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RTABMapApp.cpp
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RTABMapApp.cpp
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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>
#define LOW_RES_PIX 2
//#define DEBUG_RENDERING_PERFORMANCE
const int g_optMeshId = -100;
#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::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_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAggressiveLoopThr(), 0.0f));
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::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_)
{
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("-1")));
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemRehearsalSimilarity(), std::string("1.0"))); // deactivate rehearsal
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
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),
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),
depthConfidence_(2),
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),
optMesh_(new pcl::TextureMesh),
optRefId_(0),
optRefPose_(0),
mapToOdom_(rtabmap::Transform::getIdentity())
{
mappingParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK
#ifdef __ANDROID__
env->GetJavaVM(&jvm);
RTABMapActivity = env->NewGlobalRef(caller_activity);
#endif
LOGI("RTABMapApp::RTABMapApp()");
createdMeshes_.clear();
rawPoses_.clear();
clearSceneOnNextRender_ = true;
openingDatabase_ = false;
exporting_ = false;
postProcessing_=false;
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
lastPostRenderEventTime_ = 0.0;
lastPoseEventTime_ = 0.0;
bufferedStatsData_.clear();
#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))
{
swiftClassPtr_ = classPtr;
progressionStatus_.setSwiftCallback(classPtr, progressCallback);
swiftInitCallback = initCallback;
swiftStatsUpdatedCallback = statsUpdatedCallback;
}
#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();
this->registerToEventsManager();
int status = 0;
// Open visualization while we load (if there is an optimized mesh saved in database)
optMesh_.reset(new pcl::TextureMesh);
optTexture_ = cv::Mat();
optRefId_ = 0;
if(optRefPose_)
{
delete optRefPose_;
optRefPose_ = 0;
}
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.");
optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optTexture_ = textures;
if(!optTexture_.empty())
{
LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows);
status=3;
}
else if(optMesh_->tex_polygons.size())
{
LOGI("Open: Polygon mesh");
status=2;
}
else if(!optMesh_->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)));
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, depth;
data.uncompressData(&tmpA, &depth);
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);
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
}
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();
}
}
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 && width % 3 == 0)
{
meshDecimation = 3;
}
else if(width % 2 == 0 && width % 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_, smoothing_);
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_, smoothing_);
#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, smoothing_);
#else
UERROR("RTAB-Map is not built with AREngine support!");
#endif
}
else if(cameraDriver_ == 3)
{
camera_ = new rtabmap::CameraMobile(smoothing_);
}
if(camera_ == 0)
{
UERROR("Unknown or not supported camera driver! %d", cameraDriver_);
return false;
}
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_)
{
rtabmap::LidarVLP16 * lidar = new rtabmap::LidarVLP16(boost::asio::ip::address_v4::from_string("192.168.1.201"), 2368, true);
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)
{
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;
}