Added Database recorder menu option

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1433 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/DBReader.cpp

@@ -127,6 +127,12 @@ void DBReader::mainLoop()
 			{
 				Image data(image, depth, depth2d, depthConstant, pose, localTransform);
 				this->post(new OdometryEvent(data));
+				if(pose.isNull())
+				{
+					UWARN("Reading the database: odometry is null! "
+						  "Please set \"Ignore odometry = true\" if there is "
+						  "no odometry in the database.");
+				}
 			}
 			else
 			{

examples/CameraRGBD/main.cpp

@@ -49,7 +49,7 @@ int main(int argc, char * argv[])
 	}
 	UINFO("Using driver %d", driver);
 
-	rtabmap::CameraRGBD * camera;
+	rtabmap::CameraRGBD * camera = 0;
 	if(driver == 0)
 	{
 		camera = new rtabmap::CameraOpenni("", 0);

guilib/include/rtabmap/gui/MainWindow.h

@@ -155,6 +155,7 @@ private slots:
 	void viewMeshes();
 	void resetOdometry();
 	void triggerNewMap();
+	void dataRecorder();
 	void updateNodeVisibility(int, bool);
 
 signals:

guilib/src/MainWindow.cpp

@@ -31,6 +31,7 @@
 
 #include "rtabmap/gui/ImageView.h"
 #include "rtabmap/gui/KeypointItem.h"
+#include "rtabmap/gui/DataRecorder.h"
 
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/ULogger.h>
@@ -260,6 +261,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->actionView_point_cloud_as_mesh, SIGNAL(triggered()), this, SLOT(viewMeshes()));
 	connect(_ui->actionReset_Odometry, SIGNAL(triggered()), this, SLOT(resetOdometry()));
 	connect(_ui->actionTrigger_a_new_map, SIGNAL(triggered()), this, SLOT(triggerNewMap()));
+	connect(_ui->actionData_recorder, SIGNAL(triggered()), this, SLOT(dataRecorder()));
 
 	_ui->actionPause->setShortcut(Qt::Key_Space);
 	_ui->actionSave_point_cloud->setEnabled(false);
@@ -3092,6 +3094,50 @@ void MainWindow::triggerNewMap()
 	this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdTriggerNewMap));
 }
 
+void MainWindow::dataRecorder()
+{
+	if(_camera)
+	{
+		QString path = QFileDialog::getSaveFileName(this, tr("Save to..."), "output.db", "RTAB-Map database (*.db)");
+		if(!path.isEmpty())
+		{
+			int r = QMessageBox::question(this, tr("Hard drive or RAM?"), tr("Save in RAM?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
+
+			if(r == QMessageBox::No || r == QMessageBox::Yes)
+			{
+				bool recordInRAM = r == QMessageBox::Yes;
+				QWidget * window = new QWidget(this, Qt::Popup);
+				window->setAttribute(Qt::WA_DeleteOnClose);
+				window->setWindowFlags(Qt::Dialog);
+				window->setWindowTitle(tr("Data recorder (%1)").arg(path));
+
+				DataRecorder * recorder = new DataRecorder(window);
+
+				QVBoxLayout *layout = new QVBoxLayout();
+				layout->addWidget(recorder);
+				window->setLayout(layout);
+
+				if(recorder->init(path, recordInRAM))
+				{
+					window->show();
+					recorder->registerToEventsManager();
+					UEventsManager::createPipe(_camera, recorder, "CameraEvent");
+				}
+				else
+				{
+					QMessageBox::warning(this, tr(""), tr("Cannot initialize the data recorder!"));
+					UERROR("Cannot initialize the data recorder!");
+					delete window;
+				}
+			}
+		}
+	}
+	else
+	{
+		UERROR("Camera should be already created.");
+	}
+}
+
 //END ACTIONS
 
 void MainWindow::savePointClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds)
@@ -3615,6 +3661,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionGenerate_map->setEnabled(true);
 		_ui->actionGenerate_local_map->setEnabled(true);
 		_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
+		_ui->actionData_recorder->setEnabled(false);
 		_ui->actionOpen_working_directory->setEnabled(true);
 		_ui->actionApply_settings_to_the_detector->setEnabled(true);
 		_ui->actionDownload_all_clouds->setEnabled(true);
@@ -3644,6 +3691,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionGenerate_map->setEnabled(false);
 		_ui->actionGenerate_local_map->setEnabled(false);
 		_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
+		_ui->actionData_recorder->setEnabled(true);
 		_ui->actionOpen_working_directory->setEnabled(true);
 		_ui->actionApply_settings_to_the_detector->setEnabled(false);
 		_ui->actionDownload_all_clouds->setEnabled(false);
@@ -3736,6 +3784,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionGenerate_map->setVisible(false);
 		_ui->actionGenerate_local_map->setVisible(false);
 		_ui->actionGenerate_TORO_graph_graph->setVisible(false);
+		_ui->actionData_recorder->setVisible(false);
 		_ui->actionOpen_working_directory->setEnabled(false);
 		_ui->actionApply_settings_to_the_detector->setVisible(false);
 		_ui->actionDownload_all_clouds->setEnabled(true);
@@ -3764,6 +3813,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionGenerate_map->setVisible(false);
 		_ui->actionGenerate_local_map->setVisible(false);
 		_ui->actionGenerate_TORO_graph_graph->setVisible(false);
+		_ui->actionData_recorder->setVisible(false);
 		_ui->actionOpen_working_directory->setEnabled(false);
 		_ui->actionApply_settings_to_the_detector->setVisible(false);
 		_ui->actionDownload_all_clouds->setEnabled(true);

guilib/src/ui/mainWindow.ui

@@ -27,7 +27,7 @@
      <x>0</x>
      <y>0</y>
      <width>1012</width>
-     <height>21</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -57,6 +57,8 @@
     <addaction name="actionGenerate_local_map"/>
     <addaction name="actionGenerate_TORO_graph_graph"/>
     <addaction name="separator"/>
+    <addaction name="actionData_recorder"/>
+    <addaction name="separator"/>
     <addaction name="actionView_high_res_point_cloud"/>
     <addaction name="actionSave_point_cloud"/>
     <addaction name="actionView_point_cloud_as_mesh"/>
@@ -1042,6 +1044,11 @@
     <string>OpenNI-PCL</string>
    </property>
   </action>
+  <action name="actionData_recorder">
+   <property name="text">
+    <string>Data recorder...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>