agv_pro_ros2/rtabmap/tools/DataRecorder/main.cpp

/*
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/utilite/ULogger.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/CameraRGBD.h>
#include <rtabmap/core/CameraStereo.h>
#include <rtabmap/core/Camera.h>
#include <rtabmap/core/SensorEvent.h>
#include <rtabmap/core/DBReader.h>
#include <rtabmap/core/SensorCaptureThread.h>
#include <rtabmap/core/SensorCaptureThread.h>
#include <rtabmap/gui/DataRecorder.h>
#include <rtabmap/gui/PreferencesDialog.h>
#include <QApplication>
#include <signal.h>

using namespace rtabmap;

void showUsage()
{
	printf("\nUsage:\n"
			"dataRecorder [options] config.ini output.db\n"
			"Description:\n"
			"  A config file contains all camera parameters and driver used. That\n"
			"  file can be generated by RTAB-Map->Preferences->Save Settings(*.ini)\n"
			"  after modifying Source settings.\n"
			"Options:\n"
			"  -debug    Show debug log.\n"
			"  -hide     Don't display the current cloud recorded.\n");
	exit(1);
}

rtabmap::SensorCaptureThread * cam = 0;
QApplication * app = 0;
// catch ctrl-c
void sighandler(int sig)
{
	printf("\nSignal %d caught...\n", sig);
	if(cam)
	{
		cam->join(true);
	}
	if(app)
	{
		QMetaObject::invokeMethod(app, "quit");
	}
}

// Detect when we reached end-of-files
class StatusHandler: public UEventsHandler{
protected:
	virtual bool handleEvent(UEvent * event)
	{
		if(event->getClassName().compare("SensorEvent") == 0)
		{
			SensorEvent * camEvent = (SensorEvent*)event;
			if(camEvent->getCode() == SensorEvent::kCodeNoMoreImages)
			{
				printf("End of stream reached...\n");
				if(cam)
				{
					cam->join(true);
				}
				if(app)
				{
					QMetaObject::invokeMethod(app, "quit");
				}
			}
		}
		return false;
	}
};

int main (int argc, char * argv[])
{
	ULogger::setType(ULogger::kTypeConsole);
	ULogger::setLevel(ULogger::kInfo);

	// parse arguments
	std::string fileName;
	bool show = true;
	std::string configFile;

	if(argc < 3)
	{
		showUsage();
	}
	for(int i=1; i<argc-2; ++i)
	{
		if(strcmp(argv[i], "-debug") == 0)
		{
			ULogger::setLevel(ULogger::kDebug);
			continue;
		}
		if(strcmp(argv[i], "-hide") == 0)
		{
			show = false;
			continue;
		}
		printf("Unrecognized option : %s\n", argv[i]);
		showUsage();
	}
	configFile = argv[argc-2];
	configFile = uReplaceChar(configFile, '~', UDirectory::homeDir());
	fileName = argv[argc-1]; // the last is the output path
	fileName = uReplaceChar(fileName, '~', UDirectory::homeDir());

	if(UFile::getExtension(fileName).compare("db") != 0)
	{
		printf("Database names must end with .db extension\n");
		showUsage();
	}

	UINFO("Output = %s", fileName.c_str());
	UINFO("Show = %s", show?"true":"false");
	UINFO("Config = %s", configFile.c_str());

	app = new QApplication(argc, argv);

	PreferencesDialog dialog;
	//Set working directory to default if not in config file to avoid message box
	ParametersMap paramTmp;
	Parameters::readINI(configFile, paramTmp);
	if(paramTmp.find(Parameters::kRtabmapWorkingDirectory()) == paramTmp.end())
	{
		paramTmp.clear();
		paramTmp.insert(ParametersPair(Parameters::kRtabmapWorkingDirectory(), dialog.getDefaultWorkingDirectory().toStdString()));
		Parameters::writeINI(configFile, paramTmp);
	}
	dialog.init(configFile.c_str());

	UINFO("Driver = %d", dialog.getSourceDriver());
	UINFO("Rate   = %f Hz", dialog.getGeneralInputRate());

	// Catch ctrl-c to close the gui
	// (Place this after QApplication's constructor)
	signal(SIGABRT, &sighandler);
	signal(SIGTERM, &sighandler);
	signal(SIGINT, &sighandler);

	// Catch end of stream to close the gui
	StatusHandler statusHandler;
	statusHandler.registerToEventsManager();

	rtabmap::Camera * camera = dialog.createCamera();
	if(camera == 0)
	{
		return -1;
	}
	ParametersMap parameters = dialog.getAllParameters();
	cam = new SensorCaptureThread(camera, parameters);
	cam->setMirroringEnabled(dialog.isSourceMirroring());
	cam->setColorOnly(dialog.isSourceRGBDColorOnly());
	cam->setImageDecimation(dialog.getSourceImageDecimation());
	cam->setHistogramMethod(dialog.getSourceHistogramMethod());
	cam->setStereoToDepth(dialog.isSourceStereoDepthGenerated());
	cam->setStereoExposureCompensation(dialog.isSourceStereoExposureCompensation());
	cam->setScanParameters(
			dialog.isSourceScanFromDepth(),
			dialog.getSourceScanDownsampleStep(),
			dialog.getSourceScanRangeMin(),
			dialog.getSourceScanRangeMax(),
			dialog.getSourceScanVoxelSize(),
			dialog.getSourceScanNormalsK(),
			dialog.getSourceScanNormalsRadius(),
			(float)dialog.getSourceScanForceGroundNormalsUp());
	if(dialog.getIMUFilteringStrategy()>0 && dynamic_cast<DBReader*>(camera) == 0)
	{
		cam->enableIMUFiltering(dialog.getIMUFilteringStrategy()-1, parameters, dialog.getIMUFilteringBaseFrameConversion());
	}
	if(dialog.isDepthFilteringAvailable())
	{
		if(dialog.isBilateralFiltering())
		{
			cam->enableBilateralFiltering(
					dialog.getBilateralSigmaS(),
					dialog.getBilateralSigmaR());
		}
		cam->setDistortionModel(dialog.getSourceDistortionModel().toStdString());
	}

	DataRecorder recorder;

	if(recorder.init(fileName.c_str()))
	{
		recorder.registerToEventsManager();
		if(show)
		{
			recorder.setWindowTitle("Data recorder");
			recorder.setMinimumWidth(500);
			recorder.setMinimumHeight(300);
			recorder.showNormal();
			app->processEvents();
		}

		if(camera->init())
		{
			cam->start();

			app->exec();

			UINFO("Closing...");

			recorder.close();
		}
		else
		{
			UERROR("Cannot initialize the camera!");
		}
	}
	else
	{
		UERROR("Cannot initialize the recorder! Maybe the path is wrong: \"%s\"", fileName.c_str());
	}

	if(cam)
	{
		delete cam;
	}

	return 0;
}