feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,99 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rtabmap/core/Recovery.h>
+#include <rtabmap/core/ProgressState.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <signal.h>
+
+using namespace rtabmap;
+
+void showUsage()
+{
+	printf("\nUsage:\n"
+			"rtabmap-recovery [-d] \"my_corrupted_map.db\""
+			"  Options:\n"
+			"     -d        Delete database backup on success (\"*.backup.db\").\n"
+			"\n");
+	exit(1);
+}
+
+class RecoveryProgressState: public ProgressState
+{
+	virtual bool callback(const std::string & msg) const
+	{
+		if(!msg.empty())
+			printf("%s\n", msg.c_str());
+		return true;
+	}
+};
+RecoveryProgressState state;
+
+// catch ctrl-c
+void sighandler(int sig)
+{
+	printf("\nSignal %d caught...\n", sig);
+	state.setCanceled(true);
+}
+
+int main(int argc, char * argv[])
+{
+	signal(SIGABRT, &sighandler);
+	signal(SIGTERM, &sighandler);
+	signal(SIGINT, &sighandler);
+
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kError);
+
+	if(argc < 2)
+	{
+		showUsage();
+	}
+
+	bool keepBackup = true;
+	for(int i=1; i<argc; ++i)
+	{
+		if(strcmp(argv[i], "-d") == 0)
+		{
+			keepBackup = false;
+		}
+	}
+
+	std::string databasePath = argv[argc-1];
+
+	std::string errorMsg;
+	printf("Recovering \"%s\"\n", databasePath.c_str());
+	if(!databaseRecovery(databasePath, keepBackup, &errorMsg, &state))
+	{
+		printf("Error: %s\n", errorMsg.c_str());
+		return 1;
+	}
+
+	return 0;
+}