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
2026-10-06 01:57:45 +08:00 · 2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
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+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <QtGui/QApplication>
+#include <QtCore/QDir>
+#include "utilite/UEventsManager.h"
+#include "rtabmap/core/Rtabmap.h"
+#include "rtabmap/gui/MainWindow.h"
+#include <QtGui/QMessageBox>
+#include "utilite/UObjDeletionThread.h"
+#include "ObjDeletionHandler.h"
+
+using namespace rtabmap;
+
+int main(int argc, char* argv[])
+{
+
+	/* Set logger type */
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kWarning); // Disable log with level
+
+	ULOGGER_INFO("Program started...");
+
+	/* Create tasks */
+	Rtabmap * rtabmap = new Rtabmap();
+	QApplication * app = new QApplication(argc, argv);
+	MainWindow * mainWindow = new MainWindow();
+
+	/* Add handlers to the EventsManager */
+	UEventsManager::addHandler(mainWindow);
+	UEventsManager::addHandler(rtabmap); //thread
+
+	/* Start thread's task */
+	mainWindow->showNormal();
+
+	// Now wait for application to finish
+	app->connect( app, SIGNAL( lastWindowClosed() ),
+				app, SLOT( quit() ) );
+	app->exec();// MUST be called by the Main Thread
+
+	/* Remove handlers */
+	UEventsManager::removeHandler(mainWindow);
+	UEventsManager::removeHandler(rtabmap);
+
+	ULOGGER_INFO("Killing threads...");
+	rtabmap->kill();
+
+	ULOGGER_INFO("Free memory...");
+
+	delete mainWindow;
+	//Since we can't put the Rtabmap object in the MainWindow class,
+	//we pop up a message box indicating that the rtabmap object
+	// is being deleted (saving data to the database)
+	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);
+	msg->setEnabled(false);
+	msg->setIconPixmap(QPixmap(":/images/RTAB-Map.ico"));
+	msg->setWindowIcon(QIcon(":/images/RTAB-Map.ico"));
+	msg->show();
+	ObjDeletionThread<Rtabmap> delThread(rtabmap);
+	ObjDeletionHandler handler(delThread.id(), app, SLOT(quit()));
+	UEventsManager::addHandler(&handler);
+	delThread.startDeletion(1); // make sure that app-exec() is called before the deletion of the object
+	app->exec();
+	delete msg;
+	delete app;
+
+	ULOGGER_INFO("All done! Closing...");
+
+    return 0;
+}