• August 2015

• Moving To GitHub from GoogleCode.

• June 2012

• Version 0.2.14

• Qt widgets and audio library added, see below New. February 2012

• Version 0.2.13

• Added API documentation.

UtilLite is a lite c++ library that includes cross-platform (Windows, Linux, Mac) useful utilities like :

• threads and safe inter-thread communication (events-based),
• logger,
• timer,
• New Qt widgets UPlot and USpectrogram
• 
• New audio library to capture frames from mic or a file (UAudioRecorder and UAudioPlayer, wav and mp3 supported),for fast algorithm prototyping and monitoring.

$ cd utilite/build
$ cmake ..
$ make

Install Fmodex libraries (on linux, includes should be installed in /usr/local/include/fmodex and libraries should be in /usr/local/lib)

 $ sudo apt-get install libqt4-dev libmp3lame-dev libfftw3-dev libopencv-dev
 $ svn checkout http://utilite.googlecode.com/svn/trunk/utilite utilite
 $ cd utilite/build
 $ cmake -DBUILD_AUDIO=ON -DBUILD_QT=ON -DBUILD_OPENCV=ON ..
 $ make
 $ make install

 $ svn checkout http://utilite.googlecode.com/svn/trunk/utilite utilite
 $ cd utilite/build
 $ cmake ..
 $ make
 $ make install

To build tests, add "-DBUILD_TESTS=ON". To not build examples, add "-DBUILD_EXAMPLES=OFF".

FULL install (Qt widgets and audio library)

1. Install MinGW
2. Install Qt4 MinGW libraries
3. Install OpenCV2.4+
4. Checkout the UtiLite svn trunk (http://utilite.googlecode.com/svn/trunk/)
5. Go to download section, and download all 3rdParty libraries. Extract them directly at the root of UtiLite directory.
6. Then, in utilite/build directory:

$ cmake -G"MinGW Makefiles" -DBUILD_AUDIO=ON -DBUILD_QT=ON -DBUILD_OPENCV=ON ..
$ mingw32-make
$ mingw32-make install

First, you need to install the UtiLite standalone libraries. Follow Linux instructions above. Now install the UtiLite ros-pkg in your src folder of your Catkin workspace.

$ cd ~/<YOUR_CATKIN_WORKSPACE>
$ svn checkout http://utilite.googlecode.com/svn/trunk/ros-pkg src/utilite
$ catkin_make

See UtiLite_ROS page for information about using launch files (input/output of the nodes).

RTAB-Map

Create a custom event, called SpecialEvent :

class SpecialEvent : public UEvent {
public:
   SpecialEvent(int code) : UEvent(code) {}
   ~SpecialEvent() {}

   virtual std::string getClassName() const {
	   return "SpecialEvent";
   }
};

Create an events handler :

class EventsPrinter : public UEventsHandler {
public:
   EventsPrinter() {}
   ~EventsPrinter() {}

protected:
   virtual void handleEvent(UEvent * e) {
      if(e->getClassName().compare("SpecialEvent") == 0) {
         UINFO("SpecialEvent \"%d\" received!", e->getCode());
      }
   }
};

The main :

int main(int argc, char * argv[])
{
   ULogger::setType(ULogger::kTypeConsole);
   ULogger::setLevel(ULogger::kInfo);
   
   UDEBUG("This message won't be logged because the "
                 "severity level of the logger is set to kInfo.");
   UINFO("This message is logged.");

   EventsPrinter p;
   UEventsManager::addHandler(&p);

   UEventsManager::post(new SpecialEvent(1));
   UEventsManager::post(new SpecialEvent(2));
   UEventsManager::post(new SpecialEvent(5));
   UEventsManager::post(new SpecialEvent(7));
   UEventsManager::post(new SpecialEvent(11));

   uSleep(10);
   UEventsManager::removeHandler(&p);
   return 0;
}

Output :

[ INFO] (2010-09-25 18:08:20) eventsExample.cpp:53::main() This message is logged.
[ INFO] (2010-09-25 18:08:20) eventsExample.cpp:32::handleEvent() SpecialEvent "1" received!
[ INFO] (2010-09-25 18:08:20) eventsExample.cpp:32::handleEvent() SpecialEvent "2" received!
[ INFO] (2010-09-25 18:08:20) eventsExample.cpp:32::handleEvent() SpecialEvent "5" received!
[ INFO] (2010-09-25 18:08:20) eventsExample.cpp:32::handleEvent() SpecialEvent "7" received!
[ INFO] (2010-09-25 18:08:20) eventsExample.cpp:32::handleEvent() SpecialEvent "11" received!

More examples here.