Merged pcl_integration branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83

tools/DataRecorder/CMakeLists.txt

@@ -0,0 +1,34 @@
+
+SET(SRC_FILES
+    main.cpp
+)
+
+SET(INCLUDE_DIRS
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
+	${PROJECT_SOURCE_DIR}/guilib/include
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${PCL_INCLUDE_DIRS}
+)
+
+INCLUDE(${QT_USE_FILE})
+
+SET(LIBRARIES
+	${PCL_LIBRARIES} 
+	${QT_LIBRARIES} 
+)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+IF(MINGW)
+  ADD_EXECUTABLE(dataRecorder WIN32 ${SRC_FILES})
+ELSE()
+  ADD_EXECUTABLE(dataRecorder ${SRC_FILES})
+ENDIF()
+TARGET_LINK_LIBRARIES(dataRecorder rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( dataRecorder 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-dataRecorder)
+

tools/DataRecorder/main.cpp

@@ -0,0 +1,166 @@
+
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/core/CameraOpenni.h>
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/CameraThread.h>
+#include <rtabmap/gui/DataRecorder.h>
+#include <QtGui/QApplication.h>
+#include <signal.h>
+
+using namespace rtabmap;
+
+void showUsage()
+{
+	printf("\nUsage:\n"
+			"dataRecorder [options] output.db\n"
+			"Options:\n"
+			"  -hide                    Don't display the current cloud recorded.\n"
+			"  -debug                   Set debug level for the logger.\n"
+			"  -rate #.#                Input rate Hz (default 0=inf)\n"
+			"  -openni                  Use openni camera instead of the usb camera.\n");
+	exit(1);
+}
+
+rtabmap::CameraOpenni * openniCamera = 0;
+rtabmap::CameraThread * cam = 0;
+QApplication * app = 0;
+// catch ctrl-c
+void sighandler(int sig)
+{
+	printf("\nSignal %d caught...\n", sig);
+	if(openniCamera)
+	{
+		openniCamera->kill();
+	}
+	if(cam)
+	{
+		cam->join(true);
+	}
+	if(app)
+	{
+		QMetaObject::invokeMethod(app, "quit");
+	}
+}
+
+int main (int argc, char * argv[])
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kInfo);
+
+	// parse arguments
+	QString fileName;
+	bool show = true;
+	bool openni = false;
+	float rate = 0.0f;
+
+	if(argc < 2)
+	{
+		showUsage();
+	}
+	for(int i=1; i<argc-1; ++i)
+	{
+		if(strcmp(argv[i], "-rate") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				rate = std::atof(argv[i]);
+				if(rate < 0.0f)
+				{
+					showUsage();
+				}
+			}
+			else
+			{
+				showUsage();
+			}
+			continue;
+		}
+		if(strcmp(argv[i], "-debug") == 0)
+		{
+			ULogger::setLevel(ULogger::kDebug);
+			continue;
+		}
+		if(strcmp(argv[i], "-hide") == 0)
+		{
+			show = false;
+			continue;
+		}
+		if(strcmp(argv[i], "-openni") == 0)
+		{
+			openni = true;
+			continue;
+		}
+
+		printf("Unrecognized option : %s\n", argv[i]);
+		showUsage();
+	}
+	fileName = argv[argc-1]; // the last is the output path
+
+	UINFO("Output = %s", fileName.toStdString().c_str());
+	UINFO("Show = %s", show?"true":"false");
+	UINFO("Openni = %s", openni?"true":"false");
+	UINFO("Rate =%f Hz", rate);
+
+	app = new QApplication(argc, argv);
+
+	// Catch ctrl-c to close the gui
+	// (Place this after QApplication's constructor)
+	signal(SIGABRT, &sighandler);
+	signal(SIGTERM, &sighandler);
+	signal(SIGINT, &sighandler);
+
+	if(openni)
+	{
+		openniCamera = new rtabmap::CameraOpenni("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
+	}
+	else
+	{
+		cam = new rtabmap::CameraThread(new rtabmap::CameraVideo(0, rate));
+	}
+
+	DataRecorder recorder;
+
+	if(recorder.init(fileName))
+	{
+		recorder.registerToEventsManager();
+		if(show)
+		{
+			recorder.setWindowTitle("Cloud viewer");
+			recorder.setMinimumWidth(500);
+			recorder.setMinimumHeight(300);
+			recorder.showNormal();
+			app->processEvents();
+		}
+
+		if(openni?openniCamera->init():cam->init())
+		{
+			openni?openniCamera->start():cam->start();
+
+			app->exec();
+
+			UINFO("Closing...");
+
+			recorder.close();
+		}
+		else
+		{
+			UERROR("Cannot initialize the camera!");
+		}
+	}
+	else
+	{
+		UERROR("Cannot initialize the recorder! Maybe the path is wrong: \"%s\"", fileName.toStdString().c_str());
+	}
+
+	if(openniCamera)
+	{
+		delete openniCamera;
+	}
+	if(cam)
+	{
+		delete cam;
+	}
+
+	return 0;
+}