DataRecorder tool: interface changed to use config file (#661)

Author: matlabbe

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -120,7 +120,7 @@ class RTABMAPGUI_EXP PreferencesDialog : public QDialog
 
 	virtual QString getIniFilePath() const;
 	virtual QString getTmpIniFilePath() const;
-	void init();
+	void init(const QString & iniFilePath = "");
 	void setCurrentPanelToSource();
 	virtual QString getDefaultWorkingDirectory() const;
 

guilib/src/PreferencesDialog.cpp

@@ -1428,7 +1428,7 @@ PreferencesDialog::~PreferencesDialog() {
 	delete _ui;
 }
 
-void PreferencesDialog::init()
+void PreferencesDialog::init(const QString & iniFilePath)
 {
 	UDEBUG("");
 	//First set all default values
@@ -1438,7 +1438,7 @@ void PreferencesDialog::init()
 		this->setParameter(iter->first, iter->second);
 	}
 
-	this->readSettings();
+	this->readSettings(iniFilePath);
 	this->writeSettings(getTmpIniFilePath());
 
 	_initialized = true;

tools/DataRecorder/main.cpp

@@ -32,8 +32,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/CameraRGBD.h>
 #include <rtabmap/core/CameraStereo.h>
 #include <rtabmap/core/Camera.h>
+#include <rtabmap/core/DBReader.h>
 #include <rtabmap/core/CameraThread.h>
 #include <rtabmap/gui/DataRecorder.h>
+#include <rtabmap/gui/PreferencesDialog.h>
 #include <QApplication>
 #include <signal.h>
 
@@ -42,27 +44,14 @@ using namespace rtabmap;
 void showUsage()
 {
 	printf("\nUsage:\n"
-			"dataRecorder [options] output.db\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"
-			"  -hide                    Don't display the current cloud recorded.\n"
-			"  -debug                   Set debug level for the logger.\n"
-			"  -rate #.#                Input rate Hz (default 0=inf)\n"
-			"  -driver                  Driver number to use:\n"
-			"                                     0=OpenNI-PCL (Kinect)\n"
-			"                                     1=OpenNI2    (Kinect and Xtion PRO Live)\n"
-			"                                     2=Freenect   (Kinect)\n"
-			"                                     3=OpenNI-CV  (Kinect)\n"
-			"                                     4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
-			"                                     5=Freenect2  (Kinect v2)\n"
-			"                                     6=DC1394     (Bumblebee2)\n"
-			"                                     7=FlyCapture2 (Bumblebee2)\n"
-			"                                     8=ZED stereo\n"
-			"                                     9=RealSense\n"
-			"                                     10=Kinect for Windows 2 SDK\n"
-			"                                     11=RealSense2\n"
-			"                                     12=Kinect for Azure SDK\n"
-			"                                     13=MYNT EYE S\n"
-			"  -device ""                Device ID (default \"\")\n");
+			"  -debug    Show debug log.\n"
+			"  -hide     Don't display the current cloud recorded.\n");
 	exit(1);
 }
 
@@ -88,35 +77,16 @@ int main (int argc, char * argv[])
 	ULogger::setLevel(ULogger::kInfo);
 
 	// parse arguments
-	QString fileName;
+	std::string fileName;
 	bool show = true;
-	int driver = 0;
-	std::string deviceId;
-	float rate = 0.0f;
+	std::string configFile;
 
-	if(argc < 2)
+	if(argc < 3)
 	{
 		showUsage();
 	}
-	for(int i=1; i<argc-1; ++i)
+	for(int i=1; i<argc-2; ++i)
 	{
-		if(strcmp(argv[i], "-rate") == 0)
-		{
-			++i;
-			if(i < argc)
-			{
-				rate = uStr2Float(argv[i]);
-				if(rate < 0.0f)
-				{
-					showUsage();
-				}
-			}
-			else
-			{
-				showUsage();
-			}
-			continue;
-		}
 		if(strcmp(argv[i], "-debug") == 0)
 		{
 			ULogger::setLevel(ULogger::kDebug);
@@ -127,192 +97,86 @@ int main (int argc, char * argv[])
 			show = false;
 			continue;
 		}
-		if(strcmp(argv[i], "-driver") == 0)
-		{
-			++i;
-			if(i < argc)
-			{
-				driver = std::atoi(argv[i]);
-				if(driver < 0 || driver > 13)
-				{
-					showUsage();
-				}
-			}
-			else
-			{
-				showUsage();
-			}
-			continue;
-		}
-		if(strcmp(argv[i], "-device") == 0)
-		{
-			++i;
-			if(i < argc)
-			{
-				deviceId = argv[i];
-			}
-			else
-			{
-				showUsage();
-			}
-			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.toStdString()).compare("db") != 0)
+	if(UFile::getExtension(fileName).compare("db") != 0)
 	{
 		printf("Database names must end with .db extension\n");
 		showUsage();
 	}
 
-	UINFO("Output = %s", fileName.toStdString().c_str());
+	UINFO("Output = %s", fileName.c_str());
 	UINFO("Show = %s", show?"true":"false");
-	UINFO("Rate =%f Hz", rate);
+	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);
 
-	rtabmap::Camera * camera = 0;
-	if(driver == 0)
-	{
-		camera = new rtabmap::CameraOpenni(deviceId, rate);
-	}
-	else if(driver == 1)
+	rtabmap::Camera * camera = dialog.createCamera();
+	if(camera == 0)
 	{
-		if(!rtabmap::CameraOpenNI2::available())
-		{
-			UERROR("Not built with OpenNI2 support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraOpenNI2(deviceId, CameraOpenNI2::kTypeColorDepth, rate);
-	}
-	else if(driver == 2)
-	{
-		if(!rtabmap::CameraFreenect::available())
-		{
-			UERROR("Not built with Freenect support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraFreenect(deviceId.size()?atoi(deviceId.c_str()):0, CameraFreenect::kTypeColorDepth, rate);
-	}
-	else if(driver == 3)
-	{
-		if(!rtabmap::CameraOpenNICV::available())
-		{
-			UERROR("Not built with OpenNI from OpenCV support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraOpenNICV(false, rate);
-	}
-	else if(driver == 4)
-	{
-		if(!rtabmap::CameraOpenNICV::available())
-		{
-			UERROR("Not built with OpenNI from OpenCV support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraOpenNICV(true, rate);
+		return -1;
 	}
-	else if(driver == 5)
+	ParametersMap parameters = dialog.getAllParameters();
+	cam = new CameraThread(camera, parameters);
+	cam->setMirroringEnabled(dialog.isSourceMirroring());
+	cam->setColorOnly(dialog.isSourceRGBDColorOnly());
+	cam->setImageDecimation(dialog.getSourceImageDecimation());
+	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)
 	{
-		if(!rtabmap::CameraFreenect2::available())
-		{
-			UERROR("Not built with Freenect2 support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraFreenect2(deviceId.size()?atoi(deviceId.c_str()):0, rtabmap::CameraFreenect2::kTypeColor2DepthSD, rate);
+		cam->enableIMUFiltering(dialog.getIMUFilteringStrategy()-1, parameters);
 	}
-	else if(driver == 6)
+	if(dialog.isDepthFilteringAvailable())
 	{
-		if(!rtabmap::CameraStereoDC1394::available())
+		if(dialog.isBilateralFiltering())
 		{
-			UERROR("Not built with dc1394 support...");
-			exit(-1);
+			cam->enableBilateralFiltering(
+					dialog.getBilateralSigmaS(),
+					dialog.getBilateralSigmaR());
 		}
-		camera = new rtabmap::CameraStereoDC1394(rate);
-	}
-	else if(driver == 7)
-	{
-		if(!rtabmap::CameraStereoFlyCapture2::available())
-		{
-			UERROR("Not built with FlyCapture2/Triclops support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraStereoFlyCapture2(rate);
-	}
-	else if(driver == 8)
-	{
-		if(!rtabmap::CameraStereoZed::available())
-		{
-			UERROR("Not built with ZED sdk support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraStereoZed(uStr2Int(deviceId));
-	}
-	else if (driver == 9)
-	{
-		if (!rtabmap::CameraRealSense::available())
-		{
-			UERROR("Not built with RealSense support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraRealSense(uStr2Int(deviceId));
-	}
-	else if (driver == 10)
-	{
-		if (!rtabmap::CameraK4W2::available())
-		{
-			UERROR("Not built with Kinect for Windows 2 SDK support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraK4W2(uStr2Int(deviceId));
-	}
-	else if (driver == 11)
-	{
-		if (!rtabmap::CameraRealSense2::available())
-		{
-			UERROR("Not built with RealSense2 SDK support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraRealSense2(deviceId);
-	}
-	else if (driver == 12)
-	{
-		if (!rtabmap::CameraK4A::available())
-		{
-			UERROR("Not built with Kinect for Azure SDK support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraK4A(1);
-	}
-	else if (driver == 13)
-	{
-		if (!rtabmap::CameraMyntEye::available())
-		{
-			UERROR("Not built with Mynt Eye S support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraMyntEye(deviceId);
-	}
-	else
-	{
-		UFATAL("Camera driver (%d) not found!", driver);
+		cam->setDistortionModel(dialog.getSourceDistortionModel().toStdString());
 	}
-	cam = new CameraThread(camera);
-	cam->enableIMUFiltering();
 
 	DataRecorder recorder;
 
-	if(recorder.init(fileName))
+	if(recorder.init(fileName.c_str()))
 	{
 		recorder.registerToEventsManager();
 		if(show)
@@ -341,7 +205,7 @@ int main (int argc, char * argv[])
 	}
 	else
 	{
-		UERROR("Cannot initialize the recorder! Maybe the path is wrong: \"%s\"", fileName.toStdString().c_str());
+		UERROR("Cannot initialize the recorder! Maybe the path is wrong: \"%s\"", fileName.c_str());
 	}
 
 	if(cam)