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Added c++ example usage

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@694 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-10 16:28:12 +00:00
parent d9ef3a603c
commit 0f4e24233c
11 changed files with 141 additions and 29 deletions
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CMakeLists.txt
+1
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@@ -179,6 +179,7 @@ ENDIF()
IF(NOT BUILD_LIBS_ONLY AND NOT BUILD_AS_BUNDLE)
ADD_SUBDIRECTORY( tools )
ADD_SUBDIRECTORY( examples )
ENDIF(NOT BUILD_LIBS_ONLY AND NOT BUILD_AS_BUNDLE)
#######################
corelib/include/rtabmap/core/Rtabmap.h
+4
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@@ -94,11 +94,14 @@ public:
std::set<int> getStMem() const;
std::map<int, int> getWeights() const;
int getTotalMemSize() const;
double getLastProcessTime() const {return _lastProcessTime;};
void setMaxTimeAllowed(float maxTimeAllowed); // in ms
void setDataBufferSize(int size);
void setWorkingDirectory(std::string path);
void deleteMemory();
void adjustLikelihood(std::map<int, float> & likelihood) const;
std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
const std::map<int, float> & likelihood) const;
@@ -141,6 +144,7 @@ private:
int _retrievedId;
float _lastLcHypothesisValue;
int _lastLoopClosureId;
double _lastProcessTime;
UMutex _stateMutex;
std::stack<State> _state;
corelib/src/Rtabmap.cpp
+11
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@@ -75,6 +75,7 @@ Rtabmap::Rtabmap() :
_retrievedId(0),
_lastLcHypothesisValue(0),
_lastLoopClosureId(0),
_lastProcessTime(0.0),
_epipolarGeometry(0),
_bayesFilter(0),
_memory(0),
@@ -517,6 +518,15 @@ void Rtabmap::mainLoop()
}
}
void Rtabmap::deleteMemory()
{
// Only if rtabmap's thread is not started...
if(!this->isRunning())
{
this->resetMemory(true);
}
}
void Rtabmap::resetMemory(bool dbOverwritten)
{
if(_memory)
@@ -1146,6 +1156,7 @@ void Rtabmap::process()
ULOGGER_INFO("Removing old signatures because time limit is reached %f>%f or memory is reached %d>%d...", totalTime*1000, _maxTimeAllowed, _memory->getWorkingMemSize(), _maxMemoryAllowed);
signaturesRemoved = _memory->forget(immunizedLocations);
}
_lastProcessTime = totalTime;
timeRealTimeLimitReachedProcess = timer.ticks();
ULOGGER_INFO("Time limit reached processing = %f...", timeRealTimeLimitReachedProcess);
examples/CMakeLists.txt
+24
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@@ -0,0 +1,24 @@
SET(SRC_FILES
main.cpp
)
SET(INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/corelib/include
${UTILITE_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
SET(LIBRARIES
${UTILITE_LIBRARIES}
${OpenCV_LIBRARIES}
)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(example ${SRC_FILES})
TARGET_LINK_LIBRARIES(example rtabmap_corelib ${LIBRARIES})
SET_TARGET_PROPERTIES( example
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example)
examples/main.cpp
+101
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@@ -0,0 +1,101 @@
/*
* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
*
* This file is part of RTAB-Map.
*
* RTAB-Map is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* RTAB-Map is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
*/
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/Camera.h"
#include <opencv2/core/core.hpp>
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-example \"path\"\n"
" path Path to a directory of images\n ");
exit(1);
}
int main(int argc, char * argv[])
{
if(argc < 2)
{
showUsage();
}
std::string path = argv[1];
// rtabmap::Camera is simply a convenience wrapper of OpenCV cv::VideoCapture and cv::imread
float imageRate = 1.0f; // 1 Hz
rtabmap::CameraImages camera(path, 1, false, imageRate);
if(!camera.init())
{
printf("Camera init failed, using path \"%s\"\n", path.c_str());
exit(1);
}
// Create tasks
rtabmap::Rtabmap rtabmap;
// Where database is saved
rtabmap.setWorkingDirectory(".");
// Initialize rtabmap: load database...
// It will automatically create config.ini
// with default parameters if it not exists
rtabmap.init("./config.ini");
// For this example, we want to delete the memory at each start.
rtabmap.deleteMemory();
rtabmap.setMaxTimeAllowed(700); // Time threshold : 700 ms
// Start thread's task
int countLoopDetected=0;
printf("\nProcessing images at %f Hz... from directory \"%s\"\n", imageRate, path.c_str());
int imagesProcessed = 0;
cv::Mat img = camera.takeImage();
int i=0;
while(!img.empty())
{
++imagesProcessed;
rtabmap.process(rtabmap::Image(img));
if(rtabmap.getLoopClosureId())
{
++countLoopDetected;
}
img = camera.takeImage();
++i;
if(rtabmap.getLoopClosureId())
{
printf(" iteration(%d) ptime(%fs) loop(%d) hyp(%.2f)\n",
i, rtabmap.getLastProcessTime(), rtabmap.getLoopClosureId(), rtabmap.getLcHypValue());
}
else
{
printf(" iteration(%d) ptime(%fs)\n", i, rtabmap.getLastProcessTime());
}
}
printf("Processing images completed. Loop closures found = %d\n", countLoopDetected);
return 0;
}
tools/ConsoleApp/CMakeLists.txt
-5
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@@ -27,8 +27,3 @@ TARGET_LINK_LIBRARIES(consoleApp rtabmap_corelib ${LIBRARIES})
SET_TARGET_PROPERTIES( consoleApp
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-console)
INSTALL(TARGETS consoleApp
RUNTIME DESTINATION bin COMPONENT runtime
LIBRARY DESTINATION lib COMPONENT devel
ARCHIVE DESTINATION lib COMPONENT devel)
tools/EpipolarGeometry/CMakeLists.txt
-4
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@@ -26,8 +26,4 @@ TARGET_LINK_LIBRARIES(epipolar_geometry rtabmap_corelib rtabmap_guilib ${LIBRARI
SET_TARGET_PROPERTIES( epipolar_geometry
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-epipolar_geometry)
INSTALL(TARGETS epipolar_geometry
RUNTIME DESTINATION bin COMPONENT runtime
LIBRARY DESTINATION lib COMPONENT devel
ARCHIVE DESTINATION lib COMPONENT devel)
tools/ImagesDbExtractor/CMakeLists.txt
-5
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@@ -23,8 +23,3 @@ TARGET_LINK_LIBRARIES(imagesDbExtractor rtabmap_corelib ${LIBRARIES})
SET_TARGET_PROPERTIES( imagesDbExtractor
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesDbExtractor)
INSTALL(TARGETS imagesDbExtractor
RUNTIME DESTINATION bin COMPONENT runtime
LIBRARY DESTINATION lib COMPONENT devel
ARCHIVE DESTINATION lib COMPONENT devel)
tools/ImagesJoiner/CMakeLists.txt
-5
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@@ -25,8 +25,3 @@ TARGET_LINK_LIBRARIES(imagesJoiner ${LIBRARIES})
SET_TARGET_PROPERTIES( imagesJoiner
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesJoiner)
INSTALL(TARGETS imagesJoiner
RUNTIME DESTINATION bin COMPONENT runtime
LIBRARY DESTINATION lib COMPONENT devel
ARCHIVE DESTINATION lib COMPONENT devel)
tools/VocabularyComparison/CMakeLists.txt
-5
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@@ -18,8 +18,3 @@ TARGET_LINK_LIBRARIES(vocabularyComparison rtabmap_corelib ${LIBRARIES})
SET_TARGET_PROPERTIES( vocabularyComparison
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-vocabularyComparison)
INSTALL(TARGETS vocabularyComparison
RUNTIME DESTINATION bin COMPONENT runtime
LIBRARY DESTINATION lib COMPONENT devel
ARCHIVE DESTINATION lib COMPONENT devel)
tools/viewer/CMakeLists.txt
-5
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@@ -26,8 +26,3 @@ TARGET_LINK_LIBRARIES(databaseViewer rtabmap_corelib rtabmap_guilib ${LIBRARIES}
SET_TARGET_PROPERTIES( databaseViewer
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-databaseViewer)
INSTALL(TARGETS databaseViewer
RUNTIME DESTINATION bin COMPONENT runtime
LIBRARY DESTINATION lib COMPONENT devel
ARCHIVE DESTINATION lib COMPONENT devel)