Fixes to cpp tools

Author: kaatrasa

cpp/k4a/CMakeLists.txt

@@ -34,19 +34,20 @@ endif()
 
 set(TOOL_LIBS
   k4a::k4a
-  spectacularAI::k4aPlugin)
+  spectacularAI::k4aPlugin
+  Threads::Threads)
 
 # enables searching for dynamic libraries from the relative path ../lib
 if(NOT MSVC)
   set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-rpath='$ORIGIN/../lib:$ORIGIN/../lib/3rdparty'")
 endif()
 
-add_executable(sai-k4a-record record.cpp)
-target_link_libraries(sai-k4a-record ${TOOL_LIBS})
+add_executable(sai-record-k4a record.cpp)
+target_link_libraries(sai-record-k4a ${TOOL_LIBS})
 
 if(MSVC)
-  add_custom_command(TARGET sai-k4a-record POST_BUILD
-    COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_RUNTIME_DLLS:sai-k4a-record> $<TARGET_FILE_DIR:sai-k4a-record>
+  add_custom_command(TARGET sai-record-k4a POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_RUNTIME_DLLS:sai-record-k4a> $<TARGET_FILE_DIR:sai-record-k4a>
     COMMAND_EXPAND_LISTS
   )
 endif()

cpp/k4a/record.cpp

@@ -20,8 +20,8 @@ void showUsage() {
         << "  --vio_only (-useSlam=false)" << std::endl
         << "  --exposure <microseconds>" << std::endl
         << "  --whitebalance <kelvins>" << std::endl
-        << "  --gain [0-255]"  << std::endl
-        << "  --brightness [0-255]" << std::endl
+        << "  --gain <0-255>"  << std::endl
+        << "  --brightness <0-255>" << std::endl
         << "  --print" << std::endl
         << std::endl;
 }
@@ -79,8 +79,10 @@ int main(int argc, char *argv[]) {
     }
 
     // Require recording folder when using recording only mode.
-    if (config.recordingOnly && config.recordingFolder.empty())
-        fatal_error("Record only but recording folder is not set!");
+    if (config.recordingOnly && config.recordingFolder.empty()) {
+        std::cerr << "Record only but recording folder is not set!" << std::endl;
+        return EXIT_FAILURE;
+    }
 
     // In monocular mode, disable depth camera.
     if (!config.useStereo) depthMode = K4A_DEPTH_MODE_OFF;

cpp/orbbec/CMakeLists.txt

@@ -33,7 +33,8 @@ endif()
 
 set(TOOL_LIBS
   ${OrbbecSDK_LIBS}
-  spectacularAI::orbbecPlugin)
+  spectacularAI::orbbecPlugin
+  Threads::Threads)
 
 # enables searching for dynamic libraries from the relative path ../lib
 if(NOT MSVC)

cpp/realsense/CMakeLists.txt

@@ -15,12 +15,14 @@ else()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
 endif()
 
+find_package(Threads REQUIRED)
 find_package(realsense2 REQUIRED)
 find_package(spectacularAI_realsensePlugin REQUIRED)
 
 set(TOOL_LIBS
   realsense2::realsense2
-  spectacularAI::realsensePlugin)
+  spectacularAI::realsensePlugin
+  Threads::Threads)
 
 # enables searching for dynamic libraries from the relative path ../lib
 if(NOT MSVC)

cpp/realsense/record.cpp

@@ -1,3 +1,6 @@
+#include <atomic>
+#include <thread>
+#include <vector>
 #include <iostream>
 #include <librealsense2/rs.hpp>
 #include <spectacularAI/realsense/plugin.hpp>
@@ -17,6 +20,7 @@ void showUsage() {
         << "  --saturation <value>" << std::endl
         << "  --sharpness <value>" << std::endl
         << "  --white_balance <value>" << std::endl
+        << "  --print" << std::endl
         << std::endl;
 }
 
@@ -35,6 +39,7 @@ struct ColorCameraConfig {
 int main(int argc, char** argv) {
     spectacularAI::rsPlugin::Configuration config;
     ColorCameraConfig colorConfig;
+    bool print = false;
 
     std::vector<std::string> arguments(argv, argv + argc);
     for (size_t i = 1; i < arguments.size(); ++i) {
@@ -63,6 +68,8 @@ int main(int argc, char** argv) {
             colorConfig.sharpness = std::stoi(arguments.at(++i));
         else if (argument == "--white_balance")
             colorConfig.whiteBalance = std::stoi(arguments.at(++i));
+        else if (argument == "--print")
+            print = true;
         else if (argument == "--help" || argument == "-h") {
             showUsage();
             return EXIT_SUCCESS;
@@ -112,13 +119,31 @@ int main(int argc, char** argv) {
     // Start pipeline
     rs2::config rsConfig;
     vioPipeline.configureStreams(rsConfig);
-    auto vioSession = vioPipeline.startSession(rsConfig);
+    auto session = vioPipeline.startSession(rsConfig);
 
-    std::cout << "Recording, use Ctrl+C to stop" << std::endl;
+    std::atomic<bool> shouldQuit(false);
+    std::thread inputThread([&]() {
+        std::cout << "Press Enter to quit." << std::endl << std::endl;
+        getchar();
+        shouldQuit = true;
+    });
 
-    while (true) {
-        vioSession->waitForOutput();
+    while (!shouldQuit) {
+        if (session->hasOutput()) {
+            auto out = session->getOutput();
+            if (print) {
+                std::cout << "Vio API pose: " << out->pose.time << ", " << out->pose.position.x
+                          << ", " << out->pose.position.y << ", " << out->pose.position.z << ", "
+                          << out->pose.orientation.x << ", " << out->pose.orientation.y << ", "
+                          << out->pose.orientation.z << ", " << out->pose.orientation.w
+                          << std::endl;
+            }
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
 
+    std::cout << "Exiting." << std::endl;
+    if (shouldQuit) inputThread.join();
+
     return 0;
 }