i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactored Camera classes and Preferences->Source menu

Browse Source
This commit is contained in:
matlabbe
2015-06-26 18:21:32 -04:00
parent 6f1df94b18
commit 6df403ed42
39 changed files with 3543 additions and 3388 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
tools/ConsoleApp/main.cpp
View File

@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraRGB.h"
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UConversion.h>
@@ -53,10 +53,6 @@ void showUsage()
" -rateHz #.## Acquisition rate (Hz), for convenience\n"
" -repeat # Repeat the process on the data set # times (minimum of 1)\n"
" -createGT Generate a ground truth file\n"
" -image_width # Force an image width (Default 0: original size used).\n"
" The height must be also specified if changed.\n"
" -image_height # Force an image height (Default 0: original size used)\n"
" The height must be also specified if changed.\n"
" -start_at # When \"path\" is a directory of images, set this parameter\n"
" to start processing at image # (default 1).\n"
" -\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
@@ -118,8 +114,6 @@ int main(int argc, char * argv[])
int repeat = 0;
bool createGT = false;
std::string inputDbPath;
int imageWidth = 0;
int imageHeight = 0;
int startAt = 1;
ParametersMap pm;
ULogger::Level logLevel = ULogger::kError;
@@ -194,40 +188,6 @@ int main(int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-image_width") == 0)
{
++i;
if(i < argc)
{
imageWidth = std::atoi(argv[i]);
if(imageWidth < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-image_height") == 0)
{
++i;
if(i < argc)
{
imageHeight = std::atoi(argv[i]);
if(imageHeight < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-start_at") == 0)
{
++i;
@@ -328,12 +288,6 @@ int main(int argc, char * argv[])
printf("Cannot create a Ground truth if repeat is on.\n");
showUsage();
}
else if((imageWidth && imageHeight == 0) ||
(imageHeight && imageWidth == 0))
{
printf("If imageWidth is set, imageHeight must be too.\n");
showUsage();
}
UTimer timer;
timer.start();
@@ -342,11 +296,11 @@ int main(int argc, char * argv[])
Camera * camera = 0;
if(UDirectory::exists(path))
{
camera = new CameraImages(path, startAt, false, 1/rate, imageWidth, imageHeight);
camera = new CameraImages(path, startAt, false, 1/rate);
}
else
{
camera = new CameraVideo(path, 1/rate, imageWidth, imageHeight);
camera = new CameraVideo(path, 1/rate);
}
if(!camera || !camera->init())
@@ -395,7 +349,6 @@ int main(int argc, char * argv[])
printf(" Time threshold = %1.2f ms\n", rtabmap.getTimeThreshold());
printf(" Image rate = %1.2f s (%1.2f Hz)\n", rate, 1/rate);
printf(" Repeating data set = %s\n", repeat?"true":"false");
printf(" Camera width=%d, height=%d (0 is default)\n", imageWidth, imageHeight);
printf(" Camera starts at image %d (default 1)\n", startAt);
if(createGT)
{
@@ -422,23 +375,23 @@ int main(int argc, char * argv[])
std::list<std::vector<float> > teleopActions;
while(loopDataset <= repeat && g_forever)
{
cv::Mat img = camera->takeImage();
SensorData data = camera->takeImage();
int i=0;
double maxIterationTime = 0.0;
int maxIterationTimeId = 0;
while(!img.empty() && g_forever)
while(!data.imageRaw().empty() && g_forever)
{
++imagesProcessed;
iterationTimer.start();
rtabmapTimer.start();
rtabmap.process(img);
rtabmap.process(data.imageRaw());
double rtabmapTime = rtabmapTimer.elapsed();
loopClosureId = rtabmap.getLoopClosureId();
if(rtabmap.getLoopClosureId())
{
++countLoopDetected;
}
img = camera->takeImage();
data = camera->takeImage();
if(++count % 100 == 0)
{
printf(" count = %d, loop closures = %d, max time (at %d) = %fs\n",