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https://github.com/introlab/rtabmap.git
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65b79cd7a2
Odometry: added "local map history" option to increase precision Added new Nearest neighbor options (LSH, brute Force, GPU brute Force) Added FREAK/ORB features Increased version to 0.6.5 git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "rtabmap/core/Rtabmap.h"
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#include "rtabmap/core/RtabmapThread.h"
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#include "rtabmap/core/CameraRGBD.h"
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#include "rtabmap/core/CameraThread.h"
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#include "rtabmap/core/Odometry.h"
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#include "rtabmap/utilite/UEventsManager.h"
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#include <QtGui/QApplication>
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#include <stdio.h>
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#include "MapBuilder.h"
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using namespace rtabmap;
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int main(int argc, char * argv[])
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kWarning);
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// GUI stuff, there the handler will receive RtabmapEvent and construct the map
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QApplication app(argc, argv);
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MapBuilder mapBuilder;
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// Here is the pipeline that we will use:
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// CameraOpenni -> "CameraEvent" -> OdometryThread -> "OdometryEvent" -> RtabmapThread -> "RtabmapEvent"
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// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
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// Set transform to camera so z is up, y is left and x going forward
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CameraRGBD * camera = new CameraOpenni("", 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
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//CameraRGBD * camera = new CameraFreenect(0, 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
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CameraThread cameraThread(camera);
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if(!cameraThread.init())
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{
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UERROR("Camera init failed!");
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exit(1);
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}
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// Create an odometry thread to process camera events, it will send OdometryEvent.
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OdometryThread odomThread(new OdometryBOW()); // 0=SURF 1=SIFT
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// Create RTAB-Map to process OdometryEvent
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Rtabmap * rtabmap = new Rtabmap();
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rtabmap->init();
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RtabmapThread rtabmapThread(rtabmap); // ownership is transfered
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// Setup handlers
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odomThread.registerToEventsManager();
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rtabmapThread.registerToEventsManager();
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mapBuilder.registerToEventsManager();
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// The RTAB-Map is subscribed by default to CameraEvent, but we want
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// RTAB-Map to process OdometryEvent instead, ignoring the CameraEvent.
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// We can do that by creating a "pipe" between the camera and odometry, then
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// only the odometry will receive CameraEvent from that camera. RTAB-Map is
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// also subscribed to OdometryEvent by default, so no need to create a pipe between
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// odometry and RTAB-Map.
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UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
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// Let's start the threads
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rtabmapThread.start();
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odomThread.start();
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cameraThread.start();
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mapBuilder.show();
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app.exec(); // main loop
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// remove handlers
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mapBuilder.unregisterFromEventsManager();
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rtabmapThread.unregisterFromEventsManager();
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odomThread.unregisterFromEventsManager();
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// Kill all threads
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cameraThread.kill();
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odomThread.join(true);
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rtabmapThread.join(true);
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return 0;
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}
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