Qt6 compatibility (#968)

* Qt6 Compilation success

* Fixed qt5 backward compatibility

* Fixed build for qt<=5.9 (bionic)

* Added docker file for easy testing with latest Qt/VTK/PCL/OpenCV

* Fixed cmake for qt

CMakeLists.txt

@@ -226,7 +226,7 @@ option(PCL_OMP            "With PCL OMP implementations"         ON)
 ENDIF()
 
 set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
-set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5)
+set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
 
@@ -297,28 +297,39 @@ IF(WITH_QT)
     ENDIF(NOT VTK_FOUND)
 
     # If Qt is here, the GUI will be built
-    # look for Qt5 (if vtk>5 is installed) before Qt4
-    IF("${VTK_MAJOR_VERSION}" GREATER 5)
-        if(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
-            FIND_PACKAGE(Qt5 QUIET COMPONENTS Widgets Core Gui PrintSupport OpenGL OPTIONAL_COMPONENTS Svg)
-        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
-    ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
-
-    IF(NOT Qt5_FOUND)
+    IF("${VTK_MAJOR_VERSION}" GREATER_EQUAL 9)
+      MESSAGE(STATUS "VTK>=9 detected, will use VTK_QT_VERSION=${VTK_QT_VERSION} for Qt version.")
+      IF(${VTK_QT_VERSION} EQUAL 6)
+        FIND_PACKAGE(Qt6 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
+      ELSEIF(${VTK_QT_VERSION} EQUAL 5)
+        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
+      ELSE()
+        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
+      ENDIF()
+    ELSE()
+      # look for Qt5 (if vtk>5 is installed) before Qt4
+      IF("${VTK_MAJOR_VERSION}" GREATER 5)
+        IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
+          FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
+	    ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
+	  ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
+
+      IF(NOT Qt5_FOUND)
         IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
-            FIND_PACKAGE(Qt4 QUIET COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
+          FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
         ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
-    ENDIF(NOT Qt5_FOUND)
+      ENDIF(NOT Qt5_FOUND)
+    ENDIF()
 
-    IF(QT4_FOUND OR Qt5_FOUND)
+    IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
         IF("${VTK_MAJOR_VERSION}" EQUAL 5)
             FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
         ELSE()
 		    list(FIND PCL_LIBRARIES VTK::GUISupportQt value)
 			IF(value EQUAL -1)
                 list(FIND PCL_LIBRARIES vtkGUISupportQt value)
                 IF(value EQUAL -1)
-                    IF("${VTK_MAJOR_VERSION}" GREATER 8)
+                    IF("${VTK_MAJOR_VERSION}" GREATER_EQUAL 9)
                         SET(PCL_LIBRARIES "${PCL_LIBRARIES};VTK::GUISupportQt")
                     ELSE()
                         SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
@@ -354,7 +365,7 @@ IF(WITH_QT)
 
         ENDIF()
         ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
-    ENDIF(QT4_FOUND OR Qt5_FOUND)
+    ENDIF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
 ENDIF(WITH_QT)
 
 IF(NOT VTK_FOUND)
@@ -752,7 +763,18 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 
 IF(NOT MSVC)
-	IF((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND))
+    IF(Qt6_FOUND)
+      # Qt6 requires c++17
+      include(CheckCXXCompilerFlag)
+	  CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
+	  IF(COMPILER_SUPPORTS_CXX17)
+	    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+	    set(CMAKE_CXX_STANDARD 17)
+	  ELSE()
+	    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.")
+	  ENDIF()
+    ENDIF()
+	IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND ((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND)))
 	 #LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14, but MSCKF_VIO requires c++11
 	 include(CheckCXXCompilerFlag)
 	  CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
@@ -764,7 +786,7 @@ IF(NOT MSVC)
 	  ENDIF()
 	ENDIF()
 
-	IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
+	IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "17") AND NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
 	       G2O_FOUND OR
 	       GTSAM_FOUND OR
 	       CERES_FOUND OR
@@ -796,7 +818,7 @@ ENDIF()
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
-  IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
+  IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
 
     # Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
     SET(CMAKE_INSTALL_PREFIX "/")
@@ -1023,7 +1045,7 @@ IF(ANDROID)
    IF(BUILD_APP)
       ADD_SUBDIRECTORY( app )
    ENDIF(BUILD_APP)
-ELSEIF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
+ELSEIF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
    ADD_SUBDIRECTORY( guilib )
    IF(BUILD_APP)
       ADD_SUBDIRECTORY( app )
@@ -1055,12 +1077,14 @@ ADD_CUSTOM_TARGET(uninstall
 ####
 add_library(rtabmap INTERFACE)
 add_library(rtabmap::rtabmap ALIAS rtabmap)
-IF(QT4_FOUND OR Qt5_FOUND)
+IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
    set(CONF_WITH_GUI ON)
    IF(QT4_FOUND)
       set(CONF_QT_VERSION 4)
-   ELSE()
+   ELSEIF(Qt5_FOUND)
       set(CONF_QT_VERSION 5)
+   ELSE()
+      set(CONF_QT_VERSION 6)
    ENDIF()
    target_link_libraries(rtabmap INTERFACE rtabmap_utilite rtabmap_core rtabmap_gui)
 ELSE()
@@ -1271,6 +1295,9 @@ MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}
 ELSEIF(Qt5_FOUND)
 MESSAGE(STATUS "  With Qt ${Qt5_VERSION}            = YES (License: Open Source or Commercial)")
 MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
+ELSEIF(Qt6_FOUND)
+MESSAGE(STATUS "  With Qt ${Qt6_VERSION}            = YES (License: Open Source or Commercial)")
+MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
 
 ELSEIF(NOT WITH_QT)
 MESSAGE(STATUS "  With Qt                   = NO (WITH_QT=OFF)")

RTABMapConfig.cmake.in

@@ -6,7 +6,9 @@ find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo v
 if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake")
     find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
 
-    if(@CONF_QT_VERSION@ EQUAL 5)
+    if(@CONF_QT_VERSION@ EQUAL 6)
+        find_dependency(Qt6 COMPONENTS Widgets Core Gui OpenGL)
+    elseif(@CONF_QT_VERSION@ EQUAL 5)
         find_dependency(Qt5 COMPONENTS Widgets Core Gui OpenGL)
     else() # Qt4
         find_dependency(Qt4 COMPONENTS QtCore QtGui)

cmake_modules/FindZEDOC.cmake

@@ -17,7 +17,7 @@ ENDIF (ZEDOC_INCLUDE_DIR AND ZEDOC_LIBRARY)
 
 IF (ZEDOC_FOUND)
    # show which ZEDOC was found only if not quiet
-   IF (NOT _FIND_QUIETLY)
+   IF (NOT ZEDOC_FIND_QUIETLY)
       MESSAGE(STATUS "Found ZEDOC: ${ZEDOC_LIBRARIES}")
    ENDIF (NOT ZEDOC_FIND_QUIETLY)
 ELSE (ZEDOC_FOUND)

docker/latest_deps/Dockerfile

@@ -0,0 +1,63 @@
+
+FROM osrf/ros:humble-desktop
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-humble-rtabmap-ros libqt6* qt6* && \
+    apt-get remove -y ros-humble-rtabmap libpcl* libqt5* qt5* libvtk* libopencv* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu
+
+# Build latest VTK with Qt6
+RUN git clone https://github.com/Kitware/VTK.git && \
+    cd VTK && \
+    mkdir build && \
+    cd build && \
+    cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf VTK
+
+# Build latest PCL with latest VTK
+RUN git clone https://github.com/PointCloudLibrary/pcl.git && \
+    cd pcl && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_tools=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf pcl
+
+# Build latest OpenCV
+RUN git clone https://github.com/opencv/opencv.git && \
+    git clone https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+

examples/NoEventsExample/CMakeLists.txt

@@ -13,8 +13,10 @@ endif()
 
 IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs MapBuilder.h)
-ELSE()
+ELSEIF(Qt5_FOUND)
     QT5_WRAP_CPP(moc_srcs MapBuilder.h)
+ELSE()
+    QT6_WRAP_CPP(moc_srcs MapBuilder.h)
 ENDIF()
 
 ADD_EXECUTABLE(noEventsExample main.cpp ${moc_srcs})

examples/RGBDMapping/CMakeLists.txt

@@ -13,8 +13,10 @@ endif()
 
 IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs MapBuilder.h)
-ELSE()
+ELSEIF(Qt5_FOUND)
     QT5_WRAP_CPP(moc_srcs MapBuilder.h)
+ELSE()
+    QT6_WRAP_CPP(moc_srcs MapBuilder.h)
 ENDIF()
 
 ADD_EXECUTABLE(rgbd_mapping main.cpp ${moc_srcs})

examples/WifiMapping/CMakeLists.txt

@@ -13,8 +13,10 @@ endif()
 
 IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs MapBuilder.h MapBuilderWifi.h)
-ELSE()
+ELSEIF(Qt5_FOUND)
     QT5_WRAP_CPP(moc_srcs MapBuilder.h MapBuilderWifi.h)
+ELSE()
+    QT6_WRAP_CPP(moc_srcs MapBuilder.h MapBuilderWifi.h)
 ENDIF()
 
 SET(srcs

guilib/include/rtabmap/gui/ConsoleWidget.h

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QMutex>
 #include <QtCore/QTimer>
 #include <QtCore/QTime>
+#include <QtCore/QElapsedTimer>
 
 class Ui_consoleWidget;
 class QMessageBox;
@@ -69,7 +70,7 @@ private Q_SLOTS:
 	QMutex _errorMessageMutex;
 	QMutex _msgListMutex;
 	QTimer _timer;
-	QTime _time;
+	QElapsedTimer _time;
 	QTextCursor * _textCursor;
 	QList<QPair<QString, int> > _msgList;
 };

guilib/include/rtabmap/gui/MainWindow.h

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UEventsHandler.h"
 #include <QMainWindow>
 #include <QtCore/QSet>
+#include <QElapsedTimer>
 #include "rtabmap/core/RtabmapEvent.h"
 #include "rtabmap/core/SensorData.h"
 #include "rtabmap/core/OdometryEvent.h"
@@ -400,8 +401,8 @@ protected Q_SLOTS:
 	bool _processingOdometry;
 
 	QTimer * _oneSecondTimer;
-	QTime * _elapsedTime;
-	QTime * _logEventTime;
+	QElapsedTimer * _elapsedTime;
+	QElapsedTimer * _logEventTime;
 
 	PdfPlotCurve * _posteriorCurve;
 	PdfPlotCurve * _likelihoodCurve;

guilib/include/rtabmap/gui/ProgressDialog.h

@@ -45,7 +45,7 @@ class RTABMAP_GUI_EXPORT ProgressDialog : public QDialog
 	Q_OBJECT
 
 public:
-	ProgressDialog(QWidget *parent = 0, Qt::WindowFlags flags = 0);
+	ProgressDialog(QWidget *parent = 0, Qt::WindowFlags flags = Qt::WindowFlags());
 	virtual ~ProgressDialog();
 
 	void setEndMessage(const QString & message) {_endMessage = message;} // Message shown when the progress is finished

guilib/include/rtabmap/utilite/UPlot.h

@@ -32,6 +32,7 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QtCore/QTime>
+#include <QtCore/QElapsedTimer>
 
 class QGraphicsView;
 class QGraphicsScene;
@@ -602,9 +603,9 @@ private Q_SLOTS:
 	UOrientableLabel * _yLabel;
 	QLabel * _refreshRate;
 	QString _workingDirectory;
-	QTime _refreshIntervalTime;
+	QElapsedTimer _refreshIntervalTime;
 	int _lowestRefreshRate;
-	QTime _refreshStartTime;
+	QElapsedTimer _refreshStartTime;
 	QString _autoScreenCaptureFormat;
 	QPoint _mousePressedPos;
 	QPoint _mouseCurrentPos;

guilib/src/3rdParty/QMultiComboBox.cpp

@@ -11,7 +11,8 @@
 #include "QMultiComboBox.h"
 #include <QApplication>
 #include <QCoreApplication>
-#include <QDesktopWidget>
+#include <QWindow>
+#include <QScreen>
 
 #include "rtabmap/utilite/ULogger.h"
 
@@ -46,7 +47,11 @@ QMultiComboBox::~QMultiComboBox()
 void QMultiComboBox::SetDisplayText(QString text)
 {
     m_DisplayText_ = text;
+#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
+    const int textWidth = fontMetrics().horizontalAdvance(text);
+#else
     const int textWidth = fontMetrics().width(text);
+#endif
     setMinimumWidth(textWidth + 30);
     updateGeometry();
     repaint();
@@ -88,7 +93,7 @@ void QMultiComboBox::showPopup()
     //QRect rec2(p , p + QPoint(rec.width(), rec.height()));
 
     // get the two possible list points and height
-    QRect screen = QApplication::desktop()->screenGeometry(this);
+    QRect screen = this->window()->windowHandle()->screen()->availableGeometry();
     QPoint above = this->mapToGlobal(QPoint(0,0));
     int aboveHeight = above.y() - screen.y();
     QPoint below = this->mapToGlobal(QPoint(0,rec.height()));

guilib/src/CMakeLists.txt

@@ -70,10 +70,14 @@ IF(QT4_FOUND)
     #This will generate moc_* for Qt
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
     ### Qt Gui stuff  end###
-ELSE()
+ELSEIF(Qt5_FOUND)
     QT5_ADD_RESOURCES(srcs_qrc ${qrc})
     QT5_WRAP_UI(moc_uis ${uis})
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
+ELSE()
+    QT6_ADD_RESOURCES(srcs_qrc ${qrc})
+    QT6_WRAP_UI(moc_uis ${uis})
+    QT6_WRAP_CPP(moc_srcs ${headers_ui})
 ENDIF()
 
 
@@ -140,8 +144,14 @@ ENDIF(QT4_FOUND)
 SET(LIBRARIES "")
 SET(PUBLIC_LIBRARIES "")
 
-IF(Qt5_FOUND)
-    SET(PUBLIC_LIBRARIES ${PUBLIC_LIBRARIES} Qt5::Widgets Qt5::Core Qt5::Gui)
+IF(Qt6_FOUND)
+    SET(PUBLIC_LIBRARIES ${PUBLIC_LIBRARIES} Qt6::Widgets Qt6::Core Qt6::Gui Qt6::OpenGL)
+    SET(LIBRARIES ${LIBRARIES} Qt6::PrintSupport)
+    IF(Qt6Svg_FOUND)
+        SET(LIBRARIES ${LIBRARIES} Qt6::Svg)
+    ENDIF()
+ELSEIF(Qt5_FOUND)
+    SET(PUBLIC_LIBRARIES ${PUBLIC_LIBRARIES} Qt5::Widgets Qt5::Core Qt5::Gui Qt5::OpenGL)
     SET(LIBRARIES ${LIBRARIES} Qt5::PrintSupport)
     IF(Qt5Svg_FOUND)
         SET(LIBRARIES ${LIBRARIES} Qt5::Svg)