News

June 2012 * Version 0.2.14 * Qt widgets and audio library added, see below New. February 2012 * Version 0.2.13 * Added API documentation.

Overview

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 * http://utilite.googlecode.com/svn/trunk/doc/image/UPlot.gif' width='300'> http://utilite.googlecode.com/svn/trunk/doc/image/USpectrogram.png' width='300'>

• New audio library to capture frames from mic or a file (UAudioRecorder and UAudioPlayer, wav and mp3 supported),
  for fast algorithm prototyping and monitoring.

Installation

• Build it from source : see svn and README.

Linux

• FULL install (Qt widgets and audio library)
  
  • 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
    
    
    

• Minimum 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".
  

  Windows

• Binaries recommended, see Downloads on the side of this page.
  
• Source: 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
     
     
     

ROS

1. First, you need to install the UtiLite standalone libraries. Follow Linux instructions above.
   
2. 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).

Projects that use UtiLite

• RTAB-Map

Small example

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.