Qt6 compatibility (#968)

* Qt6 Compilation success

* Fixed qt5 backward compatibility

* Fixed build for qt<=5.9 (bionic)

* Added docker file for easy testing with latest Qt/VTK/PCL/OpenCV

* Fixed cmake for qt

CMakeLists.txt

@@ -226,7 +226,7 @@ option(PCL_OMP            "With PCL OMP implementations"         ON)
 ENDIF()
 
 set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
-set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5)
+set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
 
@@ -297,20 +297,31 @@ IF(WITH_QT)
     ENDIF(NOT VTK_FOUND)
 
     # If Qt is here, the GUI will be built
-    # look for Qt5 (if vtk>5 is installed) before Qt4
-    IF("${VTK_MAJOR_VERSION}" GREATER 5)
-        if(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
-            FIND_PACKAGE(Qt5 QUIET COMPONENTS Widgets Core Gui PrintSupport OpenGL OPTIONAL_COMPONENTS Svg)
-        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
-    ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
+    IF("${VTK_MAJOR_VERSION}" GREATER_EQUAL 9)
+      MESSAGE(STATUS "VTK>=9 detected, will use VTK_QT_VERSION=${VTK_QT_VERSION} for Qt version.")
+      IF(${VTK_QT_VERSION} EQUAL 6)
+        FIND_PACKAGE(Qt6 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
+      ELSEIF(${VTK_QT_VERSION} EQUAL 5)
+        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
+      ELSE()
+        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
+      ENDIF()
+    ELSE()
+      # look for Qt5 (if vtk>5 is installed) before Qt4
+      IF("${VTK_MAJOR_VERSION}" GREATER 5)
+        IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
+          FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
+	    ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
+	  ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
 
-    IF(NOT Qt5_FOUND)
+      IF(NOT Qt5_FOUND)
         IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
-            FIND_PACKAGE(Qt4 QUIET COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
+          FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
         ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
-    ENDIF(NOT Qt5_FOUND)
+      ENDIF(NOT Qt5_FOUND)
+    ENDIF()
         
-    IF(QT4_FOUND OR Qt5_FOUND)
+    IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
         IF("${VTK_MAJOR_VERSION}" EQUAL 5)
             FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
         ELSE()
@@ -318,7 +329,7 @@ IF(WITH_QT)
 			IF(value EQUAL -1)
                 list(FIND PCL_LIBRARIES vtkGUISupportQt value)
                 IF(value EQUAL -1)
-                    IF("${VTK_MAJOR_VERSION}" GREATER 8)
+                    IF("${VTK_MAJOR_VERSION}" GREATER_EQUAL 9)
                         SET(PCL_LIBRARIES "${PCL_LIBRARIES};VTK::GUISupportQt")
                     ELSE()
                         SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
@@ -354,7 +365,7 @@ IF(WITH_QT)
 
         ENDIF()
         ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
-    ENDIF(QT4_FOUND OR Qt5_FOUND)
+    ENDIF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
 ENDIF(WITH_QT)
 
 IF(NOT VTK_FOUND)
@@ -752,7 +763,18 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 
 IF(NOT MSVC)
-	IF((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND))
+    IF(Qt6_FOUND)
+      # Qt6 requires c++17
+      include(CheckCXXCompilerFlag)
+	  CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
+	  IF(COMPILER_SUPPORTS_CXX17)
+	    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+	    set(CMAKE_CXX_STANDARD 17)
+	  ELSE()
+	    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.")
+	  ENDIF()
+    ENDIF()
+	IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND ((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND)))
 	 #LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14, but MSCKF_VIO requires c++11
 	 include(CheckCXXCompilerFlag)
 	  CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
@@ -764,7 +786,7 @@ IF(NOT MSVC)
 	  ENDIF()
 	ENDIF()
 
-	IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
+	IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "17") AND NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
 	       G2O_FOUND OR
 	       GTSAM_FOUND OR
 	       CERES_FOUND OR
@@ -796,7 +818,7 @@ ENDIF()
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
-  IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
+  IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
        
     # Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
     SET(CMAKE_INSTALL_PREFIX "/")
@@ -1023,7 +1045,7 @@ IF(ANDROID)
    IF(BUILD_APP)
       ADD_SUBDIRECTORY( app )
    ENDIF(BUILD_APP)
-ELSEIF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
+ELSEIF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
    ADD_SUBDIRECTORY( guilib )
    IF(BUILD_APP)
       ADD_SUBDIRECTORY( app )
@@ -1055,12 +1077,14 @@ ADD_CUSTOM_TARGET(uninstall
 ####
 add_library(rtabmap INTERFACE)
 add_library(rtabmap::rtabmap ALIAS rtabmap)
-IF(QT4_FOUND OR Qt5_FOUND)
+IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
    set(CONF_WITH_GUI ON)
    IF(QT4_FOUND)
       set(CONF_QT_VERSION 4)
-   ELSE()
+   ELSEIF(Qt5_FOUND)
       set(CONF_QT_VERSION 5)
+   ELSE()
+      set(CONF_QT_VERSION 6)
    ENDIF()
    target_link_libraries(rtabmap INTERFACE rtabmap_utilite rtabmap_core rtabmap_gui)
 ELSE()
@@ -1271,6 +1295,9 @@ MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}
 ELSEIF(Qt5_FOUND)
 MESSAGE(STATUS "  With Qt ${Qt5_VERSION}            = YES (License: Open Source or Commercial)")
 MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
+ELSEIF(Qt6_FOUND)
+MESSAGE(STATUS "  With Qt ${Qt6_VERSION}            = YES (License: Open Source or Commercial)")
+MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
 
 ELSEIF(NOT WITH_QT)
 MESSAGE(STATUS "  With Qt                   = NO (WITH_QT=OFF)")

RTABMapConfig.cmake.in

@@ -6,7 +6,9 @@ find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo v
 if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake")
     find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
     
-    if(@CONF_QT_VERSION@ EQUAL 5)
+    if(@CONF_QT_VERSION@ EQUAL 6)
+        find_dependency(Qt6 COMPONENTS Widgets Core Gui OpenGL)
+    elseif(@CONF_QT_VERSION@ EQUAL 5)
         find_dependency(Qt5 COMPONENTS Widgets Core Gui OpenGL)
     else() # Qt4
         find_dependency(Qt4 COMPONENTS QtCore QtGui)

cmake_modules/FindZEDOC.cmake

@@ -17,7 +17,7 @@ ENDIF (ZEDOC_INCLUDE_DIR AND ZEDOC_LIBRARY)
 
 IF (ZEDOC_FOUND)
    # show which ZEDOC was found only if not quiet
-   IF (NOT _FIND_QUIETLY)
+   IF (NOT ZEDOC_FIND_QUIETLY)
       MESSAGE(STATUS "Found ZEDOC: ${ZEDOC_LIBRARIES}")
    ENDIF (NOT ZEDOC_FIND_QUIETLY)
 ELSE (ZEDOC_FOUND)

docker/latest_deps/Dockerfile

@@ -0,0 +1,63 @@
+
+FROM osrf/ros:humble-desktop
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-humble-rtabmap-ros libqt6* qt6* && \
+    apt-get remove -y ros-humble-rtabmap libpcl* libqt5* qt5* libvtk* libopencv* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu
+
+# Build latest VTK with Qt6
+RUN git clone https://github.com/Kitware/VTK.git && \
+    cd VTK && \
+    mkdir build && \
+    cd build && \
+    cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf VTK
+    
+# Build latest PCL with latest VTK
+RUN git clone https://github.com/PointCloudLibrary/pcl.git && \
+    cd pcl && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_tools=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf pcl
+    
+# Build latest OpenCV
+RUN git clone https://github.com/opencv/opencv.git && \
+    git clone https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+

examples/NoEventsExample/CMakeLists.txt

@@ -13,8 +13,10 @@ endif()
 
 IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs MapBuilder.h)
-ELSE()
+ELSEIF(Qt5_FOUND)
     QT5_WRAP_CPP(moc_srcs MapBuilder.h)
+ELSE()
+    QT6_WRAP_CPP(moc_srcs MapBuilder.h)
 ENDIF()
 
 ADD_EXECUTABLE(noEventsExample main.cpp ${moc_srcs})

examples/RGBDMapping/CMakeLists.txt

@@ -13,8 +13,10 @@ endif()
 
 IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs MapBuilder.h)
-ELSE()
+ELSEIF(Qt5_FOUND)
     QT5_WRAP_CPP(moc_srcs MapBuilder.h)
+ELSE()
+    QT6_WRAP_CPP(moc_srcs MapBuilder.h)
 ENDIF()
 
 ADD_EXECUTABLE(rgbd_mapping main.cpp ${moc_srcs})

examples/WifiMapping/CMakeLists.txt

@@ -13,8 +13,10 @@ endif()
 
 IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs MapBuilder.h MapBuilderWifi.h)
-ELSE()
+ELSEIF(Qt5_FOUND)
     QT5_WRAP_CPP(moc_srcs MapBuilder.h MapBuilderWifi.h)
+ELSE()
+    QT6_WRAP_CPP(moc_srcs MapBuilder.h MapBuilderWifi.h)
 ENDIF()
 
 SET(srcs

guilib/include/rtabmap/gui/ConsoleWidget.h

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QMutex>
 #include <QtCore/QTimer>
 #include <QtCore/QTime>
+#include <QtCore/QElapsedTimer>
 
 class Ui_consoleWidget;
 class QMessageBox;
@@ -69,7 +70,7 @@ private:
 	QMutex _errorMessageMutex;
 	QMutex _msgListMutex;
 	QTimer _timer;
-	QTime _time;
+	QElapsedTimer _time;
 	QTextCursor * _textCursor;
 	QList<QPair<QString, int> > _msgList;
 };

guilib/include/rtabmap/gui/MainWindow.h

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UEventsHandler.h"
 #include <QMainWindow>
 #include <QtCore/QSet>
+#include <QElapsedTimer>
 #include "rtabmap/core/RtabmapEvent.h"
 #include "rtabmap/core/SensorData.h"
 #include "rtabmap/core/OdometryEvent.h"
@@ -400,8 +401,8 @@ private:
 	bool _processingOdometry;
 
 	QTimer * _oneSecondTimer;
-	QTime * _elapsedTime;
-	QTime * _logEventTime;
+	QElapsedTimer * _elapsedTime;
+	QElapsedTimer * _logEventTime;
 
 	PdfPlotCurve * _posteriorCurve;
 	PdfPlotCurve * _likelihoodCurve;

guilib/include/rtabmap/gui/ProgressDialog.h

@@ -45,7 +45,7 @@ class RTABMAP_GUI_EXPORT ProgressDialog : public QDialog
 	Q_OBJECT
 
 public:
-	ProgressDialog(QWidget *parent = 0, Qt::WindowFlags flags = 0);
+	ProgressDialog(QWidget *parent = 0, Qt::WindowFlags flags = Qt::WindowFlags());
 	virtual ~ProgressDialog();
 
 	void setEndMessage(const QString & message) {_endMessage = message;} // Message shown when the progress is finished

guilib/include/rtabmap/utilite/UPlot.h

@@ -32,6 +32,7 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QtCore/QTime>
+#include <QtCore/QElapsedTimer>
 
 class QGraphicsView;
 class QGraphicsScene;
@@ -602,9 +603,9 @@ private:
 	UOrientableLabel * _yLabel;
 	QLabel * _refreshRate;
 	QString _workingDirectory;
-	QTime _refreshIntervalTime;
+	QElapsedTimer _refreshIntervalTime;
 	int _lowestRefreshRate;
-	QTime _refreshStartTime;
+	QElapsedTimer _refreshStartTime;
 	QString _autoScreenCaptureFormat;
 	QPoint _mousePressedPos;
 	QPoint _mouseCurrentPos;

guilib/src/3rdParty/QMultiComboBox.cpp

@@ -11,7 +11,8 @@
 #include "QMultiComboBox.h"
 #include <QApplication>
 #include <QCoreApplication>
-#include <QDesktopWidget>
+#include <QWindow>
+#include <QScreen>
 
 #include "rtabmap/utilite/ULogger.h"
 
@@ -46,7 +47,11 @@ QMultiComboBox::~QMultiComboBox()
 void QMultiComboBox::SetDisplayText(QString text)
 {
     m_DisplayText_ = text;
+#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
+    const int textWidth = fontMetrics().horizontalAdvance(text);
+#else
     const int textWidth = fontMetrics().width(text);
+#endif
     setMinimumWidth(textWidth + 30);
     updateGeometry();
     repaint();
@@ -88,7 +93,7 @@ void QMultiComboBox::showPopup()
     //QRect rec2(p , p + QPoint(rec.width(), rec.height()));
 
     // get the two possible list points and height
-    QRect screen = QApplication::desktop()->screenGeometry(this);
+    QRect screen = this->window()->windowHandle()->screen()->availableGeometry();
     QPoint above = this->mapToGlobal(QPoint(0,0));
     int aboveHeight = above.y() - screen.y();
     QPoint below = this->mapToGlobal(QPoint(0,rec.height()));

guilib/src/CMakeLists.txt

@@ -70,10 +70,14 @@ IF(QT4_FOUND)
     #This will generate moc_* for Qt
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
     ### Qt Gui stuff  end###
-ELSE()
+ELSEIF(Qt5_FOUND)
     QT5_ADD_RESOURCES(srcs_qrc ${qrc})
     QT5_WRAP_UI(moc_uis ${uis})
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
+ELSE()
+    QT6_ADD_RESOURCES(srcs_qrc ${qrc})
+    QT6_WRAP_UI(moc_uis ${uis})
+    QT6_WRAP_CPP(moc_srcs ${headers_ui})
 ENDIF()
 
 
@@ -140,8 +144,14 @@ ENDIF(QT4_FOUND)
 SET(LIBRARIES "")
 SET(PUBLIC_LIBRARIES "")
 
-IF(Qt5_FOUND)
-    SET(PUBLIC_LIBRARIES ${PUBLIC_LIBRARIES} Qt5::Widgets Qt5::Core Qt5::Gui)
+IF(Qt6_FOUND)
+    SET(PUBLIC_LIBRARIES ${PUBLIC_LIBRARIES} Qt6::Widgets Qt6::Core Qt6::Gui Qt6::OpenGL)
+    SET(LIBRARIES ${LIBRARIES} Qt6::PrintSupport)
+    IF(Qt6Svg_FOUND)
+        SET(LIBRARIES ${LIBRARIES} Qt6::Svg)
+    ENDIF()
+ELSEIF(Qt5_FOUND)
+    SET(PUBLIC_LIBRARIES ${PUBLIC_LIBRARIES} Qt5::Widgets Qt5::Core Qt5::Gui Qt5::OpenGL)
     SET(LIBRARIES ${LIBRARIES} Qt5::PrintSupport)
     IF(Qt5Svg_FOUND)
         SET(LIBRARIES ${LIBRARIES} Qt5::Svg)

guilib/src/CameraViewer.cpp

@@ -59,7 +59,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
 	imageView_->setImageDepthShown(true);
 	imageView_->setMinimumSize(320, 240);
 	QHBoxLayout * layout = new QHBoxLayout();
-	layout->setMargin(0);
+	layout->setContentsMargins(0,0,0,0);
 	layout->addWidget(imageView_,1);
 	layout->addWidget(cloudView_,1);
 
@@ -95,7 +95,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
 	layout2->addWidget(buttonBox);
 
 	QVBoxLayout * vlayout = new QVBoxLayout(this);
-	vlayout->setMargin(0);
+	vlayout->setContentsMargins(0,0,0,0);
 	vlayout->setSpacing(0);
 	vlayout->addLayout(layout, 1);
 	vlayout->addLayout(layout2);

guilib/src/CloudViewer.cpp

@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/common/transforms.h>
 #include <QMenu>
 #include <QAction>
+#include <QActionGroup>
 #include <QtGui/QContextMenuEvent>
 #include <QInputDialog>
 #include <QtGui/QWheelEvent>

guilib/src/DataRecorder.cpp

@@ -58,7 +58,7 @@ DataRecorder::DataRecorder(QWidget * parent) :
 	imageView_->setImageDepthShown(true);
 	imageView_->setMinimumSize(320, 240);
 	QVBoxLayout * layout = new QVBoxLayout(this);
-	layout->setMargin(0);
+	layout->setContentsMargins(0,0,0,0);
 	layout->addWidget(imageView_);
 	layout->addWidget(label_);
 	layout->setStretch(0,1);

guilib/src/DatabaseViewer.cpp

@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QMessageBox>
 #include <QFileDialog>
 #include <QInputDialog>
-#include <QDesktopWidget>
 #include <QColorDialog>
 #include <QGraphicsLineItem>
 #include <QtGui/QCloseEvent>
@@ -1685,7 +1684,11 @@ void DatabaseViewer::updateIds()
 	UINFO("Loading all IDs...");
 	std::set<int> ids;
 	dbDriver_->getAllNodeIds(ids);
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+	ids_ = QList<int>(ids.begin(), ids.end());
+#else
 	ids_ = QList<int>::fromStdList(std::list<int>(ids.begin(), ids.end()));
+#endif
 	lastWmIds_.clear();
 	dbDriver_->getLastNodeIds(lastWmIds_);
 	idToIndex_.clear();
@@ -2222,10 +2225,18 @@ void DatabaseViewer::updateInfo()
 			ui_->textEdit_info->append("");
 			ParametersMap parameters = dbDriver_->getLastParameters();
 			QFontMetrics metrics(ui_->textEdit_info->font());
+#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
+			int tabW = ui_->textEdit_info->tabStopDistance();
+#else
 			int tabW = ui_->textEdit_info->tabStopWidth();
+#endif
 			for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
 			{
+#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
+				int strW = metrics.horizontalAdvance(QString(iter->first.c_str()) + "=");
+#else
 				int strW = metrics.width(QString(iter->first.c_str()) + "=");
+#endif
 				ui_->textEdit_info->append(tr("%1=%2%3")
 						.arg(iter->first.c_str())
 						.arg(strW < tabW?"\t\t\t\t":strW < tabW*2?"\t\t\t":strW < tabW*3?"\t\t":"\t")
@@ -3889,7 +3900,11 @@ void DatabaseViewer::regenerateCurrentLocalMaps()
 	QSet<int> idsSet;
 	idsSet.insert(ids_.at(ui_->horizontalSlider_A->value()));
 	idsSet.insert(ids_.at(ui_->horizontalSlider_B->value()));
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+	QList<int> ids(idsSet.begin(), idsSet.end());
+#else
 	QList<int> ids = idsSet.toList();
+#endif
 
 	rtabmap::ProgressDialog progressDialog(this);
 	progressDialog.setMaximumSteps(ids.size());
@@ -6832,7 +6847,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
 		if(graph.size() && localMaps.size() &&
 			(ui_->graphViewer->isGridMapVisible() || ui_->dockWidget_occupancyGridView->isVisible()))
 		{
-			QTime time;
+			QElapsedTimer time;
 			time.start();
 
 #ifdef RTABMAP_OCTOMAP
@@ -7509,7 +7524,7 @@ void DatabaseViewer::updateGraphView()
 					posesOut,
 					linksOut);
 			UINFO("Connected graph of %d poses and %d links", (int)posesOut.size(), (int)linksOut.size());
-			QTime time;
+			QElapsedTimer time;
 			time.start();
 			std::map<int, rtabmap::Transform> finalPoses = optimizer->optimize(fromId, posesOut, linksOut, ui_->comboBox_optimizationFlavor->currentIndex()==0?&graphes_:0);
 			ui_->label_timeOptimization->setNum(double(time.elapsed())/1000.0);

guilib/src/DepthCalibrationDialog.cpp

@@ -465,7 +465,7 @@ void DepthCalibrationDialog::calibrate(
 			ImageView * imageView2 = new ImageView(dialog);
 			imageView2->setMinimumSize(320, 240);
 			QVBoxLayout * vlayout = new QVBoxLayout();
-			vlayout->setMargin(0);
+			vlayout->setContentsMargins(0,0,0,0);
 			vlayout->addWidget(imageView1, 1);
 			vlayout->addWidget(imageView2, 1);
 			dialog->setLayout(vlayout);

guilib/src/EditDepthArea.cpp

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QMouseEvent>
 #include <QMenu>
 #include <QAction>
+#include <QActionGroup>
 #include <QInputDialog>
 
 #include "rtabmap/gui/EditDepthArea.h"

guilib/src/EditMapArea.cpp

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QMouseEvent>
 #include <QMenu>
 #include <QAction>
+#include <QActionGroup>
 #include <QInputDialog>
 
 #include "rtabmap/gui/EditMapArea.h"

guilib/src/ExportCloudsDialog.cpp

@@ -62,7 +62,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QMessageBox>
 #include <QFileDialog>
 #include <QInputDialog>
-#include <QDesktopWidget>
+#include <QWindow>
+#include <QScreen>
 
 #ifdef RTABMAP_CPUTSDF
 #include <cpu_tsdf/tsdf_volume_octree.h>
@@ -1212,7 +1213,7 @@ void ExportCloudsDialog::viewClouds(
 		}
 		window->setMinimumWidth(120);
 		window->setMinimumHeight(90);
-		window->resize(QDesktopWidget().availableGeometry(this).size() * 0.7);
+		window->resize(this->window()->windowHandle()->screen()->availableGeometry().size() * 0.7);
 
 		CloudViewer * viewer = new CloudViewer(window);
 		if(_ui->comboBox_pipeline->currentIndex() == 0)
@@ -4169,7 +4170,7 @@ void ExportCloudsDialog::saveClouds(
 #else
 		QString extensions = tr("Save clouds to (*.ply *.pcd)...");
 #endif
-		QString path = QFileDialog::getExistingDirectory(this, extensions, workingDirectory, 0);
+		QString path = QFileDialog::getExistingDirectory(this, extensions, workingDirectory, QFileDialog::ShowDirsOnly);
 		if(!path.isEmpty())
 		{
 			bool ok = false;
@@ -4394,7 +4395,7 @@ void ExportCloudsDialog::saveMeshes(
 	}
 	else if(meshes.size())
 	{
-		QString path = QFileDialog::getExistingDirectory(this, tr("Save meshes to (*.ply *.obj)..."), workingDirectory, 0);
+		QString path = QFileDialog::getExistingDirectory(this, tr("Save meshes to (*.ply *.obj)..."), workingDirectory, QFileDialog::ShowDirsOnly);
 		if(!path.isEmpty())
 		{
 			bool ok = false;
@@ -4799,7 +4800,7 @@ void ExportCloudsDialog::saveTextureMeshes(
 	}
 	else if(meshes.size())
 	{
-		QString path = QFileDialog::getExistingDirectory(this, tr("Save texture meshes to (*.obj)..."), workingDirectory, 0);
+		QString path = QFileDialog::getExistingDirectory(this, tr("Save texture meshes to (*.obj)..."), workingDirectory, QFileDialog::ShowDirsOnly);
 		if(!path.isEmpty())
 		{
 			bool ok = false;

guilib/src/GraphViewer.cpp

@@ -1777,7 +1777,7 @@ void GraphViewer::restoreDefaults()
 
 void GraphViewer::wheelEvent ( QWheelEvent * event )
 {
-	if(event->delta() < 0)
+	if(event->angleDelta().y() < 0)
 	{
 		this->scale(0.95, 0.95);
 	}
@@ -2039,7 +2039,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 				if(QFileInfo(filePath).suffix().compare("pdf") == 0)
 				{
 					QPrinter printer(QPrinter::HighResolution);
-					printer.setOrientation(QPrinter::Portrait);
+					printer.setPageOrientation(QPageLayout::Portrait);
 					printer.setOutputFileName( filePath );
 					QPainter p(&printer);
 					scene()->render(&p);

guilib/src/ImageView.cpp

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QFileDialog>
 #include <QtCore/QDir>
 #include <QAction>
+#include <QActionGroup>
 #include <QGraphicsEffect>
 #include <QInputDialog>
 #include <QVBoxLayout>
@@ -880,12 +881,12 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
 				if(QFileInfo(text).suffix().compare("pdf") == 0)
 				{
 					QPrinter printer(QPrinter::HighResolution);
-					printer.setOrientation(QPrinter::Portrait);
+					printer.setPageOrientation(QPageLayout::Portrait);
 					printer.setOutputFileName( text );
 					QPainter p(&printer);
 					p.begin(&printer);
-					double xscale = printer.pageRect().width()/double(_graphicsView->sceneRect().width());
-					double yscale = printer.pageRect().height()/double(_graphicsView->sceneRect().height());
+					double xscale = printer.pageLayout().paintRectPixels(printer.resolution()).width()/double(_graphicsView->sceneRect().width());
+					double yscale = printer.pageLayout().paintRectPixels(printer.resolution()).height()/double(_graphicsView->sceneRect().height());
 					double scale = qMin(xscale, yscale);
 					p.scale(scale, scale);
 					_graphicsView->scene()->render(&p, _graphicsView->sceneRect(), _graphicsView->sceneRect());

guilib/src/MainWindow.cpp

@@ -168,6 +168,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	_processingOdometry(false),
 	_oneSecondTimer(0),
 	_elapsedTime(0),
+	_logEventTime(0),
 	_posteriorCurve(0),
 	_likelihoodCurve(0),
 	_rawLikelihoodCurve(0),
@@ -266,10 +267,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	// Timer
 	_oneSecondTimer = new QTimer(this);
 	_oneSecondTimer->setInterval(1000);
-	_elapsedTime = new QTime();
+	_elapsedTime = new QElapsedTimer();
 	_ui->label_elapsedTime->setText("00:00:00");
 	connect(_oneSecondTimer, SIGNAL(timeout()), this, SLOT(updateElapsedTime()));
-	_logEventTime = new QTime();
+	_logEventTime = new QElapsedTimer();
 	_logEventTime->start();
 
 	//Graphics scenes
@@ -694,6 +695,7 @@ MainWindow::~MainWindow()
 	this->stopDetection();
 	delete _ui;
 	delete _elapsedTime;
+	delete _logEventTime;
 #ifdef RTABMAP_OCTOMAP
 	delete _octomap;
 #endif
@@ -1893,7 +1895,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 {
 	_processingStatistics = true;
 	ULOGGER_DEBUG("");
-	QTime time, totalTime;
+	QElapsedTimer time, totalTime;
 	time.start();
 	totalTime.start();
 	//Affichage des stats et images
@@ -4968,7 +4970,12 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
 		{
 			_lastId = (*refWords.rbegin()).first;
 		}
-		_lastIds = QSet<int>::fromList(QList<int>::fromStdList(uKeysList(refWords)));
+		std::list<int> kpts = uKeysList(refWords);
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+		_lastIds = QSet<int>(kpts.begin(), kpts.end());
+#else
+		_lastIds = QSet<int>::fromList(QList<int>::fromStdList(kpts));
+#endif
 	}
 
 	// Draw lines between corresponding features...
@@ -5211,7 +5218,7 @@ QString MainWindow::captureScreen(bool cacheInRAM, bool png)
 {
 	QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + (png?".png":".jpg"));
 	_ui->statusbar->clearMessage();
-	QPixmap figure = QPixmap::grabWidget(this);
+	QPixmap figure = this->grab();
 
 	QString targetDir = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "ScreensCaptured";
 	QString msg;

guilib/src/OdometryViewer.cpp

@@ -126,13 +126,13 @@ OdometryViewer::OdometryViewer(
 
 	//layout
 	QHBoxLayout * layout = new QHBoxLayout();
-	layout->setMargin(0);
+	layout->setContentsMargins(0,0,0,0);
 	layout->setSpacing(0);
 	layout->addWidget(imageView_,1);
 	layout->addWidget(cloudView_,1);
 
 	QHBoxLayout * hlayout2 = new QHBoxLayout();
-	hlayout2->setMargin(0);
+	hlayout2->setContentsMargins(0,0,0,0);
 	hlayout2->addWidget(maxCloudsLabel);
 	hlayout2->addWidget(maxCloudsSpin_);
 	hlayout2->addWidget(voxelLabel);
@@ -151,7 +151,7 @@ OdometryViewer::OdometryViewer(
 	hlayout2->addWidget(closeButton);
 
 	QVBoxLayout * vlayout = new QVBoxLayout(this);
-	vlayout->setMargin(0);
+	vlayout->setContentsMargins(0,0,0,0);
 	vlayout->setSpacing(0);
 	vlayout->addLayout(layout, 1);
 	vlayout->addLayout(hlayout2);

guilib/src/StatsToolBox.cpp

@@ -170,7 +170,7 @@ void StatItem::setupUi(QGridLayout * grid)
 		layout->addWidget(_value);
 		layout->addWidget(_unit);
 		layout->addStretch();
-		layout->setMargin(0);
+		layout->setContentsMargins(0,0,0,0);
 	}
 }
 
@@ -220,7 +220,7 @@ StatsToolBox::StatsToolBox(QWidget * parent) :
 	//Statistics in the GUI (for plotting)
 	_statBox = new QToolBox(this);
 	this->setLayout(new QVBoxLayout());
-	this->layout()->setMargin(0);
+	this->layout()->setContentsMargins(0,0,0,0);
 	this->layout()->addWidget(_statBox);
 	_statBox->layout()->setSpacing(0);
 	_plotMenu = new QMenu(this);

guilib/src/opencv/vtkImageMatSource.cpp

@@ -48,6 +48,7 @@
 #include <vtkInformationVector.h>
 #include <vtkStreamingDemandDrivenPipeline.h>
 #include <vtkObjectFactory.h>
+#include <vtkVersionMacros.h>
 
 namespace rtabmap {
 	vtkStandardNewMacro(vtkImageMatSource);

guilib/src/utilite/UPlot.cpp

@@ -37,6 +37,7 @@
 #include <QLabel>
 #include <QMenu>
 #include <QStyle>
+#include <QActionGroup>
 #include <QInputDialog>
 #include <QMessageBox>
 #include <QFileDialog>
@@ -788,28 +789,44 @@ void UPlotCurve::draw(QPainter * painter, const QRect & limits)
 				{
 					QPointF intersection;
 					QLineF::IntersectType type;
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+					type = lineItem->line().intersects(QLineF(limits.topLeft(), limits.bottomLeft()), &intersection);
+#else
 					type = lineItem->line().intersect(QLineF(limits.topLeft(), limits.bottomLeft()), &intersection);
+#endif
 					if(type == QLineF::BoundedIntersection)
 					{
 						!limits.contains(line.p1())?line.setP1(intersection.toPoint()):line.setP2(intersection.toPoint());
 					}
 					else
 					{
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+						type = lineItem->line().intersects(QLineF(limits.topLeft(), limits.topRight()), &intersection);
+#else
 						type = lineItem->line().intersect(QLineF(limits.topLeft(), limits.topRight()), &intersection);
+#endif
 						if(type == QLineF::BoundedIntersection)
 						{
 							!limits.contains(line.p1())?line.setP1(intersection.toPoint()):line.setP2(intersection.toPoint());
 						}
 						else
 						{
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+							type = lineItem->line().intersects(QLineF(limits.bottomLeft(), limits.bottomRight()), &intersection);
+#else
 							type = lineItem->line().intersect(QLineF(limits.bottomLeft(), limits.bottomRight()), &intersection);
+#endif
 							if(type == QLineF::BoundedIntersection)
 							{
 								!limits.contains(line.p1())?line.setP1(intersection.toPoint()):line.setP2(intersection.toPoint());
 							}
 							else
 							{
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+								type = lineItem->line().intersects(QLineF(limits.topRight(), limits.bottomRight()), &intersection);
+#else
 								type = lineItem->line().intersect(QLineF(limits.topRight(), limits.bottomRight()), &intersection);
+#endif
 								if(type == QLineF::BoundedIntersection)
 								{
 									!limits.contains(line.p1())?line.setP1(intersection.toPoint()):line.setP2(intersection.toPoint());
@@ -968,7 +985,7 @@ void UPlotCurve::setData(const std::vector<qreal> & x, const std::vector<qreal>
 
 void UPlotCurve::setData(const QVector<qreal> & y)
 {
-	this->setData(y.toStdVector());
+	this->setData(std::vector<qreal>(y.begin(), y.end()));
 }
 
 void UPlotCurve::setData(const std::vector<qreal> & y)
@@ -1194,8 +1211,13 @@ void UPlotAxis::setAxis(qreal & min, qreal & max)
 	}
 	else
 	{
+#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
+		borderMin = this->fontMetrics().horizontalAdvance(QString::number(_min,'g',_gradMaxDigits))/2;
+		borderMax = this->fontMetrics().horizontalAdvance(QString::number(_max,'g',_gradMaxDigits))/2;
+#else
 		borderMin = this->fontMetrics().width(QString::number(_min,'g',_gradMaxDigits))/2;
 		borderMax = this->fontMetrics().width(QString::number(_max,'g',_gradMaxDigits))/2;
+#endif
 	}
 	int border = borderMin>borderMax?borderMin:borderMax;
 	int borderDelta;
@@ -1303,10 +1325,18 @@ void UPlotAxis::setAxis(qreal & min, qreal & max)
 		for (int i = 0; i <= _count; i+=5)
 		{
 			QString n(QString::number(_min + (i/5)*((_max-_min)/(_count/5)),'g',_gradMaxDigits));
+#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
+			if(this->fontMetrics().horizontalAdvance(n) > minWidth)
+			{
+				minWidth = this->fontMetrics().horizontalAdvance(n);
+			}
+#else
 			if(this->fontMetrics().width(n) > minWidth)
 			{
 				minWidth = this->fontMetrics().width(n);
 			}
+#endif
+
 		}
 		this->setMinimumWidth(15+minWidth);
 	}
@@ -1592,7 +1622,7 @@ void UPlotLegend::addItem(UPlotCurve * curve)
 		QHBoxLayout * hLayout = new QHBoxLayout();
 		hLayout->addWidget(legendItem);
 		hLayout->addStretch(0);
-		hLayout->setMargin(0);
+		hLayout->setContentsMargins(0,0,0,0);
 
 		// add to the legend
 		((QVBoxLayout*)_contentLayout)->insertLayout(_contentLayout->count()-1, hLayout);
@@ -1644,7 +1674,7 @@ void UPlotLegend::moveUp(UPlotLegendItem * item)
 		QHBoxLayout * hLayout = new QHBoxLayout();
 		hLayout->addWidget(layoutItem->layout()->itemAt(0)->widget());
 		hLayout->addStretch(0);
-		hLayout->setMargin(0);
+		hLayout->setContentsMargins(0,0,0,0);
 		((QVBoxLayout*)_contentLayout)->insertLayout(index-1, hLayout);
 		delete layoutItem;
 		Q_EMIT legendItemMoved(item->curve(), index-1);
@@ -1671,7 +1701,7 @@ void UPlotLegend::moveDown(UPlotLegendItem * item)
 		QHBoxLayout * hLayout = new QHBoxLayout();
 		hLayout->addWidget(layoutItem->layout()->itemAt(0)->widget());
 		hLayout->addStretch(0);
-		hLayout->setMargin(0);
+		hLayout->setContentsMargins(0,0,0,0);
 		((QVBoxLayout*)_contentLayout)->insertLayout(index+1, hLayout);
 		delete layoutItem;
 		Q_EMIT legendItemMoved(item->curve(), index+1);
@@ -1694,7 +1724,7 @@ QString UPlotLegend::getAllCurveDataAsText() const
 				xAxisMap.insert(iter.key(), iter.value());
 			}
 		}
-		QList<qreal> xAxis = xAxisMap.uniqueKeys();
+		QList<qreal> xAxis = xAxisMap.keys();
 
 		QVector<QVector<qreal> > axes;
 		for(int i=0; i<items.size(); ++i)
@@ -2585,7 +2615,11 @@ void UPlot::mouseMoveEvent(QMouseEvent * event)
 			if((QApplication::mouseButtons() & Qt::LeftButton) ||
 			   (_aMouseTracking->isChecked() && xPos>=0 && yPos>=0 && xPos<_graphicsViewHolder->width() && yPos<_graphicsViewHolder->height()))
 			{
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+				QToolTip::showText(event->globalPosition().toPoint(), QString("%1,%2").arg(x).arg(y));
+#else
 				QToolTip::showText(event->globalPos(), QString("%1,%2").arg(x).arg(y));
+#endif
 			}
 			else
 			{
@@ -2831,8 +2865,8 @@ void UPlot::contextMenuEvent(QContextMenuEvent * event)
 
 			QPalette p(palette());
 			// Set background color to white
-			QColor c = p.color(QPalette::Background);
-			p.setColor(QPalette::Background, Qt::white);
+			QColor c = p.color(QPalette::Window);
+			p.setColor(QPalette::Window, Qt::white);
 			setPalette(p);
 
 #ifdef QT_SVG_LIB
@@ -2858,14 +2892,14 @@ void UPlot::contextMenuEvent(QContextMenuEvent * event)
 				}
 				else
 				{
-					QPixmap figure = QPixmap::grabWidget(this);
+					QPixmap figure = this->grab();
 					figure.save(text);
 				}
 #ifdef QT_SVG_LIB
 			}
 #endif
 			// revert background color
-			p.setColor(QPalette::Background, c);
+			p.setColor(QPalette::Window, c);
 			setPalette(p);
 
 			if(flatModified)
@@ -2923,7 +2957,7 @@ void UPlot::captureScreen()
 	}
 	targetDir += "/";
 	QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + ".") + _autoScreenCaptureFormat;
-	QPixmap figure = QPixmap::grabWidget(this);
+	QPixmap figure = this->grab();
 	figure.save(targetDir + name);
 }
 
@@ -3181,7 +3215,7 @@ void UPlot::removeCurves()
 
 void UPlot::removeCurve(const UPlotCurve * curve)
 {
-	QList<UPlotCurve *>::iterator iter = qFind(_curves.begin(), _curves.end(), curve);
+	QList<UPlotCurve *>::iterator iter = std::find(_curves.begin(), _curves.end(), curve);
 #if PRINT_DEBUG
 	ULOGGER_DEBUG("Plot=\"%s\" removing curve=\"%s\"", this->objectName().toStdString().c_str(), curve?curve->name().toStdString().c_str():"");
 #endif
@@ -3215,7 +3249,7 @@ void UPlot::removeCurve(const UPlotCurve * curve)
 
 void UPlot::showCurve(const UPlotCurve * curve, bool shown)
 {
-	QList<UPlotCurve *>::iterator iter = qFind(_curves.begin(), _curves.end(), curve);
+	QList<UPlotCurve *>::iterator iter = std::find(_curves.begin(), _curves.end(), curve);
 	if(iter!=_curves.end())
 	{
 		UPlotCurve * value = *iter;

tools/EpipolarGeometry/main.cpp

@@ -51,6 +51,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QVBoxLayout>
 #include <QHBoxLayout>
 #include <QtCore/QTime>
+#include <QtCore/QElapsedTimer>
 #include <QGraphicsEffect>
 
 
@@ -183,11 +184,10 @@ int main(int argc, char** argv)
 		showUsage();
 	}
 
-	QTime timer;
+	QElapsedTimer timer;
 	timer.start();
 
 	// Extract words
-	timer.start();
    VWDictionary dictionary;
    ParametersMap param;
    param.insert(ParametersPair(Parameters::kSURFExtended(), "true"));