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

guilib/include/rtabmap/gui/MainWindow.h

@@ -22,7 +22,7 @@
 
 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
 
-#include "utilite/UEventsHandler.h"
+#include "rtabmap/utilite/UEventsHandler.h"
 #include <QtGui/QMainWindow>
 #include <QtCore/QSet>
 #include "rtabmap/core/RtabmapEvent.h"

guilib/src/CMakeLists.txt

@@ -11,6 +11,7 @@ SET(headers_ui
 	./PdfPlot.h
 	./StatsToolBox.h
 	./DetailedProgressDialog.h
+	./utilite/UPlot.h
 )
 
 SET(uis
@@ -50,6 +51,7 @@ SET(SRC_FILES
 	./AboutDialog.cpp
 	./ConsoleWidget.cpp
 	./DatabaseViewer.cpp
+	./utilite/UPlot.cpp
 	${moc_srcs} 
 	${moc_uis} 
 	${srcs_qrc}
@@ -57,9 +59,9 @@ SET(SRC_FILES
 
 SET(INCLUDE_DIRS
 	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
 	${CMAKE_CURRENT_SOURCE_DIR}/../include
 	${CMAKE_CURRENT_SOURCE_DIR}
-	${UTILITE_INCLUDE_DIRS}
 	${OpenCV_INCLUDE_DIRS}
 	${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
 )
@@ -67,7 +69,6 @@ SET(INCLUDE_DIRS
 INCLUDE(${QT_USE_FILE})
 
 SET(LIBRARIES
-    ${UTILITE_LIBRARIES}
     ${QT_LIBRARIES} 
 	${OpenCV_LIBS} 
 )
@@ -78,7 +79,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # create a library from the source files
 ADD_LIBRARY(rtabmap_guilib ${SRC_FILES})
 # Linking with Qt libraries
-TARGET_LINK_LIBRARIES(rtabmap_guilib rtabmap_corelib ${LIBRARIES})
+TARGET_LINK_LIBRARIES(rtabmap_guilib rtabmap_corelib rtabmap_utilite ${LIBRARIES})
 
 SET_TARGET_PROPERTIES(
 rtabmap_guilib 

guilib/src/ConsoleWidget.cpp

@@ -19,8 +19,8 @@
 
 #include "ConsoleWidget.h"
 #include "ui_consoleWidget.h"
-#include <utilite/ULogger.h>
-#include <utilite/UEventsManager.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UEventsManager.h>
 #include <QtGui/QMessageBox>
 #include <QtGui/QTextCursor>
 #include <QtCore/QTimer>

guilib/src/ConsoleWidget.h

@@ -20,7 +20,7 @@
 #ifndef CONSOLEWIDGET_H_
 #define CONSOLEWIDGET_H_
 
-#include <utilite/UEventsHandler.h>
+#include <rtabmap/utilite/UEventsHandler.h>
 #include <QtGui/QWidget>
 #include <QtCore/QMutex>
 #include <QtCore/QTimer>

guilib/src/DatabaseViewer.cpp

@@ -24,11 +24,11 @@
 #include <QtGui/QInputDialog>
 #include <QtCore/QBuffer>
 #include <QtCore/QTextStream>
-#include <utilite/ULogger.h>
-#include <utilite/UDirectory.h>
-#include <utilite/UConversion.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UDirectory.h>
+#include <rtabmap/utilite/UConversion.h>
 #include <opencv2/core/core_c.h>
-#include <utilite/UTimer.h>
+#include <rtabmap/utilite/UTimer.h>
 #include "rtabmap/core/Memory.h"
 #include "rtabmap/core/DBDriver.h"
 #include "rtabmap/gui/KeypointItem.h"

guilib/src/DetailedProgressDialog.cpp

@@ -26,7 +26,7 @@
 #include <QtGui/QCloseEvent>
 #include <QtGui/QCheckBox>
 #include <QtCore/QTimer>
-#include "utilite/ULogger.h"
+#include "rtabmap/utilite/ULogger.h"
 
 namespace rtabmap {
 

guilib/src/ImageView.cpp

@@ -25,7 +25,7 @@
 #include <QtGui/QFileDialog>
 #include <QtCore/QDir>
 #include <QtGui/QAction>
-#include "utilite/ULogger.h"
+#include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/gui/KeypointItem.h"
 
 namespace rtabmap {

guilib/src/KeypointItem.cpp

@@ -22,7 +22,7 @@
 #include <QtGui/QPen>
 #include <QtGui/QBrush>
 #include <QtGui/QGraphicsScene>
-#include "utilite/ULogger.h"
+#include "rtabmap/utilite/ULogger.h"
 
 namespace rtabmap {
 

guilib/src/MainWindow.cpp

@@ -32,11 +32,11 @@
 #include "rtabmap/gui/qtipl.h"
 #include "rtabmap/gui/KeypointItem.h"
 
-#include <utilite/UStl.h>
-#include <utilite/ULogger.h>
-#include <utilite/UPlot.h>
-#include <utilite/UEventsManager.h>
-#include <utilite/UFile.h>
+#include <rtabmap/utilite/UStl.h>
+#include <rtabmap/utilite/ULogger.h>
+#include "utilite/UPlot.h"
+#include <rtabmap/utilite/UEventsManager.h>
+#include <rtabmap/utilite/UFile.h>
 
 #include "AboutDialog.h"
 #include "PdfPlot.h"
@@ -451,8 +451,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 		_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
 
 		// get images
-		cv::Mat refImage = stat.refImage();
-		cv::Mat loopImage = stat.loopImage();
+		const cv::Mat & refImage = stat.refImage();
+		const cv::Mat & loopImage = stat.loopImage();
 
 		_ui->label_matchId->clear();
 		QPixmap refPixmap;
@@ -1325,7 +1325,7 @@ void MainWindow::generateLocalMap()
 void MainWindow::deleteMemory()
 {
 	QMessageBox::StandardButton button;
-	QString dbPath = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "LTM.db";
+	QString dbPath = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "rtabmap.db";
 	if(_state == kMonitoring)
 	{
 		button = QMessageBox::question(this,
@@ -1385,7 +1385,7 @@ void MainWindow::updateEditMenu()
 	// Update Memory delete database size
 	if(_state != kMonitoring)
 	{
-		QString dbPath = _preferencesDialog->getWorkingDirectory() + "/LTM.db";
+		QString dbPath = _preferencesDialog->getWorkingDirectory() + "/rtabmap.db";
 		_ui->actionDelete_memory->setText(tr("Delete memory (%1 MB)").arg(UFile::length(dbPath.toStdString())/1000000));
 	}
 }

guilib/src/PdfPlot.cpp

@@ -18,7 +18,7 @@
  */
 
 #include "PdfPlot.h"
-#include <utilite/ULogger.h>
+#include <rtabmap/utilite/ULogger.h>
 
 namespace rtabmap {
 

guilib/src/PreferencesDialog.cpp

@@ -31,10 +31,10 @@
 #include "ui_preferencesDialog.h"
 #include "rtabmap/core/Rtabmap.h"
 #include "rtabmap/core/Parameters.h"
-#include <utilite/ULogger.h>
-#include <utilite/UConversion.h>
-#include <utilite/UPlot.h>
-#include <utilite/UStl.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UConversion.h>
+#include "utilite/UPlot.h"
+#include <rtabmap/utilite/UStl.h>
 
 #define DEFAULT_GUI_IMAGES_KEPT true
 #define DEFAULT_LOGGER_LEVEL 2

guilib/src/StatsToolBox.cpp

@@ -31,8 +31,8 @@
 #include <QtGui/QToolBox>
 #include <QtGui/QDialog>
 
-#include <utilite/UPlot.h>
-#include <utilite/ULogger.h>
+#include "utilite/UPlot.h"
+#include <rtabmap/utilite/ULogger.h>
 
 namespace rtabmap {
 

guilib/src/qtipl.cpp

@@ -18,7 +18,7 @@
  */
 
 #include "rtabmap/gui/qtipl.h"
-#include "utilite/ULogger.h"
+#include "rtabmap/utilite/ULogger.h"
 #include <opencv2/core/core_c.h>
 
 namespace rtabmap {