Added c++ example of RTAB-Map RGB-D version

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1152 f169173b-cf89-36c8-b27e-44dbe73f0c83

examples/BOWMapping/CMakeLists.txt

@@ -0,0 +1,18 @@
+SET(INCLUDE_DIRS
+	${PROJECT_SOURCE_DIR}/corelib/include
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${OpenCV_LIBRARIES} 
+)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(bow_mapping main.cpp)
+TARGET_LINK_LIBRARIES(bow_mapping rtabmap_core ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( bow_mapping 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-bow_mapping)

examples/BOWMapping/main.cpp

@@ -0,0 +1,156 @@
+/*
+ * 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>
+#include <stdio.h>
+
+void showUsage()
+{
+	printf("\nUsage:\n"
+			"rtabmap-bow_mapping [options] \"path\"\n"
+			"  path       Path to a directory of images\n "
+			"  Options:"
+			"     -l   localization mode: use already built RTAB-Map database to localize\n ");
+	exit(1);
+}
+
+int main(int argc, char * argv[])
+{
+	//ULogger::setType(ULogger::kTypeConsole);
+	//ULogger::setLevel(ULogger::kDebug);
+
+	std::string path;
+	bool localizationMode = false;
+
+	if(argc < 2)
+	{
+		showUsage();
+	}
+
+	for(int i=1; i<argc-1; ++i)
+	{
+		if(strcmp(argv[i], "-l") == 0)
+		{
+			localizationMode = true;
+		}
+		else
+		{
+			printf("Unrecognized option \"%s\"\n", argv[i]);
+			showUsage();
+		}
+	}
+
+	path = argv[argc-1];
+
+	// rtabmap::Camera is simply a convenience wrapper of OpenCV cv::VideoCapture and cv::imread
+	rtabmap::CameraImages camera(path);
+	if(!camera.init())
+	{
+		printf("Camera init failed, using path \"%s\"\n", path.c_str());
+		exit(1);
+	}
+
+	// Create RTAB-Map
+	rtabmap::Rtabmap rtabmap;
+
+	// Set the time threshold
+	rtabmap.setTimeThreshold(700.0f); // Time threshold : 700 ms, 0 ms means no limit
+
+	// To set other parameters, the Parameters interface must be used (Parameters.h).
+	// Example here to change the loop closure threshold (default 0.15).
+	// Lower the threshold, more loop closures are detected but there is more chance of false positives.
+	rtabmap::ParametersMap parameters;
+	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapLoopThr(), "0.11"));
+
+	// The time threshold set above is also a parameter, one could have set it the same way:
+	//   parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), "700"));
+	// Or SURF hessian treshold:
+	//   parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFHessianThreshold(), "150"));
+
+	if(localizationMode)
+	{
+		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));
+		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpIncrementalDictionary(), "false"));
+		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "1"));
+	}
+
+	// Initialize rtabmap: delete/create database...
+	rtabmap.init(parameters, !localizationMode);
+
+	// Process each image of the directory...
+	printf("\nProcessing images... from directory \"%s\"\n", path.c_str());
+
+	int countLoopDetected=0;
+	int i=0;
+	cv::Mat img = camera.takeImage();
+	int nextIndex = rtabmap.getLastLocationId()+1;
+	while(!img.empty())
+	{
+		// Process image : Main loop of RTAB-Map
+		rtabmap.process(img, nextIndex);
+
+		// Check if a loop closure is detected and print some info
+		if(rtabmap.getLoopClosureId())
+		{
+			++countLoopDetected;
+		}
+		++i;
+		if(rtabmap.getLoopClosureId())
+		{
+			printf(" #%d ptime(%fs) STM(%d) WM(%d) hyp(%d) value(%.2f) *LOOP %d->%d*\n",
+					i,
+					rtabmap.getLastProcessTime(),
+					(int)rtabmap.getSTM().size(), // short-term memory
+					(int)rtabmap.getWM().size(), // working memory
+					rtabmap.getLoopClosureId(),
+					rtabmap.getLcHypValue(),
+					nextIndex,
+					rtabmap.getLoopClosureId());
+		}
+		else
+		{
+			printf(" #%d ptime(%fs) STM(%d) WM(%d) hyp(%d) value(%.2f)\n",
+					i,
+					rtabmap.getLastProcessTime(),
+					(int)rtabmap.getSTM().size(), // short-term memory
+					(int)rtabmap.getWM().size(), // working memory
+					rtabmap.getRetrievedId(), // highest loop closure hypothesis
+					rtabmap.getLcHypValue());
+		}
+
+		++nextIndex;
+
+		//Get next image
+		img = camera.takeImage();
+	}
+
+	printf("Processing images completed. Loop closures found = %d\n", countLoopDetected);
+
+	// Generate a graph for visualization with Graphiz
+	rtabmap.generateDOTGraph("Graph.dot");
+	printf("Generated graph \"Graph.dot\", viewable with Graphiz using \"neato -Tpdf Graph.dot -o out.pdf\"\n");
+
+	// Cleanup... save database and logs
+	printf("Saving Long-Term Memory to \"rtabmap.db\"...\n");
+	rtabmap.close();
+
+	return 0;
+}