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Added OSF file support. Added ability to pause lidar capture if from file. Updated Preferences->"test odometry" button to support lidar only or both.

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This commit is contained in:
matlabbe
2024-08-24 20:23:38 -07:00
parent fc61efbc47
commit 29f0565b5c
7 changed files with 272 additions and 166 deletions
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8
examples/LidarMapping/main.cpp
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@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UEventsManager.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UDirectory.h"
#include "rtabmap/utilite/UFile.h"
#include <QApplication>
#include <stdio.h>
#include <pcl/io/pcd_io.h>
@@ -103,10 +104,11 @@ int main(int argc, char * argv[])
printf("Not supported driver %d!\n", driver);
showUsage();
}
if(uStrContains(uToLowerCase(argv[i]), "pcap"))
std::string ext = UFile::getExtension(uToLowerCase(argv[i]));
if(ext == "pcap" || ext == "osf")
{
pcapFile = argv[i++];
if(driver == 1)
if(driver == 1 && ext == "pcap")
{
if(i<argc) {
jsonFile=argv[i];
@@ -119,7 +121,7 @@ int main(int argc, char * argv[])
}
else if(i<argc-1) {
ip = argv[i++];
if(driver == 0 && i<argc) {
if(i<argc) {
port = uStr2Int(argv[i]);
}
else {