moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/ImagesJoiner/CMakeLists.txt

@@ -0,0 +1,32 @@
+
+SET(SRC_FILES
+    main.cpp
+)
+
+SET(INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${UTILITE_INCLUDE_DIR}
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+    ${UTILITE_LIBRARY}
+	${OpenCV_LIBS} 
+)
+
+# Make sure the compiler can find include files from our library.
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+# Add binary called "imagesJoiner" that is built from the source file "main.cpp".
+# The extension is automatically found.
+ADD_EXECUTABLE(imagesJoiner ${SRC_FILES})
+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)
+

corelib/ImagesJoiner/main.cpp

@@ -0,0 +1,176 @@
+/*
+ * 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 "utilite/ULogger.h"
+#include "utilite/UTimer.h"
+#include "utilite/UDirectory.h"
+#include "utilite/UConversion.h"
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+void showUsage()
+{
+	printf("Usage:\n"
+			"imagesJoiner.exe \"# (see below)\" \"type\" [option]\n"
+			"  # :      Name pattern is how the file names are formatted (in number).\n"
+			"           Examples: 4 for pictures with 0001.jpg, 0002.jpg, ..., 0010.jpg, 0100.jpg, 1000.jpg, ...\n"
+			"                     1 for pictures with 1.jpg, 2.jpg, ..., 10.jpg, 100.jpg, 1000.jpg, ...\n"
+			"  type :   is the extension (jpg, bmp, png...)\n"
+			"  Options:\n"
+			"    -inv       option for copying odd images on the right\n"
+			"    -d #       destination filename size\n");
+	exit(1);
+}
+
+int main(int argc, char * argv[])
+{
+	if(argc < 3)
+	{
+		showUsage();
+	}
+
+	bool inv = false;
+	unsigned int sizeFileName = std::atoi(argv[1]);
+	unsigned int sizeTargetFileName = sizeFileName;
+
+	std::string type = argv[2];
+	for(int i=3; i<argc; ++i)
+	{
+		if(strcmp(argv[i], "-inv") == 0)
+		{
+			inv = true;
+			printf(" Inversing option activated...\n");
+		}
+		if(strcmp(argv[i], "-d") == 0 && i+1<argc)
+		{
+			sizeTargetFileName = std::atoi(argv[i+1]);
+			if(sizeTargetFileName < 0)
+			{
+				showUsage();
+			}
+			printf(" Target size file name option activated=%d\n",sizeTargetFileName);
+			++i;
+		}
+	}
+
+	printf(" Format = %s\n", argv[1]);
+	printf(" Type = %s\n", argv[2]);
+
+	std::string targetDirectory = "imagesJoined/";
+	UDirectory::makeDir((UDirectory::currentDir(true) + "imagesJoined").c_str());
+
+	int counterJoined = 1;
+	int counterImages = 1;
+	bool imagesExist = true;
+
+	std::string fileNameA;
+	std::string fileNameB;
+
+	while(imagesExist)
+	{
+		std::string fileNameTarget = uNumber2str(counterJoined);
+		if(inv)
+		{
+			fileNameA =  uNumber2str(counterImages+1);
+			fileNameB =  uNumber2str(counterImages);
+		}
+		else
+		{
+			fileNameA =  uNumber2str(counterImages);
+			fileNameB =  uNumber2str(counterImages+1);
+		}
+
+		while(fileNameA.size() < sizeFileName)
+		{
+			fileNameA.insert(0, "0");
+		}
+
+		while(fileNameB.size() < sizeFileName)
+		{
+			fileNameB.insert(0, "0");
+		}
+
+		while(fileNameTarget.size() < sizeTargetFileName)
+		{
+			fileNameTarget.insert(0, "0");
+		}
+
+		(fileNameTarget.insert(0, targetDirectory) += ".") += type;
+		(fileNameA += ".") += type;
+		(fileNameB += ".") += type;
+
+		IplImage * imageA = cvLoadImage(fileNameA.c_str(), CV_LOAD_IMAGE_COLOR);
+		IplImage * imageB = cvLoadImage(fileNameB.c_str(), CV_LOAD_IMAGE_COLOR);
+
+		if(imageA && imageB)
+		{
+			CvSize sizeA = cvGetSize(imageA);
+			CvSize sizeB = cvGetSize(imageB);
+			CvSize targetSize = {0};
+			targetSize.width = sizeA.width + sizeB.width;
+			targetSize.height = sizeA.height > sizeB.height ? sizeA.height : sizeB.height;
+			IplImage* targetImage = cvCreateImage(targetSize, imageA->depth, imageA->nChannels);
+			if(targetImage)
+			{
+				cvSetImageROI( targetImage, cvRect( 0, 0, sizeA.width, sizeA.height ) );
+				cvCopy( imageA, targetImage );
+				cvSetImageROI( targetImage, cvRect( sizeA.width, 0, sizeB.width, sizeB.height ) );
+				cvCopy( imageB, targetImage );
+				cvResetImageROI( targetImage );
+
+				if(!cvSaveImage(fileNameTarget.c_str(), targetImage))
+				{
+					printf("Error : saving to \"%s\" goes wrong...\n", fileNameTarget.c_str());
+				}
+				else
+				{
+					printf("Saved \"%s\" \n", fileNameTarget.c_str());
+				}
+
+				cvReleaseImage(&targetImage);
+			}
+			else
+			{
+				printf("Error : can't allocated the target image with size (%d,%d)\n", targetSize.width, targetSize.height);
+				imagesExist = false;
+			}
+		}
+		else
+		{
+			imagesExist = false;
+		}
+
+		if(imageA)
+		{
+			cvReleaseImage(&imageA);
+		}
+		if(imageB)
+		{
+			cvReleaseImage(&imageB);
+		}
+
+		counterJoined++;
+		counterImages += 2;
+	}
+
+
+
+
+	return 0;
+}