Add QT5 Support

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

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"