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.

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)
 	{