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Rtabmap: Refactoring... removed all threading/events related stuff from Rtabmap object to RtabmapThread object (a thread wrapper of the rtabmap object)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@803 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-02-03 22:12:02 +00:00
parent 916bafeba1
commit e8e75a9d40
11 changed files with 660 additions and 650 deletions
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6
app/src/main.cpp
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@@ -20,7 +20,7 @@
#include <QtGui/QApplication>
#include <QtCore/QDir>
#include "utilite/UEventsManager.h"
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/gui/MainWindow.h"
#include <QtGui/QMessageBox>
#include "utilite/UObjDeletionThread.h"
@@ -45,7 +45,7 @@ int main(int argc, char* argv[])
/* Start thread's task */
mainWindow->showNormal();
Rtabmap * rtabmap = new Rtabmap();
RtabmapThread * rtabmap = new RtabmapThread();
rtabmap->setWorkingDirectory(mainWindow->getWorkingDirectory().toStdString());
rtabmap->start(); // start it not initialized... will be initialized by event from the gui
UEventsManager::addHandler(rtabmap);
@@ -74,7 +74,7 @@ int main(int argc, char* argv[])
msg->setIconPixmap(QPixmap(":/images/RTAB-Map.ico"));
msg->setWindowIcon(QIcon(":/images/RTAB-Map.ico"));
msg->show();
UObjDeletionThread<Rtabmap> delThread(rtabmap);
UObjDeletionThread<RtabmapThread> 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