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rtabmap: removed all UtiLite include references for main RTAB-Map classes (to avoid linking to UtiLite when using RTAB-Map as c++ library)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@811 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-02-04 16:38:00 +00:00
parent e8e75a9d40
commit 00ac36747e
14 changed files with 462 additions and 294 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -29,7 +29,7 @@
#include "rtabmap/gui/PreferencesDialog.h"
namespace rtabmap {
class Camera;
class CameraThread;
class DBReader;
}
@@ -147,7 +147,7 @@ private:
Ui_mainWindow * _ui;
State _state;
rtabmap::Camera * _camera;
rtabmap::CameraThread * _camera;
rtabmap::DBReader * _dbReader;
SrcType _srcType;

37
guilib/src/MainWindow.cpp
View File

@@ -18,16 +18,27 @@
*/
#include "rtabmap/gui/MainWindow.h"
#include "ui_mainWindow.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/DBReader.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/ParamEvent.h"
#include "rtabmap/gui/ImageView.h"
#include "rtabmap/gui/qtipl.h"
#include "rtabmap/gui/KeypointItem.h"
#include "AboutDialog.h"
#include <utilite/UtiLite.h>
#include <utilite/UStl.h>
#include <utilite/ULogger.h>
#include <utilite/UPlot.h>
#include "rtabmap/core/Parameters.h"
#include "rtabmap/gui/ImageView.h"
#include <utilite/UEventsManager.h>
#include <utilite/UFile.h>
#include "AboutDialog.h"
#include "PdfPlot.h"
#include "StatsToolBox.h"
#include "DetailedProgressDialog.h"
@@ -1039,12 +1050,13 @@ void MainWindow::startDetection()
{
if(_preferencesDialog->isSourceImageUsed())
{
Camera * camera = 0;
// Change type of the camera...
//
int sourceType = _preferencesDialog->getSourceImageType();
if(sourceType == 1) //Images
{
_camera = new CameraImages(
camera = new CameraImages(
_preferencesDialog->getSourceImagesPath().append(QDir::separator()).toStdString(),
_preferencesDialog->getSourceImagesStartPos(),
_preferencesDialog->getSourceImagesRefreshDir(),
@@ -1057,7 +1069,7 @@ void MainWindow::startDetection()
}
else if(sourceType == 2)
{
_camera = new CameraVideo(
camera = new CameraVideo(
_preferencesDialog->getSourceVideoPath().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getGeneralAutoRestart(),
@@ -1067,7 +1079,7 @@ void MainWindow::startDetection()
}
else if(sourceType == 0)
{
_camera = new CameraVideo(
camera = new CameraVideo(
_preferencesDialog->getSourceUsbDeviceId(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getGeneralAutoRestart(),
@@ -1087,22 +1099,23 @@ void MainWindow::startDetection()
if(_preferencesDialog->getGeneralCameraKeypoints())
{
_camera->setFeaturesExtracted(true);
_camera->parseParameters(_preferencesDialog->getAllParameters());
camera->setFeaturesExtracted(true);
camera->parseParameters(_preferencesDialog->getAllParameters());
}
if(!_camera->init())
if(!camera->init())
{
ULOGGER_WARN("init camera failed... ");
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Camera initialization failed..."));
emit stateChanged(kIdle);
delete _camera;
_camera = 0;
delete camera;
camera = 0;
return;
}
_camera = new CameraThread(camera);
UEventsManager::addHandler(_camera); //thread
}
}