Added c++ example usage

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@694 f169173b-cf89-36c8-b27e-44dbe73f0c83

CMakeLists.txt

@@ -179,6 +179,7 @@ ENDIF()
 
 IF(NOT BUILD_LIBS_ONLY AND NOT BUILD_AS_BUNDLE)
 	ADD_SUBDIRECTORY( tools )
+	ADD_SUBDIRECTORY( examples )
 ENDIF(NOT BUILD_LIBS_ONLY AND NOT BUILD_AS_BUNDLE)
 
 #######################

corelib/include/rtabmap/core/Rtabmap.h

@@ -94,11 +94,14 @@ public:
 	std::set<int> getStMem() const;
 	std::map<int, int> getWeights() const;
 	int getTotalMemSize() const;
+	double getLastProcessTime() const {return _lastProcessTime;};
 
 	void setMaxTimeAllowed(float maxTimeAllowed); // in ms
 	void setDataBufferSize(int size);
 	void setWorkingDirectory(std::string path);
 
+	void deleteMemory();
+
 	void adjustLikelihood(std::map<int, float> & likelihood) const;
 	std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
 											const std::map<int, float> & likelihood) const;
@@ -141,6 +144,7 @@ private:
 	int _retrievedId;
 	float _lastLcHypothesisValue;
 	int _lastLoopClosureId;
+	double _lastProcessTime;
 
 	UMutex _stateMutex;
 	std::stack<State> _state;

corelib/src/Rtabmap.cpp

@@ -75,6 +75,7 @@ Rtabmap::Rtabmap() :
 	_retrievedId(0),
 	_lastLcHypothesisValue(0),
 	_lastLoopClosureId(0),
+	_lastProcessTime(0.0),
 	_epipolarGeometry(0),
 	_bayesFilter(0),
 	_memory(0),
@@ -517,6 +518,15 @@ void Rtabmap::mainLoop()
 	}
 }
 
+void Rtabmap::deleteMemory()
+{
+	// Only if rtabmap's thread is not started...
+	if(!this->isRunning())
+	{
+		this->resetMemory(true);
+	}
+}
+
 void Rtabmap::resetMemory(bool dbOverwritten)
 {
 	if(_memory)
@@ -1146,6 +1156,7 @@ void Rtabmap::process()
 		ULOGGER_INFO("Removing old signatures because time limit is reached %f>%f or memory is reached %d>%d...", totalTime*1000, _maxTimeAllowed, _memory->getWorkingMemSize(), _maxMemoryAllowed);
 		signaturesRemoved = _memory->forget(immunizedLocations);
 	}
+	_lastProcessTime = totalTime;
 
 	timeRealTimeLimitReachedProcess = timer.ticks();
 	ULOGGER_INFO("Time limit reached processing = %f...", timeRealTimeLimitReachedProcess);

examples/CMakeLists.txt

@@ -0,0 +1,24 @@
+
+SET(SRC_FILES
+    main.cpp
+)
+
+SET(INCLUDE_DIRS
+	${PROJECT_SOURCE_DIR}/corelib/include
+    ${UTILITE_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+    ${UTILITE_LIBRARIES}
+	${OpenCV_LIBRARIES} 
+)
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(example ${SRC_FILES})
+TARGET_LINK_LIBRARIES(example rtabmap_corelib ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( example 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example)
+

examples/main.cpp

@@ -0,0 +1,101 @@
+/*
+ * 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/Rtabmap.h"
+#include "rtabmap/core/Camera.h"
+#include <opencv2/core/core.hpp>
+
+void showUsage()
+{
+	printf("\nUsage:\n"
+			"rtabmap-example \"path\"\n"
+			"  path   Path to a directory of images\n ");
+	exit(1);
+}
+
+int main(int argc, char * argv[])
+{
+	if(argc < 2)
+	{
+		showUsage();
+	}
+	std::string path = argv[1];
+
+	// rtabmap::Camera is simply a convenience wrapper of OpenCV cv::VideoCapture and cv::imread
+	float imageRate = 1.0f; // 1 Hz
+	rtabmap::CameraImages camera(path, 1, false, imageRate);
+
+	if(!camera.init())
+	{
+		printf("Camera init failed, using path \"%s\"\n", path.c_str());
+		exit(1);
+	}
+
+	// Create tasks
+	rtabmap::Rtabmap rtabmap;
+
+	// Where database is saved
+	rtabmap.setWorkingDirectory(".");
+
+	// Initialize rtabmap: load database...
+	// It will automatically create config.ini
+	// with default parameters if it not exists
+	rtabmap.init("./config.ini");
+
+	// For this example, we want to delete the memory at each start.
+	rtabmap.deleteMemory();
+
+	rtabmap.setMaxTimeAllowed(700); // Time threshold : 700 ms
+
+	// Start thread's task
+	int countLoopDetected=0;
+
+	printf("\nProcessing images at %f Hz... from directory \"%s\"\n", imageRate, path.c_str());
+
+	int imagesProcessed = 0;
+
+	cv::Mat img = camera.takeImage();
+	int i=0;
+	while(!img.empty())
+	{
+		++imagesProcessed;
+		rtabmap.process(rtabmap::Image(img));
+		if(rtabmap.getLoopClosureId())
+		{
+			++countLoopDetected;
+		}
+		img = camera.takeImage();
+
+		++i;
+
+		if(rtabmap.getLoopClosureId())
+		{
+			printf(" iteration(%d) ptime(%fs) loop(%d) hyp(%.2f)\n",
+					i, rtabmap.getLastProcessTime(), rtabmap.getLoopClosureId(), rtabmap.getLcHypValue());
+		}
+		else
+		{
+			printf(" iteration(%d) ptime(%fs)\n", i, rtabmap.getLastProcessTime());
+		}
+	}
+
+	printf("Processing images completed. Loop closures found = %d\n", countLoopDetected);
+
+	return 0;
+}

tools/ConsoleApp/CMakeLists.txt

@@ -27,8 +27,3 @@ TARGET_LINK_LIBRARIES(consoleApp rtabmap_corelib ${LIBRARIES})
 SET_TARGET_PROPERTIES( consoleApp 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-console)
 
-INSTALL(TARGETS consoleApp
-        RUNTIME DESTINATION bin COMPONENT runtime
-        LIBRARY DESTINATION lib COMPONENT devel
-        ARCHIVE DESTINATION lib COMPONENT devel)
-

tools/EpipolarGeometry/CMakeLists.txt

@@ -26,8 +26,4 @@ TARGET_LINK_LIBRARIES(epipolar_geometry rtabmap_corelib rtabmap_guilib ${LIBRARI
 SET_TARGET_PROPERTIES( epipolar_geometry 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-epipolar_geometry)
 
-INSTALL(TARGETS epipolar_geometry
-        RUNTIME DESTINATION bin COMPONENT runtime
-        LIBRARY DESTINATION lib COMPONENT devel
-        ARCHIVE DESTINATION lib COMPONENT devel)
 

tools/ImagesDbExtractor/CMakeLists.txt

@@ -23,8 +23,3 @@ TARGET_LINK_LIBRARIES(imagesDbExtractor rtabmap_corelib ${LIBRARIES})
 SET_TARGET_PROPERTIES( imagesDbExtractor 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesDbExtractor)
 
-INSTALL(TARGETS imagesDbExtractor
-        RUNTIME DESTINATION bin COMPONENT runtime
-        LIBRARY DESTINATION lib COMPONENT devel
-        ARCHIVE DESTINATION lib COMPONENT devel)
-

tools/ImagesJoiner/CMakeLists.txt

@@ -25,8 +25,3 @@ TARGET_LINK_LIBRARIES(imagesJoiner ${LIBRARIES})
 SET_TARGET_PROPERTIES( imagesJoiner 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesJoiner)
 
-INSTALL(TARGETS imagesJoiner
-        RUNTIME DESTINATION bin COMPONENT runtime
-        LIBRARY DESTINATION lib COMPONENT devel
-        ARCHIVE DESTINATION lib COMPONENT devel)
-

tools/VocabularyComparison/CMakeLists.txt

@@ -18,8 +18,3 @@ TARGET_LINK_LIBRARIES(vocabularyComparison rtabmap_corelib ${LIBRARIES})
 SET_TARGET_PROPERTIES( vocabularyComparison 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-vocabularyComparison)
 
-INSTALL(TARGETS vocabularyComparison
-        RUNTIME DESTINATION bin COMPONENT runtime
-        LIBRARY DESTINATION lib COMPONENT devel
-        ARCHIVE DESTINATION lib COMPONENT devel)
-

tools/viewer/CMakeLists.txt

@@ -26,8 +26,3 @@ TARGET_LINK_LIBRARIES(databaseViewer rtabmap_corelib rtabmap_guilib ${LIBRARIES}
 SET_TARGET_PROPERTIES( databaseViewer 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-databaseViewer)
 
-INSTALL(TARGETS databaseViewer
-        RUNTIME DESTINATION bin COMPONENT runtime
-        LIBRARY DESTINATION lib COMPONENT devel
-        ARCHIVE DESTINATION lib COMPONENT devel)
-