i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Making Rtabmap interface easier to use from c++ (Update c++ example usage)

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@695 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-10 20:29:01 +00:00
parent 0f4e24233c
commit b032699860
8 changed files with 205 additions and 129 deletions
Download Patch File Download Diff File Expand all files Collapse all files

52
tools/ConsoleApp/main.cpp
View File

@@ -57,10 +57,7 @@ void showUsage()
" -SURF/HessianThreshold 150\n"
" For parameters in table format, add ',' between values :\n"
" -Kp/RoiRatios 0,0,0.1,0\n"
" Default parameters can be found in ~/.rtabmap/rtabmap.ini\n"
" -default_params Show default RTAB-Map's parameters (WARNING : \n"
" parameters from rtabmap.ini (if exists) overwrite the default \n"
" ones shown here)\n"
" -default_params Show default RTAB-Map's parameters\n"
" -debug Set Log level to Debug (Default Error)\n"
" -info Set Log level to Info (Default Error)\n"
" -warn Set Log level to Warning (Default Error)\n"
@@ -375,20 +372,18 @@ int main(int argc, char * argv[])
std::map<int, int> groundTruth;
// Create tasks
Rtabmap * rtabmap = new Rtabmap();
rtabmap->init();
rtabmap->setMaxTimeAllowed(timeThreshold); // in ms
ULogger::setType(ULogger::kTypeConsole);
//ULogger::setType(ULogger::kTypeFile, rtabmap->getWorkingDir()+"/LogConsole.txt", false);
//ULogger::setType(ULogger::kTypeFile, rtabmap.getWorkingDir()+"/LogConsole.txt", false);
//ULogger::setBuffered(true);
ULogger::setLevel(logLevel);
ULogger::setExitLevel(exitLevel);
// Create tasks : memory is deleted
Rtabmap rtabmap(Parameters::defaultRtabmapWorkingDirectory());
// Disable statistics (we don't need them)
pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), uBool2Str(false)));
rtabmap->init(pm);
rtabmap.init(pm);
rtabmap.setTimeThreshold(timeThreshold); // in ms
printf("Avpd init time = %fs\n", timer.ticks());
@@ -409,7 +404,7 @@ int main(int argc, char * argv[])
{
printf(" Creating the ground truth matrix.\n");
}
printf(" INFO: All other parameters are taken from the INI file located in \"~/.rtabmap\"\n");
printf(" INFO: All other parameters are set to defaults\n");
if(pm.size()>1)
{
printf(" Overwritten parameters :\n");
@@ -418,16 +413,13 @@ int main(int argc, char * argv[])
printf(" %s=%s\n",iter->first.c_str(), iter->second.c_str());
}
}
if(rtabmap->getWorkingMem().size() || rtabmap->getStMem().size())
if(rtabmap.getWM().size() || rtabmap.getSTM().size())
{
printf("[Warning] RTAB-Map database is not empty (%s)\n", (rtabmap->getWorkingDir()+Rtabmap::kDefaultDatabaseName).c_str());
printf("[Warning] RTAB-Map database is not empty (%s)\n", (rtabmap.getWorkingDir()+Rtabmap::kDefaultDatabaseName).c_str());
}
printf("\nProcessing images...\n");
//setup camera
ParametersMap allParam;
Rtabmap::readParameters(rtabmap->getIniFilePath().c_str(), allParam);
pm.insert(allParam.begin(), allParam.end());
camera->setFeaturesExtracted(true);
camera->parseParameters(pm);
@@ -449,10 +441,10 @@ int main(int argc, char * argv[])
++imagesProcessed;
iterationTimer.start();
rtabmapTimer.start();
rtabmap->process(img);
rtabmap.process(img);
double rtabmapTime = rtabmapTimer.elapsed();
loopClosureId = rtabmap->getLoopClosureId();
if(rtabmap->getLoopClosureId())
loopClosureId = rtabmap.getLoopClosureId();
if(rtabmap.getLoopClosureId())
{
++countLoopDetected;
}
@@ -464,7 +456,7 @@ int main(int argc, char * argv[])
count, countLoopDetected, maxIterationTimeId, maxIterationTime);
maxIterationTime = 0.0;
maxIterationTimeId = 0;
std::map<int, int> wm = rtabmap->getWeights();
std::map<int, int> wm = rtabmap.getWeights();
printf(" WM(%d)=[", (int)wm.size());
for(std::map<int, int>::iterator iter=wm.begin(); iter!=wm.end();++iter)
{
@@ -498,15 +490,15 @@ int main(int argc, char * argv[])
ULogger::flush();
if(rtabmap->getLoopClosureId())
if(rtabmap.getLoopClosureId())
{
printf(" iteration(%d) loop(%d) hyp(%.2f) time=%fs/%fs *\n",
count, rtabmap->getLoopClosureId(), rtabmap->getLcHypValue(), rtabmapTime, iterationTime);
count, rtabmap.getLoopClosureId(), rtabmap.getLcHypValue(), rtabmapTime, iterationTime);
}
else if(rtabmap->getReactivatedId())
else if(rtabmap.getRetrievedId())
{
printf(" iteration(%d) high(%d) hyp(%.2f) time=%fs/%fs\n",
count, rtabmap->getReactivatedId(), rtabmap->getLcHypValue(), rtabmapTime, iterationTime);
count, rtabmap.getRetrievedId(), rtabmap.getLcHypValue(), rtabmapTime, iterationTime);
}
else
{
@@ -539,9 +531,9 @@ int main(int argc, char * argv[])
}
// Generate the ground truth file
printf("Generate ground truth to file %s, size of %d\n", (rtabmap->getWorkingDir()+GENERATED_GT_NAME).c_str(), groundTruthMat.rows);
printf("Generate ground truth to file %s, size of %d\n", (rtabmap.getWorkingDir()+GENERATED_GT_NAME).c_str(), groundTruthMat.rows);
IplImage img = groundTruthMat;
cvSaveImage((rtabmap->getWorkingDir()+GENERATED_GT_NAME).c_str(), &img);
cvSaveImage((rtabmap.getWorkingDir()+GENERATED_GT_NAME).c_str(), &img);
printf(" Creating ground truth file = %fs\n", timer.ticks());
}
@@ -551,11 +543,7 @@ int main(int argc, char * argv[])
camera = 0 ;
}
if(rtabmap)
{
delete rtabmap;
rtabmap = 0;
}
rtabmap.close();
printf(" Cleanup time = %fs\n", timer.ticks());