rtabmap/preview/pr-1492/api/latest/uResourceGeneratorPage.html

<!-- HTML header for doxygen 1.9.8-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.9.8"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>RTAB-Map: uResourceGenerator</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
<link href="custom.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
<script type="text/javascript" src="../versions.js"></script>
<script type="text/javascript" src="version-switcher.js"></script>
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr id="projectrow">
  <td id="projectalign">
   <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
   </div>
   <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.8 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
var searchBox = new SearchBox("searchBox", "search/",'.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
/* @license-end */
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('uResourceGeneratorPage.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>

<div><div class="header">
  <div class="headertitle"><div class="title">uResourceGenerator</div></div>
</div><!--header-->
<div class="contents">
<div class="textblock"><p>UtiLite provides a utility application called <a class="el" href="uResourceGeneratorPage.html">uResourceGenerator</a> to generate resources to include in an executable. For example: </p><div class="fragment"><div class="line">$ <a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a>-res_tool DatabaseSchema.sql</div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
</div><!-- fragment --><p> This will generate a HEX file "DatabaseSchema_sql.h" which can be included in source files. Data of the file is global and can be accessed by the generated const char * DATABASESCHEMA_SQL. </p><div class="fragment"><div class="line"><span class="preprocessor">#include &quot;DatabaseSchema_sql.h&quot;</span></div>
<div class="line">...</div>
<div class="line">std::string hex = DATABASESCHEMA_SQL;</div>
<div class="line"><span class="comment">// Assuming there are only ASCII characters, we can directly convert to a string:</span></div>
<div class="line">std::string schema = <a class="code hl_function" href="UConversion_8h.html#a6d66453336bccd040539ac9905a9c409">uHex2Str</a>(hex);</div>
<div class="line"><span class="comment">// For binary data:</span></div>
<div class="line">std::vector&lt;char&gt; bytes = <a class="code hl_function" href="UConversion_8h.html#aafb2c6939780df0241eb35ab4fc8b91b">uHex2Bytes</a>(hex);</div>
<div class="ttc" id="aUConversion_8h_html_a6d66453336bccd040539ac9905a9c409"><div class="ttname"><a href="UConversion_8h.html#a6d66453336bccd040539ac9905a9c409">uHex2Str</a></div><div class="ttdeci">std::string UTILITE_EXPORT uHex2Str(const std::string &amp;hex)</div></div>
<div class="ttc" id="aUConversion_8h_html_aafb2c6939780df0241eb35ab4fc8b91b"><div class="ttname"><a href="UConversion_8h.html#aafb2c6939780df0241eb35ab4fc8b91b">uHex2Bytes</a></div><div class="ttdeci">std::vector&lt; char &gt; UTILITE_EXPORT uHex2Bytes(const std::string &amp;hex)</div></div>
</div><!-- fragment --><p>The generator can be automated in a CMake build like: </p><div class="fragment"><div class="line">ADD_CUSTOM_COMMAND(</div>
<div class="line">   OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h</div>
<div class="line">   COMMAND ${RTABMAP_RES_TOOL} -n my_namespace -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/DatabaseSchema.sql</div>
<div class="line">   COMMENT <span class="stringliteral">&quot;[Creating database resource]&quot;</span></div>
<div class="line">   DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/DatabaseSchema.sql</div>
<div class="line">)</div>
<div class="line">SET(RESOURCES</div>
<div class="line">   ${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h</div>
<div class="line">)</div>
<div class="line">ADD_LIBRARY(mylib ${SRC_FILES} ${RESOURCES})</div>
<div class="line">ADD_EXECUTABLE(myexecutable ${SRC_FILES} ${RESOURCES})</div>
</div><!-- fragment --><p> The tool is installed as <code>rtabmap-res_tool</code>. It is not exported by FIND_PACKAGE(RTABMap), so locate it with FIND_PROGRAM(RTABMAP_RES_TOOL rtabmap-res_tool). Inside RTAB-Map's own build, the <code>res_tool</code> CMake target can be used directly as the COMMAND instead. </p>
</div></div><!-- contents -->
</div><!-- PageDoc -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
  </ul>
</div>
</body>
</html>