feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,80 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <QApplication>
+#include "rtabmap/gui/DatabaseViewer.h"
+#include "rtabmap/utilite/ULogger.h"
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
+
+#include <vtkObject.h>
+#include <vtkVersionMacros.h>
+
+#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
+#include <QVTKRenderWidget.h>
+#endif
+
+int main(int argc, char * argv[])
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kInfo);
+
+#ifdef WIN32
+	CoInitialize(nullptr);
+#endif
+
+#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
+    // needed to ensure appropriate OpenGL context is created for VTK rendering.
+    QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
+#endif
+
+#ifdef RTABMAP_PYTHON
+	rtabmap::PythonInterface pythonInterface;
+#endif
+
+	QApplication * app = new QApplication(argc, argv);
+	rtabmap::DatabaseViewer * mainWindow = new rtabmap::DatabaseViewer();
+
+	mainWindow->showNormal();
+
+	if(argc >= 2)
+	{
+		mainWindow->openDatabase(argv[argc-1], rtabmap::Parameters::parseArguments(argc, argv, true));
+	}
+
+	// Now wait for application to finish
+	app->connect( app, SIGNAL( lastWindowClosed() ),
+				app, SLOT( quit() ) );
+	app->exec();// MUST be called by the Main Thread
+
+	delete mainWindow;
+	delete app;
+	UINFO("All done! closing...");
+
+	return 0;
+}