NoEventsExample/MapBuilder.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef MAPBUILDER_H_
29 #define MAPBUILDER_H_
30 
31 #include <QVBoxLayout>
32 #include <QtCore/QMetaType>
33 #include <QAction>
34 
35 #ifndef Q_MOC_RUN // Mac OS X issue
36 #include "rtabmap/gui/CloudViewer.h"
37 #include "rtabmap/core/util3d.h"
38 #include "rtabmap/core/util3d_filtering.h"
39 #include "rtabmap/core/util3d_transforms.h"
40 #include "rtabmap/core/OdometryInfo.h"
41 #include "rtabmap/core/Statistics.h"
42 #include "rtabmap/core/Signature.h"
43 #endif
44 #include "rtabmap/utilite/UStl.h"
45 #include "rtabmap/utilite/UConversion.h"
46 #include "rtabmap/utilite/ULogger.h"
47 
48 using namespace rtabmap;
49 
50 // This class receives RtabmapEvent and construct/update a 3D Map
51 class MapBuilder : public QWidget
52 {
53  Q_OBJECT
54 public:
55  //Camera ownership is not transferred!
56  MapBuilder() :
57  odometryCorrection_(Transform::getIdentity()),
58  paused_(false)
59  {
60  this->setWindowFlags(Qt::Dialog);
61  this->setWindowTitle(tr("3D Map"));
62  this->setMinimumWidth(800);
63  this->setMinimumHeight(600);
64 
65  cloudViewer_ = new CloudViewer(this);
66 
67  QVBoxLayout *layout = new QVBoxLayout();
68  layout->addWidget(cloudViewer_);
69  this->setLayout(layout);
70 
71  QAction * pause = new QAction(this);
72  this->addAction(pause);
73  pause->setShortcut(Qt::Key_Space);
74  connect(pause, SIGNAL(triggered()), this, SLOT(pauseDetection()));
75  }
76 
77  virtual ~MapBuilder()
78  {
79  }
80 
81  bool isPaused() const {return paused_;}
82 
83  void processOdometry(
84  const SensorData & data,
85  Transform pose,
86  const rtabmap::OdometryInfo & odom)
87  {
88  if(!this->isVisible())
89  {
90  return;
91  }
92 
93  if(pose.isNull())
94  {
95  //Odometry lost
96  cloudViewer_->setBackgroundColor(Qt::darkRed);
97 
98  pose = lastOdomPose_;
99  }
100  else
101  {
102  cloudViewer_->setBackgroundColor(cloudViewer_->getDefaultBackgroundColor());
103  }
104  if(!pose.isNull())
105  {
106  lastOdomPose_ = pose;
107 
108  // 3d cloud
109  if(data.depthOrRightRaw().cols == data.imageRaw().cols &&
110  data.depthOrRightRaw().rows == data.imageRaw().rows &&
111  !data.depthOrRightRaw().empty() &&
112  (data.stereoCameraModels().size() || data.cameraModels().size()))
113  {
114  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
115  data,
116  4, // decimation
117  0.0f); // max depth
118  if(cloud->size())
119  {
120  if(!cloudViewer_->addCloud("cloudOdom", cloud, odometryCorrection_*pose))
121  {
122  UERROR("Adding cloudOdom to viewer failed!");
123  }
124  }
125  else
126  {
127  cloudViewer_->setCloudVisibility("cloudOdom", false);
128  UWARN("Empty cloudOdom!");
129  }
130  }
131 
132  if(!pose.isNull())
133  {
134  // update camera position
135  cloudViewer_->updateCameraTargetPosition(odometryCorrection_*pose);
136  }
137  }
138  cloudViewer_->update();
139  }
140 
141 
142  void processStatistics(const rtabmap::Statistics & stats)
143  {
144 
145  //============================
146  // Add RGB-D clouds
147  //============================
148  const std::map<int, Transform> & poses = stats.poses();
149  QMap<std::string, Transform> clouds = cloudViewer_->getAddedClouds();
150  for(std::map<int, Transform>::const_iterator iter = poses.lower_bound(1); iter!=poses.end(); ++iter)
151  {
152  if(!iter->second.isNull())
153  {
154  std::string cloudName = uFormat("cloud%d", iter->first);
155 
156  // 3d point cloud
157  if(clouds.contains(cloudName))
158  {
159  // Update only if the pose has changed
160  Transform tCloud;
161  cloudViewer_->getPose(cloudName, tCloud);
162  if(tCloud.isNull() || iter->second != tCloud)
163  {
164  if(!cloudViewer_->updateCloudPose(cloudName, iter->second))
165  {
166  UERROR("Updating pose cloud %d failed!", iter->first);
167  }
168  }
169  cloudViewer_->setCloudVisibility(cloudName, true);
170  }
171  else if(iter->first == stats.getLastSignatureData().id())
172  {
173  Signature s = stats.getLastSignatureData();
174  s.sensorData().uncompressData(); // make sure data is uncompressed
175  // Add the new cloud
176  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
177  s.sensorData(),
178  4, // decimation
179  4.0f); // max depth
180  if(cloud->size())
181  {
182  if(!cloudViewer_->addCloud(cloudName, cloud, iter->second))
183  {
184  UERROR("Adding cloud %d to viewer failed!", iter->first);
185  }
186  }
187  else
188  {
189  UWARN("Empty cloud %d!", iter->first);
190  }
191  }
192  }
193  else
194  {
195  UWARN("Null pose for %d ?!?", iter->first);
196  }
197  }
198 
199  //============================
200  // Add 3D graph (show all poses)
201  //============================
202  cloudViewer_->removeAllGraphs();
203  cloudViewer_->removeCloud("graph_nodes");
204  if(poses.size())
205  {
206  // Set graph
207  pcl::PointCloud<pcl::PointXYZ>::Ptr graph(new pcl::PointCloud<pcl::PointXYZ>);
208  pcl::PointCloud<pcl::PointXYZ>::Ptr graphNodes(new pcl::PointCloud<pcl::PointXYZ>);
209  for(std::map<int, Transform>::const_iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
210  {
211  graph->push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
212  }
213  *graphNodes = *graph;
214 
215 
216  // add graph
217  cloudViewer_->addOrUpdateGraph("graph", graph, Qt::gray);
218  cloudViewer_->addCloud("graph_nodes", graphNodes, Transform::getIdentity(), Qt::green);
219  cloudViewer_->setCloudPointSize("graph_nodes", 5);
220  }
221 
222  odometryCorrection_ = stats.mapCorrection();
223 
224  cloudViewer_->update();
225  }
226 
227 protected Q_SLOTS:
228  void pauseDetection()
229  {
230  paused_ = !paused_;
231  }
232 
233 protected:
234  CloudViewer * cloudViewer_;
235  Transform lastOdomPose_;
236  Transform odometryCorrection_;
237  bool paused_;
238 };
239 
240 
241 #endif /* MAPBUILDER_H_ */
rtabmap::SensorData
Definition: SensorData.h:51
MapBuilder::~MapBuilder
virtual ~MapBuilder()
Definition: NoEventsExample/MapBuilder.h:77
rtabmap::Statistics
Definition: Statistics.h:53
OdometryInfo.h
s
RealScalar s
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
MapBuilder::pauseDetection
void pauseDetection()
Definition: NoEventsExample/MapBuilder.h:228
util3d.h
rtabmap::Transform::isNull
bool isNull() const
Definition: Transform.cpp:107
rtabmap::CloudViewer
Definition: CloudViewer.h:79
rtabmap::util3d::cloudRGBFromSensorData
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >())
Definition: util3d.cpp:1268
data
int data[]
util3d_transforms.h
stats
bool stats
UConversion.h
Some conversion functions.
CloudViewer.h
util3d_filtering.h
Signature.h
MapBuilder::paused_
bool paused_
Definition: NoEventsExample/MapBuilder.h:237
MapBuilder::processOdometry
void processOdometry(const SensorData &data, Transform pose, const rtabmap::OdometryInfo &odom)
Definition: NoEventsExample/MapBuilder.h:83
graph
FactorGraph< FACTOR > * graph
UWARN
#define UWARN(...)
f
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
uFormat
std::string UTILITE_EXPORT uFormat(const char *fmt,...)
Definition: UConversion.cpp:365
ULogger.h
ULogger class and convenient macros.
rtabmap::Transform
Definition: Transform.h:41
MapBuilder::processStatistics
void processStatistics(const rtabmap::Statistics &stats)
Definition: NoEventsExample/MapBuilder.h:142
iter
iterator iter(handle obj)
UStl.h
Wrappers of STL for convenient functions.
MapBuilder::MapBuilder
MapBuilder()
Definition: NoEventsExample/MapBuilder.h:56
Statistics.h
rtabmap::OdometryInfo
Definition: OdometryInfo.h:40
false
#define false
Definition: ConvertUTF.c:56
rtabmap
Definition: CameraARCore.cpp:35
UERROR
#define UERROR(...)
MapBuilder
Definition: LidarMapping/MapBuilder.h:52
MapBuilder::isPaused
bool isPaused() const
Definition: NoEventsExample/MapBuilder.h:81
rtabmap::Signature
Definition: Signature.h:48

rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:12