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MERGE branch STM 325:449 into trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-03-03 01:46:30 +00:00
parent c4aff5f20a
commit a2eb8bcab6
100 changed files with 76652 additions and 5164 deletions
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app/src/main.cpp
+3 -2
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@@ -44,6 +44,7 @@ int main(int argc, char* argv[])
/* Add handlers to the EventsManager */
UEventsManager::addHandler(mainWindow);
UEventsManager::removeHandler(rtabmap); // Force removing for rtabmap to be the last.. FIXME: Rtabmap object should not register to EventsManager in its constructor...
UEventsManager::addHandler(rtabmap); //thread
/* Start thread's task */
@@ -62,7 +63,7 @@ int main(int argc, char* argv[])
UEventsManager::removeHandler(rtabmap);
ULOGGER_INFO("Killing threads...");
rtabmap->kill();
rtabmap->join(true);
ULOGGER_INFO("Free memory...");
@@ -75,7 +76,7 @@ int main(int argc, char* argv[])
msg->setIconPixmap(QPixmap(":/images/RTAB-Map.ico"));
msg->setWindowIcon(QIcon(":/images/RTAB-Map.ico"));
msg->show();
ObjDeletionThread<Rtabmap> delThread(rtabmap);
UObjDeletionThread<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