mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
moved rtabmap-ros-pkg project in this project
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
1
app/CMakeLists.txt
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1
app/CMakeLists.txt
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ADD_SUBDIRECTORY( src )
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130
app/src/CMakeLists.txt
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130
app/src/CMakeLists.txt
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### Qt Gui stuff ###
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SET(headers_ui
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./ObjDeletionHandler.h
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)
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#This will generate moc_* for Qt
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QT4_WRAP_CPP(moc_srcs ${headers_ui})
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SET(SRC_FILES
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main.cpp
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${moc_srcs}
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)
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}
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${UTILITE_INCLUDE_DIR}
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${OpenCV_INCLUDE_DIRS}
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)
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INCLUDE(${QT_USE_FILE})
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SET(LIBRARIES
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${UTILITE_LIBRARY}
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${QT_LIBRARIES}
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${OpenCV_LIBS}
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)
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# Make sure the compiler can find include files from our library.
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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# For Apple set the icns file containing icons
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IF(APPLE AND BUILD_AS_BUNDLE)
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# set how it shows up in the Info.plist file
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SET(MACOSX_BUNDLE_ICON_FILE ${PROJECT_NAME}.icns)
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# set where in the bundle to put the icns file
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SET_SOURCE_FILES_PROPERTIES(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns PROPERTIES MACOSX_PACKAGE_LOCATION Resources)
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# include the icns file in the target
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SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns)
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ENDIF(APPLE AND BUILD_AS_BUNDLE)
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# Add exe icon resource
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IF(WIN32)
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IF( MINGW )
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# resource compilation for MinGW
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ADD_CUSTOM_COMMAND( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o
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COMMAND windres.exe -I${CMAKE_CURRENT_SOURCE_DIR} -i${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.rc
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-o ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o )
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SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o)
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ELSE( MINGW )
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SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc)
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ENDIF( MINGW )
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ENDIF(WIN32)
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# Add binary
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IF(APPLE AND BUILD_AS_BUNDLE)
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ADD_EXECUTABLE(main_app MACOSX_BUNDLE ${SRC_FILES})
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ELSE()
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ADD_EXECUTABLE(main_app WIN32 ${SRC_FILES})
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ENDIF()
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TARGET_LINK_LIBRARIES(main_app corelib guilib ${LIBRARIES})
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IF(APPLE AND BUILD_AS_BUNDLE)
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SET_TARGET_PROPERTIES(main_app PROPERTIES
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OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
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ELSEIF(WIN32)
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SET_TARGET_PROPERTIES(main_app PROPERTIES
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OUTPUT_NAME ${PROJECT_NAME})
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ELSE()
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SET_TARGET_PROPERTIES(main_app PROPERTIES
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OUTPUT_NAME ${PROJECT_PREFIX})
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ENDIF()
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#---------------------------
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# Installation stuff
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#---------------------------
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INSTALL(TARGETS main_app
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RUNTIME DESTINATION bin COMPONENT runtime
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BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
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IF(APPLE AND BUILD_AS_BUNDLE)
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INSTALL(CODE "execute_process(COMMAND ln -s \"../MacOS/${CMAKE_BUNDLE_NAME}\" ${PROJECT_NAME}
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WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin)")
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ENDIF(APPLE AND BUILD_AS_BUNDLE)
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SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME}${CMAKE_EXECUTABLE_SUFFIX}")
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IF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
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SET(plugin_dest_dir bin)
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SET(qtconf_dest_dir bin)
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IF(APPLE)
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SET(plugin_dest_dir MacOS)
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SET(qtconf_dest_dir Resources)
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SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
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ENDIF(APPLE)
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# Install needed Qt plugins by copying directories from the qt installation
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# One can cull what gets copied by using 'REGEX "..." EXCLUDE'
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# Exclude debug libraries
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INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats"
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DESTINATION ${plugin_dest_dir}/plugins
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COMPONENT runtime
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REGEX ".*d4.dll" EXCLUDE
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REGEX ".*d4.a" EXCLUDE)
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# install a qt.conf file
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# this inserts some cmake code into the install script to write the file
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SET(QT_CONF_FILE [Paths]\nPlugins=plugins)
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IF(APPLE)
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SET(QT_CONF_FILE [Paths]\nPlugins=MacOS/plugins)
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ENDIF(APPLE)
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INSTALL(CODE "
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file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
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" COMPONENT runtime)
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# directories to look for dependencies
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SET(DIRS ${QT_LIBRARY_DIRS} ${PROJECT_SOURCE_DIR}/bin)
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# Now the work of copying dependencies into the bundle/package
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# The quotes are escaped and variables to use at install time have their $ escaped
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# An alternative is the do a configure_file() on a script and use install(SCRIPT ...).
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# Note that the image plugins depend on QtSvg and QtXml, and it got those copied
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# over.
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# To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
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install(CODE "
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file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/plugins/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
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include(\"BundleUtilities\")
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fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
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" COMPONENT runtime)
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ENDIF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
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57
app/src/ObjDeletionHandler.h
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57
app/src/ObjDeletionHandler.h
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef OBJDELETIONHANDLER_H_
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#define OBJDELETIONHANDLER_H_
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#include "utilite/UEventsHandler.h"
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#include "utilite/UEvent.h"
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#include <QtCore/QObject>
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class ObjDeletionHandler : public QObject, public UEventsHandler
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{
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Q_OBJECT
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public:
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ObjDeletionHandler(int watchedId, QObject * receiver = 0, const char * member = 0) : _watchedId(watchedId)
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{
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if(receiver && member)
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{
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connect(this, SIGNAL(objDeletionEventReceived(int)), receiver, member);
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}
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}
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virtual ~ObjDeletionHandler() {}
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signals:
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void objDeletionEventReceived(int);
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protected:
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virtual void handleEvent(UEvent * event)
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{
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if(event->getClassName().compare("ObjDeletedEvent") == 0 &&
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event->getCode() == _watchedId)
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{
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emit objDeletionEventReceived(_watchedId);
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}
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}
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private:
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int _watchedId;
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};
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#endif /* OBJDELETIONHANDLER_H_ */
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BIN
app/src/RTAB-Map.icns
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BIN
app/src/RTAB-Map.icns
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Binary file not shown.
BIN
app/src/RTAB-Map.ico
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BIN
app/src/RTAB-Map.ico
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Binary file not shown.
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After Width: | Height: | Size: 52 KiB |
1
app/src/RTAB-Map.rc
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1
app/src/RTAB-Map.rc
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@@ -0,0 +1 @@
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IDI_ICON1 ICON DISCARDABLE "RTAB-Map.ico"
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86
app/src/main.cpp
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86
app/src/main.cpp
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <QtGui/QApplication>
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#include <QtCore/QDir>
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#include "utilite/UEventsManager.h"
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#include "rtabmap/core/Rtabmap.h"
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#include "rtabmap/gui/MainWindow.h"
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#include <QtGui/QMessageBox>
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#include "utilite/UObjDeletionThread.h"
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#include "ObjDeletionHandler.h"
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using namespace rtabmap;
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int main(int argc, char* argv[])
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{
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/* Set logger type */
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kWarning); // Disable log with level
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ULOGGER_INFO("Program started...");
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/* Create tasks */
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Rtabmap * rtabmap = new Rtabmap();
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QApplication * app = new QApplication(argc, argv);
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MainWindow * mainWindow = new MainWindow();
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/* Add handlers to the EventsManager */
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UEventsManager::addHandler(mainWindow);
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UEventsManager::addHandler(rtabmap); //thread
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/* Start thread's task */
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mainWindow->showNormal();
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// Now wait for application to finish
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app->connect( app, SIGNAL( lastWindowClosed() ),
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app, SLOT( quit() ) );
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app->exec();// MUST be called by the Main Thread
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/* Remove handlers */
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UEventsManager::removeHandler(mainWindow);
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UEventsManager::removeHandler(rtabmap);
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ULOGGER_INFO("Killing threads...");
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rtabmap->kill();
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ULOGGER_INFO("Free memory...");
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delete mainWindow;
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//Since we can't put the Rtabmap object in the MainWindow class,
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//we pop up a message box indicating that the rtabmap object
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// is being deleted (saving data to the database)
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QMessageBox * msg = new QMessageBox(QMessageBox::Information, QObject::tr("RTAB-Map is closing..."), QObject::tr("The detector is saving the working memory to database (located in RTAB-Map's working directory)..."), QMessageBox::NoButton);
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msg->setEnabled(false);
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msg->setIconPixmap(QPixmap(":/images/RTAB-Map.ico"));
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msg->setWindowIcon(QIcon(":/images/RTAB-Map.ico"));
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msg->show();
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ObjDeletionThread<Rtabmap> delThread(rtabmap);
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ObjDeletionHandler handler(delThread.id(), app, SLOT(quit()));
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UEventsManager::addHandler(&handler);
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delThread.startDeletion(1); // make sure that app-exec() is called before the deletion of the object
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app->exec();
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delete msg;
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delete app;
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ULOGGER_INFO("All done! Closing...");
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return 0;
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}
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