Fixed DataRecorder UI asserting if data without images is received (in case of monocular or lidar-only recording). rtabmap-dataRecorder: added auto-close when end of stream is reached. rtabmap-reprocess: added ability to process images without odometry and to record localization poses with -p option in localizatiion mode.

guilib/src/DataRecorder.cpp

@@ -156,8 +156,12 @@ void DataRecorder::addData(const rtabmap::SensorData & data, const Transform & p
 void DataRecorder::showImage(const cv::Mat & image, const cv::Mat & depth)
 {
 	processingImages_ = true;
-	imageView_->setImage(uCvMat2QImage(image));
-	imageView_->setImageDepth(depth);
+	if(!image.empty()) {
+		imageView_->setImage(uCvMat2QImage(image));
+	}
+	if(!depth.empty()) {
+		imageView_->setImageDepth(depth);
+	}
 	label_->setText(tr("Images=%1 (~%2 MB)").arg(count_).arg(totalSizeKB_/1000));
 	processingImages_ = false;
 }

tools/DataRecorder/main.cpp

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/CameraRGBD.h>
 #include <rtabmap/core/CameraStereo.h>
 #include <rtabmap/core/Camera.h>
+#include <rtabmap/core/SensorEvent.h>
 #include <rtabmap/core/DBReader.h>
 #include <rtabmap/core/SensorCaptureThread.h>
 #include <rtabmap/core/SensorCaptureThread.h>
@@ -71,6 +72,31 @@ void sighandler(int sig)
 	}
 }
 
+// Detect when we reached end-of-files
+class StatusHandler: public UEventsHandler{
+protected:
+	virtual bool handleEvent(UEvent * event)
+	{
+		if(event->getClassName().compare("SensorEvent") == 0)
+		{
+			SensorEvent * camEvent = (SensorEvent*)event;
+			if(camEvent->getCode() == SensorEvent::kCodeNoMoreImages)
+			{
+				printf("End of stream reached...\n");
+				if(cam)
+				{
+					cam->join(true);
+				}
+				if(app)
+				{
+					QMetaObject::invokeMethod(app, "quit");
+				}
+			}
+		}
+		return false;
+	}
+};
+
 int main (int argc, char * argv[])
 {
 	ULogger::setType(ULogger::kTypeConsole);
@@ -138,6 +164,10 @@ int main (int argc, char * argv[])
 	signal(SIGTERM, &sighandler);
 	signal(SIGINT, &sighandler);
 
+	// Catch end of stream to close the gui
+	StatusHandler statusHandler;
+	statusHandler.registerToEventsManager();
+
 	rtabmap::Camera * camera = dialog.createCamera();
 	if(camera == 0)
 	{

tools/Reprocess/main.cpp

@@ -1024,7 +1024,7 @@ int main(int argc, char * argv[])
 
 		UTimer iterationTime;
 		std::string status;
-		if(!odometryIgnored && info.odomPose.isNull())
+		if(!odometryIgnored && info.odomPose.isNull() && incrementalMemory)
 		{
 			printf("Skipping node %d as it doesn't have odometry pose set.\n", data.id());
 		}
@@ -1235,15 +1235,22 @@ int main(int argc, char * argv[])
 				localizationAngleVariations.push_back(stats.data().at(Statistics::kLoopOdom_correction_angle()));
 			}
 
-			if(exportPoses && !info.odomPose.isNull())
+			if(exportPoses)
 			{
-				if(!odomTrajectoryPoses.empty())
+				if(!info.odomPose.isNull())
 				{
-					int previousId = odomTrajectoryPoses.rbegin()->first;
-					odomTrajectoryLinks.insert(std::make_pair(previousId, Link(previousId, refId, Link::kNeighbor, odomTrajectoryPoses.rbegin()->second.inverse()*info.odomPose, info.odomCovariance)));
+					if(!odomTrajectoryPoses.empty())
+					{
+						int previousId = odomTrajectoryPoses.rbegin()->first;
+						odomTrajectoryLinks.insert(std::make_pair(previousId, Link(previousId, refId, Link::kNeighbor, odomTrajectoryPoses.rbegin()->second.inverse()*info.odomPose, info.odomCovariance)));
+					}
+					odomTrajectoryPoses.insert(std::make_pair(refId, info.odomPose));
+					localizationPoses.insert(std::make_pair(refId, stats.mapCorrection()*info.odomPose));
+				}
+				else
+				{
+					localizationPoses.insert(std::make_pair(refId, rtabmap.getLastLocalizationPose()));
 				}
-				odomTrajectoryPoses.insert(std::make_pair(refId, info.odomPose));
-				localizationPoses.insert(std::make_pair(refId, stats.mapCorrection()*info.odomPose));
 			}
 		}