Included UtiLite library directly in Rtabmap source (to simplify the installation)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-02 01:20:25 +08:00 · 2013-04-30 20:16:01 +00:00
parent a5df6e74ed
commit b92d0444ac
81 changed files with 4782 additions and 282 deletions
--- a/corelib/include/rtabmap/core/CameraEvent.h
+++ b/corelib/include/rtabmap/core/CameraEvent.h
@@ -21,7 +21,7 @@

 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/features2d/features2d.hpp>
-#include <utilite/UEvent.h>
+#include <rtabmap/utilite/UEvent.h>
 #include "rtabmap/core/Image.h"

 namespace rtabmap
--- a/corelib/include/rtabmap/core/CameraThread.h
+++ b/corelib/include/rtabmap/core/CameraThread.h
@@ -21,8 +21,8 @@

 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

-#include <utilite/UThreadNode.h>
-#include <utilite/UEventsHandler.h>
+#include <rtabmap/utilite/UThreadNode.h>
+#include <rtabmap/utilite/UEventsHandler.h>

 #include "rtabmap/core/Parameters.h"

--- a/corelib/include/rtabmap/core/DBDriver.h
+++ b/corelib/include/rtabmap/core/DBDriver.h
@@ -27,8 +27,8 @@
 #include <map>
 #include <set>
 #include <opencv2/core/core.hpp>
-#include "utilite/UMutex.h"
-#include "utilite/UThreadNode.h"
+#include "rtabmap/utilite/UMutex.h"
+#include "rtabmap/utilite/UThreadNode.h"
 #include "rtabmap/core/Parameters.h"

 namespace rtabmap {
--- a/corelib/include/rtabmap/core/DBReader.h
+++ b/corelib/include/rtabmap/core/DBReader.h
@@ -10,8 +10,8 @@

 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

-#include <utilite/UThreadNode.h>
-#include <utilite/UTimer.h>
+#include <rtabmap/utilite/UThreadNode.h>
+#include <rtabmap/utilite/UTimer.h>

 #include <opencv2/core/core.hpp>

--- a/corelib/include/rtabmap/core/Memory.h
+++ b/corelib/include/rtabmap/core/Memory.h
@@ -22,14 +22,14 @@

 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

-#include "utilite/UEventsHandler.h"
+#include "rtabmap/utilite/UEventsHandler.h"
 #include "rtabmap/core/Parameters.h"
 #include "rtabmap/core/Image.h"
 #include <typeinfo>
 #include <list>
 #include <map>
 #include <set>
-#include "utilite/UStl.h"
+#include "rtabmap/utilite/UStl.h"
 #include <opencv2/core/core.hpp>
 #include <opencv2/features2d/features2d.hpp>

--- a/corelib/include/rtabmap/core/ParamEvent.h
+++ b/corelib/include/rtabmap/core/ParamEvent.h
@@ -21,7 +21,7 @@
 #define PARAMEVENT_H_

 #include "rtabmap/core/Parameters.h"
-#include <utilite/UEvent.h>
+#include <rtabmap/utilite/UEvent.h>

 namespace rtabmap
 {
--- a/corelib/include/rtabmap/core/RtabmapEvent.h
+++ b/corelib/include/rtabmap/core/RtabmapEvent.h
@@ -22,7 +22,7 @@



-#include <utilite/UEvent.h>
+#include <rtabmap/utilite/UEvent.h>
 #include "rtabmap/core/Statistics.h"

 namespace rtabmap
--- a/corelib/include/rtabmap/core/RtabmapThread.h
+++ b/corelib/include/rtabmap/core/RtabmapThread.h
@@ -22,10 +22,10 @@

 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

-#include <utilite/UThreadNode.h>
-#include <utilite/UEventsHandler.h>
-#include <utilite/USemaphore.h>
-#include <utilite/UMutex.h>
+#include <rtabmap/utilite/UThreadNode.h>
+#include <rtabmap/utilite/UEventsHandler.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UMutex.h>

 #include "rtabmap/core/RtabmapEvent.h"
 #include "rtabmap/core/Image.h"
--- a/corelib/src/BayesFilter.cpp
+++ b/corelib/src/BayesFilter.cpp
@@ -23,7 +23,7 @@
 #include "rtabmap/core/Parameters.h"
 #include <iostream>

-#include "utilite/UtiLite.h"
+#include "rtabmap/utilite/UtiLite.h"

 namespace rtabmap {

--- a/corelib/src/BayesFilter.h
+++ b/corelib/src/BayesFilter.h
@@ -25,7 +25,7 @@
 #include <opencv2/core/core.hpp>
 #include <list>
 #include <set>
-#include "utilite/UEventsHandler.h"
+#include "rtabmap/utilite/UEventsHandler.h"
 #include "rtabmap/core/Parameters.h"

 namespace rtabmap {
--- a/corelib/src/CMakeLists.txt
+++ b/corelib/src/CMakeLists.txt
@@ -25,16 +25,15 @@ SET(SRC_FILES
 )

 SET(INCLUDE_DIRS
+    ${PROJECT_SOURCE_DIR}/utilite/include
 	${CMAKE_CURRENT_SOURCE_DIR}/../include
 	${CMAKE_CURRENT_SOURCE_DIR}
 	${CMAKE_CURRENT_BINARY_DIR}
-	${UTILITE_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
 	${SQLITE3_INCLUDE_DIR}
 )

 SET(LIBRARIES
-    ${UTILITE_LIBRARIES}
 	${OpenCV_LIBS} 
 	${SQLITE3_LIBRARY}
 )
@@ -57,9 +56,9 @@ SET(RESOURCES_HEADERS

 ADD_CUSTOM_COMMAND(
   OUTPUT ${RESOURCES_HEADERS}
-   COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
+   COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/uresourcegenerator -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
   COMMENT "[Creating resources]"
-   DEPENDS ${R}
+   DEPENDS ${R} uresourcegenerator
 )

 ####################################
@@ -73,7 +72,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # Add binary that is built from the source file "main.cpp".
 # The extension is automatically found.
 ADD_LIBRARY(rtabmap_corelib ${SRC_FILES} ${RESOURCES_HEADERS})
-TARGET_LINK_LIBRARIES(rtabmap_corelib ${LIBRARIES})
+TARGET_LINK_LIBRARIES(rtabmap_corelib rtabmap_utilite ${LIBRARIES})

 SET_TARGET_PROPERTIES(
 rtabmap_corelib 
--- a/corelib/src/Camera.cpp
+++ b/corelib/src/Camera.cpp
@@ -21,13 +21,13 @@
 #include "rtabmap/core/DBDriver.h"
 #include "rtabmap/core/Features2d.h"

-#include <utilite/UEventsManager.h>
-#include <utilite/UConversion.h>
-#include <utilite/UStl.h>
-#include <utilite/UConversion.h>
-#include <utilite/UFile.h>
-#include <utilite/UDirectory.h>
-#include <utilite/UTimer.h>
+#include <rtabmap/utilite/UEventsManager.h>
+#include <rtabmap/utilite/UConversion.h>
+#include <rtabmap/utilite/UStl.h>
+#include <rtabmap/utilite/UConversion.h>
+#include <rtabmap/utilite/UFile.h>
+#include <rtabmap/utilite/UDirectory.h>
+#include <rtabmap/utilite/UTimer.h>

 #include <opencv2/imgproc/imgproc.hpp>

--- a/corelib/src/CameraThread.cpp
+++ b/corelib/src/CameraThread.cpp
@@ -22,8 +22,8 @@
 #include "rtabmap/core/CameraEvent.h"
 #include "rtabmap/core/ParamEvent.h"

-#include <utilite/UEventsManager.h>
-#include <utilite/UTimer.h>
+#include <rtabmap/utilite/UEventsManager.h>
+#include <rtabmap/utilite/UTimer.h>

 namespace rtabmap
 {
--- a/corelib/src/DBDriver.cpp
+++ b/corelib/src/DBDriver.cpp
@@ -21,11 +21,11 @@

 #include "Signature.h"
 #include "VisualWord.h"
-#include "utilite/UConversion.h"
-#include "utilite/UMath.h"
-#include "utilite/ULogger.h"
-#include "utilite/UTimer.h"
-#include "utilite/UStl.h"
+#include "rtabmap/utilite/UConversion.h"
+#include "rtabmap/utilite/UMath.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UTimer.h"
+#include "rtabmap/utilite/UStl.h"

 namespace rtabmap {

--- a/corelib/src/DBDriverSqlite3.cpp
+++ b/corelib/src/DBDriverSqlite3.cpp
@@ -25,7 +25,7 @@
 #include "DatabaseSchema_sql.h"
 #include <set>

-#include "utilite/UtiLite.h"
+#include "rtabmap/utilite/UtiLite.h"

 namespace rtabmap {

--- a/corelib/src/DBReader.cpp
+++ b/corelib/src/DBReader.cpp
@@ -9,9 +9,9 @@
 #include "rtabmap/core/DBDriver.h"
 #include "DBDriverSqlite3.h"

-#include <utilite/ULogger.h>
-#include <utilite/UEventsManager.h>
-#include <utilite/UFile.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UEventsManager.h>
+#include <rtabmap/utilite/UFile.h>

 #include "rtabmap/core/CameraEvent.h"

--- a/corelib/src/EpipolarGeometry.cpp
+++ b/corelib/src/EpipolarGeometry.cpp
@@ -19,10 +19,10 @@

 #include "rtabmap/core/EpipolarGeometry.h"
 #include "Signature.h"
-#include "utilite/ULogger.h"
-#include "utilite/UTimer.h"
-#include "utilite/UStl.h"
-#include "utilite/UMath.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UTimer.h"
+#include "rtabmap/utilite/UStl.h"
+#include "rtabmap/utilite/UMath.h"

 #include <opencv2/core/core.hpp>
 #include <opencv2/core/core_c.h>
--- a/corelib/src/Features2d.cpp
+++ b/corelib/src/Features2d.cpp
@@ -18,12 +18,12 @@
 */

 #include "rtabmap/core/Features2d.h"
-#include "utilite/UStl.h"
-#include "utilite/UConversion.h"
-#include "utilite/ULogger.h"
-#include "utilite/UMath.h"
-#include "utilite/ULogger.h"
-#include "utilite/UTimer.h"
+#include "rtabmap/utilite/UStl.h"
+#include "rtabmap/utilite/UConversion.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UMath.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UTimer.h"
 #include <opencv2/imgproc/imgproc_c.h>
 #include <opencv2/gpu/gpu.hpp>
 #include <opencv2/core/version.hpp>
--- a/corelib/src/Memory.cpp
+++ b/corelib/src/Memory.cpp
@@ -17,12 +17,12 @@
 * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
 */

-#include <utilite/UEventsManager.h>
-#include <utilite/ULogger.h>
-#include <utilite/UTimer.h>
-#include <utilite/UConversion.h>
-#include <utilite/UProcessInfo.h>
-#include <utilite/UMath.h>
+#include <rtabmap/utilite/UEventsManager.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/utilite/UConversion.h>
+#include <rtabmap/utilite/UProcessInfo.h>
+#include <rtabmap/utilite/UMath.h>

 #include "rtabmap/core/Memory.h"
 #include "Signature.h"
--- a/corelib/src/NearestNeighbor.cpp
+++ b/corelib/src/NearestNeighbor.cpp
@@ -18,7 +18,7 @@
 */

 #include "NearestNeighbor.h"
-#include "utilite/ULogger.h"
+#include "rtabmap/utilite/ULogger.h"
 #include <opencv2/core/core.hpp>

 namespace rtabmap
--- a/corelib/src/Parameters.cpp
+++ b/corelib/src/Parameters.cpp
@@ -18,8 +18,8 @@
 */

 #include "rtabmap/core/Parameters.h"
-#include <utilite/UDirectory.h>
-#include <utilite/ULogger.h>
+#include <rtabmap/utilite/UDirectory.h>
+#include <rtabmap/utilite/ULogger.h>

 namespace rtabmap
 {
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -28,11 +28,11 @@
 #include "rtabmap/core/Memory.h"
 #include "BayesFilter.h"

-#include <utilite/ULogger.h>
-#include <utilite/UFile.h>
-#include <utilite/UTimer.h>
-#include <utilite/UConversion.h>
-#include <utilite/UMath.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UFile.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/utilite/UConversion.h>
+#include <rtabmap/utilite/UMath.h>

 #include "SimpleIni.h"

@@ -56,7 +56,7 @@

 namespace rtabmap
 {
-const char * Rtabmap::kDefaultDatabaseName = "LTM.db";
+const char * Rtabmap::kDefaultDatabaseName = "rtabmap.db";

 Rtabmap::Rtabmap() :
 	_publishStats(Parameters::defaultRtabmapPublishStats()),
--- a/corelib/src/RtabmapThread.cpp
+++ b/corelib/src/RtabmapThread.cpp
@@ -24,9 +24,9 @@
 #include "rtabmap/core/CameraEvent.h"
 #include "rtabmap/core/ParamEvent.h"

-#include <utilite/ULogger.h>
-#include <utilite/UEventsManager.h>
-#include <utilite/UStl.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UEventsManager.h>
+#include <rtabmap/utilite/UStl.h>

 namespace rtabmap {

--- a/corelib/src/Signature.cpp
+++ b/corelib/src/Signature.cpp
@@ -22,7 +22,7 @@
 #include "rtabmap/core/Memory.h"
 #include <opencv2/highgui/highgui.hpp>

-#include <utilite/UtiLite.h>
+#include <rtabmap/utilite/UtiLite.h>

 namespace rtabmap
 {
--- a/corelib/src/Statistics.cpp
+++ b/corelib/src/Statistics.cpp
@@ -18,7 +18,7 @@
 */

 #include "rtabmap/core/Statistics.h"
-#include <utilite/UStl.h>
+#include <rtabmap/utilite/UStl.h>

 namespace rtabmap {
 std::map<std::string, float> Statistics::_defaultData;
--- a/corelib/src/VWDictionary.cpp
+++ b/corelib/src/VWDictionary.cpp
@@ -25,7 +25,7 @@
 #include "NearestNeighbor.h"
 #include "rtabmap/core/Parameters.h"

-#include "utilite/UtiLite.h"
+#include "rtabmap/utilite/UtiLite.h"

 #include <fstream>
 #include <string>
--- a/corelib/src/VisualWord.cpp
+++ b/corelib/src/VisualWord.cpp
@@ -18,8 +18,8 @@
 */

 #include "VisualWord.h"
-#include "utilite/ULogger.h"
-#include "utilite/UStl.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UStl.h"

 namespace rtabmap
 {