mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
DataRecorder tool: interface changed to use config file (#661)
This commit is contained in:
matlabbe
@@ -32,8 +32,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <rtabmap/core/CameraRGBD.h>
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#include <rtabmap/core/CameraStereo.h>
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#include <rtabmap/core/Camera.h>
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#include <rtabmap/core/DBReader.h>
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#include <rtabmap/core/CameraThread.h>
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#include <rtabmap/gui/DataRecorder.h>
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#include <rtabmap/gui/PreferencesDialog.h>
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#include <QApplication>
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#include <signal.h>
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@@ -42,27 +44,14 @@ using namespace rtabmap;
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void showUsage()
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{
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printf("\nUsage:\n"
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"dataRecorder [options] output.db\n"
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"dataRecorder [options] config.ini output.db\n"
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"Description:\n"
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" A config file contains all camera parameters and driver used. That\n"
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" file can be generated by RTAB-Map->Preferences->Save Settings(*.ini)\n"
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" after modifying Source settings.\n"
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"Options:\n"
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" -hide Don't display the current cloud recorded.\n"
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" -debug Set debug level for the logger.\n"
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" -rate #.# Input rate Hz (default 0=inf)\n"
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" -driver Driver number to use:\n"
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" 0=OpenNI-PCL (Kinect)\n"
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" 1=OpenNI2 (Kinect and Xtion PRO Live)\n"
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" 2=Freenect (Kinect)\n"
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" 3=OpenNI-CV (Kinect)\n"
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" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
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" 5=Freenect2 (Kinect v2)\n"
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" 6=DC1394 (Bumblebee2)\n"
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" 7=FlyCapture2 (Bumblebee2)\n"
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" 8=ZED stereo\n"
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" 9=RealSense\n"
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" 10=Kinect for Windows 2 SDK\n"
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" 11=RealSense2\n"
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" 12=Kinect for Azure SDK\n"
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" 13=MYNT EYE S\n"
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" -device "" Device ID (default \"\")\n");
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" -debug Show debug log.\n"
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" -hide Don't display the current cloud recorded.\n");
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exit(1);
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}
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@@ -88,35 +77,16 @@ int main (int argc, char * argv[])
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ULogger::setLevel(ULogger::kInfo);
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// parse arguments
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QString fileName;
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std::string fileName;
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bool show = true;
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int driver = 0;
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std::string deviceId;
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float rate = 0.0f;
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std::string configFile;
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if(argc < 2)
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if(argc < 3)
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{
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showUsage();
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}
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for(int i=1; i<argc-1; ++i)
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for(int i=1; i<argc-2; ++i)
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{
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if(strcmp(argv[i], "-rate") == 0)
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{
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++i;
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if(i < argc)
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{
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rate = uStr2Float(argv[i]);
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if(rate < 0.0f)
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{
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showUsage();
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}
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}
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else
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{
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "-debug") == 0)
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{
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ULogger::setLevel(ULogger::kDebug);
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@@ -127,192 +97,86 @@ int main (int argc, char * argv[])
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show = false;
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continue;
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}
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if(strcmp(argv[i], "-driver") == 0)
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{
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++i;
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if(i < argc)
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{
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driver = std::atoi(argv[i]);
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if(driver < 0 || driver > 13)
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{
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showUsage();
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}
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}
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else
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{
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "-device") == 0)
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{
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++i;
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if(i < argc)
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{
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deviceId = argv[i];
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}
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else
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{
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showUsage();
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}
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continue;
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}
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printf("Unrecognized option : %s\n", argv[i]);
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showUsage();
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}
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configFile = argv[argc-2];
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configFile = uReplaceChar(configFile, '~', UDirectory::homeDir());
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fileName = argv[argc-1]; // the last is the output path
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fileName = uReplaceChar(fileName, '~', UDirectory::homeDir());
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if(UFile::getExtension(fileName.toStdString()).compare("db") != 0)
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if(UFile::getExtension(fileName).compare("db") != 0)
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{
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printf("Database names must end with .db extension\n");
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showUsage();
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}
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UINFO("Output = %s", fileName.toStdString().c_str());
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UINFO("Output = %s", fileName.c_str());
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UINFO("Show = %s", show?"true":"false");
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UINFO("Rate =%f Hz", rate);
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UINFO("Config = %s", configFile.c_str());
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app = new QApplication(argc, argv);
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PreferencesDialog dialog;
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//Set working directory to default if not in config file to avoid message box
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ParametersMap paramTmp;
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Parameters::readINI(configFile, paramTmp);
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if(paramTmp.find(Parameters::kRtabmapWorkingDirectory()) == paramTmp.end())
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{
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paramTmp.clear();
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paramTmp.insert(ParametersPair(Parameters::kRtabmapWorkingDirectory(), dialog.getDefaultWorkingDirectory().toStdString()));
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Parameters::writeINI(configFile, paramTmp);
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}
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dialog.init(configFile.c_str());
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UINFO("Driver = %d", dialog.getSourceDriver());
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UINFO("Rate = %f Hz", dialog.getGeneralInputRate());
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// Catch ctrl-c to close the gui
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// (Place this after QApplication's constructor)
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signal(SIGABRT, &sighandler);
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signal(SIGTERM, &sighandler);
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signal(SIGINT, &sighandler);
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rtabmap::Camera * camera = 0;
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if(driver == 0)
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rtabmap::Camera * camera = dialog.createCamera();
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if(camera == 0)
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{
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camera = new rtabmap::CameraOpenni(deviceId, rate);
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return -1;
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}
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else if(driver == 1)
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ParametersMap parameters = dialog.getAllParameters();
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cam = new CameraThread(camera, parameters);
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cam->setMirroringEnabled(dialog.isSourceMirroring());
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cam->setColorOnly(dialog.isSourceRGBDColorOnly());
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cam->setImageDecimation(dialog.getSourceImageDecimation());
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cam->setStereoToDepth(dialog.isSourceStereoDepthGenerated());
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cam->setStereoExposureCompensation(dialog.isSourceStereoExposureCompensation());
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cam->setScanParameters(
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dialog.isSourceScanFromDepth(),
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dialog.getSourceScanDownsampleStep(),
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dialog.getSourceScanRangeMin(),
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dialog.getSourceScanRangeMax(),
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dialog.getSourceScanVoxelSize(),
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dialog.getSourceScanNormalsK(),
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dialog.getSourceScanNormalsRadius(),
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(float)dialog.getSourceScanForceGroundNormalsUp());
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if(dialog.getIMUFilteringStrategy()>0 && dynamic_cast<DBReader*>(camera) == 0)
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{
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if(!rtabmap::CameraOpenNI2::available())
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cam->enableIMUFiltering(dialog.getIMUFilteringStrategy()-1, parameters);
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}
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if(dialog.isDepthFilteringAvailable())
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{
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if(dialog.isBilateralFiltering())
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{
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UERROR("Not built with OpenNI2 support...");
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exit(-1);
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cam->enableBilateralFiltering(
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dialog.getBilateralSigmaS(),
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dialog.getBilateralSigmaR());
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}
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camera = new rtabmap::CameraOpenNI2(deviceId, CameraOpenNI2::kTypeColorDepth, rate);
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cam->setDistortionModel(dialog.getSourceDistortionModel().toStdString());
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}
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else if(driver == 2)
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{
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if(!rtabmap::CameraFreenect::available())
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{
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UERROR("Not built with Freenect support...");
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exit(-1);
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}
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camera = new rtabmap::CameraFreenect(deviceId.size()?atoi(deviceId.c_str()):0, CameraFreenect::kTypeColorDepth, rate);
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}
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else if(driver == 3)
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{
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if(!rtabmap::CameraOpenNICV::available())
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{
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UERROR("Not built with OpenNI from OpenCV support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNICV(false, rate);
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}
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else if(driver == 4)
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{
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if(!rtabmap::CameraOpenNICV::available())
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{
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UERROR("Not built with OpenNI from OpenCV support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNICV(true, rate);
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}
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else if(driver == 5)
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{
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if(!rtabmap::CameraFreenect2::available())
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{
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UERROR("Not built with Freenect2 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraFreenect2(deviceId.size()?atoi(deviceId.c_str()):0, rtabmap::CameraFreenect2::kTypeColor2DepthSD, rate);
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}
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else if(driver == 6)
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{
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if(!rtabmap::CameraStereoDC1394::available())
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{
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UERROR("Not built with dc1394 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraStereoDC1394(rate);
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}
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else if(driver == 7)
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{
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if(!rtabmap::CameraStereoFlyCapture2::available())
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{
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UERROR("Not built with FlyCapture2/Triclops support...");
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exit(-1);
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}
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camera = new rtabmap::CameraStereoFlyCapture2(rate);
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}
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else if(driver == 8)
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{
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if(!rtabmap::CameraStereoZed::available())
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{
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UERROR("Not built with ZED sdk support...");
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exit(-1);
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}
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camera = new rtabmap::CameraStereoZed(uStr2Int(deviceId));
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}
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else if (driver == 9)
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{
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if (!rtabmap::CameraRealSense::available())
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{
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UERROR("Not built with RealSense support...");
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exit(-1);
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}
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camera = new rtabmap::CameraRealSense(uStr2Int(deviceId));
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}
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else if (driver == 10)
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{
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if (!rtabmap::CameraK4W2::available())
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{
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UERROR("Not built with Kinect for Windows 2 SDK support...");
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exit(-1);
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}
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camera = new rtabmap::CameraK4W2(uStr2Int(deviceId));
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}
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else if (driver == 11)
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{
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if (!rtabmap::CameraRealSense2::available())
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{
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UERROR("Not built with RealSense2 SDK support...");
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exit(-1);
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}
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camera = new rtabmap::CameraRealSense2(deviceId);
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}
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else if (driver == 12)
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{
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if (!rtabmap::CameraK4A::available())
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{
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UERROR("Not built with Kinect for Azure SDK support...");
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exit(-1);
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}
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camera = new rtabmap::CameraK4A(1);
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}
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else if (driver == 13)
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{
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if (!rtabmap::CameraMyntEye::available())
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{
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UERROR("Not built with Mynt Eye S support...");
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exit(-1);
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}
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camera = new rtabmap::CameraMyntEye(deviceId);
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}
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else
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{
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UFATAL("Camera driver (%d) not found!", driver);
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}
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cam = new CameraThread(camera);
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cam->enableIMUFiltering();
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DataRecorder recorder;
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if(recorder.init(fileName))
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if(recorder.init(fileName.c_str()))
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{
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recorder.registerToEventsManager();
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if(show)
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@@ -341,7 +205,7 @@ int main (int argc, char * argv[])
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}
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else
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{
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UERROR("Cannot initialize the recorder! Maybe the path is wrong: \"%s\"", fileName.toStdString().c_str());
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UERROR("Cannot initialize the recorder! Maybe the path is wrong: \"%s\"", fileName.c_str());
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}
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if(cam)
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