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Fixed Windows build, implemented wifi mapping example in Windows

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This commit is contained in:
Mathieu Labbé
2015-03-25 16:30:05 -04:00
parent 19d6da9035
commit 2cc853b507
9 changed files with 208 additions and 48 deletions
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examples/WifiMapping/main.cpp
+50 -23
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@@ -35,14 +35,17 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <stdio.h>
#include "MapBuilderWifi.h"
#include "WifiThread.h"
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-wifi_mapping interface_name [driver]\n"
" interface_name Wifi interface name (e.g. \"eth0\")\n"
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
"rtabmap-wifi_mapping [options]\n"
"Options:\n"
" -i \"name\" Wifi interface name (e.g. \"eth0\"). Only required on Linux.\n"
" -m Enable mirroring of the camera image.\n"
" -d # Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
exit(1);
}
@@ -52,33 +55,52 @@ int main(int argc, char * argv[])
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
std::string interfaceName;
std::string interfaceName = "eth0";
int driver = 0;
if(argc < 2)
bool mirroring = false;
// parse options
for(int i = 1; i<argc; ++i)
{
showUsage();
}
else
{
interfaceName = argv[1];
if(interfaceName.size() == 0)
if(strcmp(argv[i], "-i") == 0)
{
UERROR("Interface name invalid!");
showUsage();
}
else
{
printf("Using Wifi interface \"%s\"\n", interfaceName.c_str());
}
if(argc > 2)
{
driver = atoi(argv[2]);
if(driver < 0 || driver > 4)
++i;
if(i < argc)
{
interfaceName = argv[i];
}
else
{
UERROR("driver should be between 0 and 4.");
showUsage();
}
continue;
}
if(strcmp(argv[i], "-m") == 0)
{
mirroring = true;
continue;
}
if(strcmp(argv[i], "-d") == 0)
{
++i;
if(i < argc)
{
driver = atoi(argv[i]);
if(driver < 0 || driver > 4)
{
UERROR("driver should be between 0 and 4.");
showUsage();
}
}
else
{
showUsage();
}
continue;
}
UERROR("Option \"%s\" not recognized!", argv[i]);
showUsage();
}
// Here is the pipeline that we will use:
@@ -129,6 +151,11 @@ int main(int argc, char * argv[])
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);
}
if(mirroring)
{
camera->setMirroringEnabled(true);
}
CameraThread cameraThread(camera);
if(!cameraThread.init())
{