mirror of
https://github.com/introlab/rtabmap.git
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matlabbe
d069becc72
* Windows CI: make vcpkg download compatible with draft release * forcing nvdia driver dll to be ignored in fixup_bundle * disabling opencv cudec and python * disabling rtabmap-console --version on cuda build * Added assert when bad imu data is provided. Added checks when zed sdk is returning nan imu data. * Updated zed sdk5 resolution and quality * Updated zed sdk5 resolution and quality * Fixing parameters reloaded when testing camera. Also fixed app freezing when closing Preferences dialog after using test camera dialog * cleanup and debug logs * Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents * renamed * found a way to expose ZED model downloads * Updated default config path on Windows * Fixed extra endline in file logging (windows) * Fixed camera local transform when used with lidar and odomSensor * CI(macos): build g2o from source with OpenMP (libomp include/link fix) * Mac: added ceres dep, fixed omp not found by cmake * Mac: bundle orbbec extensions * stripping rpath of orbbec's extensions * cleanup * Realsense2 error as error (not warning) * Fixed config ownership changed to root when sarting in sudo. LidarVLP16: fixed crash on Mac by reimplementing our own socket threading * LidarVLP16: own socket implementation only for Mac (linux and windows use original PCL's reader)
87 lines
3.3 KiB
C++
87 lines
3.3 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <QApplication>
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#include "rtabmap/gui/DatabaseViewer.h"
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#include "rtabmap/utilite/ULogger.h"
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#ifdef RTABMAP_PYTHON
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#include <rtabmap/core/PythonInterface.h>
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#endif
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#include <vtkObject.h>
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#include <vtkVersionMacros.h>
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#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
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#include <QVTKRenderWidget.h>
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#endif
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int main(int argc, char * argv[])
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kInfo);
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#ifdef WIN32
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CoInitialize(nullptr);
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#endif
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#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
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// needed to ensure appropriate OpenGL context is created for VTK rendering.
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QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
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#endif
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// Recommended by VTK when using QVTKOpenGLNativeWidget (a QOpenGLWidget): let all VTK
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// render widgets share a single OpenGL context, which is needed for correct rendering
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// when render widgets live in / move across multiple top-level windows. Must be set
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// before QApplication is constructed.
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QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
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#ifdef RTABMAP_PYTHON
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rtabmap::PythonInterface pythonInterface;
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#endif
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QApplication * app = new QApplication(argc, argv);
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rtabmap::DatabaseViewer * mainWindow = new rtabmap::DatabaseViewer();
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mainWindow->showNormal();
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if(argc >= 2)
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{
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mainWindow->openDatabase(argv[argc-1], rtabmap::Parameters::parseArguments(argc, argv, true));
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}
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// Now wait for application to finish
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app->connect( app, SIGNAL( lastWindowClosed() ),
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app, SLOT( quit() ) );
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app->exec();// MUST be called by the Main Thread
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delete mainWindow;
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delete app;
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UINFO("All done! closing...");
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return 0;
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}
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