoint(pt1, rtabmap::rtabmap_world_T_opengl_world),
rtabmap::util3d::transformPoint(pt2, rtabmap::rtabmap_world_T_opengl_world),
rtabmap::util3d::transformPoint(n1, rtabmap::rtabmap_world_T_opengl_world),
rtabmap::util3d::transformPoint(n2, rtabmap::rtabmap_world_T_opengl_world));
if(measure.length()>=0.01f)
{
measures_.push_back(measure);
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
measuresUpdated_ = true;
}
}
else
{
measuringTmpPts_.clear();
measuringTmpNormals_.clear();
// init the first point
measuringTmpPts_.push_back(pt);
measuringTmpNormals_.push_back(normalGl);
}
}
else if(measuringMode_ >= 0)
{
// move action
if(measuringMode_ == 0 && measuringTmpNormals_.size()==1)
{
normalGl = measuringTmpNormals_.front();
normal = rtabmap::util3d::transformPoint(normalGl, rtabmap::rtabmap_world_T_opengl_world);
n = Eigen::Vector3f(normal.x, normal.y, normal.z);
float normalProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
float normalProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
float normalProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
if(fabs(normalProdX) > snapAxisThr_)
{
quadColor = xColor;
}
else if(fabs(normalProdY) > snapAxisThr_)
{
quadColor = yColor;
}
else if(fabs(normalProdZ) > snapAxisThr_)
{
quadColor = zColor;
}
else
{
quadColor = color;
}
}
float quadWidthLeft = 0.05;
float quadWidthRight = quadWidthLeft;
float quadHeightBottom = quadWidthLeft;
float quadHeightTop = quadWidthLeft;
cv::Point3f pt2 = pt;
float lineLength = 0.0f;
// project point on line
if(measuringTmpPts_.size() == 1)
{
cv::Point3f v = pt2-measuringTmpPts_.front();
if(measuringMode_ == 0)
{
float n = v.dot(measuringTmpNormals_.front());
lineLength = fabs(n);
pt2 = measuringTmpPts_.front() + (measuringTmpNormals_.front() * n);
v = rtabmap::util3d::transformPoint(v, rtabmap::rtabmap_world_T_opengl_world);
if(!(fabs(normal.z) > fabs(normal.x) && fabs(normal.z) > fabs(normal.y)))
{
quadHeightTop = v.z>quadSize?v.z:quadSize;
quadHeightBottom = -v.z>quadSize?-v.z:quadSize;
if(fabs(normal.x) > fabs(normal.y))
{
cv::Point3f y = cv::Point3f(0,0,1).cross(normal);
float n = v.dot(y);
quadWidthRight = n>quadSize?n:quadSize;
quadWidthLeft = n<-quadSize?fabs(n):quadSize;
if(normal.x>0)
{
quadWidthLeft = n>quadSize?n:quadSize;
quadWidthRight = n<-quadSize?fabs(n):quadSize;
float tmp =quadHeightTop;
quadHeightTop= quadHeightBottom;
quadHeightBottom = tmp;
}
}
else
{
cv::Point3f x = normal.cross(cv::Point3f(0,0,1));
float n = v.dot(x);
quadWidthRight = n<-quadSize?fabs(n):quadSize;
quadWidthLeft = n>quadSize?n:quadSize;
}
}
else
{
if(normal.z>0)
{
quadHeightBottom = v.x<-quadSize?fabs(v.x):quadSize;
quadHeightTop = v.x>quadSize?v.x:quadSize;
quadWidthRight = v.y<-quadSize?fabs(v.y):quadSize;
quadWidthLeft = v.y>quadSize?v.y:quadSize;
}
else
{
quadHeightTop = v.x<-quadSize?fabs(v.x):quadSize;
quadHeightBottom = v.x>quadSize?v.x:quadSize;
quadWidthRight = v.y<-quadSize?fabs(v.y):quadSize;
quadWidthLeft = v.y>quadSize?v.y:quadSize;
}
}
}
else
{
lineLength = cv::norm(v);
}
std::string text = uFormat("%0.2f m", lineLength);
if(!metricSystem_)
{
static const double METERS_PER_FOOT = 0.3048;
static double INCHES_PER_FOOT = 12.0;
double lengthInFeet = lineLength / METERS_PER_FOOT;
int feet = (int)lengthInFeet;
float inches = (lengthInFeet - feet) * INCHES_PER_FOOT;
if(feet > 0)
{
text = uFormat("%d' %0.1f\"", feet, inches);
}
else
{
text = uFormat("%0.1f\"", inches);
}
}
main_scene_.addText(55555, text, rtabmap::Transform(pt.x, pt.y, pt.z, 0,0,0), 0.05f, measuringMode_ == 0?quadColor:color);
}
Eigen::Quaternionf q;
q.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(normalGl.x,normalGl.y,normalGl.z));
if(measuringTmpPts_.size() == 1 && measuringMode_ != 1)
{
const cv::Point3f & pt1 = measuringTmpPts_.at(0);
main_scene_.addLine(55555, pt1, pt2, measuringMode_ == 0?quadColor:color);
if(measuringMode_ == 2)
{
// Use respective orientation for each circle
Eigen::Quaternionf q1;
cv::Vec3f normalGL1 = measuringTmpNormals_.front();
q1.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(normalGL1[0],normalGL1[0],normalGL1[0]));
main_scene_.addCircle(55555,
circleRadius,
rtabmap::Transform(
measuringTmpPts_.front().x,
measuringTmpPts_.front().y,
measuringTmpPts_.front().z,
q1.x(),q1.y(), q1.z(), q1.w()), color, quadAlpha);
main_scene_.addCircle(55556,
circleRadius,
rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), color, quadAlpha);
}
else
{
// Use same orientation for both quads
main_scene_.addQuad(55555,
quadSize,
rtabmap::Transform(
measuringTmpPts_.front().x,
measuringTmpPts_.front().y,
measuringTmpPts_.front().z,
q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
main_scene_.addQuad(55556,
quadWidthLeft,
quadWidthRight,
quadHeightBottom,
quadHeightTop,
rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
}
}
else if(measuringMode_ == 2)
{
main_scene_.addCircle(55555,
circleRadius,
rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), color, quadAlpha);
}
else
{
main_scene_.addQuad(55555,
quadSize,
rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
}
}
}
Eigen::Vector3f target = origin+dir*(distance<100.0f?distance:0.5f);
rtabmap::Transform pose(target[0], target[1], target[2], 0,0,0);
if(main_scene_.hasCloud(-99999))
{
main_scene_.setCloudPose(-99999, pose);
}
else
{
main_scene_.addCloud(-99999, targetPoint_, pcl::IndicesPtr(), pose);
}
// reset states
removeMeasureClicked_ = false;
addMeasureClicked_ = false;
teleportClicked_ = false;
}
void RTABMapApp::SetCameraType(
tango_gl::GestureCamera::CameraType camera_type) {
main_scene_.SetCameraType(camera_type);
}
void RTABMapApp::OnTouchEvent(int touch_count,
tango_gl::GestureCamera::TouchEvent event,
float x0, float y0, float x1, float y1) {
main_scene_.OnTouchEvent(touch_count, event, x0, y0, x1, y1);
}
void RTABMapApp::setPausedMapping(bool paused)
{
{
boost::mutex::scoped_lock lock(renderingMutex_);
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}
if(rtabmapThread_)
{
if(rtabmapThread_->isRunning() && paused)
{
LOGW("Pause!");
rtabmapThread_->unregisterFromEventsManager();
rtabmapThread_->join(true);
}
else if(!rtabmapThread_->isRunning() && !paused)
{
LOGW("Resume!");
rtabmap_->triggerNewMap();
rtabmap_->parseParameters(getRtabmapParameters());
rtabmapThread_->registerToEventsManager();
rtabmapThread_->start();
}
}
}
void RTABMapApp::setOnlineBlending(bool enabled)
{
main_scene_.setBlending(enabled);
}
void RTABMapApp::setMapCloudShown(bool shown)
{
main_scene_.setMapRendering(shown);
}
void RTABMapApp::setOdomCloudShown(bool shown)
{
odomCloudShown_ = shown;
main_scene_.setTraceVisible(shown);
}
void RTABMapApp::setMeshRendering(bool enabled, bool withTexture)
{
main_scene_.setMeshRendering(enabled, withTexture);
}
void RTABMapApp::setPointSize(float value)
{
main_scene_.setPointSize(value);
}
void RTABMapApp::setFOV(float angle)
{
main_scene_.setFOV(angle);
}
void RTABMapApp::setOrthoCropFactor(float value)
{
main_scene_.setOrthoCropFactor(value);
}
void RTABMapApp::setGridRotation(float value)
{
// Update measuring snap axes
rtabmap::Transform rotation(0,0, value * DEGREE_2_RADIANS);
renderingMutex_.lock();
snapAxes_[0] = rtabmap::util3d::transformPoint(cv::Vec3f(1,0,0), rotation);
snapAxes_[1] = rtabmap::util3d::transformPoint(cv::Vec3f(0,1,0), rotation);
measuresUpdated_ = true;
renderingMutex_.unlock();
// Update grid
main_scene_.setGridRotation(value);
}
void RTABMapApp::setLighting(bool enabled)
{
main_scene_.setLighting(enabled);
}
void RTABMapApp::setBackfaceCulling(bool enabled)
{
main_scene_.setBackfaceCulling(enabled);
}
void RTABMapApp::setWireframe(bool enabled)
{
main_scene_.setWireframe(enabled);
}
void RTABMapApp::setTextureColorSeamsHidden(bool hidden)
{
main_scene_.setTextureColorSeamsHidden(hidden);
}
void RTABMapApp::setLocalizationMode(bool enabled)
{
localizationMode_ = enabled;
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
this->post(new rtabmap::ParamEvent(parameters));
}
void RTABMapApp::setTrajectoryMode(bool enabled)
{
trajectoryMode_ = enabled;
this->post(new rtabmap::ParamEvent(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
}
void RTABMapApp::setGraphOptimization(bool enabled)
{
graphOptimization_ = enabled;
if((sensorCaptureThread_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature()!=0)
{
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, true, true);
if(poses.size())
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap::Statistics stats = rtabmap_->getStatistics();
stats.setPoses(poses);
stats.setConstraints(links);
LOGI("Send rtabmap event to update graph...");
rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
rtabmap_->setOptimizedPoses(poses, links);
}
}
}
void RTABMapApp::setNodesFiltering(bool enabled)
{
nodesFiltering_ = enabled;
setGraphOptimization(graphOptimization_); // this will resend the graph if paused
}
void RTABMapApp::setGraphVisible(bool visible)
{
main_scene_.setGraphVisible(visible);
main_scene_.setTraceVisible(visible);
setGraphOptimization(graphOptimization_); // this will republish the graph
}
void RTABMapApp::setGridVisible(bool visible)
{
main_scene_.setGridVisible(visible);
}
void RTABMapApp::setRawScanSaved(bool enabled)
{
if(rawScanSaved_ != enabled)
{
rawScanSaved_ = enabled;
}
}
void RTABMapApp::setCameraColor(bool enabled)
{
if(cameraColor_ != enabled)
{
cameraColor_ = enabled;
}
}
void RTABMapApp::setFullResolution(bool enabled)
{
if(fullResolution_ != enabled)
{
fullResolution_ = enabled;
}
}
void RTABMapApp::setSmoothing(bool enabled)
{
if(smoothing_ != enabled)
{
smoothing_ = enabled;
}
}
void RTABMapApp::setDepthBleedingError(float value)
{
depthBleedingError_ = value;
}
void RTABMapApp::setDepthFromMotion(bool enabled)
{
if(depthFromMotion_ != enabled)
{
depthFromMotion_ = enabled;
}
}
void RTABMapApp::setAppendMode(bool enabled)
{
if(appendMode_ != enabled)
{
appendMode_ = enabled;
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
this->post(new rtabmap::ParamEvent(parameters));
}
}
void RTABMapApp::setUpstreamRelocalizationAccThr(float value)
{
upstreamRelocalizationMaxAcc_ = value;
}
void RTABMapApp::setDataRecorderMode(bool enabled)
{
if(dataRecorderMode_ != enabled)
{
dataRecorderMode_ = enabled; // parameters will be set when resuming (we assume we are paused)
if(localizationMode_ && enabled)
{
localizationMode_ = false;
}
}
}
void RTABMapApp::setMaxCloudDepth(float value)
{
maxCloudDepth_ = value;
}
void RTABMapApp::setMinCloudDepth(float value)
{
minCloudDepth_ = value;
}
void RTABMapApp::setCloudDensityLevel(int value)
{
cloudDensityLevel_ = value;
}
void RTABMapApp::setMeshAngleTolerance(float value)
{
meshAngleToleranceDeg_ = value;
}
void RTABMapApp::setMeshDecimationFactor(float value)
{
meshDecimationFactor_ = value;
}
void RTABMapApp::setMeshTriangleSize(int value)
{
meshTrianglePix_ = value;
}
void RTABMapApp::setClusterRatio(float value)
{
clusterRatio_ = value;
}
void RTABMapApp::setMaxGainRadius(float value)
{
maxGainRadius_ = value;
}
void RTABMapApp::setRenderingTextureDecimation(int value)
{
UASSERT(value>=1);
renderingTextureDecimation_ = value;
}
void RTABMapApp::setBackgroundColor(float gray)
{
backgroundColor_ = gray;
float v = backgroundColor_ == 0.5f?0.4f:1.0f-backgroundColor_;
main_scene_.setGridColor(v, v, v);
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}
void RTABMapApp::setDepthConfidence(int value)
{
depthConfidence_ = value*50; // [0,2] -> [0,100]
if(depthConfidence_>100)
{
depthConfidence_ = 100;
}
}
void RTABMapApp::setExportPointCloudFormat(const std::string & format)
{
#if defined(RTABMAP_PDAL) || defined(RTABMAP_LIBLAS)
if(format == "las" || format == "laz") {
exportPointCloudFormat_ = format;
}
else
#endif
if(format != "ply") {
UERROR("Not supported point cloud format %s", format.c_str());
}
else {
exportPointCloudFormat_ = format;
}
}
int RTABMapApp::setMappingParameter(const std::string & key, const std::string & value)
{
std::string compatibleKey = key;
// Backward compatibility
std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=rtabmap::Parameters::getRemovedParameters().find(key);
if(iter != rtabmap::Parameters::getRemovedParameters().end())
{
if(iter->second.first)
{
// can be migrated
compatibleKey = iter->second.second;
LOGW("Parameter name changed: \"%s\" -> \"%s\". Please update the code accordingly. Value \"%s\" is still set to the new parameter name.",
iter->first.c_str(), iter->second.second.c_str(), value.c_str());
}
else
{
if(iter->second.second.empty())
{
UERROR("Parameter \"%s\" doesn't exist anymore!",
iter->first.c_str());
}
else
{
UERROR("Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
iter->first.c_str(), iter->second.second.c_str());
}
}
}
if(rtabmap::Parameters::getDefaultParameters().find(compatibleKey) != rtabmap::Parameters::getDefaultParameters().end())
{
LOGI("%s", uFormat("Setting param \"%s\" to \"%s\"", compatibleKey.c_str(), value.c_str()).c_str());
uInsert(mappingParameters_, rtabmap::ParametersPair(compatibleKey, value));
UEventsManager::post(new rtabmap::ParamEvent(this->getRtabmapParameters()));
return 0;
}
else
{
UERROR(uFormat("Key \"%s\" doesn't exist!", compatibleKey.c_str()).c_str());
return -1;
}
}
void RTABMapApp::setGPS(const rtabmap::GPS & gps)
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
{
camera_->setGPS(gps);
}
}
void RTABMapApp::addEnvSensor(int type, float value)
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
{
camera_->addEnvSensor(type, value);
}
}
void RTABMapApp::save(const std::string & databasePath)
{
LOGI("Saving database to %s", databasePath.c_str());
rtabmapThread_->unregisterFromEventsManager();
rtabmapThread_->join(true);
LOGI("Taking screenshot...");
takeScreenshotOnNextRender_ = true;
if(!screenshotReady_.acquire(1, 2000))
{
UERROR("Failed to take a screenshot after 2 sec!");
}
// save mapping parameters in the database
bool appendModeBackup = appendMode_;
if(appendMode_)
{
appendMode_ = false;
}
bool dataRecorderModeBackup = dataRecorderMode_;
if(dataRecorderMode_)
{
dataRecorderMode_ = false;
}
bool localizationModeBackup = localizationMode_;
if(localizationMode_)
{
localizationMode_ = false;
}
if(appendModeBackup || dataRecorderModeBackup || localizationModeBackup)
{
rtabmap::ParametersMap parameters = getRtabmapParameters();
rtabmap_->parseParameters(parameters);
appendMode_ = appendModeBackup;
dataRecorderMode_ = dataRecorderModeBackup;
localizationMode_ = localizationModeBackup;
}
std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
std::multimap<int, rtabmap::Link> links = rtabmap_->getLocalConstraints();
rtabmap_->close(true, databasePath);
rtabmap_->init(getRtabmapParameters(), dataRecorderMode_?"":databasePath);
if(dataRecorderMode_)
{
clearSceneOnNextRender_ = true;
}
else
{
rtabmap_->setOptimizedPoses(poses, links);
}
}
bool RTABMapApp::recover(const std::string & from, const std::string & to)
{
std::string errorMsg;
if(!databaseRecovery(from, false, &errorMsg, &progressionStatus_))
{
LOGE("Recovery Error: %s", errorMsg.c_str());
return false;
}
else
{
LOGI("Renaming %s to %s", from.c_str(), to.c_str());
if(UFile::rename(from, to) != 0)
{
LOGE("Failed renaming %s to %s", from.c_str(), to.c_str());
return false;
}
return true;
}
}
void RTABMapApp::cancelProcessing()
{
UWARN("Processing canceled!");
progressionStatus_.setCanceled(true);
}
bool RTABMapApp::exportMesh(
float cloudVoxelSize,
bool regenerateCloud,
bool meshing,
int textureSize,
int textureCount,
int normalK,
bool optimized,
float optimizedVoxelSize,
int optimizedDepth,
int optimizedMaxPolygons,
float optimizedColorRadius,
bool optimizedCleanWhitePolygons,
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
int textureVertexColorPolicy,
bool blockRendering)
{
// make sure createdMeshes_ is not modified while exporting! We don't
// lock the meshesMutex_ because we want to continue rendering.
std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
if(poses.empty())
{
// look if we just triggered new map without localizing afterward (pause/resume in append Mode)
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(
poses,
links,
true,
false);
if(poses.empty())
{
UERROR("Empty optimized poses!");
return false;
}
rtabmap_->setOptimizedPoses(poses, links);
}
if(blockRendering)
{
renderingMutex_.lock();
main_scene_.clear();
}
exporting_ = true;
bool success = false;
try
{
int totalSteps = 0;
totalSteps+=poses.size(); // assemble
if(meshing)
{
if(optimized)
{
totalSteps += poses.size(); // meshing
if(textureSize > 0)
{
totalSteps += 1; // gain
totalSteps += 1; // blending
if(optimizedMaxPolygons > 0)
{
totalSteps += 1; // decimation
}
}
totalSteps += 1; // texture/coloring
if(textureSize > 0)
{
totalSteps+=poses.size()+1; // texture cameras + apply polygons
}
}
if(textureSize>0)
{
totalSteps += poses.size()+1; // uncompress and merge textures
}
}
totalSteps += 1; // save file
progressionStatus_.reset(totalSteps);
//Assemble the meshes
if(meshing) // Mesh or Texture Mesh
{
pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
cv::Mat globalTextures;
int totalPolygons = 0;
{
if(optimized)
{
std::map<int, rtabmap::Transform> cameraPoses;
std::map<int, rtabmap::CameraModel> cameraModels;
std::map<int, cv::Mat> cameraDepths;
UTimer timer;
LOGI("Assemble clouds (%d)...", (int)poses.size());
#ifndef DISABLE_LOG
int cloudCount=0;
#endif
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
iter!= poses.end();
++iter)
{
std::map<int, rtabmap::Mesh>::iterator jter = createdMeshes_.find(iter->first);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::IndicesPtr indices(new std::vector<int>);
rtabmap::CameraModel model;
cv::Mat depth;
float gains[3];
gains[0] = gains[1] = gains[2] = 1.0f;
if(jter != createdMeshes_.end() && (jter->second.polygons.empty() || meshDecimationFactor_ == 0.0f))
{
cloud = jter->second.cloud;
indices = jter->second.indices;
model = jter->second.cameraModel;
gains[0] = jter->second.gains[0];
gains[1] = jter->second.gains[1];
gains[2] = jter->second.gains[2];
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
data.uncompressData(0, &depth);
}
else
{
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
data.uncompressData();
if(!data.imageRaw().empty() && !data.depthRaw().empty() && data.cameraModels().size() == 1)
{
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
if(smoothing_ || depthBleedingError_>0.0f)
{
cv::Mat depth = data.depthRaw();
if(depthBleedingError_ > 0.0f)
{
rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
}
if(smoothing_)
{
depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
}
data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
}
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
model = data.cameraModels()[0];
depth = data.depthRaw();
}
}
if(cloud->size() && indices->size() && model.isValidForProjection())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(optimizedVoxelSize > 0.0f)
{
transformedCloud = rtabmap::util3d::voxelize(cloud, indices, optimizedVoxelSize);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
}
else
{
// it looks like that using only transformPointCloud with indices
// flushes the colors, so we should extract points before... maybe a too old PCL version
pcl::copyPointCloud(*cloud, *indices, *transformedCloud);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
}
Eigen::Vector3f viewpoint( iter->second.x(), iter->second.y(), iter->second.z());
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, normalK, 0.0f, viewpoint);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*transformedCloud, *normals, *cloudWithNormals);
if(textureSize == 0 && (gains[0] != 1.0 || gains[1] != 1.0 || gains[2] != 1.0))
{
for(unsigned int i=0; i<cloudWithNormals->size(); ++i)
{
pcl::PointXYZRGBNormal & pt = cloudWithNormals->at(i);
pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));
}
}
if(mergedClouds->size() == 0)
{
*mergedClouds = *cloudWithNormals;
}
else
{
*mergedClouds += *cloudWithNormals;
}
cameraPoses.insert(std::make_pair(iter->first, iter->second));
cameraModels.insert(std::make_pair(iter->first, model));
if(!depth.empty())
{
cameraDepths.insert(std::make_pair(iter->first, depth));
}
LOGI("Assembled %d points (%d/%d total=%d)", (int)cloudWithNormals->size(), ++cloudCount, (int)poses.size(), (int)mergedClouds->size());
}
else
{
UERROR("Cloud %d not found or empty", iter->first);
}
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
exporting_ = false;
return false;
}
progressionStatus_.increment();
}
LOGI("Assembled clouds (%d)... done! %fs (total points=%d)", (int)cameraPoses.size(), timer.ticks(), (int)mergedClouds->size());
if(mergedClouds->size()>=3)
{
if(optimizedDepth == 0)
{
Eigen::Vector4f min,max;
pcl::getMinMax3D(*mergedClouds, min, max);
float mapLength = uMax3(max[0]-min[0], max[1]-min[1], max[2]-min[2]);
optimizedDepth = 12;
for(int i=6; i<12; ++i)
{
if(mapLength/float(1<<i) < 0.03f)
{
optimizedDepth = i;
break;
}
}
LOGI("optimizedDepth=%d (map length=%f)", optimizedDepth, mapLength);
}
// Mesh reconstruction
LOGI("Mesh reconstruction...");
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::Poisson<pcl::PointXYZRGBNormal> poisson;
poisson.setDepth(optimizedDepth);
poisson.setInputCloud(mergedClouds);
poisson.reconstruct(*mesh);
LOGI("Mesh reconstruction... done! %fs (%d polygons)", timer.ticks(), (int)mesh->polygons.size());
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
exporting_ = false;
return false;
}
progressionStatus_.increment(poses.size());
if(mesh->polygons.size())
{
totalPolygons=(int)mesh->polygons.size();
if(optimizedMaxPolygons > 0 && optimizedMaxPolygons < (int)mesh->polygons.size())
{
#ifndef DISABLE_VTK
unsigned int count = mesh->polygons.size();
float factor = 1.0f-float(optimizedMaxPolygons)/float(count);
LOGI("Mesh decimation (max polygons %d/%d -> factor=%f)...", optimizedMaxPolygons, (int)count, factor);
progressionStatus_.setMax(progressionStatus_.getMax() + optimizedMaxPolygons/10000);
pcl::PolygonMesh::Ptr output(new pcl::PolygonMesh);
pcl::MeshQuadricDecimationVTK mqd;
mqd.setTargetReductionFactor(factor);
mqd.setInputMesh(mesh);
mqd.process (*output);
mesh = output;
//mesh = rtabmap::util3d::meshDecimation(mesh, decimationFactor);
// use direct instantiation above to this fix some linker errors on android like:
// pcl::MeshQuadricDecimationVTK::performProcessing(pcl::PolygonMesh&): error: undefined reference to 'vtkQuadricDecimation::New()'
// pcl::VTKUtils::mesh2vtk(pcl::PolygonMesh const&, vtkSmartPointer<vtkPolyData>&): error: undefined reference to 'vtkFloatArray::New()'
LOGI("Mesh decimated (factor=%f) from %d to %d polygons (%fs)", factor, count, (int)mesh->polygons.size(), timer.ticks());
if(count < mesh->polygons.size())
{
UWARN("Decimated mesh has more polygons than before!");
}
#else
UWARN("RTAB-Map is not built with PCL-VTK module so mesh decimation cannot be used!");
#endif
}
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
exporting_ = false;
return false;
}
progressionStatus_.increment();
rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGBNormal>(
mesh,
0.0f,
0,
mergedClouds,
optimizedColorRadius,
!(textureSize > 0 && textureVertexColorPolicy == 0),
optimizedCleanWhitePolygons,
optimizedMinClusterSize);
if(textureSize>0)
{
LOGI("Texturing... cameraPoses=%d, cameraDepths=%d", (int)cameraPoses.size(), (int)cameraDepths.size());
textureMesh = rtabmap::util3d::createTextureMesh(
mesh,
cameraPoses,
cameraModels,
cameraDepths,
optimizedMaxTextureDistance,
0.0f,
0.0f,
optimizedMinTextureClusterSize,
std::vector<float>(),
&progressionStatus_,
&vertexToPixels);
LOGI("Texturing... done! %fs", timer.ticks());
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
exporting_ = false;
return false;
}
// Remove occluded polygons (polygons with no texture)
if(textureMesh->tex_coordinates.size() && optimizedCleanWhitePolygons)
{
LOGI("Cleanup mesh...");
rtabmap::util3d::cleanTextureMesh(*textureMesh, 0);
LOGI("Cleanup mesh... done! %fs", timer.ticks());
}
totalPolygons = 0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
totalPolygons+=textureMesh->tex_polygons[t].size();
}
}
else
{
totalPolygons = (int)mesh->polygons.size();
polygonMesh = mesh;
}
}
}
else
{
UERROR("Merged cloud too small (%d points) to create polygons!", (int)mergedClouds->size());
}
}
else // organized meshes
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
if(textureSize > 0)
{
textureMesh->tex_materials.resize(poses.size());
textureMesh->tex_polygons.resize(poses.size());
textureMesh->tex_coordinates.resize(poses.size());
}
int polygonsStep = 0;
int oi = 0;
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
iter!= poses.end();
++iter)
{
LOGI("Assembling cloud %d (total=%d)...", iter->first, (int)poses.size());
std::map<int, rtabmap::Mesh>::iterator jter = createdMeshes_.find(iter->first);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> polygons;
float gains[3] = {1.0f};
if(jter != createdMeshes_.end())
{
cloud = jter->second.cloud;
polygons= jter->second.polygons;
if(cloud->size() && polygons.size() == 0)
{
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
}
gains[0] = jter->second.gains[0];
gains[1] = jter->second.gains[1];
gains[2] = jter->second.gains[2];
}
else
{
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
data.uncompressData();
if(!data.imageRaw().empty() && !data.depthRaw().empty() && data.cameraModels().size() == 1)
{
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
if(smoothing_ || depthBleedingError_>0.0f)
{
cv::Mat depth = data.depthRaw();
if(depthBleedingError_ > 0.0f)
{
rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
}
if(smoothing_)
{
depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
}
data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
}
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, 0, rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
}
}
if(cloud->size() && polygons.size())
{
// Convert organized to dense cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> outputPolygons;
std::vector<int> denseToOrganizedIndices = rtabmap::util3d::filterNaNPointsFromMesh(*cloud, polygons, *outputCloud, outputPolygons);
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(outputCloud, normalK);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*outputCloud, *normals, *cloudWithNormals);
UASSERT(outputPolygons.size());
totalPolygons+=outputPolygons.size();
if(textureSize == 0)
{
// colored mesh
cloudWithNormals = rtabmap::util3d::transformPointCloud(cloudWithNormals, iter->second);
if(gains[0] != 1.0f || gains[1] != 1.0f || gains[2] != 1.0f)
{
for(unsigned int i=0; i<cloudWithNormals->size(); ++i)
{
pcl::PointXYZRGBNormal & pt = cloudWithNormals->at(i);
pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));
}
}
if(mergedClouds->size() == 0)
{
*mergedClouds = *cloudWithNormals;
polygonMesh->polygons = outputPolygons;
}
else
{
rtabmap::util3d::appendMesh(*mergedClouds, polygonMesh->polygons, *cloudWithNormals, outputPolygons);
}
}
else
{
// texture mesh
size_t polygonSize = outputPolygons.front().vertices.size();
textureMesh->tex_polygons[oi].resize(outputPolygons.size());
textureMesh->tex_coordinates[oi].resize(outputPolygons.size() * polygonSize);
for(unsigned int j=0; j<outputPolygons.size(); ++j)
{
pcl::Vertices vertices = outputPolygons[j];
UASSERT(polygonSize == vertices.vertices.size());
for(unsigned int k=0; k<vertices.vertices.size(); ++k)
{
//uv
UASSERT(vertices.vertices[k] < denseToOrganizedIndices.size());
int originalVertex = denseToOrganizedIndices[vertices.vertices[k]];
textureMesh->tex_coordinates[oi][j*vertices.vertices.size()+k] = Eigen::Vector2f(
float(originalVertex % cloud->width) / float(cloud->width), // u
float(cloud->height - originalVertex / cloud->width) / float(cloud->height)); // v
vertices.vertices[k] += polygonsStep;
}
textureMesh->tex_polygons[oi][j] = vertices;
}
polygonsStep += outputCloud->size();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(cloudWithNormals, iter->second);
if(mergedClouds->size() == 0)
{
*mergedClouds = *transformedCloud;
}
else
{
*mergedClouds += *transformedCloud;
}
textureMesh->tex_materials[oi].tex_illum = 1;
textureMesh->tex_materials[oi].tex_name = uFormat("material_%d", iter->first);
textureMesh->tex_materials[oi].tex_file = uNumber2Str(iter->first);
++oi;
}
}
else
{
UERROR("Mesh not found for mesh %d", iter->first);
}
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
exporting_ = false;
return false;
}
progressionStatus_.increment();
}
if(textureSize == 0)
{
if(mergedClouds->size())
{
pcl::toPCLPointCloud2(*mergedClouds, polygonMesh->cloud);
}
else
{
polygonMesh->polygons.clear();
}
}
else
{
textureMesh->tex_materials.resize(oi);
textureMesh->tex_polygons.resize(oi);
if(mergedClouds->size())
{
pcl::toPCLPointCloud2(*mergedClouds, textureMesh->cloud);
}
}
}
// end optimized or organized
if(textureSize>0 && totalPolygons && textureMesh->tex_materials.size())
{
LOGI("Merging %d textures...", (int)textureMesh->tex_materials.size());
globalTextures = rtabmap::util3d::mergeTextures(
*textureMesh,
std::map<int, cv::Mat>(),
std::map<int, std::vector<rtabmap::CameraModel> >(),
rtabmap_->getMemory(),
0,
textureSize,
textureCount,
vertexToPixels,
true, 10.0f, true ,true, 0, 0, 0, false,
&progressionStatus_,
255,
textureVertexColorPolicy == 1);
LOGI("Merging %d textures... globalTextures=%dx%d", (int)textureMesh->tex_materials.size(),
globalTextures.cols, globalTextures.rows);
}
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
exporting_ = false;
return false;
}
progressionStatus_.increment();
}
if(totalPolygons)
{
if(textureSize == 0)
{
UASSERT((int)polygonMesh->polygons.size() == totalPolygons);
if(polygonMesh->polygons.size())
{
// save in database
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(1);
polygons[0].resize(polygonMesh->polygons.size());
for(unsigned int p=0; p<polygonMesh->polygons.size(); ++p)
{
polygons[0][p] = polygonMesh->polygons[p].vertices;
}
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, polygons);
success = true;
}
}
else if(textureMesh->tex_materials.size())
{
bool hasColors = false;
for(unsigned int i=0; i<textureMesh->cloud.fields.size(); ++i)
{
if(textureMesh->cloud.fields[i].name.compare("rgb") == 0)
{
hasColors = true;
break;
}
}
cv::Mat cloudMat;
if(hasColors)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
}
else
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
}
// save in database
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(textureMesh->tex_polygons.size());
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
polygons[t].resize(textureMesh->tex_polygons[t].size());
for(unsigned int p=0; p<textureMesh->tex_polygons[t].size(); ++p)
{
polygons[t][p] = textureMesh->tex_polygons[t][p].vertices;
}
}
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, polygons, textureMesh->tex_coordinates, globalTextures);
success = true;
}
else
{
UERROR("Failed exporting texture mesh! There are no textures!");
}
}
else
{
UERROR("Failed exporting mesh! There are no polygons!");
}
}
else // Point cloud
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGB>);
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
iter!= poses.end();
++iter)
{
std::map<int, rtabmap::Mesh>::iterator jter=createdMeshes_.find(iter->first);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::IndicesPtr indices(new std::vector<int>);
float gains[3];
gains[0] = gains[1] = gains[2] = 1.0f;
if(regenerateCloud)
{
if(jter != createdMeshes_.end())
{
gains[0] = jter->second.gains[0];
gains[1] = jter->second.gains[1];
gains[2] = jter->second.gains[2];
}
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, true, false, false);
data.uncompressData();
if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
// full resolution
if(smoothing_ || depthBleedingError_>0.0f)
{
cv::Mat depth = data.depthRaw();
if(depthBleedingError_ > 0.0f)
{
rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
}
if(smoothing_)
{
depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
}
data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
}
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, 1, maxCloudDepth_, minCloudDepth_, indices.get(), rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
}
else if(!data.laserScanRaw().empty())
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
}
else
{
if(jter != createdMeshes_.end())
{
cloud = jter->second.cloud;
indices = jter->second.indices;
gains[0] = jter->second.gains[0];
gains[1] = jter->second.gains[1];
gains[2] = jter->second.gains[2];
}
else
{
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, true, false, false);
data.uncompressData();
if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
if(smoothing_ || depthBleedingError_>0.0f)
{
cv::Mat depth = data.depthRaw();
if(depthBleedingError_ > 0.0f)
{
rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
}
if(smoothing_)
{
depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
}
data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
}
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get(), rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
}
else if(!data.laserScanRaw().empty())
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
}
}
if(cloud->size() && indices->size())
{
// Convert organized to dense cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(cloudVoxelSize > 0.0f)
{
transformedCloud = rtabmap::util3d::voxelize(cloud, indices, cloudVoxelSize);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
}
else
{
// it looks like that using only transformPointCloud with indices
// flushes the colors, so we should extract points before... maybe a too old PCL version
pcl::copyPointCloud(*cloud, *indices, *transformedCloud);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
}
if(gains[0] != 1.0f || gains[1] != 1.0f || gains[2] != 1.0f)
{
//LOGD("cloud %d, gain=%f", iter->first, gain);
for(unsigned int i=0; i<transformedCloud->size(); ++i)
{
pcl::PointXYZRGB & pt = transformedCloud->at(i);
//LOGI("color %d = %d %d %d", i, (int)pt.r, (int)pt.g, (int)pt.b);
pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));
}
}
if(mergedClouds->size() == 0)
{
*mergedClouds = *transformedCloud;
}
else
{
*mergedClouds += *transformedCloud;
}
}
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
exporting_ = false;
return false;
}
progressionStatus_.increment();
}
if(mergedClouds->size())
{
if(cloudVoxelSize > 0.0f)
{
mergedClouds = rtabmap::util3d::voxelize(mergedClouds, cloudVoxelSize);
}
// save in database
{
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*mergedClouds).data()); // for database
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat);
success = true;
}
}
else
{
UERROR("Merged cloud is empty!");
}
}
progressionStatus_.finish();
if(blockRendering)
{
renderingMutex_.unlock();
}
}
catch (std::exception & e)
{
UERROR("Out of memory! %s", e.what());
if(blockRendering)
{
renderingMutex_.unlock();
}
success = false;
}
exporting_ = false;
optRefId_ = 0;
if(optRefPose_)
{
delete optRefPose_;
optRefPose_ = 0;
}
if(success && poses.size())
{
// for optimized mesh
// just take the last as reference
optRefId_ = poses.rbegin()->first;
optRefPose_ = new rtabmap::Transform(poses.rbegin()->second);
}
return success;
}
bool RTABMapApp::postExportation(bool visualize)
{
LOGI("postExportation(visualize=%d)", visualize?1:0);
optTextureMesh_.reset(new pcl::TextureMesh);
optMesh_= rtabmap::Mesh();
optTexture_ = cv::Mat();
exportedMeshUpdated_ = false;
if(visualize)
{
visualizingMesh_ = false;
cv::Mat cloudMat;
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
if(rtabmap_ && rtabmap_->getMemory())
{
cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&polygons, &texCoords, &textures);
if(!cloudMat.empty())
{
LOGI("postExportation: Found optimized mesh! Visualizing it.");
optTextureMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optMesh_ = rtabmap::Mesh();
if(textures.rows > 4096) // Limitation iOS, just for rendering on device
{
cv::resize(textures, optTexture_, cv::Size(4096, 4096), 0.0f, 0.0f, cv::INTER_AREA);
}
else {
optTexture_ = textures;
}
boost::mutex::scoped_lock lock(renderingMutex_);
visualizingMesh_ = true;
exportedMeshUpdated_ = true;
}
else
{
LOGI("postExportation: No optimized mesh found.");
}
}
}
else if(visualizingMesh_)
{
rtabmapMutex_.lock();
std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
std::multimap<int, rtabmap::Link> links = rtabmap_->getLocalConstraints();
if(poses.empty())
{
rtabmap_->getGraph(
poses,
links,
true,
true,
0,
false,
false,
false,
false,
false,
false);
}
if(!poses.empty())
{
rtabmap::Statistics stats;
for(std::map<std::string, float>::iterator iter=bufferedStatsData_.begin(); iter!=bufferedStatsData_.end(); ++iter)
{
stats.addStatistic(iter->first, iter->second);
}
stats.setPoses(poses);
stats.setConstraints(links);
rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
}
rtabmapMutex_.unlock();
visualizingMesh_ = false;
}
return visualizingMesh_;
}
bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::string & name)
{
LOGI("writeExportedMesh: dir=%s name=%s", directory.c_str(), name.c_str());
exporting_ = true;
bool success = false;
pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
cv::Mat cloudMat;
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
if(rtabmap_ && rtabmap_->getMemory())
{
cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&polygons, &texCoords, &textures);
if(!cloudMat.empty())
{
LOGI("writeExportedMesh: Found optimized mesh!");
if(textures.empty())
{
polygonMesh = rtabmap::util3d::assemblePolygonMesh(cloudMat, polygons.size() == 1?polygons[0]:std::vector<std::vector<RTABMAP_PCL_INDEX> >());
}
else
{
textureMesh = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, false);
}
}
else
{
LOGI("writeExportedMesh: No optimized mesh found.");
}
}
if(polygonMesh->cloud.data.size())
{
#if defined(RTABMAP_PDAL) || defined(RTABMAP_LIBLAS)
if(polygonMesh->polygons.empty() && (exportPointCloudFormat_ == "las" || exportPointCloudFormat_ == "laz")) {
// Point cloud LAS
std::string filePath = directory + UDirectory::separator() + name + (exportPointCloudFormat_ == "las"? ".las" : ".laz");
LOGI("Saving las (%d vertices) to %s.", (int)polygonMesh->cloud.data.size()/polygonMesh->cloud.point_step, filePath.c_str());
pcl::PointCloud<pcl::PointXYZRGB> output;
pcl::fromPCLPointCloud2(polygonMesh->cloud, output);
#ifdef RTABMAP_PDAL
success = rtabmap::savePDALFile(filePath, output) == 0;
#else
success = rtabmap::saveLASFile(filePath, output) == 0;
#endif
if(success)
{
LOGI("Saved las to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving las to %s!", filePath.c_str());
}
}
else
#endif
{
// Point cloud PLY
std::string filePath = directory + UDirectory::separator() + name + ".ply";
LOGI("Saving ply (%d vertices, %d polygons) to %s.", (int)polygonMesh->cloud.data.size()/polygonMesh->cloud.point_step, (int)polygonMesh->polygons.size(), filePath.c_str());
success = pcl::io::savePLYFileBinary(filePath, *polygonMesh) == 0;
if(success)
{
LOGI("Saved ply to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving ply to %s!", filePath.c_str());
}
}
}
else if(textureMesh->cloud.data.size())
{
// TextureMesh OBJ
LOGD("Saving texture(s) (%d)", textures.empty()?0:textures.cols/textures.rows);
UASSERT(textures.empty() || textures.cols % textures.rows == 0);
UASSERT((int)textureMesh->tex_materials.size() == textures.cols/textures.rows);
for(unsigned int i=0; i<textureMesh->tex_materials.size(); ++i)
{
std::string baseNameNum = name;
if(textureMesh->tex_materials.size()>1)
{
baseNameNum+=uNumber2Str(i);
}
std::string fullPath = directory+UDirectory::separator()+baseNameNum+".jpg";
textureMesh->tex_materials[i].tex_file = baseNameNum+".jpg";
LOGI("Saving texture to %s.", fullPath.c_str());
success = cv::imwrite(fullPath, textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)));
if(!success)
{
LOGI("Failed saving %s!", fullPath.c_str());
}
else
{
LOGI("Saved %s.", fullPath.c_str());
}
}
if(success)
{
// With Sketchfab, the OBJ models are rotated 90 degrees on x axis, so rotate -90 to have model in right position
//pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
//pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
//cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform(1,0,0,0, 0,0,1,0, 0,-1,0,0));
//pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
std::string filePath = directory + UDirectory::separator() + name + ".obj";
int totalPolygons = 0;
for(unsigned int i=0;i<textureMesh->tex_polygons.size(); ++i)
{
totalPolygons += textureMesh->tex_polygons[i].size();
}
LOGI("Saving obj (%d vertices, %d polygons) to %s.", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, totalPolygons, filePath.c_str());
success = rtabmap::util3d::saveOBJFile(filePath, *textureMesh) == 0;
if(success)
{
LOGI("Saved obj to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving obj to %s!", filePath.c_str());
}
}
}
exporting_ = false;
return success;
}
int RTABMapApp::postProcessing(int approach)
{
postProcessing_ = true;
LOGI("postProcessing begin(%d)", approach);
int returnedValue = 0;
if(rtabmap_)
{
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
// detect more loop closures
if(approach == -1 || approach == 2)
{
if(approach == -1)
{
progressionStatus_.reset(6);
}
returnedValue = rtabmap_->detectMoreLoopClosures(1.0f, M_PI/6.0f, approach == -1?5:1, true, true, approach==-1?&progressionStatus_:0);
if(approach == -1 && progressionStatus_.isCanceled())
{
postProcessing_ = false;
return -1;
}
}
// graph optimization
if(returnedValue >=0)
{
if (approach == 1)
{
if(rtabmap::Optimizer::isAvailable(rtabmap::Optimizer::kTypeG2O))
{
std::map<int, rtabmap::Signature> signatures;
rtabmap_->getGraph(poses, links, true, true, &signatures);
rtabmap::ParametersMap param;
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30"));
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0"));
rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param);
poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures);
delete sba;
}
else
{
UERROR("g2o not available!");
}
}
else if(approach!=4 && approach!=5 && approach != 7)
{
// simple graph optmimization
rtabmap_->getGraph(poses, links, true, true);
}
}
if(poses.size())
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap::Statistics stats = rtabmap_->getStatistics();
stats.setPoses(poses);
stats.setConstraints(links);
LOGI("PostProcessing, sending rtabmap event to update graph...");
rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
rtabmap_->setOptimizedPoses(poses, links);
}
else if(approach!=4 && approach!=5 && approach != 7)
{
returnedValue = -1;
}
if(returnedValue >=0)
{
boost::mutex::scoped_lock lock(renderingMutex_);
// filter polygons
if(approach == -1 || approach == 4)
{
filterPolygonsOnNextRender_ = true;
}
// gain compensation
if(approach == -1 || approach == 5 || approach == 6)
{
gainCompensationOnNextRender_ = approach == 6 ? 2 : 1; // 2 = full, 1 = fast
}
// bilateral filtering
if(approach == 7)
{
bilateralFilteringOnNextRender_ = true;
}
}
}
postProcessing_ = false;
LOGI("postProcessing end(%d) -> %d", approach, returnedValue);
return returnedValue;
}
void RTABMapApp::clearMeasures()
{
boost::mutex::scoped_lock lockRender(renderingMutex_);
measures_.clear();
measuresUpdated_ = true;
}
void RTABMapApp::setMeasuringMode(int mode)
{
if(visualizingMesh_)
{
measuringMode_ = mode;
}
}
void RTABMapApp::addMeasureButtonClicked()
{
if(visualizingMesh_)
{
boost::mutex::scoped_lock lock(renderingMutex_);
addMeasureClicked_ = true;
}
}
void RTABMapApp::teleportButtonClicked()
{
if(visualizingMesh_)
{
boost::mutex::scoped_lock lock(renderingMutex_);
teleportClicked_ = true;
}
}
void RTABMapApp::removeMeasure()
{
if(visualizingMesh_)
{
boost::mutex::scoped_lock lock(renderingMutex_);
removeMeasureClicked_ = true;
}
}
void RTABMapApp::setMetricSystem(bool enabled)
{
metricSystem_ = enabled;
if(measures_.size())
{
measuresUpdated_ = true;
}
}
void RTABMapApp::setMeasuringTextSize(float size)
{
measuringTextSize_ = size;
if(measures_.size())
{
measuresUpdated_ = true;
}
}
void RTABMapApp::postOdometryEvent(
rtabmap::Transform pose,
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
float depth_fx, float depth_fy, float depth_cx, float depth_cy,
const rtabmap::Transform & rgbFrame,
const rtabmap::Transform & depthFrame,
double stamp,
double depthStamp,
const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
const float * points, int pointsLen, int pointsChannels,
rtabmap::Transform viewMatrix,
float p00, float p11, float p02, float p12, float p22, float p32, float p23,
float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)
{
#if defined(RTABMAP_ARCORE) || defined(__APPLE__)
boost::mutex::scoped_lock lock(cameraMutex_);
if(cameraDriver_ == 3 && camera_)
{
if(pose.isNull())
{
// We are lost, trigger a new map on next update
camera_->resetOrigin();
return;
}
if(rgb_fx > 0.0f && rgb_fy > 0.0f && rgb_cx > 0.0f && rgb_cy > 0.0f && stamp > 0.0f && yPlane && vPlane && yPlaneLen == rgbWidth*rgbHeight)
{
#ifndef DISABLE_LOG
//LOGD("rgb format = %d depth format =%d ", rgbFormat, depthFormat);
#endif
#if defined(RTABMAP_ARCORE)
if(rgbFormat == AR_IMAGE_FORMAT_YUV_420_888 &&
(depth==0 || depthFormat == AIMAGE_FORMAT_DEPTH16))
#else //__APPLE__
if(rgbFormat == 875704422 &&
(depth==0 || depthFormat == 1717855600))
#endif
{
cv::Mat outputRGB;
#ifndef DISABLE_LOG
//LOGD("y=%p u=%p v=%p yLen=%d y->v=%ld", yPlane, uPlane, vPlane, yPlaneLen, (long)vPlane-(long)yPlane);
#endif
if((long)vPlane-(long)yPlane != yPlaneLen)
{
// The uv-plane is not concatenated to y plane in memory, so concatenate them
cv::Mat yuv(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1);
memcpy(yuv.data, yPlane, yPlaneLen);
memcpy(yuv.data+yPlaneLen, vPlane, rgbHeight/2*rgbWidth);
cv::cvtColor(yuv, outputRGB, cv::COLOR_YUV2BGR_NV21);
}
else
{
#ifdef __ANDROID__
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, cv::COLOR_YUV2BGR_NV21);
#else // __APPLE__
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, cv::COLOR_YUV2RGB_NV21);
#endif
}
cv::Mat outputDepth;
cv::Mat outputDepthConfidence;
if(depth && depthHeight>0 && depthWidth>0)
{
#ifndef DISABLE_LOG
//LOGD("depth %dx%d len=%d", depthWidth, depthHeight, depthLen);
#endif
if(depthLen == 4*depthWidth*depthHeight)
{
// IOS
outputDepth = cv::Mat(depthHeight, depthWidth, CV_32FC1, (void*)depth).clone();
if(conf && confWidth == depthWidth && confHeight == depthHeight && confFormat == 1278226488)
{
// https://developer.apple.com/documentation/arkit/arconfidencelevel
// 0 = low
// 1 = medium
// 2 = high
// Re-scale confidence from [0,2] to [0,100]
cv::Mat(depthHeight, depthWidth, CV_8UC1, (void*)conf).convertTo(outputDepthConfidence, CV_8UC1, 50, 0);
}
}
else if(depthLen == 2*depthWidth*depthHeight)
{
// ANDROID
outputDepth = cv::Mat(depthHeight, depthWidth, CV_16UC1);
outputDepthConfidence = cv::Mat(depthHeight, depthWidth, CV_8UC1);
uint16_t *dataShort = (uint16_t *)depth;
for (int y = 0; y < outputDepth.rows; ++y)
{
for (int x = 0; x < outputDepth.cols; ++x)
{
uint16_t depthSample = dataShort[y*outputDepth.cols + x];
uint16_t depthRange = (depthSample & 0x1FFF); // first 3 bits are confidence
outputDepth.at<uint16_t>(y,x) = depthRange;
// https://developer.android.com/reference/android/graphics/ImageFormat#DEPTH16
// The confidence value is an estimate of correctness for this sample. It
// is encoded in the 3 most significant bits of the sample, with a value of
// 0 representing 100% confidence, a value of 1 representing 0% confidence, a
// value of 2 representing 1/7, a value of 3 representing 2/7, and so on.
uint8_t depthConfidence = uint8_t((depthSample >> 13) & 0x7);
outputDepthConfidence.at<uint8_t>(y,x) = depthConfidence == 0 ? 100 : (depthConfidence - 1)*100 / 7;
}
}
}
}
if(!outputRGB.empty())
{
// Convert in our coordinate frame
pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
// We should update the pose before querying poses for depth below (if not same stamp than rgb)
camera_->poseReceived(pose, stamp);
// Registration depth to rgb
if(!outputDepth.empty() && !depthFrame.isNull() && depth_fx!=0 && (rgbFrame != depthFrame || depthStamp!=stamp))
{
UTimer time;
rtabmap::Transform motion = rtabmap::Transform::getIdentity();
if(depthStamp != stamp)
{
// Interpolate pose
rtabmap::Transform poseRgb;
rtabmap::Transform poseDepth;
cv::Mat cov;
if(!camera_->getPose(camera_->getStampEpochOffset()+stamp, poseRgb, cov, 0.0))
{
UERROR("Could not find pose at rgb stamp %f (epoch %f)!", stamp, camera_->getStampEpochOffset()+stamp);
}
else if(!camera_->getPose(camera_->getStampEpochOffset()+depthStamp, poseDepth, cov, 0.0))
{
UERROR("Could not find pose at depth stamp %f (epoch %f) last rgb is %f!", depthStamp, camera_->getStampEpochOffset()+depthStamp, stamp);
}
else
{
#ifndef DISABLE_LOG
UDEBUG("poseRGB =%s (stamp=%f)", poseRgb.prettyPrint().c_str(), stamp);
UDEBUG("poseDepth=%s (stamp=%f)", poseDepth.prettyPrint().c_str(), depthStamp);
#endif
motion = poseRgb.inverse()*poseDepth;
// transform in camera frame
#ifndef DISABLE_LOG
UDEBUG("motion=%s", motion.prettyPrint().c_str());
#endif
motion = rtabmap::CameraModel::opticalRotation().inverse() * motion * rtabmap::CameraModel::opticalRotation();
#ifndef DISABLE_LOG
UDEBUG("motion=%s", motion.prettyPrint().c_str());
#endif
}
}
rtabmap::Transform rgbToDepth = motion*rgbFrame.inverse()*depthFrame;
float scale = (float)outputDepth.cols/(float)outputRGB.cols;
cv::Mat colorK = (cv::Mat_<double>(3,3) <<
rgb_fx*scale, 0, rgb_cx*scale,
0, rgb_fy*scale, rgb_cy*scale,
0, 0, 1);
cv::Mat depthK = (cv::Mat_<double>(3,3) <<
depth_fx, 0, depth_cx,
0, depth_fy, depth_cy,
0, 0, 1);
cv::Mat regConfidence;
outputDepth = rtabmap::util2d::registerDepth(outputDepth, outputDepthConfidence, depthK, outputDepth.size(), colorK, rgbToDepth, regConfidence);
outputDepthConfidence = regConfidence;
#ifndef DISABLE_LOG
UDEBUG("Depth registration time: %fs", time.elapsed());
#endif
}
rtabmap::CameraModel model = rtabmap::CameraModel(rgb_fx, rgb_fy, rgb_cx, rgb_cy, camera_->getDeviceTColorCamera(), 0, cv::Size(rgbWidth, rgbHeight));
#ifndef DISABLE_LOG
//LOGI("pointCloudData size=%d", pointsLen);
#endif
if(!fullResolution_)
{
outputRGB = rtabmap::util2d::decimate(outputRGB, 2);
model = model.scaled(1.0/double(2));
}
std::vector<cv::KeyPoint> kpts;
std::vector<cv::Point3f> kpts3;
rtabmap::LaserScan scan;
if(points && pointsLen>0)
{
cv::Mat pointsMat(1, pointsLen, CV_32FC(pointsChannels), (void*)points);
if(outputDepth.empty())
{
int kptsSize = fullResolution_ ? 12 : 6;
scan = rtabmap::CameraMobile::scanFromPointCloudData(pointsMat, pose, model, outputRGB, &kpts, &kpts3, kptsSize);
}
else
{
// We will recompute features if depth is available
scan = rtabmap::CameraMobile::scanFromPointCloudData(pointsMat, pose, model, outputRGB);
}
}
if(!outputDepth.empty())
{
rtabmap::CameraModel depthModel = model.scaled(float(outputDepth.cols) / float(model.imageWidth()));
depthModel.setLocalTransform(pose*model.localTransform());
camera_->setOcclusionImage(outputDepth, depthModel);
}
rtabmap::SensorData data(scan, outputRGB, outputDepth, outputDepthConfidence, model, 0, stamp);
data.setFeatures(kpts, kpts3, cv::Mat());
glm::mat4 projectionMatrix(0);
projectionMatrix[0][0] = p00;
projectionMatrix[1][1] = p11;
projectionMatrix[2][0] = p02;
projectionMatrix[2][1] = p12;
projectionMatrix[2][2] = p22;
projectionMatrix[2][3] = p32;
projectionMatrix[3][2] = p23;
glm::mat4 viewMatrixMat = rtabmap::glmFromTransform(viewMatrix);
float texCoords[8];
texCoords[0] = t0;
texCoords[1] = t1;
texCoords[2] = t2;
texCoords[3] = t3;
texCoords[4] = t4;
texCoords[5] = t5;
texCoords[6] = t6;
texCoords[7] = t7;
camera_->update(data, pose, viewMatrixMat, projectionMatrix, main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson?texCoords:0);
}
}
}
else
{
UERROR("Missing image information! fx=%f fy=%f cx=%f cy=%f stamp=%f yPlane=%d vPlane=%d yPlaneLen=%d rgbWidth=%d rgbHeight=%d",
rgb_fx, rgb_fy, rgb_cx, rgb_cy, stamp, yPlane?1:0, vPlane?1:0, yPlaneLen, rgbWidth, rgbHeight);
}
}
#else
UERROR("Not built with ARCore or iOS!");
#endif
}
bool RTABMapApp::handleEvent(UEvent * event)
{
if(sensorCaptureThread_!=0)
{
// called from events manager thread, so protect the data
if(event->getClassName().compare("SensorEvent") == 0)
{
LOGI("Received SensorEvent!");
if(sensorMutex_.try_lock())
{
sensorEvents_.clear();
sensorEvents_.push_back(*((rtabmap::SensorEvent*)(event)));
sensorMutex_.unlock();
}
}
if(event->getClassName().compare("RtabmapEvent") == 0)
{
LOGI("Received RtabmapEvent event! status=%d", status_.first);
if(status_.first == rtabmap::RtabmapEventInit::kInitialized)
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmapEvents_.push_back((rtabmap::RtabmapEvent*)event);
return true;
}
else
{
LOGW("Received RtabmapEvent event but ignoring it while we are initializing...status=%d", status_.first);
}
}
}
if(event->getClassName().compare("PoseEvent") == 0)
{
if(poseMutex_.try_lock())
{
poseEvents_.clear();
poseEvents_.push_back(((rtabmap::PoseEvent*)event)->pose());
poseMutex_.unlock();
}
}
if(event->getClassName().compare("CameraInfoEvent") == 0)
{
rtabmap::CameraInfoEvent * tangoEvent = (rtabmap::CameraInfoEvent*)event;
// Call JAVA callback with tango event msg
bool success = false;
#ifdef __ANDROID__
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "cameraEventCallback", "(ILjava/lang/String;Ljava/lang/String;)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
tangoEvent->type(),
env->NewStringUTF(tangoEvent->key().c_str()),
env->NewStringUTF(tangoEvent->value().c_str()));
success = true;
}
}
}
jvm->DetachCurrentThread();
}
#else
if(swiftClassPtr_)
{
std::function<void()> actualCallback = [&](){
swiftCameraInfoEventCallback(swiftClassPtr_, tangoEvent->type(), tangoEvent->key().c_str(), tangoEvent->value().c_str());
};
actualCallback();
success = true;
}
#endif
if(!success)
{
UERROR("Failed to call RTABMapActivity::tangoEventCallback");
}
}
if(event->getClassName().compare("RtabmapEventInit") == 0)
{
status_.first = ((rtabmap::RtabmapEventInit*)event)->getStatus();
status_.second = ((rtabmap::RtabmapEventInit*)event)->getInfo();
LOGI("Received RtabmapEventInit! Status=%d info=%s", (int)status_.first, status_.second.c_str());
// Call JAVA callback with init msg
bool success = false;
#ifdef __ANDROID__
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "rtabmapInitEventCallback", "(ILjava/lang/String;)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
status_.first,
env->NewStringUTF(status_.second.c_str()));
success = true;
}
}
}
jvm->DetachCurrentThread();
}
#else
if(swiftClassPtr_)
{
std::function<void()> actualCallback = [&](){
swiftInitCallback(swiftClassPtr_, status_.first, status_.second.c_str());
};
actualCallback();
success = true;
}
#endif
if(!success)
{
UERROR("Failed to call RTABMapActivity::rtabmapInitEventsCallback");
}
}
if(event->getClassName().compare("PostRenderEvent") == 0)
{
LOGI("Received PostRenderEvent!");
int loopClosureId = 0;
int featuresExtracted = 0;
if(((PostRenderEvent*)event)->getRtabmapEvent())
{
LOGI("Received PostRenderEvent! has getRtabmapEvent");
const rtabmap::Statistics & stats = ((PostRenderEvent*)event)->getRtabmapEvent()->getStats();
loopClosureId = stats.loopClosureId()>0?stats.loopClosureId():stats.proximityDetectionId()>0?stats.proximityDetectionId():0;
featuresExtracted = stats.getLastSignatureData().getWords().size();
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryWorking_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryShort_time_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kKeypointDictionary_size(), uValue(stats.data(), rtabmap::Statistics::kKeypointDictionary_size(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kTimingTotal(), uValue(stats.data(), rtabmap::Statistics::kTimingTotal(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopHighest_hypothesis_id(), uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryDatabase_memory_used(), uValue(stats.data(), rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopVisual_inliers(), uValue(stats.data(), rtabmap::Statistics::kLoopVisual_inliers(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopVisual_matches(), uValue(stats.data(), rtabmap::Statistics::kLoopVisual_matches(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopRejectedHypothesis(), uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopOptimization_max_error(), uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopOptimization_max_error_ratio(), uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error_ratio(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryRehearsal_sim(), uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopHighest_hypothesis_value(), uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryDistance_travelled(), uValue(stats.data(), rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryFast_movement(), uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopLandmark_detected(), uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f)));
}
// else use last data
int nodes = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f) +
uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f);
int words = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kKeypointDictionary_size(), 0.0f);
float updateTime = uValue(bufferedStatsData_, rtabmap::Statistics::kTimingTotal(), 0.0f);
int highestHypId = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f);
int databaseMemoryUsed = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f);
int inliers = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopVisual_inliers(), 0.0f);
int matches = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopVisual_matches(), 0.0f);
int rejected = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
float optimizationMaxError = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f);
float optimizationMaxErrorRatio = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopOptimization_max_error_ratio(), 0.0f);
float rehearsalValue = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f);
float hypothesis = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);
float distanceTravelled = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f);
int fastMovement = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
int landmarkDetected = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
rtabmap::Transform currentPose = main_scene_.GetCameraPose();
float x=0.0f,y=0.0f,z=0.0f,roll=0.0f,pitch=0.0f,yaw=0.0f;
if(!currentPose.isNull())
{
currentPose.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
}
// Call JAVA callback with some stats
UINFO("Send statistics to GUI");
bool success = false;
#ifdef __ANDROID__
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIFIFIFFFFIIFFFFFF)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
nodes,
words,
totalPoints_,
totalPolygons_,
updateTime,
loopClosureId,
highestHypId,
databaseMemoryUsed,
inliers,
matches,
featuresExtracted,
hypothesis,
lastDrawnCloudsCount_,
renderingTime_>0.0f?1.0f/renderingTime_:0.0f,
rejected,
rehearsalValue,
optimizationMaxError,
optimizationMaxErrorRatio,
distanceTravelled,
fastMovement,
landmarkDetected,
x,
y,
z,
roll,
pitch,
yaw);
success = true;
}
}
}
jvm->DetachCurrentThread();
}
#else // __APPLE__
if(swiftClassPtr_)
{
std::function<void()> actualCallback = [&](){
swiftStatsUpdatedCallback(swiftClassPtr_,
nodes,
words,
totalPoints_,
totalPolygons_,
updateTime,
loopClosureId,
highestHypId,
databaseMemoryUsed,
inliers,
matches,
featuresExtracted,
hypothesis,
lastDrawnCloudsCount_,
renderingTime_>0.0f?1.0f/renderingTime_:0.0f,
rejected,
rehearsalValue,
optimizationMaxError,
optimizationMaxErrorRatio,
distanceTravelled,
fastMovement,
landmarkDetected,
x,
y,
z,
roll,
pitch,
yaw);
};
actualCallback();
success = true;
}
#endif
if(!success)
{
UERROR("Failed to call RTABMapActivity::updateStatsCallback");
}
renderingTime_ = 0.0f;
}
return false;
}
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