mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
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
This commit is contained in:
matlabbe
33
corelib/WebcamCapture/CMakeLists.txt
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33
corelib/WebcamCapture/CMakeLists.txt
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SET(SRC_FILES
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main.cpp
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)
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}
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${UTILITE_INCLUDE_DIR}
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${OpenCV_INCLUDE_DIRS}
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${CMAKE_CURRENT_SOURCE_DIR}/../include
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)
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SET(LIBRARIES
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${UTILITE_LIBRARY}
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${OpenCV_LIBS}
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)
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# Make sure the compiler can find include files from our library.
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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# Add binary called "imagesJoiner" that is built from the source file "main.cpp".
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# The extension is automatically found.
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ADD_EXECUTABLE(webcamCapture ${SRC_FILES})
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TARGET_LINK_LIBRARIES(webcamCapture corelib ${LIBRARIES})
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SET_TARGET_PROPERTIES( webcamCapture
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-webcamCapture)
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INSTALL(TARGETS webcamCapture
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RUNTIME DESTINATION bin COMPONENT runtime
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LIBRARY DESTINATION lib COMPONENT devel
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ARCHIVE DESTINATION lib COMPONENT devel)
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260
corelib/WebcamCapture/main.cpp
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260
corelib/WebcamCapture/main.cpp
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "utilite/ULogger.h"
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#include "utilite/UTimer.h"
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#include "utilite/UDirectory.h"
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#include "utilite/UConversion.h"
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#include "rtabmap/core/Camera.h"
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#include "rtabmap/core/SMState.h"
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#include "utilite/UEventsManager.h"
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#include "utilite/UEventsHandler.h"
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#include "rtabmap/core/CameraEvent.h"
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#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <iostream>
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void showUsage()
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{
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printf("Usage:\n"
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"webcamCapture [option]\n"
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" -device #: Id of the webcam (default 0)\n"
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" -width #: Image width (default 640)\n"
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" -height #: Image height (default 480)\n"
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" -fps #.#: Frame rate (Hz) (default 2.0)\n"
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" -show bool: Image shown while capturing (default true)\n"
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" -dir \"path\": Path of the images saved (default \"./imagesCaptured\")\n"
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" -save bool: Save images captured (default true)\n"
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" -startId #: Image id to start with (default 1)\n"
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" -ext \"ext\": Image extension (default \"jpg\")\n"
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" -debug: Debug trace\n");
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exit(1);
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}
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class ImagesHandler : public UEventsHandler
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{
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public:
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ImagesHandler(const std::string & targetDir, const std::string & ext, int startId, bool show, bool save) :
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targetDir_(targetDir),
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ext_(ext),
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startId_(startId),
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show_(show),
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save_(save),
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id_(startId)
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{
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if(show_)
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{
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cvNamedWindow("Webcam", CV_WINDOW_AUTOSIZE);
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}
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}
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virtual ~ImagesHandler()
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{
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if(show_)
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{
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cvDestroyWindow("Webcam");
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}
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}
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protected:
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virtual void handleEvent(UEvent * e)
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{
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if(e->getClassName().compare("SMStateEvent") == 0)
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{
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const rtabmap::SMStateEvent * event = (const rtabmap::SMStateEvent*)e;
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const rtabmap::SMState * sm = event->getData();
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const IplImage * image = 0;
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if(sm)
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{
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image = sm->getImage();
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}
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if(image)
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{
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if(show_)
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{
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cvShowImage("Webcam", image);
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}
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if(save_)
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{
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std::string fileName = targetDir_ + "/";
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fileName += uNumber2str(id_++);
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fileName += ".";
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fileName += ext_;
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cvSaveImage(fileName.c_str(), image);
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printf("Image %s saved!\n", fileName.c_str());
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}
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}
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else
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{
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printf("Image is null?!?\n");
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}
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}
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}
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private:
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std::string targetDir_;
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std::string ext_;
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int startId_;
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bool show_;
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bool save_;
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int id_;
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};
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int main(int argc, char * argv[])
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{
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bool show = true;
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int usbDevice = 0;
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int imageWidth = 640;
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int imageHeight = 480;
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float imageRate = 2.0;
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int startId = 1;
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std::string extension = "jpg";
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bool save = true;
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std::string targetDirectory = UDirectory::currentDir(true) + "imagesCaptured";
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for(int i=1; i<argc; ++i)
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{
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if(strcmp(argv[i], "-h") == 0 ||
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strcmp(argv[i], "-help") == 0 ||
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strcmp(argv[i], "?") == 0)
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{
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showUsage();
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}
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if(strcmp(argv[i], "-device") == 0 && i+1<argc)
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{
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usbDevice = std::atoi(argv[i+1]);
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if(usbDevice < 0 || usbDevice > 100)
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{
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showUsage();
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}
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++i;
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}
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if(strcmp(argv[i], "-width") == 0 && i+1<argc)
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{
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imageWidth = std::atoi(argv[i+1]);
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if(imageWidth < 0)
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{
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showUsage();
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}
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++i;
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}
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if(strcmp(argv[i], "-height") == 0 && i+1<argc)
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{
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imageHeight = std::atoi(argv[i+1]);
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if(imageHeight < 0)
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{
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showUsage();
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}
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++i;
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}
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if(strcmp(argv[i], "-hz") == 0 && i+1<argc)
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{
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imageRate = std::atof(argv[i+1]);
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if(imageRate < 0)
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{
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showUsage();
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}
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++i;
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}
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if(strcmp(argv[i], "-show") == 0 && i+1<argc)
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{
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show = uStr2Bool(argv[i+1]);
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++i;
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}
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if(strcmp(argv[i], "-dir") == 0 && i+1<argc)
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{
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targetDirectory = argv[i+1];
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++i;
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}
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if(strcmp(argv[i], "-save") == 0 && i+1<argc)
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{
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save = uStr2Bool(argv[i+1]);
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++i;
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}
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if(strcmp(argv[i], "-debug") == 0)
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{
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ULogger::setLevel(ULogger::kDebug);
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ULogger::setType(ULogger::kTypeConsole);
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}
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if(strcmp(argv[i], "-startId") == 0 && i+1<argc)
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{
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startId = std::atoi(argv[i+1]);
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++i;
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}
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if(strcmp(argv[i], "-ext") == 0 && i+1<argc)
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{
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extension = argv[i+1];
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++i;
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}
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}
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printf("Parameters:\n"
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" device=%d\n"
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" width=%d\n"
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" height=%d\n"
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" hz=%f\n"
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" show=%s\n"
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" dir=%s\n"
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" extension=%s\n"
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" startId=%d\n"
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" save=%s\n",
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usbDevice,
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imageWidth,
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imageHeight,
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imageRate,
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uBool2str(show).c_str(),
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targetDirectory.c_str(),
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extension.c_str(),
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startId,
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uBool2str(save).c_str());
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UDirectory::makeDir(targetDirectory);
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rtabmap::CameraVideo cam(usbDevice, imageWidth, imageHeight, false, imageRate);
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if(!cam.init())
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{
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printf("Can't initialize the camera...\n");
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return 1;
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}
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ImagesHandler imgHandler(targetDirectory, extension, startId, show, save);
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UEventsManager::addHandler(&imgHandler);
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cam.start();
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if(show)
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{
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cvWaitKey(0);
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}
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else
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{
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std::cin.ignore();
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}
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return 0;
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}
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