Added c++ example of RTAB-Map RGB-D version

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1152 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-09 13:00:19 +08:00 · 2014-02-24 21:04:02 +00:00
parent 510e9cab89
commit 30981b102e
10 changed files with 373 additions and 28 deletions
@@ -0,0 +1,94 @@
+/*
+ * 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 "rtabmap/core/Rtabmap.h"
+#include "rtabmap/core/RtabmapThread.h"
+#include "rtabmap/core/CameraOpenni.h"
+#include "rtabmap/core/Odometry.h"
+#include "rtabmap/utilite/UEventsManager.h"
+#include <QtGui/QApplication>
+#include <stdio.h>
+
+#include "MapBuilder.h"
+
+using namespace rtabmap;
+int main(int argc, char * argv[])
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kWarning);
+
+	// GUI stuff, there the handler will receive RtabmapEvent and construct the map
+	QApplication app(argc, argv);
+	MapBuilder mapBuilder;
+
+	// Here is the pipeline that we will use:
+	// CameraOpenni -> "CameraEvent" -> OdometryThread -> "OdometryEvent" -> RtabmapThread -> "RtabmapEvent"
+
+	// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
+	// Set transform to camera so z is up, y is left and x going forward
+	CameraOpenni camera("", 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
+	if(!camera.init())
+	{
+		UERROR("Camera init failed!");
+		exit(1);
+	}
+
+	// Create an odometry thread to process camera events, it will send OdometryEvent.
+	OdometryThread odomThread(new OdometryBOW(0)); // 0=SURF 1=SIFT
+
+
+	// Create RTAB-Map to process OdometryEvent
+	Rtabmap * rtabmap = new Rtabmap();
+	rtabmap->init();
+	RtabmapThread rtabmapThread(rtabmap); // ownership is transfered
+	rtabmapThread.setDetectorRate(0.0f); // as fast as we can
+
+	// Setup handlers
+	odomThread.registerToEventsManager();
+	rtabmapThread.registerToEventsManager();
+	mapBuilder.registerToEventsManager();
+
+	// The RTAB-Map is subscribed by default to CameraEvent, but we want
+	// RTAB-Map to process OdometryEvent instead, ignoring the CameraEvent.
+	// We can do that by creating a "pipe" between the camera and odometry, then
+	// only the odometry will receive CameraEvent from that camera. RTAB-Map is
+	// also subscribed to OdometryEvent by default, so no need to create a pipe between
+	// odometry and RTAB-Map.
+	UEventsManager::createPipe(&camera, &odomThread, "CameraEvent");
+
+	// Let's start the threads
+	rtabmapThread.start();
+	odomThread.start();
+	camera.start();
+
+	mapBuilder.show();
+	app.exec(); // main loop
+
+	// remove handlers
+	mapBuilder.unregisterFromEventsManager();
+	rtabmapThread.unregisterFromEventsManager();
+	odomThread.unregisterFromEventsManager();
+
+	// Kill all threads
+	camera.kill();
+	odomThread.join(true);
+	rtabmapThread.join(true);
+
+	return 0;
+}