Initial commit

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2 f169173b-cf89-36c8-b27e-44dbe73f0c83

CMakeLists.txt

@@ -0,0 +1,8 @@
+####### DEPENDENCIES #######
+FIND_PACKAGE(UtiLite REQUIRED)
+FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED )
+FIND_PACKAGE(OpenCV REQUIRED)
+
+
+####### SOURCES #######
+ADD_SUBDIRECTORY( src )

src/CMakeLists.txt

@@ -0,0 +1,125 @@
+
+### Qt Gui stuff ###
+SET(headers_ui 
+	./ObjDeletionHandler.h
+)
+
+#This will generate moc_* for Qt
+QT4_WRAP_CPP(moc_srcs ${headers_ui})
+
+SET(SRC_FILES
+    main.cpp
+    ${moc_srcs} 
+)
+
+SET(INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${UTILITE_INCLUDE_DIR}
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+INCLUDE(${QT_USE_FILE})
+
+SET(LIBRARIES
+    ${UTILITE_LIBRARY}
+    ${QT_LIBRARIES} 
+	${OpenCV_LIBS} 
+)
+
+# Make sure the compiler can find include files from our library.
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+# For Apple set the icns file containing icons
+IF(APPLE AND BUILD_AS_BUNDLE)
+  # set how it shows up in the Info.plist file
+  SET(MACOSX_BUNDLE_ICON_FILE ${PROJECT_NAME}.icns) 
+  # set where in the bundle to put the icns file
+  SET_SOURCE_FILES_PROPERTIES(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns PROPERTIES MACOSX_PACKAGE_LOCATION Resources)
+  # include the icns file in the target
+  SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns)
+ENDIF(APPLE AND BUILD_AS_BUNDLE)
+
+# Add exe icon resource
+IF(WIN32)
+  IF( MINGW )
+    # resource compilation for MinGW
+    ADD_CUSTOM_COMMAND( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o
+                        COMMAND windres.exe -I${CMAKE_CURRENT_SOURCE_DIR} -i${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.rc 
+                             -o ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o )
+    SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o)
+  ELSE( MINGW )
+    SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc)
+  ENDIF( MINGW )
+ENDIF(WIN32)
+
+# Add binary
+IF(APPLE AND BUILD_AS_BUNDLE)
+  ADD_EXECUTABLE(main_app MACOSX_BUNDLE ${SRC_FILES})
+ELSE()
+  ADD_EXECUTABLE(main_app WIN32 ${SRC_FILES})
+ENDIF()
+TARGET_LINK_LIBRARIES(main_app corelib guilib ${LIBRARIES})
+
+IF(APPLE AND BUILD_AS_BUNDLE)
+  SET_TARGET_PROPERTIES(main_app PROPERTIES
+    OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
+ELSEIF(WIN32)
+  SET_TARGET_PROPERTIES(main_app PROPERTIES
+    OUTPUT_NAME ${PROJECT_NAME})
+ELSE()
+  SET_TARGET_PROPERTIES(main_app PROPERTIES
+    OUTPUT_NAME ${PROJECT_PREFIX})
+ENDIF()
+
+#---------------------------
+# Installation stuff
+#--------------------------- 
+INSTALL(TARGETS main_app
+        RUNTIME DESTINATION bin COMPONENT runtime
+        BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
+      
+IF(APPLE AND BUILD_AS_BUNDLE)
+INSTALL(CODE "execute_process(COMMAND ln -s \"../MacOS/${CMAKE_BUNDLE_NAME}\" ${PROJECT_NAME}
+        WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin)")
+ENDIF(APPLE AND BUILD_AS_BUNDLE)
+       
+SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME}${CMAKE_EXECUTABLE_SUFFIX}")
+IF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
+  SET(plugin_dest_dir bin)
+  SET(qtconf_dest_dir bin)
+  IF(APPLE)
+    SET(plugin_dest_dir MacOS)
+    SET(qtconf_dest_dir Resources)
+    SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
+  ENDIF(APPLE)
+
+  # Install needed Qt plugins by copying directories from the qt installation
+  # One can cull what gets copied by using 'REGEX "..." EXCLUDE'
+  INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats" DESTINATION ${plugin_dest_dir}/plugins COMPONENT runtime)
+  
+  # install a qt.conf file
+  # this inserts some cmake code into the install script to write the file
+  SET(QT_CONF_FILE [Paths]\nPlugins=plugins)
+  IF(APPLE)
+    SET(QT_CONF_FILE [Paths]\nPlugins=MacOS/plugins)
+  ENDIF(APPLE)
+  INSTALL(CODE "
+    file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
+    " COMPONENT runtime)
+
+  # directories to look for dependencies
+  SET(DIRS ${QT_LIBRARY_DIRS} ${PROJECT_SOURCE_DIR}/bin)
+
+  # Now the work of copying dependencies into the bundle/package
+  # The quotes are escaped and variables to use at install time have their $ escaped
+  # An alternative is the do a configure_file() on a script and use install(SCRIPT  ...).
+  # Note that the image plugins depend on QtSvg and QtXml, and it got those copied
+  # over.
+  # To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
+  install(CODE "
+   file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/plugins/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
+    include(\"BundleUtilities\")
+    fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
+  " COMPONENT runtime)
+ENDIF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
+  

src/ObjDeletionHandler.h

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+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef OBJDELETIONHANDLER_H_
+#define OBJDELETIONHANDLER_H_
+
+#include "utilite/UEventsHandler.h"
+#include "utilite/UEvent.h"
+#include <QtCore/QObject>
+
+class ObjDeletionHandler : public QObject, public UEventsHandler
+{
+	Q_OBJECT
+
+public:
+	ObjDeletionHandler(int watchedId, QObject * receiver = 0, const char * member = 0) : _watchedId(watchedId)
+	{
+		if(receiver && member)
+		{
+			connect(this, SIGNAL(objDeletionEventReceived(int)), receiver, member);
+		}
+	}
+	virtual ~ObjDeletionHandler() {}
+
+signals:
+	void objDeletionEventReceived(int);
+
+protected:
+	virtual void handleEvent(UEvent * event)
+	{
+		if(event->getClassName().compare("ObjDeletedEvent") == 0 &&
+		   event->getCode() == _watchedId)
+		{
+			emit objDeletionEventReceived(_watchedId);
+		}
+	}
+private:
+	int _watchedId;
+};
+
+#endif /* OBJDELETIONHANDLER_H_ */

src/RTAB-Map.rc

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+IDI_ICON1 ICON DISCARDABLE "CTABMap.ico"

src/main.cpp

@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <QtGui/QApplication>
+#include <QtCore/QDir>
+#include "utilite/UEventsManager.h"
+#include "rtabmap/core/Rtabmap.h"
+#include "rtabmap/gui/MainWindow.h"
+#include <QtGui/QMessageBox>
+#include "utilite/UObjDeletionThread.h"
+#include "ObjDeletionHandler.h"
+
+using namespace rtabmap;
+
+int main(int argc, char* argv[])
+{
+
+	/* Set logger type */
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kDebug); // Disable log with level
+
+	ULOGGER_INFO("Program started...");
+
+	/* Create tasks */
+	Rtabmap * rtabmap = new Rtabmap();
+	QApplication * app = new QApplication(argc, argv);
+	MainWindow * mainWindow = new MainWindow();
+
+	/* Add handlers to the EventsManager */
+	UEventsManager::addHandler(mainWindow);
+	UEventsManager::addHandler(rtabmap); //thread
+
+	/* Start thread's task */
+	mainWindow->showNormal();
+
+	// Now wait for application to finish
+	app->connect( app, SIGNAL( lastWindowClosed() ),
+				app, SLOT( quit() ) );
+	app->exec();// MUST be called by the Main Thread
+
+	/* Remove handlers */
+	UEventsManager::removeHandler(mainWindow);
+	UEventsManager::removeHandler(rtabmap);
+
+	ULOGGER_INFO("Killing threads...");
+	rtabmap->kill();
+
+	ULOGGER_INFO("Free memory...");
+
+	//Since we can't put the Rtabmap object in the MainWindow class,
+	//we pop up a message box indicating that the rtabmap object
+	// is being deleted (saving data to the database)
+	QMessageBox * msg = new QMessageBox(QMessageBox::Information, QObject::tr("RTAB-Map is closing..."), QObject::tr("The detector is saving the working memory to the database..."), QMessageBox::NoButton);
+	msg->setEnabled(false);
+	msg->setIconPixmap(QPixmap(":/images/RTAB-Map.ico"));
+	msg->setWindowIcon(QIcon(":/images/RTAB-Map.ico"));
+	ObjDeletionThread<Rtabmap> delThread(rtabmap);
+	ObjDeletionHandler handler(delThread.id(), app, SLOT(quit()));
+	UEventsManager::addHandler(&handler);
+	delThread.startDeletion();
+	msg->show();
+	app->exec();
+	delete msg;
+	delete mainWindow;
+	delete app;
+
+	ULOGGER_INFO("All done! Closing...");
+
+    return 0;
+}