Calibration tool files...

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1588 f169173b-cf89-36c8-b27e-44dbe73f0c83

tools/Calibration/CMakeLists.txt

@@ -0,0 +1,29 @@
+SET(INCLUDE_DIRS
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/guilib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+INCLUDE(${QT_USE_FILE})
+
+SET(LIBRARIES
+	${OpenCV_LIBRARIES} 
+	${PCL_LIBRARIES}
+	${QT_LIBRARIES} 
+)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(calibration main.cpp)
+TARGET_LINK_LIBRARIES(calibration rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( calibration 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-calibration)
+  
+INSTALL(TARGETS calibration
+		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)

tools/Calibration/main.cpp

@@ -0,0 +1,119 @@
+/*
+ * 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/CameraRGBD.h"
+#include "rtabmap/core/CameraThread.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/gui/CalibrationDialog.h"
+#include <QtGui/QApplication>
+
+void showUsage()
+{
+	printf("\nUsage:\n"
+			"rtabmap-calibration driver\n"
+			"  driver       Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
+	exit(1);
+}
+
+int main(int argc, char * argv[])
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kInfo);
+
+	int driver = 0;
+	if(argc < 2)
+	{
+		showUsage();
+	}
+	else
+	{
+		driver = atoi(argv[argc-1]);
+		if(driver < 0 || driver > 4)
+		{
+			UERROR("driver should be between 0 and 4.");
+			showUsage();
+		}
+	}
+	UINFO("Using driver %d", driver);
+
+	float imageRate = 1.0f;
+	rtabmap::CameraRGBD * camera = 0;
+	if(driver == 0)
+	{
+		camera = new rtabmap::CameraOpenni("", imageRate);
+	}
+	else if(driver == 1)
+	{
+		if(!rtabmap::CameraOpenNI2::available())
+		{
+			UERROR("Not built with OpenNI2 support...");
+			exit(-1);
+		}
+		camera = new rtabmap::CameraOpenNI2(imageRate);
+	}
+	else if(driver == 2)
+	{
+		if(!rtabmap::CameraFreenect::available())
+		{
+			UERROR("Not built with Freenect support...");
+			exit(-1);
+		}
+		camera = new rtabmap::CameraFreenect(0, imageRate);
+	}
+	else if(driver == 3)
+	{
+		if(!rtabmap::CameraOpenNICV::available())
+		{
+			UERROR("Not built with OpenNI from OpenCV support...");
+			exit(-1);
+		}
+		camera = new rtabmap::CameraOpenNICV(false, imageRate);
+	}
+	else if(driver == 4)
+	{
+		if(!rtabmap::CameraOpenNICV::available())
+		{
+			UERROR("Not built with OpenNI from OpenCV support...");
+			exit(-1);
+		}
+		camera = new rtabmap::CameraOpenNICV(true, imageRate);
+	}
+	else
+	{
+		UFATAL("");
+	}
+
+	if(!camera->init())
+	{
+		printf("Camera init failed!\n");
+		delete camera;
+		exit(1);
+	}
+
+	rtabmap::CameraThread cameraThread(camera);
+
+	QApplication app(argc, argv);
+	rtabmap::CalibrationDialog dialog;
+	dialog.registerToEventsManager();
+
+	dialog.show();
+	cameraThread.start();
+	app.exec();
+	cameraThread.join(true);
+}