MERGE branch STM 325:449 into trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/ImagesDbExtractor/main.cpp

@@ -0,0 +1,61 @@
+#include <opencv2/core/core.hpp>
+#include <opencv2/core/types_c.h>
+#include <opencv2/highgui/highgui_c.h>
+#include <opencv2/imgproc/imgproc_c.h>
+#include <iostream>
+#include <utilite/ULogger.h>
+#include <utilite/UTimer.h>
+#include <utilite/UConversion.h>
+#include <utilite/UDirectory.h>
+#include "SMMemory.h"
+
+int main(int argc, char** argv)
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kInfo);
+
+	std::string path = rtabmap::Parameters::defaultRtabmapWorkingDirectory() + "/LTM.db";
+	if(argc > 1)
+	{
+		path = argv[1];
+	}
+
+
+    // Open database
+    std::string driverType = "sqlite3";
+	rtabmap::ParametersMap parameters;
+	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
+	rtabmap::SMMemory * memory = new rtabmap::SMMemory(parameters);
+	if(!memory)
+	{
+		UWARN("Can't create database driver \"%s\"", driverType.c_str());
+	}
+	else if(!memory->init(driverType, path))
+	{
+		UWARN("Can't open database \"%s\"", path.c_str());
+	}
+
+	if(memory)
+	{
+		UINFO("Using database %s", path.c_str());
+		std::string saveDirectory = "imagesExtracted/";
+		if(!UDirectory::exists(saveDirectory))
+		{
+			UDirectory::makeDir(saveDirectory);
+		}
+		std::set<int> ids = memory->getAllSignatureIds();
+		for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
+		{
+			IplImage * image = memory->getImage(*iter);
+			if(image)
+			{
+				std::string fileName = uNumber2Str(*iter) + ".jpg";
+				cvSaveImage((saveDirectory+fileName).c_str(), image);
+				cvReleaseImage(&image);
+				UINFO("Saved %s", (saveDirectory+fileName).c_str());
+			}
+		}
+	}
+
+    return 0;
+}