Added c++ example usage

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@694 f169173b-cf89-36c8-b27e-44dbe73f0c83

examples/CMakeLists.txt

@@ -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

@@ -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;
+}