Fixed Windows build, implemented wifi mapping example in Windows

corelib/src/CameraRGBD.cpp

@@ -62,6 +62,7 @@ namespace rtabmap
 CameraRGBD::CameraRGBD(float imageRate, const Transform & localTransform, float fx, float fy, float cx, float cy) :
 	_imageRate(imageRate),
 	_localTransform(localTransform),
+	_mirroring(false),
 	_frameRateTimer(new UTimer()),
 	_fx(fx),
 	_fy(fy),

corelib/src/toro3d/posegraph2.cpp

@@ -50,6 +50,7 @@ using namespace std;
 namespace AISNavigation {
 
 
+typedef unsigned int uint;
 #define LINESIZE 81920
 
 

corelib/src/toro3d/treeoptimizer2.cpp

@@ -46,6 +46,7 @@
 #include <sstream>
 #include <string>
 
+typedef unsigned int uint;
 using namespace std;
 
 namespace AISNavigation {

examples/CMakeLists.txt

@@ -4,10 +4,10 @@ ADD_SUBDIRECTORY( BOWMapping )
 IF(TARGET rtabmap_gui)
    ADD_SUBDIRECTORY( RGBDMapping )
 	
-   # Only on Linux
+   # Only on Linux and Windows
-   IF(NOT WIN32 AND NOT APPLE)
+   IF(NOT APPLE)
       ADD_SUBDIRECTORY( WifiMapping )
-   ENDIF(NOT WIN32 AND NOT APPLE)
+   ENDIF(NOT APPLE)
 
 ELSE()
    MESSAGE(STATUS "RTAB-Map GUI lib is not built, the RGBDMapping and WifiMapping examples will not be built...")

examples/WifiMapping/MapBuilderWifi.h

@@ -32,6 +32,24 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 using namespace rtabmap;
 
+// A percentage value that represents the signal quality
+// of the network. WLAN_SIGNAL_QUALITY is of type ULONG.
+// This member contains a value between 0 and 100. A value
+// of 0 implies an actual RSSI signal strength of -100 dbm.
+// A value of 100 implies an actual RSSI signal strength of -50 dbm.
+// You can calculate the RSSI signal strength value for wlanSignalQuality
+// values between 1 and 99 using linear interpolation.
+inline int dBm2Quality(int dBm)
+{
+	// dBm to Quality:
+    if(dBm <= -100)
+        return 0;
+    else if(dBm >= -50)
+    	return 100;
+    else
+    	return 2 * (dBm + 100);
+}
+
 class MapBuilderWifi : public MapBuilder
 {
 	Q_OBJECT
@@ -124,10 +142,7 @@ protected slots:
 				else
 				{
 					// Make a line with points
-					int level = -iter->second.first;
+					int quality = dBm2Quality(iter->second.first)/10;
-					level = level < 30 ? 0 : level > 80 ? 50: level - 30; // set between 0 and 50
-					level/=5; // set between 0 and 10
-					level = 10 - level; // make higher level to 10
 					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
 					for(int i=0; i<10; ++i)
 					{
@@ -135,7 +150,7 @@ protected slots:
 						// the number of points depends on the dBm (which varies from -30 (near) to -80 (far))
 						pcl::PointXYZRGB pt;
 						pt.z = float(i+1)*0.02f;
-						if(i<level)
+						if(i<quality)
 						{
 							// yellow
 							pt.r = 255;

examples/WifiMapping/WifiThread.h

@@ -28,12 +28,50 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef WIFITHREAD_H_
 #define WIFITHREAD_H_
 
-#include <sys/socket.h>
+#ifdef _WIN32
-#include <linux/wireless.h>
+	#ifndef UNICODE
-#include <sys/ioctl.h>
+	#define UNICODE
+	#endif
+
+	#include <windows.h>
+	#include <wlanapi.h>
+	#include <Windot11.h>           // for DOT11_SSID struct
+	#include <objbase.h>
+	#include <wtypes.h>
+
+	#include <stdio.h>
+	#include <stdlib.h>
+
+	// Need to link with Wlanapi.lib and Ole32.lib
+	#pragma comment(lib, "wlanapi.lib")
+	#pragma comment(lib, "ole32.lib")
+#else
+	#include <sys/socket.h>
+	#include <linux/wireless.h>
+	#include <sys/ioctl.h>
+#endif
 #include <rtabmap/core/UserDataEvent.h>
 #include <rtabmap/utilite/UTimer.h>
 
+// A percentage value that represents the signal quality
+// of the network. WLAN_SIGNAL_QUALITY is of type ULONG.
+// This member contains a value between 0 and 100. A value
+// of 0 implies an actual RSSI signal strength of -100 dbm.
+// A value of 100 implies an actual RSSI signal strength of -50 dbm.
+// You can calculate the RSSI signal strength value for wlanSignalQuality
+// values between 1 and 99 using linear interpolation.
+inline int quality2dBm(int quality)
+{
+	// Quality to dBm:
+	if(quality <= 0)
+		return -100;
+	else if(quality >= 100)
+		return -50;
+	else
+		return (quality / 2) - 100;
+}
+
+
 class WifiThread : public UThread, public UEventsSender
 {
 public:
@@ -49,6 +87,79 @@ private:
 		uSleep(1000/rate_);
 		if(!this->isKilled())
 		{
+			int dBm = 0;
+#ifdef _WIN32
+			//From https://msdn.microsoft.com/en-us/library/windows/desktop/ms706765(v=vs.85).aspx
+			// Declare and initialize variables.
+			HANDLE hClient = NULL;
+			DWORD dwMaxClient = 2;      //
+			DWORD dwCurVersion = 0;
+			DWORD dwResult = 0;
+
+			// variables used for WlanEnumInterfaces
+			PWLAN_INTERFACE_INFO_LIST pIfList = NULL;
+			PWLAN_INTERFACE_INFO pIfInfo = NULL;
+
+			// variables used for WlanQueryInterfaces for opcode = wlan_intf_opcode_current_connection
+			PWLAN_CONNECTION_ATTRIBUTES pConnectInfo = NULL;
+			DWORD connectInfoSize = sizeof(WLAN_CONNECTION_ATTRIBUTES);
+			WLAN_OPCODE_VALUE_TYPE opCode = wlan_opcode_value_type_invalid;
+
+			dwResult = WlanOpenHandle(dwMaxClient, NULL, &dwCurVersion, &hClient);
+			if (dwResult != ERROR_SUCCESS)
+			{
+				UERROR("WlanOpenHandle failed with error: %u\n", dwResult);
+			}
+			else
+			{
+				dwResult = WlanEnumInterfaces(hClient, NULL, &pIfList);
+				if (dwResult != ERROR_SUCCESS)
+				{
+					UERROR("WlanEnumInterfaces failed with error: %u\n", dwResult);
+				}
+				else
+				{
+					// take the first interface found
+					int i = 0;
+					pIfInfo = (WLAN_INTERFACE_INFO *) & pIfList->InterfaceInfo[i];
+					if(pIfInfo->isState == wlan_interface_state_connected)
+					{
+						dwResult = WlanQueryInterface(hClient,
+													  &pIfInfo->InterfaceGuid,
+													  wlan_intf_opcode_current_connection,
+													  NULL,
+													  &connectInfoSize,
+													  (PVOID *) &pConnectInfo,
+													  &opCode);
+
+						if (dwResult != ERROR_SUCCESS)
+						{
+							UERROR("WlanQueryInterface failed with error: %u\n", dwResult);
+						}
+						else
+						{
+							int quality = pConnectInfo->wlanAssociationAttributes.wlanSignalQuality;
+							dBm = quality2dBm(quality);
+						}
+					}
+					else
+					{
+						UERROR("Interface not connected!");
+					}
+				}
+			}
+			if (pConnectInfo != NULL)
+			{
+				WlanFreeMemory(pConnectInfo);
+				pConnectInfo = NULL;
+			}
+
+			if (pIfList != NULL)
+			{
+				WlanFreeMemory(pIfList);
+				pIfList = NULL;
+			}
+#else
 			// Code inspired from http://blog.ajhodges.com/2011/10/using-ioctl-to-gather-wifi-information.html
 
 			//have to use a socket for ioctl
@@ -79,15 +190,7 @@ private:
 			else if(((iw_statistics *)req.u.data.pointer)->qual.updated & IW_QUAL_DBM)
 			{
 				//signal is measured in dBm and is valid for us to use
-				int level = ((iw_statistics *)req.u.data.pointer)->qual.level - 256;
+				dBm = ((iw_statistics *)req.u.data.pointer)->qual.level - 256;
-				double stamp = UTimer::now();
-
-				// Create user data [level, stamp] with the value (int = 4 bytes) and a timestamp (double = 8 bytes)
-				std::vector<unsigned char> data(sizeof(int) + sizeof(double));
-				memcpy(data.data(), &level, sizeof(int));
-				memcpy(data.data()+sizeof(int), &stamp, sizeof(double));
-				this->post(new UserDataEvent(data));
-				//UWARN("posting level %d dBm", level);
 			}
 			else
 			{
@@ -95,6 +198,18 @@ private:
 			}
 
 			close(sockfd);
+#endif
+			if(dBm != 0)
+			{
+				double stamp = UTimer::now();
+
+				// Create user data [level, stamp] with the value (int = 4 bytes) and a timestamp (double = 8 bytes)
+				std::vector<unsigned char> data(sizeof(int) + sizeof(double));
+				memcpy(data.data(), &dBm, sizeof(int));
+				memcpy(data.data()+sizeof(int), &stamp, sizeof(double));
+				this->post(new UserDataEvent(data));
+				//UWARN("posting level %d dBm", dBm);
+			}
 		}
 	}
 

examples/WifiMapping/main.cpp

@@ -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"
+			"rtabmap-wifi_mapping [options]\n"
-			"  interface_name         Wifi interface name (e.g. \"eth0\")\n"
+			"Options:\n"
-			"  driver                 Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\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();
+		if(strcmp(argv[i], "-i") == 0)
-	}
-	else
-	{
-		interfaceName = argv[1];
-		if(interfaceName.size() == 0)
 		{
-			UERROR("Interface name invalid!");
+			++i;
-			showUsage();
+			if(i < argc)
-		}
+			{
-		else
+				interfaceName = argv[i];
-		{
+			}
-			printf("Using Wifi interface \"%s\"\n", interfaceName.c_str());
+			else
-		}
-		if(argc > 2)
-		{
-			driver = atoi(argv[2]);
-			if(driver < 0 || driver > 4)
 			{
-				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())
 	{

guilib/src/DatabaseViewer.cpp

@@ -916,7 +916,7 @@ void DatabaseViewer::generateTOROGraph()
 		return;
 	}
 	bool ok = false;
-	int id = QInputDialog::getInt(this, tr("Which iteration?"), tr("Iteration (0 -> %1)").arg((int)graphes_.size()-1), (int)graphes_.size()-1, 0, graphes_.size()-1, 1, &ok);
+	int id = QInputDialog::getInt(this, tr("Which iteration?"), tr("Iteration (0 -> %1)").arg((int)graphes_.size()-1), (int)graphes_.size()-1, 0, (int)graphes_.size()-1, 1, &ok);
 
 	if(ok)
 	{
@@ -968,7 +968,7 @@ void DatabaseViewer::view3DMap()
 			if(optimizedPoses.size() > 0)
 			{
 				rtabmap::DetailedProgressDialog progressDialog(this);
-				progressDialog.setMaximumSteps(optimizedPoses.size());
+				progressDialog.setMaximumSteps((int)optimizedPoses.size());
 				progressDialog.show();
 
 				// create a window
@@ -2342,11 +2342,11 @@ void DatabaseViewer::updateGraphView()
 	}
 	if(graphes_.size())
 	{
-		ui_->horizontalSlider_iterations->setMaximum(graphes_.size()-1);
+		ui_->horizontalSlider_iterations->setMaximum((int)graphes_.size()-1);
-		ui_->horizontalSlider_iterations->setValue(graphes_.size()-1);
+		ui_->horizontalSlider_iterations->setValue((int)graphes_.size()-1);
 		ui_->horizontalSlider_iterations->setEnabled(true);
 		ui_->spinBox_optimizationsFrom->setEnabled(true);
-		sliderIterationsValueChanged(graphes_.size()-1);
+		sliderIterationsValueChanged((int)graphes_.size()-1);
 	}
 	else
 	{