rtabmap: removed all UtiLite include references for main RTAB-Map classes (to avoid linking to UtiLite when using RTAB-Map as c++ library)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@811 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Camera.h

@@ -23,75 +23,29 @@
 
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/features2d/features2d.hpp>
-#include <utilite/UThreadNode.h>
-#include <utilite/UEventsHandler.h>
-#include <utilite/UEvent.h>
-#include <utilite/UDirectory.h>
-#include <utilite/UTimer.h>
 #include "rtabmap/core/Parameters.h"
-#include "rtabmap/core/Features2d.h"
 #include "rtabmap/core/Image.h"
+#include "rtabmap/core/Features2d.h"
 #include <set>
 #include <stack>
 #include <list>
 #include <vector>
 
+class UDirectory;
+class UTimer;
+
 namespace rtabmap
 {
 
-class CameraEvent :
+class KeypointDetector;
-	public UEvent
+class KeypointDescriptor;
-{
-public:
-	enum Code {
-		kCodeFeatures,
-		kCodeImage,
-		kCodeNoMoreImages
-	};
-
-public:
-	CameraEvent(const cv::Mat & image, int cameraId = 0) :
-		UEvent(kCodeImage),
-		_cameraId(cameraId),
-		_image(image)
-	{
-	}
-	CameraEvent(const cv::Mat & descriptors, const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & image = cv::Mat(), int cameraId = 0) :
-		UEvent(kCodeFeatures),
-		_cameraId(cameraId),
-		_image(image, 0, descriptors, keypoints)
-	{
-	}
-	CameraEvent(int cameraId = 0) :
-		UEvent(kCodeNoMoreImages),
-		_cameraId(cameraId)
-	{
-	}
-
-	int cameraId() const {return _cameraId;}
-
-	// Image or descriptors
-	const Image & image() const {return _image;}
-
-	virtual ~CameraEvent() {}
-	virtual std::string getClassName() const {return std::string("CameraEvent");}
-
-private:
-	int _cameraId;
-	Image _image;
-};
 
 /**
  * Class Camera
  *
  */
-class RTABMAP_EXP Camera :
+class RTABMAP_EXP Camera
-	public UThreadNode,
-	public UEventsHandler
 {
-public:
-	enum State {kStateCapturing, kStateChangingParameters};
-
 public:
 	virtual ~Camera();
 	cv::Mat takeImage();
@@ -99,8 +53,6 @@ public:
 	virtual bool init() = 0;
 
 	//getters
-	bool isPaused() const {return !this->isRunning();}
-	bool isCapturing() const {return this->isRunning();}
 	void getImageSize(unsigned int & width, unsigned int & height);
 	float getImageRate() const {return _imageRate;}
 	bool isFeaturesExtracted() const {return _featuresExtracted;}
@@ -110,7 +62,6 @@ public:
 			KeypointDetector::DetectorType detector = KeypointDetector::kDetectorUndef,
 			KeypointDescriptor::DescriptorType descriptor = KeypointDescriptor::kDescriptorUndef);
 	void setImageRate(float imageRate) {_imageRate = imageRate;}
-	void setAutoRestart(bool autoRestart) {_autoRestart = autoRestart;}
 	void setImageSize(unsigned int width, unsigned int height);
 
 
@@ -123,30 +74,17 @@ protected:
 	 *
 	 * @param imageRate : image/second , 0 for fast as the camera can
 	 */
-	Camera(float imageRate = 0, bool autoRestart = false, unsigned int imageWidth = 0, unsigned int imageHeight = 0, unsigned int framesDropped = 0, int id = 0);
+	Camera(float imageRate = 0, unsigned int imageWidth = 0, unsigned int imageHeight = 0, unsigned int framesDropped = 0, int id = 0);
 
-	virtual void handleEvent(UEvent* anEvent);
 	virtual cv::Mat captureImage() = 0;
 
-private:
-	virtual void mainLoopBegin();
-	virtual void mainLoop();
-	void process();
-	void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
-
 private:
 	float _imageRate;
 	int _id;
-	bool _autoRestart;
 	unsigned int _imageWidth;
 	unsigned int _imageHeight;
 	unsigned int _framesDropped;
-	UTimer _frameRateTimer;
+	UTimer * _frameRateTimer;
-	UMutex _imageSizeMutex;
-
-	UMutex _stateMutex;
-	std::stack<State> _state;
-	std::stack<ParametersMap> _stateParam;
 
 	bool _featuresExtracted;
 	KeypointDetector * _keypointDetector;
@@ -154,7 +92,6 @@ private:
 };
 
 
-
 /////////////////////////
 // CameraImages
 /////////////////////////
@@ -166,7 +103,6 @@ public:
 			int startAt = 1,
 			bool refreshDir = false,
 			float imageRate = 0,
-			bool autoRestart = false,
 			unsigned int imageWidth = 0,
 			unsigned int imageHeight = 0,
 			unsigned int framesDropped = 0,
@@ -185,12 +121,9 @@ private:
 	// If the list of files in the directory is refreshed
 	// on each call of takeImage()
 	bool _refreshDir;
-	UDirectory _dir;
 	int _count;
+	UDirectory * _dir;
 	std::string _lastFileName;
-
-
-
 };
 
 
@@ -208,14 +141,12 @@ public:
 public:
 	CameraVideo(int usbDevice = 0,
 			float imageRate = 0,
-			bool autoRestart = false,
 			unsigned int imageWidth = 0,
 			unsigned int imageHeight = 0,
 			unsigned int framesDropped = 0,
 			int id = 0);
 	CameraVideo(const std::string & filePath,
 			float imageRate = 0,
-			bool autoRestart = false,
 			unsigned int imageWidth = 0,
 			unsigned int imageHeight = 0,
 			unsigned int framesDropped = 0,

corelib/include/rtabmap/core/CameraEvent.h

@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <utilite/UEvent.h>
+#include "rtabmap/core/Image.h"
+
+namespace rtabmap
+{
+
+class CameraEvent :
+	public UEvent
+{
+public:
+	enum Code {
+		kCodeFeatures,
+		kCodeImage,
+		kCodeNoMoreImages
+	};
+
+public:
+	CameraEvent(const cv::Mat & image, int cameraId = 0) :
+		UEvent(kCodeImage),
+		_cameraId(cameraId),
+		_image(image)
+	{
+	}
+	CameraEvent(const cv::Mat & descriptors, const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & image = cv::Mat(), int cameraId = 0) :
+		UEvent(kCodeFeatures),
+		_cameraId(cameraId),
+		_image(image, 0, descriptors, keypoints)
+	{
+	}
+	CameraEvent(int cameraId = 0) :
+		UEvent(kCodeNoMoreImages),
+		_cameraId(cameraId)
+	{
+	}
+
+	int cameraId() const {return _cameraId;}
+
+	// Image or descriptors
+	const Image & image() const {return _image;}
+
+	virtual ~CameraEvent() {}
+	virtual std::string getClassName() const {return std::string("CameraEvent");}
+
+private:
+	int _cameraId;
+	Image _image;
+};
+
+} // namespace rtabmap

corelib/include/rtabmap/core/CameraThread.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <utilite/UThreadNode.h>
+#include <utilite/UEventsHandler.h>
+
+#include "rtabmap/core/Parameters.h"
+
+#include <stack>
+
+namespace rtabmap
+{
+
+class Camera;
+
+/**
+ * Class CameraThread
+ *
+ */
+class RTABMAP_EXP CameraThread :
+	public UThreadNode,
+	public UEventsHandler
+{
+public:
+	enum State {kStateCapturing, kStateChangingParameters};
+
+public:
+	// ownership transferred
+	CameraThread(Camera * camera, bool autoRestart = false);
+	virtual ~CameraThread();
+
+	//getters
+	bool isPaused() const {return !this->isRunning();}
+	bool isCapturing() const {return this->isRunning();}
+	void setAutoRestart(bool autoRestart) {_autoRestart = autoRestart;}
+	void setImageRate(float imageRate);
+
+protected:
+	virtual void handleEvent(UEvent* anEvent);
+
+private:
+	virtual void mainLoop();
+	void process();
+	void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
+
+private:
+	Camera * _camera;
+	UMutex _stateMutex;
+	std::stack<State> _state;
+	std::stack<ParametersMap> _stateParam;
+	bool _autoRestart;
+};
+
+} // namespace rtabmap

corelib/include/rtabmap/core/ParamEvent.h

@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef PARAMEVENT_H_
+#define PARAMEVENT_H_
+
+#include "rtabmap/core/Parameters.h"
+#include <utilite/UEvent.h>
+
+namespace rtabmap
+{
+
+/**
+ * The parameters event. This event is used to send
+ * parameters across the threads.
+ */
+class ParamEvent : public UEvent
+{
+public:
+	ParamEvent(const ParametersMap & parameters) : UEvent(0), parameters_(parameters) {}
+	ParamEvent(const std::string & parameterKey, const std::string & parameterValue) : UEvent(0)
+	{
+		parameters_.insert(std::pair<std::string, std::string>(parameterKey, parameterValue));
+	}
+	~ParamEvent() {}
+	virtual std::string getClassName() const {return "ParamEvent";}
+
+	const ParametersMap & getParameters() const {return parameters_;}
+
+private:
+	ParametersMap parameters_; /**< The parameters map (key,value). */
+};
+
+}
+
+#endif /* PARAMEVENT_H_ */
+

corelib/include/rtabmap/core/Parameters.h

@@ -22,7 +22,6 @@
 
 // default parameters
 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
-#include "utilite/UEvent.h"
 #include <string>
 #include <map>
 
@@ -219,27 +218,6 @@ private:
 	static Parameters instance_;
 };
 
-/**
- * The parameters event. This event is used to send
- * parameters across the threads.
- */
-class ParamEvent : public UEvent
-{
-public:
-	ParamEvent(const ParametersMap & parameters) : UEvent(0), parameters_(parameters) {}
-	ParamEvent(const std::string & parameterKey, const std::string & parameterValue) : UEvent(0)
-	{
-		parameters_.insert(std::pair<std::string, std::string>(parameterKey, parameterValue));
-	}
-	~ParamEvent() {}
-	virtual std::string getClassName() const {return "ParamEvent";}
-
-	const ParametersMap & getParameters() const {return parameters_;}
-
-private:
-	ParametersMap parameters_; /**< The parameters map (key,value). */
-};
-
 }
 
 #endif /* PARAMETERS_H_ */

corelib/include/rtabmap/core/Rtabmap.h

@@ -22,10 +22,6 @@
 
 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
 
-#include <utilite/USemaphore.h>
-#include <utilite/UMutex.h>
-#include <utilite/UVariant.h>
-
 #include "rtabmap/core/Parameters.h"
 #include "rtabmap/core/Image.h"
 #include "rtabmap/core/Statistics.h"

corelib/include/rtabmap/core/RtabmapThread.h

@@ -24,6 +24,8 @@
 
 #include <utilite/UThreadNode.h>
 #include <utilite/UEventsHandler.h>
+#include <utilite/USemaphore.h>
+#include <utilite/UMutex.h>
 
 #include "rtabmap/core/RtabmapEvent.h"
 #include "rtabmap/core/Image.h"

corelib/src/CMakeLists.txt

@@ -12,6 +12,8 @@ SET(SRC_FILES
 	DBReader.cpp
 	
     Camera.cpp
+    CameraThread.cpp
+    
     EpipolarGeometry.cpp
 	VisualWord.cpp
 	VWDictionary.cpp

corelib/src/Camera.cpp

@@ -18,32 +18,33 @@
  */
 
 #include "rtabmap/core/Camera.h"
-#include "utilite/UEventsManager.h"
-#include "utilite/UConversion.h"
 #include "rtabmap/core/DBDriver.h"
 #include "rtabmap/core/Features2d.h"
-#include "utilite/UStl.h"
+
-#include "utilite/UConversion.h"
+#include <utilite/UEventsManager.h>
-#include "utilite/UFile.h"
+#include <utilite/UConversion.h>
-#include "utilite/UDirectory.h"
+#include <utilite/UStl.h>
-#include "utilite/UTimer.h"
+#include <utilite/UConversion.h>
+#include <utilite/UFile.h>
+#include <utilite/UDirectory.h>
+#include <utilite/UTimer.h>
+
 #include <opencv2/imgproc/imgproc.hpp>
 
 namespace rtabmap
 {
 
 Camera::Camera(float imageRate,
-		bool autoRestart,
 		unsigned int imageWidth,
 		unsigned int imageHeight,
 		unsigned int framesDropped,
 		int id) :
 	_imageRate(imageRate),
 	_id(id),
-	_autoRestart(autoRestart),
 	_imageWidth(imageWidth),
 	_imageHeight(imageHeight),
 	_framesDropped(framesDropped),
+	_frameRateTimer(new UTimer()),
 	_featuresExtracted(false),
 	_keypointDetector(0),
 	_keypointDescriptor(0)
@@ -52,8 +53,6 @@ Camera::Camera(float imageRate,
 
 Camera::~Camera()
 {
-	UEventsManager::removeHandler(this);
-	join(true);
 	if(_keypointDetector)
 	{
 		delete _keypointDetector;
@@ -62,6 +61,10 @@ Camera::~Camera()
 	{
 		delete _keypointDescriptor;
 	}
+	if(_frameRateTimer)
+	{
+		delete _frameRateTimer;
+	}
 }
 
 void Camera::setFeaturesExtracted(bool featuresExtracted, KeypointDetector::DetectorType detector, KeypointDescriptor::DescriptorType descriptor)
@@ -78,22 +81,14 @@ void Camera::setFeaturesExtracted(bool featuresExtracted, KeypointDetector::Dete
 
 void Camera::setImageSize(unsigned int width, unsigned int height)
 {
-	_imageSizeMutex.lock();
+	_imageWidth = width;
-	{
+	_imageHeight = height;
-		_imageWidth = width;
-		_imageHeight = height;
-	}
-	_imageSizeMutex.unlock();
 }
 
 void Camera::getImageSize(unsigned int & width, unsigned int & height)
 {
-	_imageSizeMutex.lock();
+	width = _imageWidth;
-	{
+	height = _imageHeight;
-		width = _imageWidth;
-		height = _imageHeight;
-	}
-	_imageSizeMutex.unlock();
 }
 
 void Camera::parseParameters(const ParametersMap & parameters)
@@ -162,68 +157,6 @@ void Camera::parseParameters(const ParametersMap & parameters)
 	}
 }
 
-void Camera::mainLoopBegin()
-{
-	_frameRateTimer.start();
-}
-
-void Camera::mainLoop()
-{
-	State state = kStateCapturing;
-	ParametersMap parameters;
-
-	_stateMutex.lock();
-	{
-		if(!_state.empty() && !_stateParam.empty())
-		{
-			state = _state.top();
-			_state.pop();
-			parameters = _stateParam.top();
-			_stateParam.pop();
-		}
-	}
-	_stateMutex.unlock();
-
-	if(state == kStateCapturing)
-	{
-		process();
-	}
-	else if(state == kStateChangingParameters)
-	{
-		this->parseParameters(parameters);
-	}
-}
-
-void Camera::pushNewState(State newState, const ParametersMap & parameters)
-{
-	ULOGGER_DEBUG("to %d", newState);
-
-	_stateMutex.lock();
-	{
-		_state.push(newState);
-		_stateParam.push(parameters);
-	}
-	_stateMutex.unlock();
-}
-
-void Camera::handleEvent(UEvent* anEvent)
-{
-	if(anEvent->getClassName().compare("ParamEvent") == 0)
-	{
-		if(this->isIdle())
-		{
-			_stateMutex.lock();
-			this->parseParameters(((ParamEvent*)anEvent)->getParameters());
-			_stateMutex.unlock();
-		}
-		else
-		{
-			ULOGGER_DEBUG("changing parameters");
-			pushNewState(kStateChangingParameters, ((ParamEvent*)anEvent)->getParameters());
-		}
-	}
-}
-
 cv::Mat Camera::takeImage()
 {
 	cv::Mat descriptors;
@@ -242,104 +175,67 @@ cv::Mat Camera::takeImage(cv::Mat & descriptors, std::vector<cv::KeyPoint> & key
 	float imageRate = _imageRate;
 	if(imageRate>0)
 	{
-		int sleepTime = (1000.0f/imageRate - 1000.0f*_frameRateTimer.getElapsedTime());
+		int sleepTime = (1000.0f/imageRate - 1000.0f*_frameRateTimer->getElapsedTime());
 		if(sleepTime > 2)
 		{
 			uSleep(sleepTime-2);
 		}
 
 		// Add precision at the cost of a small overhead
-		while(_frameRateTimer.getElapsedTime() < 1.0/double(imageRate)-0.000001)
+		while(_frameRateTimer->getElapsedTime() < 1.0/double(imageRate)-0.000001)
 		{
 			//
 		}
 
-		double slept = _frameRateTimer.getElapsedTime();
+		double slept = _frameRateTimer->getElapsedTime();
-		_frameRateTimer.start();
+		_frameRateTimer->start();
 		UDEBUG("slept=%fs vs target=%fs", slept, 1.0/double(imageRate));
 	}
 
 	cv::Mat img;
-	if(!this->isKilled())
+	UTimer timer;
+	img = this->captureImage();
+	UDEBUG("Time capturing image = %fs", timer.ticks());
+
+	if(!img.empty())
 	{
-		UTimer timer;
+		if(img.depth() != CV_8U)
-		img = this->captureImage();
-		UDEBUG("Time capturing image = %fs", timer.ticks());
-
-		if(!img.empty())
 		{
-			if(img.depth() != CV_8U)
+			UWARN("Images should have already 8U depth !?");
-			{
+			cv::Mat tmp = img;
-				UWARN("Images should have already 8U depth !?");
+			img = cv::Mat();
-				cv::Mat tmp = img;
+			tmp.convertTo(img, CV_8U);
-				img = cv::Mat();
+			UDEBUG("Time converting image to 8U = %fs", timer.ticks());
-				tmp.convertTo(img, CV_8U);
+		}
-				UDEBUG("Time converting image to 8U = %fs", timer.ticks());
-			}
 
-			if(_featuresExtracted && _keypointDetector && _keypointDescriptor)
+		if(_featuresExtracted && _keypointDetector && _keypointDescriptor)
-			{
+		{
-				keypoints = _keypointDetector->generateKeypoints(img);
+			keypoints = _keypointDetector->generateKeypoints(img);
-				descriptors = _keypointDescriptor->generateDescriptors(img, keypoints);
+			descriptors = _keypointDescriptor->generateDescriptors(img, keypoints);
-				UDEBUG("Post treatment time = %fs", timer.ticks());
+			UDEBUG("Post treatment time = %fs", timer.ticks());
-			}
+		}
 
-			if(_framesDropped)
+		if(_framesDropped)
+		{
+			unsigned int count = 0;
+			while(count++ < _framesDropped)
 			{
-				unsigned int count = 0;
+				cv::Mat tmp = this->captureImage();
-				while(count++ < _framesDropped)
+				if(!tmp.empty())
 				{
-					cv::Mat tmp = this->captureImage();
+					UDEBUG("frame dropped (%d/%d)", (int)count, (int)_framesDropped);
-					if(!tmp.empty())
+				}
-					{
+				else
-						UDEBUG("frame dropped (%d/%d)", (int)count, (int)_framesDropped);
+				{
-					}
+					break;
-					else
-					{
-						break;
-					}
 				}
-				UDEBUG("Frames dropped time = %fs", timer.ticks());
 			}
+			UDEBUG("Frames dropped time = %fs", timer.ticks());
 		}
 	}
 	return img;
 }
 
-void Camera::process()
-{
-	UTimer timer;
-	ULOGGER_DEBUG("Camera::process()");
-	cv::Mat descriptors;
-	std::vector<cv::KeyPoint> keypoints;
-	cv::Mat img = this->takeImage(descriptors, keypoints);
-	if(!img.empty())
-	{
-		if(_featuresExtracted)
-		{
-			this->post(new CameraEvent(descriptors, keypoints, img, _id));
-		}
-		else
-		{
-			this->post(new CameraEvent(img, _id));
-		}
-	}
-	else if(!this->isKilled())
-	{
-		if(_autoRestart)
-		{
-			this->init();
-		}
-		else
-		{
-			ULOGGER_DEBUG("Camera::process() : no more images...");
-			this->kill();
-			this->post(new CameraEvent(_id));
-		}
-	}
-}
-
-
 /////////////////////////
 // CameraImages
 /////////////////////////
@@ -347,57 +243,68 @@ CameraImages::CameraImages(const std::string & path,
 					 int startAt,
 					 bool refreshDir,
 					 float imageRate,
-					 bool autoRestart,
 					 unsigned int imageWidth,
 					 unsigned int imageHeight,
 					 unsigned int framesDropped,
 					 int id) :
-	Camera(imageRate, autoRestart, imageWidth, imageHeight, framesDropped, id),
+	Camera(imageRate, imageWidth, imageHeight, framesDropped, id),
 	_path(path),
 	_startAt(startAt),
 	_refreshDir(refreshDir),
-	_count(0)
+	_count(0),
+	_dir(0)
 {
+
 }
 
 CameraImages::~CameraImages(void)
 {
-	join(true);
+	if(_dir)
+	{
+		delete _dir;
+	}
 }
 
 bool CameraImages::init()
 {
 	UDEBUG("");
-	_dir = UDirectory(_path, "jpg ppm png bmp pnm");
+	if(_dir)
+	{
+		_dir->setPath(_path, "jpg ppm png bmp pnm");
+	}
+	else
+	{
+		_dir = new UDirectory(_path, "jpg ppm png bmp pnm");
+	}
 	_count = 0;
 	if(_path[_path.size()-1] != '\\' && _path[_path.size()-1] != '/')
 	{
 		_path.append("/");
 	}
-	if(!_dir.isValid())
+	if(!_dir->isValid())
 	{
 		ULOGGER_ERROR("Directory path is not valid \"%s\"", _path.c_str());
 	}
-	else if(_dir.getFileNames().size() == 0)
+	else if(_dir->getFileNames().size() == 0)
 	{
 		UWARN("Directory is empty \"%s\"", _path.c_str());
 	}
-	return _dir.isValid();
+	return _dir->isValid();
 }
 
 cv::Mat CameraImages::captureImage()
 {
 	UDEBUG("");
 	cv::Mat img;
-	if(_dir.isValid())
+	if(_dir->isValid())
 	{
 		if(_refreshDir)
 		{
-			_dir.update();
+			_dir->update();
 		}
 		if(_startAt == 0)
 		{
-			const std::list<std::string> & fileNames = _dir.getFileNames();
+			const std::list<std::string> & fileNames = _dir->getFileNames();
 			if(fileNames.size())
 			{
 				if(_lastFileName.empty() || uStrNumCmp(_lastFileName,*fileNames.rbegin()) < 0)
@@ -412,11 +319,11 @@ cv::Mat CameraImages::captureImage()
 		{
 			std::string fileName;
 			std::string fullPath;
-			fileName = _dir.getNextFileName();
+			fileName = _dir->getNextFileName();
 			if(fileName.size())
 			{
 				fullPath = _path + fileName;
-				while(++_count < _startAt && (fileName = _dir.getNextFileName()).size())
+				while(++_count < _startAt && (fileName = _dir->getNextFileName()).size())
 				{
 					fullPath = _path + fileName;
 				}
@@ -473,12 +380,11 @@ cv::Mat CameraImages::captureImage()
 /////////////////////////
 CameraVideo::CameraVideo(int usbDevice,
 						 float imageRate,
-						 bool autoRestart,
 						 unsigned int imageWidth,
 						 unsigned int imageHeight,
 						 unsigned int framesDropped,
 						 int id) :
-	Camera(imageRate, autoRestart, imageWidth, imageHeight, framesDropped, id),
+	Camera(imageRate, imageWidth, imageHeight, framesDropped, id),
 	_src(kUsbDevice),
 	_usbDevice(usbDevice)
 {
@@ -487,12 +393,11 @@ CameraVideo::CameraVideo(int usbDevice,
 
 CameraVideo::CameraVideo(const std::string & filePath,
 						   float imageRate,
-						   bool autoRestart,
 						   unsigned int imageWidth,
 						   unsigned int imageHeight,
 						   unsigned int framesDropped,
 						   int id) :
-	Camera(imageRate, autoRestart, imageWidth, imageHeight, framesDropped, id),
+	Camera(imageRate, imageWidth, imageHeight, framesDropped, id),
 	_filePath(filePath),
 	_src(kVideoFile),
 	_usbDevice(0)
@@ -501,7 +406,6 @@ CameraVideo::CameraVideo(const std::string & filePath,
 
 CameraVideo::~CameraVideo()
 {
-	join(true);
 	_capture.release();
 }
 

corelib/src/CameraThread.cpp

@@ -0,0 +1,141 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "rtabmap/core/CameraThread.h"
+#include "rtabmap/core/Camera.h"
+#include "rtabmap/core/CameraEvent.h"
+#include "rtabmap/core/ParamEvent.h"
+
+#include <utilite/UEventsManager.h>
+#include <utilite/UTimer.h>
+
+namespace rtabmap
+{
+
+// ownership transferred
+CameraThread::CameraThread(Camera * camera, bool autoRestart) :
+		_camera(camera),
+		_autoRestart(autoRestart)
+{
+	UASSERT(_camera != 0);
+}
+
+CameraThread::~CameraThread()
+{
+	UEventsManager::removeHandler(this);
+	join(true);
+	delete _camera;
+}
+
+void CameraThread::mainLoop()
+{
+	State state = kStateCapturing;
+	ParametersMap parameters;
+
+	_stateMutex.lock();
+	{
+		if(!_state.empty() && !_stateParam.empty())
+		{
+			state = _state.top();
+			_state.pop();
+			parameters = _stateParam.top();
+			_stateParam.pop();
+		}
+	}
+	_stateMutex.unlock();
+
+	if(state == kStateCapturing)
+	{
+		process();
+	}
+	else if(state == kStateChangingParameters)
+	{
+		_camera->parseParameters(parameters);
+	}
+}
+
+void CameraThread::pushNewState(State newState, const ParametersMap & parameters)
+{
+	ULOGGER_DEBUG("to %d", newState);
+
+	_stateMutex.lock();
+	{
+		_state.push(newState);
+		_stateParam.push(parameters);
+	}
+	_stateMutex.unlock();
+}
+
+void CameraThread::setImageRate(float imageRate)
+{
+	_camera->setImageRate(imageRate);
+}
+
+void CameraThread::handleEvent(UEvent* anEvent)
+{
+	if(anEvent->getClassName().compare("ParamEvent") == 0)
+	{
+		if(this->isIdle())
+		{
+			_stateMutex.lock();
+			_camera->parseParameters(((ParamEvent*)anEvent)->getParameters());
+			_stateMutex.unlock();
+		}
+		else
+		{
+			ULOGGER_DEBUG("changing parameters");
+			pushNewState(kStateChangingParameters, ((ParamEvent*)anEvent)->getParameters());
+		}
+	}
+}
+
+void CameraThread::process()
+{
+	UTimer timer;
+	ULOGGER_DEBUG("Camera::process()");
+	cv::Mat descriptors;
+	std::vector<cv::KeyPoint> keypoints;
+	cv::Mat img = _camera->takeImage(descriptors, keypoints);
+	if(!img.empty() && !this->isKilled())
+	{
+		if(_camera->isFeaturesExtracted())
+		{
+			this->post(new CameraEvent(descriptors, keypoints, img, _camera->id()));
+		}
+		else
+		{
+			this->post(new CameraEvent(img, _camera->id()));
+		}
+	}
+	else if(!this->isKilled())
+	{
+		if(_autoRestart)
+		{
+			_camera->init();
+		}
+		else
+		{
+			ULOGGER_DEBUG("Camera::process() : no more images...");
+			this->kill();
+			this->post(new CameraEvent(_camera->id()));
+		}
+	}
+}
+
+} // namespace rtabmap

corelib/src/DBReader.cpp

@@ -13,7 +13,7 @@
 #include <utilite/UEventsManager.h>
 #include <utilite/UFile.h>
 
-#include "rtabmap/core/Camera.h"
+#include "rtabmap/core/CameraEvent.h"
 
 namespace rtabmap {
 

corelib/src/RtabmapThread.cpp

@@ -21,6 +21,8 @@
 #include "rtabmap/core/RtabmapThread.h"
 #include "rtabmap/core/RtabmapEvent.h"
 #include "rtabmap/core/Camera.h"
+#include "rtabmap/core/CameraEvent.h"
+#include "rtabmap/core/ParamEvent.h"
 
 #include <utilite/ULogger.h>
 #include <utilite/UEventsManager.h>

guilib/include/rtabmap/gui/MainWindow.h

@@ -29,7 +29,7 @@
 #include "rtabmap/gui/PreferencesDialog.h"
 
 namespace rtabmap {
-class Camera;
+class CameraThread;
 class DBReader;
 }
 
@@ -147,7 +147,7 @@ private:
 	Ui_mainWindow * _ui;
 
 	State _state;
-	rtabmap::Camera * _camera;
+	rtabmap::CameraThread * _camera;
 	rtabmap::DBReader * _dbReader;
 
 	SrcType _srcType;

guilib/src/MainWindow.cpp

@@ -18,16 +18,27 @@
  */
 
 #include "rtabmap/gui/MainWindow.h"
+
 #include "ui_mainWindow.h"
+
 #include "rtabmap/core/Camera.h"
+#include "rtabmap/core/CameraThread.h"
+#include "rtabmap/core/CameraEvent.h"
 #include "rtabmap/core/DBReader.h"
+#include "rtabmap/core/Parameters.h"
+#include "rtabmap/core/ParamEvent.h"
+
+#include "rtabmap/gui/ImageView.h"
 #include "rtabmap/gui/qtipl.h"
 #include "rtabmap/gui/KeypointItem.h"
-#include "AboutDialog.h"
+
-#include <utilite/UtiLite.h>
+#include <utilite/UStl.h>
+#include <utilite/ULogger.h>
 #include <utilite/UPlot.h>
-#include "rtabmap/core/Parameters.h"
+#include <utilite/UEventsManager.h>
-#include "rtabmap/gui/ImageView.h"
+#include <utilite/UFile.h>
+
+#include "AboutDialog.h"
 #include "PdfPlot.h"
 #include "StatsToolBox.h"
 #include "DetailedProgressDialog.h"
@@ -1039,12 +1050,13 @@ void MainWindow::startDetection()
 	{
 		if(_preferencesDialog->isSourceImageUsed())
 		{
+			Camera * camera = 0;
 			// Change type of the camera...
 			//
 			int sourceType = _preferencesDialog->getSourceImageType();
 			if(sourceType == 1) //Images
 			{
-				_camera = new CameraImages(
+				camera = new CameraImages(
 						_preferencesDialog->getSourceImagesPath().append(QDir::separator()).toStdString(),
 						_preferencesDialog->getSourceImagesStartPos(),
 						_preferencesDialog->getSourceImagesRefreshDir(),
@@ -1057,7 +1069,7 @@ void MainWindow::startDetection()
 			}
 			else if(sourceType == 2)
 			{
-				_camera = new CameraVideo(
+				camera = new CameraVideo(
 						_preferencesDialog->getSourceVideoPath().toStdString(),
 						_preferencesDialog->getGeneralInputRate(),
 						_preferencesDialog->getGeneralAutoRestart(),
@@ -1067,7 +1079,7 @@ void MainWindow::startDetection()
 			}
 			else if(sourceType == 0)
 			{
-				_camera = new CameraVideo(
+				camera = new CameraVideo(
 						_preferencesDialog->getSourceUsbDeviceId(),
 						_preferencesDialog->getGeneralInputRate(),
 						_preferencesDialog->getGeneralAutoRestart(),
@@ -1087,22 +1099,23 @@ void MainWindow::startDetection()
 
 			if(_preferencesDialog->getGeneralCameraKeypoints())
 			{
-				_camera->setFeaturesExtracted(true);
+				camera->setFeaturesExtracted(true);
-				_camera->parseParameters(_preferencesDialog->getAllParameters());
+				camera->parseParameters(_preferencesDialog->getAllParameters());
 			}
 
-			if(!_camera->init())
+			if(!camera->init())
 			{
 				ULOGGER_WARN("init camera failed... ");
 				QMessageBox::warning(this,
 									   tr("RTAB-Map"),
 									   tr("Camera initialization failed..."));
 				emit stateChanged(kIdle);
-				delete _camera;
+				delete camera;
-				_camera = 0;
+				camera = 0;
 				return;
 			}
 
+			_camera = new CameraThread(camera);
 			UEventsManager::addHandler(_camera); //thread
 		}
 	}