feat(slam): add rtabmap_ros
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X-lanni
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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 "rtabmap/gui/AboutDialog.h"
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#include "rtabmap/core/Parameters.h"
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#include "rtabmap/core/CameraRGBD.h"
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#include "rtabmap/core/CameraStereo.h"
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#include "rtabmap/core/Optimizer.h"
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#include "ui_aboutDialog.h"
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#include <opencv2/core/version.hpp>
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#include <pcl/pcl_config.h>
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#include <vtkVersion.h>
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namespace rtabmap {
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AboutDialog::AboutDialog(QWidget * parent) :
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QDialog(parent)
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{
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_ui = new Ui_aboutDialog();
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_ui->setupUi(this);
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QString version = Parameters::getVersion().c_str();
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QString cv_version = CV_VERSION;
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#if CV_MAJOR_VERSION < 3
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#ifdef RTABMAP_NONFREE
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_ui->label_opencv_license->setText("Not Commercial [With nonfree module]");
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#else
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_ui->label_opencv_license->setText("BSD [Without nonfree module]");
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#endif
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#elif defined(HAVE_OPENCV_XFEATURES2D)
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#ifdef RTABMAP_NONFREE
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_ui->label_opencv_license->setText("Not Commercial [With xfeatures2d and nonfree modules]");
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#else
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#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION<5)
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_ui->label_opencv_license->setText("BSD [With xfeatures2d module]");
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#else
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_ui->label_opencv_license->setText("Apache 3 [With xfeatures2d module]");
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#endif
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#endif
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#else
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#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION<5)
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_ui->label_opencv_license->setText("BSD [Without xfeatures2d and nonfree modules]");
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#else
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_ui->label_opencv_license->setText("Apache 3 [Without xfeatures2d and nonfree modules]");
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#endif
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#endif
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_ui->label_version->setText(version);
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_ui->label_opencv_version->setText(cv_version);
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_ui->label_pcl_version->setText(PCL_VERSION_PRETTY);
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_ui->label_vtk_version->setText(vtkVersion::GetVTKVersion());
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_ui->label_qt_version->setText(qVersion());
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#ifdef RTABMAP_ORB_OCTREE
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_ui->label_orboctree->setText("Yes");
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_ui->label_orboctree_license->setEnabled(true);
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#else
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_ui->label_orboctree->setText("No");
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_ui->label_orboctree_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_TORCH
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_ui->label_sptorch->setText("Yes");
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_ui->label_sptorch_license->setEnabled(true);
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#else
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_ui->label_sptorch->setText("No");
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_ui->label_sptorch_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_PYTHON
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_ui->label_pymatcher->setText("Yes");
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_ui->label_pymatcher_license->setEnabled(true);
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#else
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_ui->label_pymatcher->setText("No");
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_ui->label_pymatcher_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_FASTCV
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_ui->label_fastcv->setText("Yes");
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_ui->label_fastcv_license->setEnabled(true);
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#else
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_ui->label_fastcv->setText("No");
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_ui->label_fastcv_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_PDAL
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_ui->label_pdal->setText("Yes");
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_ui->label_pdal_license->setEnabled(true);
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#else
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_ui->label_pdal->setText("No");
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_ui->label_pdal_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_LIBLAS
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_ui->label_liblas->setText("Yes");
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_ui->label_liblas_license->setEnabled(true);
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#else
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_ui->label_liblas->setText("No");
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_ui->label_liblas_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_CUDASIFT
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_ui->label_cudasift->setText("Yes");
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_ui->label_cudasift_license->setEnabled(true);
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#else
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_ui->label_cudasift->setText("No");
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_ui->label_cudasift_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_OCTOMAP
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_ui->label_octomap->setText("Yes");
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_ui->label_octomap_license->setEnabled(true);
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#else
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_ui->label_octomap->setText("No");
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_ui->label_octomap_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_GRIDMAP
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_ui->label_gridmap->setText("Yes");
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_ui->label_gridmap_license->setEnabled(true);
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#else
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_ui->label_gridmap->setText("No");
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_ui->label_gridmap_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_CPUTSDF
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_ui->label_cputsdf->setText("Yes");
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_ui->label_cputsdf_license->setEnabled(true);
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#else
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_ui->label_cputsdf->setText("No");
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_ui->label_cputsdf_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_OPENCHISEL
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_ui->label_openchisel->setText("Yes");
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#else
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_ui->label_openchisel->setText("No");
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#endif
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#ifdef RTABMAP_ALICE_VISION
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_ui->label_aliceVision->setText("Yes");
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_ui->label_aliceVision_license->setEnabled(true);
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#else
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_ui->label_aliceVision->setText("No");
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_ui->label_aliceVision_license->setEnabled(false);
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#endif
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_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
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_ui->label_freenect_license->setEnabled(CameraFreenect::available());
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_ui->label_openni->setText(CameraOpenni::available()?"Yes":"No");
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_ui->label_openni_license->setEnabled(CameraOpenni::available());
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_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
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_ui->label_openni2_license->setEnabled(CameraOpenNI2::available());
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_ui->label_freenect2->setText(CameraFreenect2::available()?"Yes":"No");
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_ui->label_freenect2_license->setEnabled(CameraFreenect2::available());
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_ui->label_realsense->setText(CameraRealSense::available() ? "Yes" : "No");
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_ui->label_realsense_license->setEnabled(CameraRealSense::available());
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_ui->label_realsense2->setText(CameraRealSense2::available() ? "Yes" : "No");
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_ui->label_realsense2_license->setEnabled(CameraRealSense2::available());
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_ui->label_dc1394->setText(CameraStereoDC1394::available()?"Yes":"No");
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_ui->label_dc1394_license->setEnabled(CameraStereoDC1394::available());
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_ui->label_flycapture2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
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_ui->label_zed->setText(CameraStereoZed::available()?"Yes":"No");
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_ui->label_zedOC->setText(CameraStereoZedOC::available()?"Yes":"No");
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_ui->label_zedOC_license->setEnabled(CameraStereoZedOC::available());
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_ui->label_k4w2->setText(CameraK4W2::available() ? "Yes" : "No");
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_ui->label_k4a->setText(CameraK4A::available() ? "Yes" : "No");
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_ui->label_mynteye->setText(CameraMyntEye::available() ? "Yes" : "No");
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_ui->label_depthai->setText(CameraDepthAI::available() ? "Yes" : "No");
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_ui->label_depthai_license->setEnabled(CameraDepthAI::available());
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_ui->label_xvsdk->setText(CameraSeerSense::available() ? "Yes" : "No");
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_ui->label_toro->setText(Optimizer::isAvailable(Optimizer::kTypeTORO)?"Yes":"No");
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_ui->label_toro_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeTORO)?true:false);
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_ui->label_g2o->setText(Optimizer::isAvailable(Optimizer::kTypeG2O)?"Yes":"No");
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_ui->label_g2o_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeG2O)?true:false);
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_ui->label_gtsam->setText(Optimizer::isAvailable(Optimizer::kTypeGTSAM)?"Yes":"No");
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_ui->label_gtsam_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeGTSAM)?true:false);
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_ui->label_cvsba->setText(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?"Yes":"No");
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_ui->label_cvsba_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?true:false);
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_ui->label_ceres->setText(Optimizer::isAvailable(Optimizer::kTypeCeres)?"Yes":"No");
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_ui->label_ceres_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeCeres)?true:false);
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#ifdef RTABMAP_MRPT
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_ui->label_mrpt->setText("Yes");
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_ui->label_mrpt_license->setEnabled(true);
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#else
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_ui->label_mrpt->setText("No");
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_ui->label_mrpt_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_POINTMATCHER
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_ui->label_libpointmatcher->setText("Yes");
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_ui->label_libpointmatcher_license->setEnabled(true);
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#else
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_ui->label_libpointmatcher->setText("No");
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_ui->label_libpointmatcher_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_CCCORELIB
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_ui->label_cccorelib->setText("Yes");
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_ui->label_cccorelib_license->setEnabled(true);
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#else
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_ui->label_cccorelib->setText("No");
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_ui->label_cccorelib_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_OPEN3D
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_ui->label_open3d->setText("Yes");
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_ui->label_open3d_license->setEnabled(true);
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#else
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_ui->label_open3d->setText("No");
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_ui->label_open3d_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_FOVIS
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_ui->label_fovis->setText("Yes");
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_ui->label_fovis_license->setEnabled(true);
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#else
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_ui->label_fovis->setText("No");
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_ui->label_fovis_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_VISO2
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_ui->label_viso2->setText("Yes");
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_ui->label_viso2_license->setEnabled(true);
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#else
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_ui->label_viso2->setText("No");
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_ui->label_viso2_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_DVO
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_ui->label_dvo->setText("Yes");
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_ui->label_dvo_license->setEnabled(true);
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#else
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_ui->label_dvo->setText("No");
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_ui->label_dvo_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_ORB_SLAM
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#if RTABMAP_ORB_SLAM == 3
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_ui->label_orbslam_title->setText("With ORB SLAM3 :");
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#elif RTABMAP_ORB_SLAM == 2
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_ui->label_orbslam_title->setText("With ORB SLAM2 :");
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#endif
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_ui->label_orbslam->setText("Yes");
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_ui->label_orbslam_license->setEnabled(true);
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#else
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_ui->label_orbslam->setText("No");
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_ui->label_orbslam_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_OKVIS
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_ui->label_okvis->setText("Yes");
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_ui->label_okvis_license->setEnabled(true);
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#else
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_ui->label_okvis->setText("No");
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_ui->label_okvis_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_LOAM
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_ui->label_loam->setText("Yes");
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_ui->label_loam_license->setEnabled(true);
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#else
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_ui->label_loam->setText("No");
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_ui->label_loam_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_MSCKF_VIO
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_ui->label_msckf->setText("Yes");
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_ui->label_msckf_license->setEnabled(true);
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#else
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_ui->label_msckf->setText("No");
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_ui->label_msckf_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_VINS
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_ui->label_vins_fusion->setText("Yes");
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_ui->label_vins_fusion_license->setEnabled(true);
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#else
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_ui->label_vins_fusion->setText("No");
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_ui->label_vins_fusion_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_OPENVINS
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_ui->label_openvins->setText("Yes");
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_ui->label_openvins_license->setEnabled(true);
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#else
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_ui->label_openvins->setText("No");
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_ui->label_openvins_license->setEnabled(false);
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#endif
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}
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AboutDialog::~AboutDialog()
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{
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delete _ui;
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}
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}
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