DBReader.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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15 
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #include "rtabmap/core/DBReader.h"
29 #include "rtabmap/core/DBDriver.h"
30 
31 #include <rtabmap/utilite/ULogger.h>
32 #include <rtabmap/utilite/UFile.h>
33 #include <rtabmap/utilite/UStl.h>
34 #include <rtabmap/utilite/UConversion.h>
35 #include <rtabmap/utilite/UEventsManager.h>
36 
37 #include "rtabmap/core/CameraEvent.h"
38 #include "rtabmap/core/RtabmapEvent.h"
39 #include "rtabmap/core/OdometryEvent.h"
40 #include "rtabmap/core/util3d.h"
41 #include "rtabmap/core/Compression.h"
42 
43 namespace rtabmap {
44 
45 DBReader::DBReader(const std::string & databasePath,
46  float frameRate,
47  bool odometryIgnored,
48  bool ignoreGoalDelay,
49  bool goalsIgnored,
50  int startId,
51  int cameraIndex,
52  int stopId) :
53  Camera(frameRate),
54  _paths(uSplit(databasePath, ';')),
55  _odometryIgnored(odometryIgnored),
56  _ignoreGoalDelay(ignoreGoalDelay),
57  _goalsIgnored(goalsIgnored),
58  _startId(startId),
59  _stopId(stopId),
60  _cameraIndex(cameraIndex),
61  _dbDriver(0),
62  _currentId(_ids.end()),
63  _previousMapId(-1),
64  _previousStamp(0),
65  _previousMapID(0),
66  _calibrated(false)
67 {
68  if(_stopId>0 && _stopId<_startId)
69  {
70  _stopId = _startId;
71  }
72 }
73 
74 DBReader::DBReader(const std::list<std::string> & databasePaths,
75  float frameRate,
76  bool odometryIgnored,
77  bool ignoreGoalDelay,
78  bool goalsIgnored,
79  int startId,
80  int cameraIndex,
81  int stopId) :
82  Camera(frameRate),
83  _paths(databasePaths),
84  _odometryIgnored(odometryIgnored),
85  _ignoreGoalDelay(ignoreGoalDelay),
86  _goalsIgnored(goalsIgnored),
87  _startId(startId),
88  _stopId(stopId),
89  _cameraIndex(cameraIndex),
90  _dbDriver(0),
91  _currentId(_ids.end()),
92  _previousMapId(-1),
93  _previousStamp(0),
94  _previousMapID(0),
95  _calibrated(false)
96 {
97  if(_stopId>0 && _stopId<_startId)
98  {
99  _stopId = _startId;
100  }
101 }
102 
103 DBReader::~DBReader()
104 {
105  if(_dbDriver)
106  {
107  _dbDriver->closeConnection();
108  delete _dbDriver;
109  }
110 }
111 
112 bool DBReader::init(
113  const std::string & calibrationFolder,
114  const std::string & cameraName)
115 {
116  if(_dbDriver)
117  {
118  _dbDriver->closeConnection();
119  delete _dbDriver;
120  _dbDriver = 0;
121  }
122  _ids.clear();
123  _currentId=_ids.end();
124  _previousMapId = -1;
125  _previousInfMatrix = cv::Mat();
126  _previousStamp = 0;
127  _previousMapID = 0;
128  _calibrated = false;
129 
130  if(_paths.size() == 0)
131  {
132  UERROR("No database path set...");
133  return false;
134  }
135 
136  std::string path = _paths.front();
137  if(!UFile::exists(path))
138  {
139  UERROR("Database path does not exist (%s)", path.c_str());
140  return false;
141  }
142 
143  rtabmap::ParametersMap parameters;
144  parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
145  _dbDriver = DBDriver::create(parameters);
146  if(!_dbDriver)
147  {
148  UERROR("Driver doesn't exist.");
149  return false;
150  }
151  if(!_dbDriver->openConnection(path))
152  {
153  UERROR("Can't open database %s", path.c_str());
154  delete _dbDriver;
155  _dbDriver = 0;
156  return false;
157  }
158 
159  _dbDriver->getAllNodeIds(_ids);
160  _currentId = _ids.begin();
161  if(_startId>0 && _ids.size())
162  {
163  std::set<int>::iterator iter = _ids.find(_startId);
164  if(iter == _ids.end())
165  {
166  UWARN("Start index is too high (%d), the last ID in database is %d. Starting from beginning...", _startId, *_ids.rbegin());
167  }
168  else
169  {
170  _currentId = iter;
171  }
172  }
173 
174  if(_ids.size())
175  {
176  std::vector<CameraModel> models;
177  StereoCameraModel stereoModel;
178  if(_dbDriver->getCalibration(*_ids.begin(), models, stereoModel))
179  {
180  if(models.size())
181  {
182  if(models.at(0).isValidForProjection())
183  {
184  _calibrated = true;
185  }
186  else if(models.at(0).fx() && models.at(0).fy() && models.at(0).imageWidth() == 0)
187  {
188  // backward compatibility for databases not saving cx,cy and imageSize
189  SensorData data;
190  _dbDriver->getNodeData(*_ids.begin(), data, true, false, false, false);
191  cv::Mat rgb;
192  data.uncompressData(&rgb, 0); // this will update camera models if old format
193  if(data.cameraModels().size() && data.cameraModels().at(0).isValidForProjection())
194  {
195  _calibrated = true;
196  }
197  }
198  }
199  else if(stereoModel.isValidForProjection())
200  {
201  _calibrated = true;
202  }
203  }
204  }
205  else
206  {
207  _calibrated = true; // database is empty, make sure calibration warning is not shown.
208  }
209 
210  _timer.start();
211 
212  return true;
213 }
214 
215 bool DBReader::isCalibrated() const
216 {
217  return _calibrated;
218 }
219 
220 std::string DBReader::getSerial() const
221 {
222  return "DBReader";
223 }
224 
225 SensorData DBReader::captureImage(CameraInfo * info)
226 {
227  SensorData data = this->getNextData(info);
228  if(data.id()>0 && _stopId>0 && data.id() > _stopId)
229  {
230  UINFO("Last ID %d has been reached! Ignoring", _stopId);
231  return SensorData();
232  }
233  if(data.id() == 0)
234  {
235  UINFO("no more images...");
236  while(_paths.size() > 1 && data.id() == 0)
237  {
238  _paths.pop_front();
239  UWARN("Loading next database \"%s\"...", _paths.front().c_str());
240  if(!this->init())
241  {
242  UERROR("Failed to initialize the next database \"%s\"", _paths.front().c_str());
243  return data;
244  }
245  else
246  {
247  data = this->getNextData(info);
248  }
249  }
250  }
251 
252  if(data.id())
253  {
254  std::string goalId;
255  double previousStamp = data.stamp();
256  if(previousStamp == 0)
257  {
258  data.setStamp(UTimer::now());
259  }
260 
261  if(!_goalsIgnored &&
262  data.userDataRaw().type() == CV_8SC1 &&
263  data.userDataRaw().cols >= 7 && // including null str ending
264  data.userDataRaw().rows == 1 &&
265  memcmp(data.userDataRaw().data, "GOAL:", 5) == 0)
266  {
267  //GOAL format detected, remove it from the user data and send it as goal event
268  std::string goalStr = (const char *)data.userDataRaw().data;
269  if(!goalStr.empty())
270  {
271  std::list<std::string> strs = uSplit(goalStr, ':');
272  if(strs.size() == 2)
273  {
274  goalId = *strs.rbegin();
275  data.setUserData(cv::Mat());
276 
277  double delay = 0.0;
278  if(!_ignoreGoalDelay && _currentId != _ids.end())
279  {
280  // get stamp for the next signature to compute the delay
281  // that was used originally for planning
282  int weight;
283  std::string label;
284  double stamp;
285  int mapId;
286  Transform localTransform, pose, groundTruth;
287  std::vector<float> velocity;
288  GPS gps;
289  EnvSensors sensors;
290  _dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps, sensors);
291  if(previousStamp && stamp && stamp > previousStamp)
292  {
293  delay = stamp - previousStamp;
294  }
295  }
296 
297  if(delay > 0.0)
298  {
299  UWARN("Goal \"%s\" detected, posting it! Waiting %f seconds before sending next data...",
300  goalId.c_str(), delay);
301  }
302  else
303  {
304  UWARN("Goal \"%s\" detected, posting it!", goalId.c_str());
305  }
306 
307  if(uIsInteger(goalId))
308  {
309  UEventsManager::post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, atoi(goalId.c_str())));
310  }
311  else
312  {
313  UEventsManager::post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, goalId));
314  }
315 
316  if(delay > 0.0)
317  {
318  uSleep(delay*1000);
319  }
320  }
321  }
322  }
323  }
324  return data;
325 }
326 
327 SensorData DBReader::getNextData(CameraInfo * info)
328 {
329  SensorData data;
330  if(_dbDriver)
331  {
332  if(_currentId != _ids.end())
333  {
334  std::list<int> signIds;
335  signIds.push_back(*_currentId);
336  std::list<Signature *> signatures;
337  _dbDriver->loadSignatures(signIds, signatures);
338  if(signatures.empty())
339  {
340  return data;
341  }
342  _dbDriver->loadNodeData(signatures);
343  Signature * s = signatures.front();
344  data = s->sensorData();
345 
346  // info
347  Transform pose = s->getPose();
348  Transform globalPose;
349  cv::Mat globalPoseCov;
350 
351  std::multimap<int, Link> priorLinks;
352  _dbDriver->loadLinks(*_currentId, priorLinks, Link::kPosePrior);
353  if( priorLinks.size() &&
354  !priorLinks.begin()->second.transform().isNull() &&
355  priorLinks.begin()->second.infMatrix().cols == 6 &&
356  priorLinks.begin()->second.infMatrix().rows == 6)
357  {
358  globalPose = priorLinks.begin()->second.transform();
359  globalPoseCov = priorLinks.begin()->second.infMatrix().inv();
360  if(data.gps().stamp() != 0.0 &&
361  globalPoseCov.at<double>(3,3)>=9999 &&
362  globalPoseCov.at<double>(4,4)>=9999 &&
363  globalPoseCov.at<double>(5,5)>=9999)
364  {
365  // clear global pose as GPS was used for prior
366  globalPose.setNull();
367  }
368  }
369 
370  Transform gravityTransform;
371  std::multimap<int, Link> gravityLinks;
372  _dbDriver->loadLinks(*_currentId, gravityLinks, Link::kGravity);
373  if( gravityLinks.size() &&
374  !gravityLinks.begin()->second.transform().isNull() &&
375  gravityLinks.begin()->second.infMatrix().cols == 6 &&
376  gravityLinks.begin()->second.infMatrix().rows == 6)
377  {
378  gravityTransform = gravityLinks.begin()->second.transform();
379  }
380 
381  cv::Mat infMatrix = cv::Mat::eye(6,6,CV_64FC1);
382  if(!_odometryIgnored)
383  {
384  std::multimap<int, Link> links;
385  _dbDriver->loadLinks(*_currentId, links, Link::kNeighbor);
386  if(links.size() && links.begin()->first < *_currentId)
387  {
388  // assume the first is the backward neighbor, take its variance
389  infMatrix = links.begin()->second.infMatrix();
390  _previousInfMatrix = infMatrix;
391  }
392  else if(_previousMapId != s->mapId())
393  {
394  // first node, set high variance to make rtabmap trigger a new map
395  infMatrix /= 9999.0;
396  UDEBUG("First node of map %d, variance set to 9999", s->mapId());
397  }
398  else
399  {
400  if(_previousInfMatrix.empty())
401  {
402  _previousInfMatrix = cv::Mat::eye(6,6,CV_64FC1);
403  }
404  // we have a node not linked to map, use last variance
405  infMatrix = _previousInfMatrix;
406  }
407  _previousMapId = s->mapId();
408  }
409  else
410  {
411  pose.setNull();
412  }
413 
414  int seq = *_currentId;
415  ++_currentId;
416 
417  // Frame rate
418  if(this->getImageRate() < 0.0f)
419  {
420  if(s->getStamp() == 0)
421  {
422  UERROR("The option to use database stamps is set (framerate<0), but there are no stamps saved in the database! Aborting...");
423  delete s;
424  return data;
425  }
426  else if(_previousMapID == s->mapId() && _previousStamp > 0)
427  {
428  float ratio = -this->getImageRate();
429  int sleepTime = 1000.0*(s->getStamp()-_previousStamp)/ratio - 1000.0*_timer.getElapsedTime();
430  if(sleepTime > 10000)
431  {
432  UWARN("Detected long delay (%d sec, stamps = %f vs %f). Waiting a maximum of 10 seconds.",
433  sleepTime/1000, _previousStamp, s->getStamp());
434  sleepTime = 10000;
435  }
436  if(sleepTime > 2)
437  {
438  uSleep(sleepTime-2);
439  }
440 
441  // Add precision at the cost of a small overhead
442  while(_timer.getElapsedTime() < (s->getStamp()-_previousStamp)/ratio-0.000001)
443  {
444  //
445  }
446 
447  double slept = _timer.getElapsedTime();
448  _timer.start();
449  UDEBUG("slept=%fs vs target=%fs (ratio=%f)", slept, (s->getStamp()-_previousStamp)/ratio, ratio);
450  }
451  _previousStamp = s->getStamp();
452  _previousMapID = s->mapId();
453  }
454 
455  data.uncompressData();
456  if(data.cameraModels().size() > 1 &&
457  _cameraIndex >= 0)
458  {
459  if(_cameraIndex < (int)data.cameraModels().size())
460  {
461  // select one camera
462  int subImageWidth = data.imageRaw().cols/data.cameraModels().size();
463  cv::Mat image;
464  UASSERT(!data.imageRaw().empty() &&
465  data.imageRaw().cols % data.cameraModels().size() == 0 &&
466  _cameraIndex*subImageWidth < data.imageRaw().cols);
467  image= cv::Mat(data.imageRaw(),
468  cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.imageRaw().rows)).clone();
469 
470  cv::Mat depth;
471  if(!data.depthOrRightRaw().empty())
472  {
473  UASSERT(data.depthOrRightRaw().cols % data.cameraModels().size() == 0 &&
474  subImageWidth == data.depthOrRightRaw().cols/(int)data.cameraModels().size() &&
475  _cameraIndex*subImageWidth < data.depthOrRightRaw().cols);
476  depth = cv::Mat(data.depthOrRightRaw(),
477  cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.depthOrRightRaw().rows)).clone();
478  }
479  data.setRGBDImage(image, depth, data.cameraModels().at(_cameraIndex));
480  }
481  else
482  {
483  UWARN("DBReader: Camera index %d doesn't exist! Camera models = %d.", _cameraIndex, (int)data.cameraModels().size());
484  }
485  }
486  data.setId(seq);
487  data.setStamp(s->getStamp());
488  data.setGroundTruth(s->getGroundTruthPose());
489  if(globalPose.isNull())
490  {
491  data.setGlobalPose(globalPose, globalPoseCov);
492  }
493  if(!gravityTransform.isNull())
494  {
495  Eigen::Quaterniond q = gravityTransform.getQuaterniond();
496  data.setIMU(IMU(
497  cv::Vec4d(q.x(), q.y(), q.z(), q.w()), cv::Mat::eye(3,3,CV_64FC1),
498  cv::Vec3d(), cv::Mat(),
499  cv::Vec3d(), cv::Mat(),
500  Transform::getIdentity())); // we assume that gravity links are already transformed in base_link
501  }
502 
503  UDEBUG("Laser=%d RGB/Left=%d Depth/Right=%d, Grid=%d, UserData=%d, GlobalPose=%d, GPS=%d, IMU=%d",
504  data.laserScanRaw().isEmpty()?0:1,
505  data.imageRaw().empty()?0:1,
506  data.depthOrRightRaw().empty()?0:1,
507  data.gridCellSize()==0.0f?0:1,
508  data.userDataRaw().empty()?0:1,
509  globalPose.isNull()?0:1,
510  data.gps().stamp()!=0.0?1:0,
511  gravityTransform.isNull()?0:1);
512 
513  cv::Mat descriptors = s->getWordsDescriptors().clone();
514  const std::vector<cv::KeyPoint> & keypoints = s->getWordsKpts();
515  const std::vector<cv::Point3f> & keypoints3D = s->getWords3();
516  if(!keypoints.empty() &&
517  (keypoints3D.empty() || keypoints.size() == keypoints3D.size()) &&
518  (descriptors.empty() || (int)keypoints.size() == descriptors.rows))
519  {
520  data.setFeatures(keypoints, keypoints3D, descriptors);
521  }
522  else if(!keypoints.empty() && (!keypoints3D.empty() || !descriptors.empty()))
523  {
524  UERROR("Missing feature data, features won't be published.");
525  }
526 
527  if(data.imageCompressed().empty() && s->getWeight()>=0 && keypoints.empty())
528  {
529  UWARN("No image loaded from the database for id=%d!", seq);
530  }
531 
532  if(!_odometryIgnored)
533  {
534  if(pose.isNull())
535  {
536  UWARN("Reading the database: odometry is null! "
537  "Please set \"Ignore odometry = true\" if there is "
538  "no odometry in the database.");
539  }
540  if(info)
541  {
542  info->odomPose = pose;
543  info->odomCovariance = infMatrix.inv();
544  info->odomVelocity = s->getVelocity();
545  UDEBUG("odom variance = %f/%f", info->odomCovariance.at<double>(0,0), info->odomCovariance.at<double>(5,5));
546  }
547  }
548  delete s;
549  }
550  }
551  else
552  {
553  UERROR("Not initialized...");
554  }
555  return data;
556 }
557 
558 } /* namespace rtabmap */
uIsInteger
bool uIsInteger(const std::string &str, bool checkForSign=true)
Definition: UStl.h:632
rtabmap::CameraInfo::odomCovariance
cv::Mat odomCovariance
Definition: CameraInfo.h:70
rtabmap::DBReader::_paths
std::list< std::string > _paths
Definition: DBReader.h:81
rtabmap::DBReader::_previousInfMatrix
cv::Mat _previousInfMatrix
Definition: DBReader.h:94
UEventsManager::post
static void post(UEvent *event, bool async=true, const UEventsSender *sender=0)
Definition: UEventsManager.cpp:54
rtabmap::DBReader::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Definition: DBReader.cpp:112
rtabmap::Signature::getGroundTruthPose
const Transform & getGroundTruthPose() const
Definition: Signature.h:134
rtabmap::Signature::mapId
int mapId() const
Definition: Signature.h:71
rtabmap::DBReader::getNextData
SensorData getNextData(CameraInfo *info=0)
Definition: DBReader.cpp:327
f
f
rtabmap::Signature::getVelocity
const std::vector< float > & getVelocity() const
Definition: Signature.h:135
rtabmap::DBDriver::getAllNodeIds
void getAllNodeIds(std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=false) const
Definition: DBDriver.cpp:876
rtabmap::SensorData::setGlobalPose
void setGlobalPose(const Transform &pose, const cv::Mat &covariance)
Definition: SensorData.h:261
rtabmap::ParametersPair
std::pair< std::string, std::string > ParametersPair
Definition: Parameters.h:44
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:380
rtabmap::DBReader::DBReader
DBReader(const std::string &databasePath, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, int cameraIndex=-1, int stopId=0)
Definition: DBReader.cpp:45
rtabmap::DBReader::_goalsIgnored
bool _goalsIgnored
Definition: DBReader.h:84
rtabmap::LaserScan::isEmpty
bool isEmpty() const
Definition: LaserScan.h:101
rtabmap::SensorData::setRGBDImage
void setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &model, bool clearPreviousData=true)
Definition: SensorData.cpp:193
rtabmap::DBDriver::getNodeData
void getNodeData(int signatureId, SensorData &data, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
Definition: DBDriver.cpp:675
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::DBReader::_previousStamp
double _previousStamp
Definition: DBReader.h:95
rtabmap::SensorData::gridCellSize
float gridCellSize() const
Definition: SensorData.h:245
rtabmap::SensorData::setId
void setId(int id)
Definition: SensorData.h:156
rtabmap::CameraInfo::odomVelocity
std::vector< float > odomVelocity
Definition: CameraInfo.h:71
UConversion.h
Some conversion functions.
rtabmap::SensorData::laserScanRaw
const LaserScan & laserScanRaw() const
Definition: SensorData.h:166
rtabmap::DBDriver::loadLinks
void loadLinks(int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
Definition: DBDriver.cpp:815
rtabmap::SensorData::imageRaw
const cv::Mat & imageRaw() const
Definition: SensorData.h:164
rtabmap::DBReader::~DBReader
virtual ~DBReader()
Definition: DBReader.cpp:103
UTimer::getElapsedTime
double getElapsedTime()
Definition: UTimer.cpp:97
rtabmap::Signature::getWordsKpts
const std::vector< cv::KeyPoint > & getWordsKpts() const
Definition: Signature.h:112
uSplit
std::list< std::string > uSplit(const std::string &str, char separator= ' ')
Definition: UStl.h:566
rtabmap::Signature::getStamp
double getStamp() const
Definition: Signature.h:79
rtabmap::DBDriver::openConnection
bool openConnection(const std::string &url, bool overwritten=false)
Definition: DBDriver.cpp:86
UASSERT
#define UASSERT(condition)
UStl.h
Wrappers of STL for convenient functions.
rtabmap::Transform::isNull
bool isNull() const
Definition: Transform.cpp:107
rtabmap::DBReader::_ignoreGoalDelay
bool _ignoreGoalDelay
Definition: DBReader.h:83
rtabmap::DBDriver::closeConnection
void closeConnection(bool save=true, const std::string &outputUrl="")
Definition: DBDriver.cpp:64
rtabmap::DBDriver::loadNodeData
void loadNodeData(Signature *signature, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
Definition: DBDriver.cpp:648
rtabmap::DBDriver::loadSignatures
void loadSignatures(const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0)
Definition: DBDriver.cpp:554
rtabmap::DBReader::_dbDriver
DBDriver * _dbDriver
Definition: DBReader.h:89
rtabmap::DBReader::_ids
std::set< int > _ids
Definition: DBReader.h:91
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Definition: DBDriver.cpp:726
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Definition: Signature.h:115
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Definition: SensorData.h:266
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Definition: Signature.h:74
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Definition: DBDriver.cpp:776
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Definition: Camera.h:63
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Definition: Signature.h:132
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Definition: Signature.h:131
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Definition: DBReader.cpp:215
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Definition: SensorData.h:160
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Definition: DBReader.h:82
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Definition: GPS.h:59

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:58