app
src
app/src/main.cpp
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/*
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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 <QtCore/QDir>
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#include "
rtabmap/utilite/UEventsManager.h
"
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#include "
rtabmap/core/RtabmapThread.h
"
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#include "
rtabmap/core/Rtabmap.h
"
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#include "
rtabmap/gui/MainWindow.h
"
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#include <QMessageBox>
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#include "
rtabmap/utilite/UObjDeletionThread.h
"
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#include "
rtabmap/utilite/UFile.h
"
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#include "
rtabmap/utilite/UConversion.h
"
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#include <vtkVersionMacros.h>
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#include <vtkObject.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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using namespace
rtabmap
;
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int
main
(
int
argc,
char
*
argv
[])
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{
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/* Set logger type */
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ULogger::setType
(
ULogger::kTypeConsole
);
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ULogger::setLevel
(
ULogger::kWarning
);
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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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/* Create tasks */
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QApplication *
app
=
new
QApplication(argc,
argv
);
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app
->setStyleSheet(
"QMessageBox { messagebox-text-interaction-flags: 5; }"
);
// selectable message box
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ParametersMap
parameters =
Parameters::parseArguments
(argc,
argv
,
false
);
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MainWindow
* mainWindow =
new
MainWindow
();
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app
->installEventFilter(mainWindow);
// to catch FileOpen events.
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std::string database;
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for
(
int
i
=1;
i
<argc; ++
i
)
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{
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std::string
value
=
uReplaceChar
(
argv
[
i
],
'~'
,
UDirectory::homeDir
());
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if
(
UFile::exists
(
value
) &&
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UFile::getExtension
(
value
).
compare
(
"db"
) == 0)
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{
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database =
value
;
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}
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}
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printf(
"Program started...\n"
);
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UEventsManager::addHandler
(mainWindow);
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/* Start thread's task */
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if
(mainWindow->
isSavedMaximized
())
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{
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mainWindow->showMaximized();
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}
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else
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{
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mainWindow->show();
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}
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RtabmapThread
*
rtabmap
=
new
RtabmapThread
(
new
Rtabmap
());
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rtabmap
->start();
// start it not initialized... will be initialized by event from the gui
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UEventsManager::addHandler
(
rtabmap
);
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if
(!database.empty())
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{
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mainWindow->
openDatabase
(database.c_str(), parameters);
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}
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else
if
(parameters.size())
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{
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mainWindow->
updateParameters
(parameters);
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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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/* Remove handlers */
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UEventsManager::removeHandler
(mainWindow);
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UEventsManager::removeHandler
(
rtabmap
);
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rtabmap
->join(
true
);
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printf(
"Closing RTAB-Map...\n"
);
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delete
rtabmap
;
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delete
mainWindow;
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delete
app
;
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printf(
"All done!\n"
);
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return
0;
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}
rtabmap::MainWindow
Definition:
MainWindow.h:82
compare
bool compare
UEventsManager::removeHandler
static void removeHandler(UEventsHandler *handler)
Definition:
UEventsManager.cpp:41
rtabmap::MainWindow::updateParameters
void updateParameters(const rtabmap::ParametersMap ¶meters)
Definition:
MainWindow.cpp:5387
rtabmap::Parameters::parseArguments
static ParametersMap parseArguments(int argc, char *argv[], bool onlyParameters=false)
Definition:
Parameters.cpp:599
ULogger::kTypeConsole
@ kTypeConsole
Definition:
ULogger.h:244
ULogger::setLevel
static void setLevel(ULogger::Level level)
Definition:
ULogger.h:339
rtabmap::MainWindow::openDatabase
void openDatabase(const QString &path, const rtabmap::ParametersMap &overridedParameters=rtabmap::ParametersMap())
Definition:
MainWindow.cpp:5530
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition:
Parameters.h:43
RtabmapThread.h
UDirectory::homeDir
static std::string homeDir()
Definition:
UDirectory.cpp:355
app
QApplication * app
Definition:
tools/DataRecorder/main.cpp:59
UConversion.h
Some conversion functions.
UFile::getExtension
std::string getExtension()
Definition:
UFile.h:140
UEventsManager::addHandler
static void addHandler(UEventsHandler *handler)
Definition:
UEventsManager.cpp:28
UObjDeletionThread.h
Rtabmap.h
ULogger::kWarning
@ kWarning
Definition:
ULogger.h:252
rtabmap_netvlad.argv
argv
Definition:
rtabmap_netvlad.py:15
ULogger::setType
static void setType(Type type, const std::string &fileName=kDefaultLogFileName, bool append=true)
Definition:
ULogger.cpp:176
uReplaceChar
std::string UTILITE_EXPORT uReplaceChar(const std::string &str, char before, char after)
Definition:
UConversion.cpp:33
MainWindow.h
rtabmap::MainWindow::isSavedMaximized
bool isSavedMaximized() const
Definition:
MainWindow.h:110
rtabmap::Rtabmap
Definition:
Rtabmap.h:54
UFile.h
rtabmap
Definition:
CameraARCore.cpp:35
UFile::exists
bool exists()
Definition:
UFile.h:104
UEventsManager.h
value
value
i
int i
main
int main(int argc, char *argv[])
Definition:
app/src/main.cpp:48
rtabmap::RtabmapThread
Definition:
RtabmapThread.h:51
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:11