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Created a library find_object for convenience

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Updated version to 0.5.0

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@357 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe 2014-07-31 20:11:46 +00:00
parent 680b1740b1
commit 9bc7c15abc
38 changed files with 356 additions and 211 deletions
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68
CMakeLists.txt
View File

@ -13,7 +13,7 @@ ENDIF(NOT WIN32)
####################### #######################
# VERSION # VERSION
####################### #######################
SET(PROJECT_VERSION "0.4.6") SET(PROJECT_VERSION "0.5.0")
ADD_DEFINITIONS(-DPROJECT_VERSION="${PROJECT_VERSION}") ADD_DEFINITIONS(-DPROJECT_VERSION="${PROJECT_VERSION}")
STRING(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}") STRING(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
@ -34,11 +34,46 @@ ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
SET(CMAKE_DEBUG_POSTFIX "d") SET(CMAKE_DEBUG_POSTFIX "d")
####### Build libraries as shared or static #######
OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )
####### SET RPATH #########
# When RPATH is activated (supported on most UNIX systems),
# the user doesn't need to change LD_LIBRARY_PATH
# use, i.e. don't skip the full RPATH for the build tree
SET(CMAKE_SKIP_BUILD_RPATH FALSE)
# when building, don't use the install RPATH already
# (but later on when installing)
SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
# the RPATH to be used when installing
SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
# add the automatically determined parts of the RPATH
# which point to directories outside the build tree to the install RPATH
SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
####### OUTPUT DIR ####### ####### OUTPUT DIR #######
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin) SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin) SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib) SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
####### INSTALL DIR #######
# Offer the user the choice of overriding the installation directories
set(INSTALL_LIB_DIR lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} CACHE PATH "Installation directory for libraries")
set(INSTALL_BIN_DIR bin CACHE PATH "Installation directory for executables")
set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} CACHE PATH
"Installation directory for header files")
if(WIN32 AND NOT CYGWIN)
set(DEF_INSTALL_CMAKE_DIR CMake)
else()
set(DEF_INSTALL_CMAKE_DIR lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR})
endif()
set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
"Installation directory for CMake files")
####### DEPENDENCIES ####### ####### DEPENDENCIES #######
FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1 FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork) # tested on Qt4.7 FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork) # tested on Qt4.7
@ -63,6 +98,7 @@ IF(APPLE AND BUILD_AS_BUNDLE)
ENDIF(APPLE AND BUILD_AS_BUNDLE) ENDIF(APPLE AND BUILD_AS_BUNDLE)
####### SOURCES (Projects) ####### ####### SOURCES (Projects) #######
ADD_SUBDIRECTORY( src )
ADD_SUBDIRECTORY( app ) ADD_SUBDIRECTORY( app )
ADD_SUBDIRECTORY( example ) ADD_SUBDIRECTORY( example )
ADD_SUBDIRECTORY( tcpClient ) ADD_SUBDIRECTORY( tcpClient )
@ -82,6 +118,36 @@ CONFIGURE_FILE(
ADD_CUSTOM_TARGET(uninstall ADD_CUSTOM_TARGET(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake") "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
#######################
# Setup FindObjectConfig.cmake
#######################
# Create the FindObjectConfig.cmake and FindObjectConfigVersion files
file(RELATIVE_PATH REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
# ... for the build tree
set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
configure_file(FindObjectConfig.cmake.in
"${PROJECT_BINARY_DIR}/FindObjectConfig.cmake" @ONLY)
# ... for the install tree
set(CONF_INCLUDE_DIRS "\${FindObject_CMAKE_DIR}/${REL_INCLUDE_DIR}")
set(CONF_LIB_DIR "\${FindObject_CMAKE_DIR}/${REL_LIB_DIR}")
configure_file(FindObjectConfig.cmake.in
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake" @ONLY)
# ... for both
configure_file(FindObjectConfigVersion.cmake.in
"${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake" @ONLY)
# Install the FindObjectConfig.cmake and FindObjectConfigVersion.cmake
install(FILES
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake"
"${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake"
DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT devel)
####
####################### #######################
# CPACK (Packaging) # CPACK (Packaging)
####################### #######################

10
FindObjectConfig.cmake.in Normal file
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@ -0,0 +1,10 @@
# - Config file for the FindObject package
# It defines the following variables
# FindObject_INCLUDE_DIRS - include directories for FindObject
# FindObject_LIBRARIES - libraries to link against
# Compute paths
get_filename_component(FindObject_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
set(FindObject_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
find_library(FindObject_LIBRARIES NAMES find_object NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")

11
FindObjectConfigVersion.cmake.in Normal file
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@ -0,0 +1,11 @@
set(PACKAGE_VERSION "@PROJECT_VERSION@")
# Check whether the requested PACKAGE_FIND_VERSION is compatible
if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE FALSE)
else()
set(PACKAGE_VERSION_COMPATIBLE TRUE)
if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
set(PACKAGE_VERSION_EXACT TRUE)
endif()
endif()

84
app/CMakeLists.txt
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@ -1,74 +1,8 @@
### Qt Gui stuff ###
SET(headers_ui
../src/MainWindow.h
../src/AddObjectDialog.h
../src/ObjWidget.h
../src/FindObject.h
../src/Camera.h
../src/CameraTcpClient.h
../src/ParametersToolBox.h
../src/AboutDialog.h
../src/TcpServer.h
../src/RectItem.h
../src/utilite/UPlot.h
../src/rtabmap/PdfPlot.h
)
SET(uis
../src/ui/mainWindow.ui
../src/ui/addObjectDialog.ui
../src/ui/aboutDialog.ui
)
SET(qrc
../src/resources.qrc
)
# generate rules for building source files from the resources
QT4_ADD_RESOURCES(srcs_qrc ${qrc})
#Generate .h files from the .ui files
QT4_WRAP_UI(moc_uis ${uis})
#This will generate moc_* for Qt
QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end###
SET(SRC_FILES
./main.cpp
../src/MainWindow.cpp
../src/AddObjectDialog.cpp
../src/KeypointItem.cpp
../src/RectItem.cpp
../src/QtOpenCV.cpp
../src/Camera.cpp
../src/CameraTcpClient.cpp
../src/ParametersToolBox.cpp
../src/Settings.cpp
../src/ObjWidget.cpp
../src/FindObject.cpp
../src/AboutDialog.cpp
../src/TcpServer.cpp
../src/Vocabulary.cpp
../src/utilite/ULogger.cpp
../src/utilite/UPlot.cpp
../src/utilite/UDirectory.cpp
../src/utilite/UFile.cpp
../src/utilite/UConversion.cpp
../src/rtabmap/PdfPlot.cpp
${moc_srcs}
${moc_uis}
${srcs_qrc}
)
SET(INCLUDE_DIRS SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../src ${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
) )
INCLUDE(${QT_USE_FILE}) INCLUDE(${QT_USE_FILE})
@ -106,30 +40,30 @@ ENDIF(WIN32)
# create an executable file # create an executable file
IF(APPLE AND BUILD_AS_BUNDLE) IF(APPLE AND BUILD_AS_BUNDLE)
ADD_EXECUTABLE(find_object MACOSX_BUNDLE ${SRC_FILES}) ADD_EXECUTABLE(find_object_app MACOSX_BUNDLE main.cpp)
ELSEIF(MINGW) ELSEIF(MINGW)
ADD_EXECUTABLE(find_object WIN32 ${SRC_FILES}) ADD_EXECUTABLE(find_object_app WIN32 main.cpp)
ELSE() ELSE()
ADD_EXECUTABLE(find_object ${SRC_FILES}) ADD_EXECUTABLE(find_object_app main.cpp)
ENDIF() ENDIF()
# Linking with Qt libraries # Linking with Qt libraries
TARGET_LINK_LIBRARIES(find_object ${LIBRARIES}) TARGET_LINK_LIBRARIES(find_object_app find_object ${LIBRARIES})
IF(APPLE AND BUILD_AS_BUNDLE) IF(APPLE AND BUILD_AS_BUNDLE)
SET_TARGET_PROPERTIES(find_object PROPERTIES SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${CMAKE_BUNDLE_NAME}) OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
ELSEIF(WIN32) ELSEIF(WIN32)
SET_TARGET_PROPERTIES(find_object PROPERTIES SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${PROJECT_NAME}) OUTPUT_NAME ${PROJECT_NAME})
ELSE() ELSE()
SET_TARGET_PROPERTIES(find_object PROPERTIES SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${PROJECT_PREFIX}) OUTPUT_NAME ${PROJECT_PREFIX})
ENDIF() ENDIF()
#--------------------------- #---------------------------
# Installation stuff # Installation stuff
#--------------------------- #---------------------------
INSTALL(TARGETS find_object INSTALL(TARGETS find_object_app
RUNTIME DESTINATION bin COMPONENT runtime RUNTIME DESTINATION bin COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime) BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)

12
app/main.cpp
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@ -1,12 +1,12 @@
#include <QtGui/QApplication> #include <QtGui/QApplication>
#include <QtCore/QDir> #include <QtCore/QDir>
#include <QtCore/QFile> #include <QtCore/QFile>
#include "MainWindow.h" #include "find_object/MainWindow.h"
#include "Settings.h" #include "find_object/Settings.h"
#include "FindObject.h" #include "find_object/FindObject.h"
#include "Camera.h" #include "find_object/Camera.h"
#include "TcpServer.h" #include "find_object/TcpServer.h"
#include "utilite/ULogger.h" #include "find_object/utilite/ULogger.h"
bool running = true; bool running = true;

24
example/CMakeLists.txt
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@ -1,32 +1,12 @@
### Qt Gui stuff ###
SET(headers_ui
../src/ObjWidget.h
../src/Camera.h
../src/CameraTcpClient.h
)
#This will generate moc_* for Qt
QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end###
SET(SRC_FILES SET(SRC_FILES
main.cpp main.cpp
../src/ObjWidget.cpp
../src/KeypointItem.cpp
../src/QtOpenCV.cpp
../src/Settings.cpp
../src/Camera.cpp
../src/CameraTcpClient.cpp
../src/utilite/UDirectory.cpp
../src/utilite/UFile.cpp
../src/utilite/ULogger.cpp
../src/utilite/UConversion.cpp
${moc_srcs}
) )
SET(INCLUDE_DIRS SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/../src ${CMAKE_CURRENT_SOURCE_DIR}/../include
) )
INCLUDE(${QT_USE_FILE}) INCLUDE(${QT_USE_FILE})
@ -42,7 +22,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary called "example" that is built from the source file "main.cpp". # Add binary called "example" that is built from the source file "main.cpp".
# The extension is automatically found. # The extension is automatically found.
ADD_EXECUTABLE(example ${SRC_FILES}) ADD_EXECUTABLE(example ${SRC_FILES})
TARGET_LINK_LIBRARIES(example ${LIBRARIES}) TARGET_LINK_LIBRARIES(example find_object ${LIBRARIES})
SET_TARGET_PROPERTIES( example SET_TARGET_PROPERTIES( example
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example) PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example)

6
example/main.cpp
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@ -19,9 +19,9 @@
#include <opencv2/nonfree/features2d.hpp> #include <opencv2/nonfree/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp> // for homography #include <opencv2/calib3d/calib3d.hpp> // for homography
// From this project (see src folder) // From this project
#include "ObjWidget.h" #include "find_object/ObjWidget.h"
#include "QtOpenCV.h" #include "find_object/QtOpenCV.h"
void showUsage() void showUsage()
{ {

14
imagesTcpServer/CMakeLists.txt
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@ -1,7 +1,5 @@
### Qt Gui stuff ### ### Qt Gui stuff ###
SET(headers_ui SET(headers_ui
../src/Camera.h
../src/CameraTcpClient.h
ImagesTcpServer.h ImagesTcpServer.h
) )
#This will generate moc_* for Qt #This will generate moc_* for Qt
@ -9,23 +7,15 @@ QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end### ### Qt Gui stuff end###
SET(SRC_FILES SET(SRC_FILES
../src/Camera.cpp
../src/CameraTcpClient.cpp
../src/Settings.cpp
../src/QtOpenCV.cpp
../src/utilite/UDirectory.cpp
../src/utilite/UFile.cpp
../src/utilite/ULogger.cpp
../src/utilite/UConversion.cpp
ImagesTcpServer.cpp ImagesTcpServer.cpp
main.cpp main.cpp
${moc_srcs} ${moc_srcs}
) )
SET(INCLUDE_DIRS SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}
../src
) )
INCLUDE(${QT_USE_FILE}) INCLUDE(${QT_USE_FILE})
@ -41,7 +31,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary called "example" that is built from the source file "main.cpp". # Add binary called "example" that is built from the source file "main.cpp".
# The extension is automatically found. # The extension is automatically found.
ADD_EXECUTABLE(imagesTcpServer ${SRC_FILES}) ADD_EXECUTABLE(imagesTcpServer ${SRC_FILES})
TARGET_LINK_LIBRARIES(imagesTcpServer ${LIBRARIES}) TARGET_LINK_LIBRARIES(imagesTcpServer find_object ${LIBRARIES})
SET_TARGET_PROPERTIES( imagesTcpServer SET_TARGET_PROPERTIES( imagesTcpServer
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesTcpServer) PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesTcpServer)

5
imagesTcpServer/ImagesTcpServer.cpp
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@ -5,13 +5,14 @@
* Author: mathieu * Author: mathieu
*/ */
#include "find_object/Settings.h"
#include "find_object/QtOpenCV.h"
#include "ImagesTcpServer.h" #include "ImagesTcpServer.h"
#include <QtNetwork/QNetworkInterface> #include <QtNetwork/QNetworkInterface>
#include <QtNetwork/QTcpSocket> #include <QtNetwork/QTcpSocket>
#include <QtGui/QTransform> #include <QtGui/QTransform>
#include "Settings.h"
#include "QtOpenCV.h"
ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) : ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) :
QTcpServer(parent) QTcpServer(parent)

2
imagesTcpServer/ImagesTcpServer.h
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@ -8,7 +8,7 @@
#ifndef TCPCLIENT_H_ #ifndef TCPCLIENT_H_
#define TCPCLIENT_H_ #define TCPCLIENT_H_
#include "Camera.h" #include "find_object/Camera.h"
#include <QtNetwork/QTcpServer> #include <QtNetwork/QTcpServer>
class ImagesTcpServer : public QTcpServer class ImagesTcpServer : public QTcpServer

9
src/Camera.h → include/find_object/Camera.h
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@ -5,13 +5,16 @@
#ifndef CAMERA_H_ #ifndef CAMERA_H_
#define CAMERA_H_ #define CAMERA_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <QtCore/QObject> #include <QtCore/QObject>
#include <QtCore/QTimer> #include <QtCore/QTimer>
#include <QtGui/QImage> #include <QtGui/QImage>
#include "CameraTcpClient.h"
class Camera : public QObject { class CameraTcpClient;
class FINDOBJECT_EXP Camera : public QObject {
Q_OBJECT Q_OBJECT
public: public:
Camera(QObject * parent = 0); Camera(QObject * parent = 0);
@ -42,7 +45,7 @@ private:
QTimer cameraTimer_; QTimer cameraTimer_;
QList<std::string> images_; QList<std::string> images_;
unsigned int currentImageIndex_; unsigned int currentImageIndex_;
CameraTcpClient cameraTcpClient_; CameraTcpClient * cameraTcpClient_;
}; };
#endif /* CAMERA_H_ */ #endif /* CAMERA_H_ */

4
src/FindObject.h → include/find_object/FindObject.h
View File

@ -8,6 +8,8 @@
#ifndef FINDOBJECT_H_ #ifndef FINDOBJECT_H_
#define FINDOBJECT_H_ #define FINDOBJECT_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtCore/QObject> #include <QtCore/QObject>
#include <QtCore/QString> #include <QtCore/QString>
#include <QtCore/QMap> #include <QtCore/QMap>
@ -24,7 +26,7 @@ class Vocabulary;
class KeypointDetector; class KeypointDetector;
class DescriptorExtractor; class DescriptorExtractor;
class FindObject : public QObject class FINDOBJECT_EXP FindObject : public QObject
{ {
Q_OBJECT; Q_OBJECT;

33
include/find_object/FindObjectExp.h Normal file
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@ -0,0 +1,33 @@
/*
* 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 FINDOBJECTEXP_H
#define FINDOBJECTEXP_H
#if defined(_WIN32)
#if defined(find_object_EXPORTS)
#define FINDOBJECT_EXP __declspec( dllexport )
#else
#define FINDOBJECT_EXP __declspec( dllimport )
#endif
#else
#define FINDOBJECT_EXP
#endif
#endif // RTABMAPEXP_H

4
src/MainWindow.h → include/find_object/MainWindow.h
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@ -5,6 +5,8 @@
#ifndef MAINWINDOW_H_ #ifndef MAINWINDOW_H_
#define MAINWINDOW_H_ #define MAINWINDOW_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtGui/QMainWindow> #include <QtGui/QMainWindow>
#include <QtCore/QSet> #include <QtCore/QSet>
#include <QtCore/QTimer> #include <QtCore/QTimer>
@ -31,7 +33,7 @@ namespace rtabmap
class PdfPlotCurve; class PdfPlotCurve;
} }
class MainWindow : public QMainWindow class FINDOBJECT_EXP MainWindow : public QMainWindow
{ {
Q_OBJECT Q_OBJECT

4
src/ObjWidget.h → include/find_object/ObjWidget.h
View File

@ -5,6 +5,8 @@
#ifndef OBJWIDGET_H_ #ifndef OBJWIDGET_H_
#define OBJWIDGET_H_ #define OBJWIDGET_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <opencv2/features2d/features2d.hpp> #include <opencv2/features2d/features2d.hpp>
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QtCore/QMultiMap> #include <QtCore/QMultiMap>
@ -19,7 +21,7 @@ class QGraphicsRectItem;
class QGraphicsItem; class QGraphicsItem;
class QLabel; class QLabel;
class ObjWidget : public QWidget class FINDOBJECT_EXP ObjWidget : public QWidget
{ {
Q_OBJECT Q_OBJECT

25
include/find_object/QtOpenCV.h Normal file
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@ -0,0 +1,25 @@
/*
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#ifndef QTOPENCV_H
#define QTOPENCV_H
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtGui/QImage>
#include <opencv2/core/core.hpp>
// Convert OpenCV matrix to QImage
QImage FINDOBJECT_EXP cvtCvMat2QImage(const cv::Mat & image, bool isBgr = true);
// Convert QImage to OpenCV matrix
cv::Mat FINDOBJECT_EXP cvtQImage2CvMat(const QImage & image);
// Convert IplImage to QImage
QImage FINDOBJECT_EXP cvtIplImage2QImage(const IplImage * image);
// Convert QImage to IplImage
IplImage * FINDOBJECT_EXP cvtQImage2IplImage(const QImage & image);
#endif // QTOPENCV_H

4
src/Settings.h → include/find_object/Settings.h
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@ -5,6 +5,8 @@
#ifndef SETTINGS_H_ #ifndef SETTINGS_H_
#define SETTINGS_H_ #define SETTINGS_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtCore/QMap> #include <QtCore/QMap>
#include <QtCore/QVariant> #include <QtCore/QVariant>
#include <QtCore/QByteArray> #include <QtCore/QByteArray>
@ -55,7 +57,7 @@ typedef unsigned int uint;
Dummy##PREFIX##_##NAME dummy##PREFIX##_##NAME; Dummy##PREFIX##_##NAME dummy##PREFIX##_##NAME;
// MACRO END // MACRO END
class Settings class FINDOBJECT_EXP Settings
{ {
PARAMETER(Camera, 1deviceId, int, 0, "Device ID (default 0)."); PARAMETER(Camera, 1deviceId, int, 0, "Device ID (default 0).");
PARAMETER(Camera, 2imageWidth, int, 640, "Image width (0 means default width from camera)."); PARAMETER(Camera, 2imageWidth, int, 640, "Image width (0 means default width from camera).");

4
src/TcpServer.h → include/find_object/TcpServer.h
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@ -8,11 +8,13 @@
#ifndef TCPSERVER_H_ #ifndef TCPSERVER_H_
#define TCPSERVER_H_ #define TCPSERVER_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtNetwork/QTcpServer> #include <QtNetwork/QTcpServer>
class QNetworkSession; class QNetworkSession;
class TcpServer : public QTcpServer class FINDOBJECT_EXP TcpServer : public QTcpServer
{ {
Q_OBJECT Q_OBJECT

0
src/utilite/UDestroyer.h → include/find_object/utilite/UDestroyer.h
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8
src/utilite/ULogger.h → include/find_object/utilite/ULogger.h
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@ -20,10 +20,10 @@
#ifndef ULOGGER_H #ifndef ULOGGER_H
#define ULOGGER_H #define ULOGGER_H
//#include "utilite/UtiLiteExp.h" // DLL export/import defines #include "find_object/FindObjectExp.h" // DLL export/import defines
#include "utilite/UMutex.h" #include "find_object/utilite/UMutex.h"
#include "utilite/UDestroyer.h" #include "find_object/utilite/UDestroyer.h"
#include <stdio.h> #include <stdio.h>
#include <time.h> #include <time.h>
@ -190,7 +190,7 @@
* @see UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL() * @see UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL()
* *
*/ */
class ULogger class FINDOBJECT_EXP ULogger
{ {
public: public:

2
src/utilite/UMutex.h → include/find_object/utilite/UMutex.h
View File

@ -23,7 +23,7 @@
#include <errno.h> #include <errno.h>
#ifdef WIN32 #ifdef WIN32
#include "utilite/UWin32.h" #include "find_object/utilite/UWin32.h"
#else #else
#include <pthread.h> #include <pthread.h>
#endif #endif

2
src/utilite/UWin32.h → include/find_object/utilite/UWin32.h
View File

@ -9,8 +9,6 @@
#ifndef _U_Win32_ #ifndef _U_Win32_
#define _U_Win32_ #define _U_Win32_
#include "utilite/UtiLiteExp.h"
#if !defined(_WINDOWS_) #if !defined(_WINDOWS_)
// WIN32 Excludes // WIN32 Excludes
#ifdef WIN32_LEAN_AND_MEAN #ifdef WIN32_LEAN_AND_MEAN

11
src/AddObjectDialog.cpp
View File

@ -2,15 +2,16 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/ */
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
#include "AddObjectDialog.h" #include "AddObjectDialog.h"
#include "ui_addObjectDialog.h" #include "ui_addObjectDialog.h"
#include "ObjWidget.h"
#include "KeypointItem.h" #include "KeypointItem.h"
#include "Camera.h"
#include "QtOpenCV.h"
#include "Settings.h"
#include "ObjSignature.h" #include "ObjSignature.h"
#include "utilite/ULogger.h"
#include <stdio.h> #include <stdio.h>

95
src/CMakeLists.txt Normal file
View File

@ -0,0 +1,95 @@
### Qt Gui stuff ###
SET(headers_ui
../include/${PROJECT_PREFIX}/MainWindow.h
../include/${PROJECT_PREFIX}/FindObject.h
../include/${PROJECT_PREFIX}/Camera.h
../include/${PROJECT_PREFIX}/TcpServer.h
../include/${PROJECT_PREFIX}/ObjWidget.h
./AddObjectDialog.h
./CameraTcpClient.h
./ParametersToolBox.h
./AboutDialog.h
./RectItem.h
./rtabmap/PdfPlot.h
./utilite/UPlot.h
)
SET(uis
./ui/mainWindow.ui
./ui/addObjectDialog.ui
./ui/aboutDialog.ui
)
SET(qrc
./resources.qrc
)
# generate rules for building source files from the resources
QT4_ADD_RESOURCES(srcs_qrc ${qrc})
#Generate .h files from the .ui files
QT4_WRAP_UI(moc_uis ${uis})
#This will generate moc_* for Qt
QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end###
SET(SRC_FILES
./MainWindow.cpp
./AddObjectDialog.cpp
./KeypointItem.cpp
./RectItem.cpp
./QtOpenCV.cpp
./Camera.cpp
./CameraTcpClient.cpp
./ParametersToolBox.cpp
./Settings.cpp
./ObjWidget.cpp
./FindObject.cpp
./AboutDialog.cpp
./TcpServer.cpp
./Vocabulary.cpp
./utilite/ULogger.cpp
./utilite/UPlot.cpp
./utilite/UDirectory.cpp
./utilite/UFile.cpp
./utilite/UConversion.cpp
./rtabmap/PdfPlot.cpp
${moc_srcs}
${moc_uis}
${srcs_qrc}
)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
)
INCLUDE(${QT_USE_FILE})
SET(LIBRARIES
${QT_LIBRARIES}
${OpenCV_LIBS}
)
#include files
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# create a library from the source files
ADD_LIBRARY(find_object ${SRC_FILES})
# Linking with Qt libraries
TARGET_LINK_LIBRARIES(find_object ${LIBRARIES})
INSTALL(TARGETS find_object
RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel
ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel)
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ DESTINATION "${INSTALL_INCLUDE_DIR}" COMPONENT devel FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE)

39
src/Camera.cpp
View File

@ -2,18 +2,21 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/ */
#include "Camera.h" #include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/QtOpenCV.h"
#include <stdio.h> #include <stdio.h>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include "Settings.h"
#include <QtCore/QFile> #include <QtCore/QFile>
#include "utilite/UDirectory.h" #include "utilite/UDirectory.h"
#include "utilite/ULogger.h" #include "CameraTcpClient.h"
#include "QtOpenCV.h"
Camera::Camera(QObject * parent) : Camera::Camera(QObject * parent) :
QObject(parent), QObject(parent),
currentImageIndex_(0) currentImageIndex_(0),
cameraTcpClient_(new CameraTcpClient(this))
{ {
qRegisterMetaType<cv::Mat>("cv::Mat"); qRegisterMetaType<cv::Mat>("cv::Mat");
connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(takeImage())); connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(takeImage()));
@ -30,7 +33,7 @@ void Camera::stop()
capture_.release(); capture_.release();
images_.clear(); images_.clear();
currentImageIndex_ = 0; currentImageIndex_ = 0;
cameraTcpClient_.close(); cameraTcpClient_->close();
} }
void Camera::pause() void Camera::pause()
@ -92,24 +95,24 @@ void Camera::takeImage()
} }
else else
{ {
img = cameraTcpClient_.getImage(); img = cameraTcpClient_->getImage();
if(cameraTcpClient_.imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0) if(cameraTcpClient_->imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
{ {
UWARN("%d images buffered so far...", cameraTcpClient_.imagesBuffered()); UWARN("%d images buffered so far...", cameraTcpClient_->imagesBuffered());
} }
while(img.empty() && cameraTcpClient_.waitForReadyRead()) while(img.empty() && cameraTcpClient_->waitForReadyRead())
{ {
img = cameraTcpClient_.getImage(); img = cameraTcpClient_->getImage();
} }
if(img.empty()) if(img.empty())
{ {
if(!cameraTcpClient_.waitForConnected()) if(!cameraTcpClient_->waitForConnected())
{ {
UWARN("Connection is lost, trying to reconnect to server (%s:%d)... (at the rate of the camera: %d ms)", UWARN("Connection is lost, trying to reconnect to server (%s:%d)... (at the rate of the camera: %d ms)",
Settings::getCamera_7IP().toStdString().c_str(), Settings::getCamera_7IP().toStdString().c_str(),
Settings::getCamera_8port(), Settings::getCamera_8port(),
cameraTimer_.interval()); cameraTimer_.interval());
cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port()); cameraTcpClient_->connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
} }
} }
} }
@ -143,17 +146,17 @@ void Camera::takeImage()
bool Camera::start() bool Camera::start()
{ {
if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_.isOpen()) if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_->isOpen())
{ {
if(Settings::getCamera_6useTcpCamera()) if(Settings::getCamera_6useTcpCamera())
{ {
cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port()); cameraTcpClient_->connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
if(!cameraTcpClient_.waitForConnected()) if(!cameraTcpClient_->waitForConnected())
{ {
UWARN("Camera: Cannot connect to server \"%s:%d\"", UWARN("Camera: Cannot connect to server \"%s:%d\"",
Settings::getCamera_7IP().toStdString().c_str(), Settings::getCamera_7IP().toStdString().c_str(),
Settings::getCamera_8port()); Settings::getCamera_8port());
cameraTcpClient_.close(); cameraTcpClient_->close();
} }
} }
else else
@ -212,7 +215,7 @@ bool Camera::start()
} }
} }
} }
if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_.isOpen()) if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_->isOpen())
{ {
UERROR("Camera: Failed to open a capture object!"); UERROR("Camera: Failed to open a capture object!");
return false; return false;

5
src/CameraTcpClient.cpp
View File

@ -5,9 +5,10 @@
* Author: mathieu * Author: mathieu
*/ */
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "CameraTcpClient.h" #include "CameraTcpClient.h"
#include "Settings.h"
#include "utilite/ULogger.h"
CameraTcpClient::CameraTcpClient(QObject *parent) : CameraTcpClient::CameraTcpClient(QObject *parent) :
QTcpSocket(parent), QTcpSocket(parent),

7
src/FindObject.cpp
View File

@ -5,11 +5,12 @@
* Author: mathieu * Author: mathieu
*/ */
#include "FindObject.h" #include "find_object/FindObject.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "ObjSignature.h" #include "ObjSignature.h"
#include "Settings.h"
#include "utilite/UDirectory.h" #include "utilite/UDirectory.h"
#include "utilite/ULogger.h"
#include "Vocabulary.h" #include "Vocabulary.h"
#include <QtCore/QThread> #include <QtCore/QThread>

17
src/MainWindow.cpp
View File

@ -2,21 +2,23 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/ */
#include "MainWindow.h" #include "find_object/MainWindow.h"
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/TcpServer.h"
#include "find_object/FindObject.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
#include "AddObjectDialog.h" #include "AddObjectDialog.h"
#include "ui_mainWindow.h" #include "ui_mainWindow.h"
#include "QtOpenCV.h"
#include "KeypointItem.h" #include "KeypointItem.h"
#include "RectItem.h" #include "RectItem.h"
#include "ObjWidget.h"
#include "Camera.h"
#include "Settings.h"
#include "ParametersToolBox.h" #include "ParametersToolBox.h"
#include "AboutDialog.h" #include "AboutDialog.h"
#include "TcpServer.h"
#include "rtabmap/PdfPlot.h" #include "rtabmap/PdfPlot.h"
#include "Vocabulary.h" #include "Vocabulary.h"
#include "FindObject.h"
#include "ObjSignature.h" #include "ObjSignature.h"
#include <iostream> #include <iostream>
@ -44,7 +46,6 @@
#include <QtGui/QInputDialog> #include <QtGui/QInputDialog>
#include "utilite/UDirectory.h" #include "utilite/UDirectory.h"
#include "utilite/ULogger.h"
// Camera ownership transferred // Camera ownership transferred
MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * parent) : MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * parent) :

9
src/ObjWidget.cpp
View File

@ -2,11 +2,12 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/ */
#include "ObjWidget.h" #include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
#include "KeypointItem.h" #include "KeypointItem.h"
#include "QtOpenCV.h"
#include "Settings.h"
#include "utilite/ULogger.h"
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>

3
src/ParametersToolBox.cpp
View File

@ -2,8 +2,9 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/ */
#include "find_object/Settings.h"
#include "ParametersToolBox.h" #include "ParametersToolBox.h"
#include "Settings.h"
#include <QtGui/QComboBox> #include <QtGui/QComboBox>
#include <QtGui/QDoubleSpinBox> #include <QtGui/QDoubleSpinBox>
#include <QtGui/QLineEdit> #include <QtGui/QLineEdit>

2
src/QtOpenCV.cpp
View File

@ -2,7 +2,7 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/ */
#include "QtOpenCV.h" #include "find_object/QtOpenCV.h"
#include <opencv2/core/core_c.h> #include <opencv2/core/core_c.h>
#include <stdio.h> #include <stdio.h>

23
src/QtOpenCV.h
View File

@ -1,23 +0,0 @@
/*
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#ifndef QTOPENCV_H
#define QTOPENCV_H
#include <QtGui/QImage>
#include <opencv2/core/core.hpp>
// Convert OpenCV matrix to QImage
QImage cvtCvMat2QImage(const cv::Mat & image, bool isBgr = true);
// Convert QImage to OpenCV matrix
cv::Mat cvtQImage2CvMat(const QImage & image);
// Convert IplImage to QImage
QImage cvtIplImage2QImage(const IplImage * image);
// Convert QImage to IplImage
IplImage * cvtQImage2IplImage(const QImage & image);
#endif // QTOPENCV_H

7
src/Settings.cpp
View File

@ -2,9 +2,10 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/ */
#include "Settings.h" #include "find_object/Camera.h"
#include "Camera.h" #include "find_object/Settings.h"
#include "utilite/ULogger.h" #include "find_object/utilite/ULogger.h"
#include <QtCore/QSettings> #include <QtCore/QSettings>
#include <QtCore/QStringList> #include <QtCore/QStringList>
#include <QtCore/QDir> #include <QtCore/QDir>

4
src/TcpServer.cpp
View File

@ -5,8 +5,8 @@
* Author: mathieu * Author: mathieu
*/ */
#include "TcpServer.h" #include "find_object/TcpServer.h"
#include "utilite/ULogger.h" #include "find_object/utilite/ULogger.h"
#include <QtNetwork/QNetworkInterface> #include <QtNetwork/QNetworkInterface>
#include <QtNetwork/QTcpSocket> #include <QtNetwork/QTcpSocket>

3
src/Vocabulary.cpp
View File

@ -5,8 +5,9 @@
* Author: mathieu * Author: mathieu
*/ */
#include "find_object/Settings.h"
#include "Vocabulary.h" #include "Vocabulary.h"
#include "Settings.h"
#include <QtCore/QVector> #include <QtCore/QVector>
#include <stdio.h> #include <stdio.h>

2
src/ui/addObjectDialog.ui
View File

@ -100,7 +100,7 @@
<customwidget> <customwidget>
<class>ObjWidget</class> <class>ObjWidget</class>
<extends>QWidget</extends> <extends>QWidget</extends>
<header>ObjWidget.h</header> <header>find_object/ObjWidget.h</header>
<container>1</container> <container>1</container>
</customwidget> </customwidget>
</customwidgets> </customwidgets>

2
src/ui/mainWindow.ui
View File

@ -775,7 +775,7 @@
<customwidget> <customwidget>
<class>ObjWidget</class> <class>ObjWidget</class>
<extends>QWidget</extends> <extends>QWidget</extends>
<header>ObjWidget.h</header> <header>find_object/ObjWidget.h</header>
<container>1</container> <container>1</container>
</customwidget> </customwidget>
<customwidget> <customwidget>

3
src/utilite/ULogger.cpp
View File

@ -17,7 +17,8 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include "utilite/ULogger.h" #include "find_object/utilite/ULogger.h"
#include "utilite/UConversion.h" #include "utilite/UConversion.h"
#include "utilite/UFile.h" #include "utilite/UFile.h"
#include "utilite/UStl.h" #include "utilite/UStl.h"