Merge branch 'master' of https://github.com/Tobias-Fischer/rtabmap into Tobias-Fischer-master

2026-09-01 17:10:26 +08:00 · 2015-03-17 15:12:29 -04:00
parent 6979c0d4b8 b5e015ec8f
commit 321b3f65ab
56 changed files with 192 additions and 164 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,6 +32,8 @@ SET(PROJECT_VERSION_PATCH ${RTABMAP_PATCH_VERSION})

 SET(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")

+SET(RTABMAP_QT_VERSION 4 CACHE STRING "Which QT version to use")
+
 ####### COMPILATION PARAMS #######
 # In case of Makefiles if the user does not setup CMAKE_BUILD_TYPE, assume it's Release:
 IF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
@@ -128,7 +130,11 @@ FIND_PACKAGE(OpenNI2)
 FIND_PACKAGE(G2O)

 # If Qt is here, the GUI will be built
-FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg) 
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
+ELSE()
+    FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
+ENDIF()

 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
@@ -164,11 +170,11 @@ CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/corelib/include/${PROJECT_PREF
 ADD_SUBDIRECTORY( utilite )
 ADD_SUBDIRECTORY( corelib )

-IF(QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)
+IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
   ADD_SUBDIRECTORY( guilib )
   ADD_SUBDIRECTORY( app )
 ELSE()
-   MESSAGE(STATUS "[WARNING] Qt4 not found, the GUI lib and the stand-alone application will not be compiled...")
+   MESSAGE(STATUS "[WARNING] Qt not found, the GUI lib and the stand-alone application will not be compiled...")
 ENDIF()

 ADD_SUBDIRECTORY( tools )
--- a/app/src/CMakeLists.txt
+++ b/app/src/CMakeLists.txt
@@ -5,7 +5,11 @@ SET(headers_ui
 )

 #This will generate moc_* for Qt
-QT4_WRAP_CPP(moc_srcs ${headers_ui})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    QT4_WRAP_CPP(moc_srcs ${headers_ui})
+ELSE()
+    QT5_WRAP_CPP(moc_srcs ${headers_ui})
+ENDIF()

 SET(SRC_FILES
    main.cpp
@@ -21,12 +25,14 @@ SET(INCLUDE_DIRS
    ${PCL_INCLUDE_DIRS}
 )

-INCLUDE(${QT_USE_FILE})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    INCLUDE(${QT_USE_FILE})
+ENDIF()

 SET(LIBRARIES
    ${QT_LIBRARIES} 
-	${OpenCV_LIBS} 
-	${PCL_LIBRARIES}
+    ${OpenCV_LIBS}
+    ${PCL_LIBRARIES}
 )

 # rc.exe has problems with these defintions... commented!
@@ -67,6 +73,9 @@ ELSE()
  ADD_EXECUTABLE(rtabmap ${SRC_FILES})
 ENDIF()
 TARGET_LINK_LIBRARIES(rtabmap rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "5")
+    QT5_USE_MODULES(rtabmap Widgets Core Gui Svg PrintSupport)
+ENDIF()

 IF(APPLE AND BUILD_AS_BUNDLE)
  SET_TARGET_PROPERTIES(rtabmap PROPERTIES
--- a/app/src/main.cpp
+++ b/app/src/main.cpp
@@ -25,13 +25,13 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

-#include <QtGui/QApplication>
+#include <QApplication>
 #include <QtCore/QDir>
 #include "rtabmap/utilite/UEventsManager.h"
 #include "rtabmap/core/RtabmapThread.h"
 #include "rtabmap/core/Rtabmap.h"
 #include "rtabmap/gui/MainWindow.h"
-#include <QtGui/QMessageBox>
+#include <QMessageBox>
 #include "rtabmap/utilite/UObjDeletionThread.h"
 #include "ObjDeletionHandler.h"

--- a/build/.empty
+++ b/build/.empty
--- a/build/.gitignore
+++ b/build/.gitignore
@@ -1,17 +0,0 @@
-/app
-/CMakeFiles
-/corelib
-/examples
-/guilib
-/tools
-/utilite
-/cmake_install.cmake
-/cmake_uninstall.cmake
-/CMakeCache.txt
-/CPackConfig.cmake
-/CPackSourceConfig.cmake
-/install_manifest.txt
-/Makefile
-/RTABMapConfig.cmake
-/rtabmapConfigVersion.cmake
-/RTABMapConfigVersion.cmake
--- a/examples/RGBDMapping/CMakeLists.txt
+++ b/examples/RGBDMapping/CMakeLists.txt
@@ -7,7 +7,9 @@ SET(INCLUDE_DIRS
    ${PCL_INCLUDE_DIRS}
 )

-INCLUDE(${QT_USE_FILE})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    INCLUDE(${QT_USE_FILE})
+ENDIF()

 SET(LIBRARIES
 	${OpenCV_LIBRARIES}
@@ -17,7 +19,11 @@ SET(LIBRARIES

 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})

-QT4_WRAP_CPP(moc_srcs MapBuilder.h)
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    QT4_WRAP_CPP(moc_srcs MapBuilder.h)
+ELSE()
+    QT5_WRAP_CPP(moc_srcs MapBuilder.h)
+ENDIF()

 ADD_EXECUTABLE(rgbd_mapping main.cpp ${moc_srcs})
  
--- a/examples/RGBDMapping/MapBuilder.h
+++ b/examples/RGBDMapping/MapBuilder.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef MAPBUILDER_H_
 #define MAPBUILDER_H_

-#include <QtGui/QVBoxLayout>
+#include <QVBoxLayout>
 #include <QtCore/QMetaType>

 #ifndef Q_MOC_RUN // Mac OS X issue
--- a/examples/RGBDMapping/main.cpp
+++ b/examples/RGBDMapping/main.cpp
@@ -31,7 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/CameraThread.h"
 #include "rtabmap/core/Odometry.h"
 #include "rtabmap/utilite/UEventsManager.h"
-#include <QtGui/QApplication>
+#include <QApplication>
 #include <stdio.h>

 #include "MapBuilder.h"
--- a/guilib/include/rtabmap/gui/CalibrationDialog.h
+++ b/guilib/include/rtabmap/gui/CalibrationDialog.h
@@ -30,7 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines

-#include <QtGui/QDialog>
+#include <QDialog>
 #include <opencv2/opencv.hpp>

 #include <rtabmap/utilite/UEventsHandler.h>
--- a/guilib/include/rtabmap/gui/DataRecorder.h
+++ b/guilib/include/rtabmap/gui/DataRecorder.h
@@ -31,7 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines

 #include <rtabmap/utilite/UEventsHandler.h>
-#include <QtGui/QWidget>
+#include <QWidget>
 #include <rtabmap/core/SensorData.h>
 #include <rtabmap/utilite/UTimer.h>

--- a/guilib/include/rtabmap/gui/DatabaseViewer.h
+++ b/guilib/include/rtabmap/gui/DatabaseViewer.h
@@ -30,7 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines

-#include <QtGui/QMainWindow>
+#include <QMainWindow>
 #include <QtCore/QByteArray>
 #include <QtCore/QMap>
 #include <QtCore/QSet>
--- a/guilib/include/rtabmap/gui/ImageView.h
+++ b/guilib/include/rtabmap/gui/ImageView.h
@@ -30,7 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines

-#include <QtGui/QGraphicsView>
+#include <QGraphicsView>
 #include <QtCore/QRectF>
 #include <QtCore/QMultiMap>
 #include <QtCore/QSettings>
--- a/guilib/include/rtabmap/gui/KeypointItem.h
+++ b/guilib/include/rtabmap/gui/KeypointItem.h
@@ -30,8 +30,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines

-#include <QtGui/QGraphicsEllipseItem>
-#include <QtGui/QGraphicsTextItem>
+#include <QGraphicsEllipseItem>
+#include <QGraphicsTextItem>
 #include <QtGui/QPen>
 #include <QtGui/QBrush>

--- a/guilib/include/rtabmap/gui/LoopClosureViewer.h
+++ b/guilib/include/rtabmap/gui/LoopClosureViewer.h
@@ -34,7 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/Signature.h>
 #include <opencv2/opencv.hpp>
-#include <QtGui/QWidget>
+#include <QWidget>

 class Ui_loopClosureViewer;

--- a/guilib/include/rtabmap/gui/MainWindow.h
+++ b/guilib/include/rtabmap/gui/MainWindow.h
@@ -31,7 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines

 #include "rtabmap/utilite/UEventsHandler.h"
-#include <QtGui/QMainWindow>
+#include <QMainWindow>
 #include <QtCore/QSet>
 #include "rtabmap/core/RtabmapEvent.h"
 #include "rtabmap/core/SensorData.h"
--- a/guilib/include/rtabmap/gui/PreferencesDialog.h
+++ b/guilib/include/rtabmap/gui/PreferencesDialog.h
@@ -30,7 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines

-#include <QtGui/QDialog>
+#include <QDialog>
 #include <QtCore/QModelIndex>
 #include <QtCore/QVector>
 #include <set>
--- a/guilib/src/AboutDialog.h
+++ b/guilib/src/AboutDialog.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef ABOUTDIALOG_H_
 #define ABOUTDIALOG_H_

-#include <QtGui/QDialog>
+#include <QDialog>
 #include <QtCore/QUrl>

 class Ui_aboutDialog;
--- a/guilib/src/CMakeLists.txt
+++ b/guilib/src/CMakeLists.txt
@@ -42,17 +42,21 @@ SET(qrc
    ./GuiLib.qrc
 )

-# generate rules for building source files from the resources
-QT4_ADD_RESOURCES(srcs_qrc ${qrc})
-
-#Generate .h files from the .ui files
-QT4_WRAP_UI(moc_uis ${uis})
-
-#This will generate moc_* for Qt
-QT4_WRAP_CPP(moc_srcs ${headers_ui})
-### Qt Gui stuff  end###
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    # generate rules for building source files from the resources
+    QT4_ADD_RESOURCES(srcs_qrc ${qrc})

+    #Generate .h files from the .ui files
+    QT4_WRAP_UI(moc_uis ${uis})

+    #This will generate moc_* for Qt
+    QT4_WRAP_CPP(moc_srcs ${headers_ui})
+    ### Qt Gui stuff  end###
+ELSE()
+    QT5_ADD_RESOURCES(srcs_qrc ${qrc})
+    QT5_WRAP_UI(moc_uis ${uis})
+    QT5_WRAP_CPP(moc_srcs ${headers_ui})
+ENDIF()


 SET(SRC_FILES 
@@ -92,7 +96,9 @@ SET(INCLUDE_DIRS
 	${PCL_INCLUDE_DIRS}
 )

-INCLUDE(${QT_USE_FILE})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    INCLUDE(${QT_USE_FILE})
+ENDIF()

 SET(LIBRARIES
    ${QT_LIBRARIES} 
@@ -113,7 +119,11 @@ add_definitions(${PCL_DEFINITIONS})
 # create a library from the source files
 ADD_LIBRARY(rtabmap_gui ${SRC_FILES})
 # Linking with Qt libraries
+
 TARGET_LINK_LIBRARIES(rtabmap_gui rtabmap_core rtabmap_utilite ${LIBRARIES})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "5")
+    QT5_USE_MODULES(rtabmap_gui Widgets Core Gui Svg PrintSupport)
+ENDIF()

 SET_TARGET_PROPERTIES(
     rtabmap_gui
--- a/guilib/src/CalibrationDialog.cpp
+++ b/guilib/src/CalibrationDialog.cpp
@@ -33,8 +33,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/highgui/highgui.hpp>

-#include <QtGui/QFileDialog>
-#include <QtGui/QMessageBox>
+#include <QFileDialog>
+#include <QMessageBox>

 #include <rtabmap/core/CameraEvent.h>
 #include <rtabmap/gui/UCv2Qt.h>
--- a/guilib/src/CloudViewer.cpp
+++ b/guilib/src/CloudViewer.cpp
@@ -33,13 +33,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/util3d.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/filters/frustum_culling.h>
-#include <QtGui/QMenu>
-#include <QtGui/QAction>
+#include <QMenu>
+#include <QAction>
 #include <QtGui/QContextMenuEvent>
-#include <QtGui/QInputDialog>
+#include <QInputDialog>
 #include <QtGui/QWheelEvent>
 #include <QtGui/QKeyEvent>
-#include <QtGui/QColorDialog>
+#include <QColorDialog>
 #include <QtGui/QVector3D>
 #include <set>

@@ -491,7 +491,11 @@ bool CloudViewer::addOccupancyGridMap(
 		material.tex_file = tmpPath;
 		mesh->tex_materials.push_back(material);

+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+		std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > coordinates;
+#else
 		std::vector<Eigen::Vector2f> coordinates;
+#endif
 		coordinates.push_back(Eigen::Vector2f(0,1));
 		coordinates.push_back(Eigen::Vector2f(1,1));
 		coordinates.push_back(Eigen::Vector2f(1,0));
--- a/guilib/src/ConsoleWidget.cpp
+++ b/guilib/src/ConsoleWidget.cpp
@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "ui_consoleWidget.h"
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UEventsManager.h>
-#include <QtGui/QMessageBox>
+#include <QMessageBox>
 #include <QtGui/QTextCursor>
 #include <QtCore/QTimer>

--- a/guilib/src/ConsoleWidget.h
+++ b/guilib/src/ConsoleWidget.h
@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define CONSOLEWIDGET_H_

 #include <rtabmap/utilite/UEventsHandler.h>
-#include <QtGui/QWidget>
+#include <QWidget>
 #include <QtCore/QMutex>
 #include <QtCore/QTimer>
 #include <QtCore/QTime>
--- a/guilib/src/DataRecorder.cpp
+++ b/guilib/src/DataRecorder.cpp
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/gui/ImageView.h>
 #include <rtabmap/gui/UCv2Qt.h>
 #include <QtCore/QMetaType>
-#include <QtGui/QHBoxLayout>
+#include <QHBoxLayout>

 namespace rtabmap {

--- a/guilib/src/DatabaseViewer.cpp
+++ b/guilib/src/DatabaseViewer.cpp
@@ -28,12 +28,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/DatabaseViewer.h"
 #include "rtabmap/gui/CloudViewer.h"
 #include "ui_DatabaseViewer.h"
-#include <QtGui/QMessageBox>
-#include <QtGui/QFileDialog>
-#include <QtGui/QInputDialog>
-#include <QtGui/QGraphicsLineItem>
+#include <QMessageBox>
+#include <QFileDialog>
+#include <QInputDialog>
+#include <QGraphicsLineItem>
 #include <QtGui/QCloseEvent>
-#include <QtGui/QGraphicsOpacityEffect>
+#include <QGraphicsOpacityEffect>
 #include <QtCore/QBuffer>
 #include <QtCore/QTextStream>
 #include <QtCore/QDateTime>
@@ -2446,7 +2446,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool updateGraph)
 		//2D
 		cv::Mat oldLaserScan = rtabmap::uncompressData(dataFrom.getLaserScanCompressed());
 		cv::Mat newLaserScan = rtabmap::uncompressData(dataTo.getLaserScanCompressed());
-
+
 		if(!oldLaserScan.empty() && !newLaserScan.empty())
 		{
 			// 2D
--- a/guilib/src/DetailedProgressDialog.cpp
+++ b/guilib/src/DetailedProgressDialog.cpp
@@ -26,13 +26,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

 #include "DetailedProgressDialog.h"
-#include <QtGui/QLayout>
-#include <QtGui/QProgressBar>
-#include <QtGui/QTextEdit>
-#include <QtGui/QLabel>
-#include <QtGui/QPushButton>
+#include <QLayout>
+#include <QProgressBar>
+#include <QTextEdit>
+#include <QLabel>
+#include <QPushButton>
 #include <QtGui/QCloseEvent>
-#include <QtGui/QCheckBox>
+#include <QCheckBox>
 #include <QtCore/QTimer>
 #include <QtCore/QTime>
 #include "rtabmap/utilite/ULogger.h"
--- a/guilib/src/DetailedProgressDialog.h
+++ b/guilib/src/DetailedProgressDialog.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef DETAILEDPROGRESSDIALOG_H_
 #define DETAILEDPROGRESSDIALOG_H_

-#include <QtGui/QDialog>
+#include <QDialog>

 class QLabel;
 class QTextEdit;
--- a/guilib/src/ExportCloudsDialog.cpp
+++ b/guilib/src/ExportCloudsDialog.cpp
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "ExportCloudsDialog.h"
 #include "ui_exportCloudsDialog.h"

-#include <QtGui/QPushButton>
+#include <QPushButton>

 namespace rtabmap {

--- a/guilib/src/ExportCloudsDialog.h
+++ b/guilib/src/ExportCloudsDialog.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef EXPORTCLOUDSDIALOG_H_
 #define EXPORTCLOUDSDIALOG_H_

-#include <QtGui/QDialog>
+#include <QDialog>
 #include <QtCore/QSettings>

 class Ui_ExportCloudsDialog;
--- a/guilib/src/ExportDialog.cpp
+++ b/guilib/src/ExportDialog.cpp
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "ExportDialog.h"
 #include "ui_exportDialog.h"

-#include <QtGui/QFileDialog>
+#include <QFileDialog>

 namespace rtabmap {

--- a/guilib/src/ExportDialog.h
+++ b/guilib/src/ExportDialog.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef EXPORTDIALOG_H_
 #define EXPORTDIALOG_H_

-#include <QtGui/QDialog>
+#include <QDialog>

 class Ui_ExportDialog;

--- a/guilib/src/GraphViewer.cpp
+++ b/guilib/src/GraphViewer.cpp
@@ -27,18 +27,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "GraphViewer.h"

-#include <QtGui/QGraphicsView>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QGraphicsScene>
-#include <QtGui/QGraphicsEllipseItem>
+#include <QGraphicsView>
+#include <QVBoxLayout>
+#include <QGraphicsScene>
+#include <QGraphicsEllipseItem>
 #include <QtGui/QWheelEvent>
-#include <QtGui/QGraphicsSceneHoverEvent>
-#include <QtGui/QMenu>
+#include <QGraphicsSceneHoverEvent>
+#include <QMenu>
 #include <QtGui/QDesktopServices>
 #include <QtGui/QContextMenuEvent>
-#include <QtGui/QColorDialog>
+#include <QColorDialog>
 #include <QtSvg/QSvgGenerator>
-#include <QtGui/QInputDialog>
+#include <QInputDialog>

 #include <QtCore/QDir>
 #include <QtCore/QDateTime>
@@ -87,7 +87,7 @@ protected:

 	virtual void hoverLeaveEvent ( QGraphicsSceneHoverEvent * event )
 	{
-		qDeleteAll(this->children());
+		qDeleteAll(this->childItems());
 		this->setScale(1);
 		QGraphicsEllipseItem::hoverEnterEvent(event);
 	}
@@ -389,7 +389,7 @@ void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin,
 		_gridCellSize = resolution;
 		QImage image = uCvMat2QImage(map8U, false);
 		_gridMap->resetTransform();
-		_gridMap->scale(resolution, -resolution);
+		_gridMap->setTransform(QTransform::fromScale(resolution, -resolution), true);
 		_gridMap->setRotation(90);
 		_gridMap->setPixmap(QPixmap::fromImage(image));
 		_gridMap->setPos(-yMin, -xMin);
--- a/guilib/src/GraphViewer.h
+++ b/guilib/src/GraphViewer.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef GRAPHVIEWER_H_
 #define GRAPHVIEWER_H_

-#include <QtGui/QGraphicsView>
+#include <QGraphicsView>
 #include <QtCore/QMap>
 #include <QtCore/QSettings>
 #include <rtabmap/core/Link.h>
--- a/guilib/src/ImageView.cpp
+++ b/guilib/src/ImageView.cpp
@@ -29,12 +29,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include <QtGui/QWheelEvent>
 #include <QtCore/qmath.h>
-#include <QtGui/QMenu>
-#include <QtGui/QFileDialog>
+#include <QMenu>
+#include <QFileDialog>
 #include <QtCore/QDir>
-#include <QtGui/QAction>
-#include <QtGui/QGraphicsEffect>
-#include <QtGui/QInputDialog>
+#include <QAction>
+#include <QGraphicsEffect>
+#include <QInputDialog>
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/gui/KeypointItem.h"

--- a/guilib/src/KeypointItem.cpp
+++ b/guilib/src/KeypointItem.cpp
@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include <QtGui/QPen>
 #include <QtGui/QBrush>
-#include <QtGui/QGraphicsScene>
+#include <QGraphicsScene>
 #include "rtabmap/utilite/ULogger.h"

 namespace rtabmap {
@@ -40,7 +40,7 @@ KeypointItem::KeypointItem(qreal x, qreal y, int r, const QString & info, const
 	_placeHolder(0)
 {
 	this->setColor(color);
-	this->setAcceptsHoverEvents(true);
+	this->setAcceptHoverEvents(true);
 	this->setFlag(QGraphicsItem::ItemIsFocusable, true);
 	_width = pen().width();
 }
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -62,20 +62,20 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtGui/QPixmap>
 #include <QtCore/QDir>
 #include <QtCore/QFileInfo>
-#include <QtGui/QMessageBox>
-#include <QtGui/QFileDialog>
-#include <QtGui/QGraphicsEllipseItem>
-#include <QtGui/QDockWidget>
+#include <QMessageBox>
+#include <QFileDialog>
+#include <QGraphicsEllipseItem>
+#include <QDockWidget>
 #include <QtCore/QBuffer>
 #include <QtCore/QTimer>
 #include <QtCore/QTime>
-#include <QtGui/QActionGroup>
+#include <QActionGroup>
 #include <QtCore/QThread>
 #include <QtGui/QDesktopServices>
 #include <QtCore/QStringList>
 #include <QtCore/QProcess>
-#include <QtGui/QSplashScreen>
-#include <QtGui/QInputDialog>
+#include <QSplashScreen>
+#include <QInputDialog>

 //RGB-D stuff
 #include "rtabmap/core/CameraRGBD.h"
--- a/guilib/src/MapVisibilityWidget.cpp
+++ b/guilib/src/MapVisibilityWidget.cpp
@@ -27,9 +27,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "MapVisibilityWidget.h"

-#include <QtGui/QCheckBox>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QScrollArea>
+#include <QCheckBox>
+#include <QVBoxLayout>
+#include <QScrollArea>

 #include <rtabmap/utilite/ULogger.h>

--- a/guilib/src/MapVisibilityWidget.h
+++ b/guilib/src/MapVisibilityWidget.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef MAPVISIBILITYWIDGET_H_
 #define MAPVISIBILITYWIDGET_H_

-#include <QtGui/QWidget>
+#include <QWidget>
 #include <rtabmap/core/Transform.h>
 #include <map>

--- a/guilib/src/OdometryViewer.cpp
+++ b/guilib/src/OdometryViewer.cpp
@@ -33,9 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UConversion.h"
 #include <pcl/common/transforms.h>
 #include <pcl/io/pcd_io.h>
-#include <QtGui/QInputDialog>
-#include <QtGui/QAction>
-#include <QtGui/QMenu>
+#include <QInputDialog>
+#include <QAction>
+#include <QMenu>
 #include <QtGui/QKeyEvent>

 namespace rtabmap {
--- a/guilib/src/PostProcessingDialog.cpp
+++ b/guilib/src/PostProcessingDialog.cpp
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "PostProcessingDialog.h"
 #include "ui_postProcessingDialog.h"

-#include <QtGui/QPushButton>
+#include <QPushButton>

 namespace rtabmap {

--- a/guilib/src/PostProcessingDialog.h
+++ b/guilib/src/PostProcessingDialog.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef POSTPROCESSINGDIALOG_H_
 #define POSTPROCESSINGDIALOG_H_

-#include <QtGui/QDialog>
+#include <QDialog>
 #include <QtCore/QSettings>

 class Ui_PostProcessingDialog;
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -34,12 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QDir>
 #include <QtCore/QTimer>

-#include <QtGui/QFileDialog>
-#include <QtGui/QMessageBox>
+#include <QFileDialog>
+#include <QMessageBox>
 #include <QtGui/QStandardItemModel>
-#include <QtGui/QMainWindow>
-#include <QtGui/QProgressDialog>
-#include <QtGui/QScrollBar>
+#include <QMainWindow>
+#include <QProgressDialog>
+#include <QScrollBar>
 #include <QtGui/QCloseEvent>

 #include "ui_preferencesDialog.h"
--- a/guilib/src/StatsToolBox.cpp
+++ b/guilib/src/StatsToolBox.cpp
@@ -27,17 +27,17 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "StatsToolBox.h"

-#include <QtGui/QHBoxLayout>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QGridLayout>
-#include <QtGui/QMenu>
-#include <QtGui/QLabel>
-#include <QtGui/QToolButton>
+#include <QHBoxLayout>
+#include <QVBoxLayout>
+#include <QGridLayout>
+#include <QMenu>
+#include <QLabel>
+#include <QToolButton>
 #include <QtCore/QChildEvent>
 #include <QtCore/QDir>
 #include <QtGui/QContextMenuEvent>
-#include <QtGui/QToolBox>
-#include <QtGui/QDialog>
+#include <QToolBox>
+#include <QDialog>

 #include "utilite/UPlot.h"
 #include <rtabmap/utilite/ULogger.h>
--- a/guilib/src/StatsToolBox.h
+++ b/guilib/src/StatsToolBox.h
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef STATSTOOLBOX_H_
 #define STATSTOOLBOX_H_

-#include <QtGui/QWidget>
+#include <QWidget>
 #include <QtCore/QMap>

 class QToolButton;
--- a/guilib/src/utilite/UImageView.h
+++ b/guilib/src/utilite/UImageView.h
@@ -8,7 +8,7 @@
 #ifndef IMAGEVIEW_H_
 #define IMAGEVIEW_H_

-#include <QtGui/QWidget>
+#include <QWidget>
 #include <QtGui/QPainter>

 class UImageView : public QWidget
--- a/guilib/src/utilite/UPlot.cpp
+++ b/guilib/src/utilite/UPlot.cpp
@@ -21,29 +21,29 @@
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UMath.h"

-#include <QtGui/QGraphicsScene>
-#include <QtGui/QGraphicsView>
-#include <QtGui/QGraphicsItem>
-#include <QtGui/QGraphicsRectItem>
-#include <QtGui/QHBoxLayout>
-#include <QtGui/QFormLayout>
+#include <QGraphicsScene>
+#include <QGraphicsView>
+#include <QGraphicsItem>
+#include <QGraphicsRectItem>
+#include <QHBoxLayout>
+#include <QFormLayout>
 #include <QtGui/QResizeEvent>
 #include <QtGui/QMouseEvent>
 #include <QtCore/QTime>
 #include <QtCore/QTimer>
 #include <QtCore/QFileInfo>
-#include <QtGui/QPushButton>
-#include <QtGui/QToolButton>
-#include <QtGui/QLabel>
-#include <QtGui/QMenu>
-#include <QtGui/QInputDialog>
-#include <QtGui/QMessageBox>
-#include <QtGui/QFileDialog>
+#include <QPushButton>
+#include <QToolButton>
+#include <QLabel>
+#include <QMenu>
+#include <QInputDialog>
+#include <QMessageBox>
+#include <QFileDialog>
 #include <QtGui/QClipboard>
-#include <QtGui/QApplication>
-#include <QtGui/QPrinter>
-#include <QtGui/QColorDialog>
-#include <QtGui/QToolTip>
+#include <QApplication>
+#include <QtPrintSupport/QPrinter>
+#include <QColorDialog>
+#include <QToolTip>
 #ifdef QT_SVG_LIB
 #include <QtSvg/QSvgGenerator>
 #endif
@@ -75,7 +75,7 @@ void UPlotItem::init(qreal dataX, qreal dataY)
 {
 	_data.setX(dataX);
 	_data.setY(dataY);
-	this->setAcceptsHoverEvents(true);
+	this->setAcceptHoverEvents(true);
 	this->setFlag(QGraphicsItem::ItemIsFocusable, true);
 }

@@ -1773,7 +1773,7 @@ void UPlot::setupUi()
 	_view->setScene(new QGraphicsScene(0,0,0,0,this));
 	_view->setStyleSheet( "QGraphicsView { border-style: none; }" );
 	_sceneRoot = _view->scene()->addText("");
-	_sceneRoot->translate(0,0);
+	_sceneRoot->setTransform(QTransform::fromTranslate(0, 0), true);
 	_graphicsViewHolder = new QWidget(this);
 	_graphicsViewHolder->setMinimumSize(100,100);
 	_graphicsViewHolder->setMouseTracking(true);
--- a/guilib/src/utilite/UPlot.h
+++ b/guilib/src/utilite/UPlot.h
@@ -20,15 +20,15 @@
 #ifndef UPLOT_H_
 #define UPLOT_H_

-#include <QtGui/QFrame>
+#include <QFrame>
 #include <QtCore/QList>
 #include <QtCore/QMap>
 #include <QtGui/QPen>
 #include <QtGui/QBrush>
-#include <QtGui/QGraphicsEllipseItem>
+#include <QGraphicsEllipseItem>
 #include <QtCore/QMutex>
-#include <QtGui/QLabel>
-#include <QtGui/QPushButton>
+#include <QLabel>
+#include <QPushButton>
 #include <QtCore/QTime>

 class QGraphicsView;
--- a/tools/Calibration/CMakeLists.txt
+++ b/tools/Calibration/CMakeLists.txt
@@ -6,7 +6,9 @@ SET(INCLUDE_DIRS
    ${PCL_INCLUDE_DIRS}
 )

-INCLUDE(${QT_USE_FILE})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    INCLUDE(${QT_USE_FILE})
+ENDIF()

 SET(LIBRARIES
 	${OpenCV_LIBRARIES} 
@@ -26,4 +28,4 @@ SET_TARGET_PROPERTIES( calibration
  
 INSTALL(TARGETS calibration
 		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
-		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
+		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
--- a/tools/Calibration/main.cpp
+++ b/tools/Calibration/main.cpp
@@ -31,7 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UConversion.h"
 #include "rtabmap/gui/CalibrationDialog.h"
-#include <QtGui/QApplication>
+#include <QApplication>

 void showUsage()
 {
--- a/tools/DataRecorder/CMakeLists.txt
+++ b/tools/DataRecorder/CMakeLists.txt
@@ -11,7 +11,9 @@ SET(INCLUDE_DIRS
    ${PCL_INCLUDE_DIRS}
 )

-INCLUDE(${QT_USE_FILE})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    INCLUDE(${QT_USE_FILE})
+ENDIF()

 SET(LIBRARIES
 	${PCL_LIBRARIES} 
--- a/tools/DataRecorder/main.cpp
+++ b/tools/DataRecorder/main.cpp
@@ -33,7 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/Camera.h>
 #include <rtabmap/core/CameraThread.h>
 #include <rtabmap/gui/DataRecorder.h>
-#include <QtGui/QApplication>
+#include <QApplication>
 #include <signal.h>

 using namespace rtabmap;
--- a/tools/DatabaseViewer/CMakeLists.txt
+++ b/tools/DatabaseViewer/CMakeLists.txt
@@ -11,7 +11,9 @@ SET(INCLUDE_DIRS
    ${PCL_INCLUDE_DIRS}
 )

-INCLUDE(${QT_USE_FILE})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    INCLUDE(${QT_USE_FILE})
+ENDIF()

 SET(LIBRARIES
 	${OpenCV_LIBRARIES}
--- a/tools/DatabaseViewer/main.cpp
+++ b/tools/DatabaseViewer/main.cpp
@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

-#include <QtGui/QApplication>
+#include <QApplication>
 #include "rtabmap/gui/DatabaseViewer.h"
 #include "rtabmap/utilite/ULogger.h"

--- a/tools/EpipolarGeometry/CMakeLists.txt
+++ b/tools/EpipolarGeometry/CMakeLists.txt
@@ -11,7 +11,9 @@ SET(INCLUDE_DIRS
    ${PCL_INCLUDE_DIRS}
 )

-INCLUDE(${QT_USE_FILE})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    INCLUDE(${QT_USE_FILE})
+ENDIF()

 SET(LIBRARIES
 	${OpenCV_LIBRARIES}
--- a/tools/EpipolarGeometry/main.cpp
+++ b/tools/EpipolarGeometry/main.cpp
@@ -45,13 +45,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include "rtabmap/gui/ImageView.h"
 #include "rtabmap/gui/KeypointItem.h"
-#include <QtGui/QApplication>
-#include <QtGui/QGraphicsLineItem>
-#include <QtGui/QGraphicsPixmapItem>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QHBoxLayout>
+#include <QApplication>
+#include <QGraphicsLineItem>
+#include <QGraphicsPixmapItem>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
 #include <QtCore/QTime>
-#include <QtGui/QGraphicsEffect>
+#include <QGraphicsEffect>


 using namespace rtabmap;
--- a/tools/OdometryViewer/CMakeLists.txt
+++ b/tools/OdometryViewer/CMakeLists.txt
@@ -11,7 +11,9 @@ SET(INCLUDE_DIRS
    ${PCL_INCLUDE_DIRS}
 )

-INCLUDE(${QT_USE_FILE})
+IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    INCLUDE(${QT_USE_FILE})
+ENDIF()

 SET(LIBRARIES
 	${PCL_LIBRARIES} 
--- a/tools/OdometryViewer/main.cpp
+++ b/tools/OdometryViewer/main.cpp
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/CameraRGBD.h>
 #include <rtabmap/core/DBReader.h>
 #include <rtabmap/core/VWDictionary.h>
-#include <QtGui/QApplication>
+#include <QApplication>
 #include <pcl/console/print.h>

 void showUsage()