Merge pull request #6 from bmagyar/master

Merge from PAL svn to github
pal-robotics · Mar 20, 2014 · 26ccbb5 · 26ccbb5
2 parents d61e019 + 7a89072
commit 26ccbb5
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Showing 44 changed files with 23 additions and 61 deletions.
diff --git a/blort/CMakeLists.txt b/blort/CMakeLists.txt
@@ -7,8 +7,7 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  Release        : w/o debug symbols, w/ optimization
 #  RelWithDebInfo : w/ debug symbols, w/ optimization
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-# set(ROS_BUILD_TYPE Release)
-set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE Release)
 
 rosbuild_init()
 
@@ -38,7 +37,6 @@ rosbuild_add_compile_flags(module_glwindow -DLINUX)
 target_link_libraries(module_glwindow GLU GL glut X11 rt)
 
 rosbuild_add_library(module_tomgine
-    src/TomGine/tgMathlib.cpp
     src/TomGine/tgVector3.cpp 
     src/TomGine/tgTimer.cpp 
     src/TomGine/tgTexture.cpp 

diff --git a/blort/include/blort/Recognizer3D/Array.hh b/blort/include/blort/Recognizer3D/Array.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Array.hh 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef P_ARRAY_HH

diff --git a/blort/include/blort/Recognizer3D/Array.ic b/blort/include/blort/Recognizer3D/Array.ic
@@ -1,5 +1,4 @@
 /**
- * $Id: Array.ic 34111 2012-07-03 14:29:54Z student5 $
  * TODO: maybe some optimisations, beautifications
  */
 

diff --git a/blort/include/blort/Recognizer3D/CodebookEntry.hh b/blort/include/blort/Recognizer3D/CodebookEntry.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: CodebookEntry.hh 34111 2012-07-03 14:29:54Z student5 $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/CodebookEntry.ic b/blort/include/blort/Recognizer3D/CodebookEntry.ic
@@ -1,5 +1,4 @@
 /**
- * $Id: CodebookEntry.ic 34111 2012-07-03 14:29:54Z student5 $
  */
 
 namespace P

diff --git a/blort/include/blort/Recognizer3D/Config.hh b/blort/include/blort/Recognizer3D/Config.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Config.hh 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef P_CONFIG_HH

diff --git a/blort/include/blort/Recognizer3D/ConfigFile.hh b/blort/include/blort/Recognizer3D/ConfigFile.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: ConfigFile.hh 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef P_CONFIG_FILE_HH

diff --git a/blort/include/blort/Recognizer3D/Definitions.hh b/blort/include/blort/Recognizer3D/Definitions.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Definitions.hh 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef P_DEFINITIONS_HH

diff --git a/blort/include/blort/Recognizer3D/DetectGPUSIFT.hh b/blort/include/blort/Recognizer3D/DetectGPUSIFT.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: DetectGPUSIFT.hh 34111 2012-07-03 14:29:54Z student5 $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/DetectSIFT.hh b/blort/include/blort/Recognizer3D/DetectSIFT.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: DetectSIFT.hh 34111 2012-07-03 14:29:54Z student5 $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/Except.hh b/blort/include/blort/Recognizer3D/Except.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Except.hh 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef P_EXCEPT_HH

diff --git a/blort/include/blort/Recognizer3D/Geometry.hh b/blort/include/blort/Recognizer3D/Geometry.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Geometry.hh 37862 2012-12-11 10:54:23Z dani $
  *
  * Johann Prankl, 30.11.2006 
  */

diff --git a/blort/include/blort/Recognizer3D/Geometry.ic b/blort/include/blort/Recognizer3D/Geometry.ic
@@ -1,5 +1,4 @@
 /**
- * $Id: Geometry.ic 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #include <math.h>

diff --git a/blort/include/blort/Recognizer3D/Homography.hh b/blort/include/blort/Recognizer3D/Homography.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Homography.hh 37862 2012-12-11 10:54:23Z dani $
  * Johann Prankl, 2010-03-30
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/Homography.ic b/blort/include/blort/Recognizer3D/Homography.ic
@@ -1,5 +1,4 @@
 /**
- * $Id: Homography.ic 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #include <math.h>

diff --git a/blort/include/blort/Recognizer3D/KeyClusterPair.hh b/blort/include/blort/Recognizer3D/KeyClusterPair.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: KeyClusterPair.hh 34111 2012-07-03 14:29:54Z student5 $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/Keypoint.hh b/blort/include/blort/Recognizer3D/Keypoint.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Keypoint.hh 34111 2012-07-03 14:29:54Z student5 $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/KeypointDescriptor.hh b/blort/include/blort/Recognizer3D/KeypointDescriptor.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: KeypointDescriptor.hh 37862 2012-12-11 10:54:23Z dani $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/KeypointPair.hh b/blort/include/blort/Recognizer3D/KeypointPair.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: KeypointPair.hh 34111 2012-07-03 14:29:54Z student5 $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/Math.hh b/blort/include/blort/Recognizer3D/Math.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Math.hh 34111 2012-07-03 14:29:54Z student5 $
  *
  * Michael Zillich, 2004-3-04
  */

diff --git a/blort/include/blort/Recognizer3D/Math.ic b/blort/include/blort/Recognizer3D/Math.ic
@@ -1,5 +1,4 @@
 /**
- * $Id: Math.ic 34111 2012-07-03 14:29:54Z student5 $
  *
  * Michael Zillich, 2004-3-04
  */

diff --git a/blort/include/blort/Recognizer3D/ModelObject3D.hh b/blort/include/blort/Recognizer3D/ModelObject3D.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: ModelObject3D.hh 34111 2012-07-03 14:29:54Z student5 $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/ODetect3D.hh b/blort/include/blort/Recognizer3D/ODetect3D.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: ODetect3D.hh 37862 2012-12-11 10:54:23Z dani $
  * Simple RANSAC based 3d object detector
  *
  * Johann Prankl, 2010-01-27 

diff --git a/blort/include/blort/Recognizer3D/Object3D.hh b/blort/include/blort/Recognizer3D/Object3D.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Object3D.hh 37862 2012-12-11 10:54:23Z dani $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/PNamespace.hh b/blort/include/blort/Recognizer3D/PNamespace.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: PNamespace.hh 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef P_NAMESPACE_HH

diff --git a/blort/include/blort/Recognizer3D/PoseCv.hh b/blort/include/blort/Recognizer3D/PoseCv.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: PoseCv.hh 37862 2012-12-11 10:54:23Z dani $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/SDraw.hh b/blort/include/blort/Recognizer3D/SDraw.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: SDraw.hh 37862 2012-12-11 10:54:23Z dani $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/SMatrix.hh b/blort/include/blort/Recognizer3D/SMatrix.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: SMatrix.hh 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef P_SMATRIX_HH

diff --git a/blort/include/blort/Recognizer3D/SMatrix.ic b/blort/include/blort/Recognizer3D/SMatrix.ic
@@ -1,5 +1,4 @@
 /**
- * $Id: SMatrix.ic 34111 2012-07-03 14:29:54Z student5 $
  */
 
 

diff --git a/blort/include/blort/Recognizer3D/SPolygon.hh b/blort/include/blort/Recognizer3D/SPolygon.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: SPolygon.hh 43083 2013-07-04 14:58:30Z dani $
  * Johann Prankl, 2010-01-27 
  * [email protected]
  */

diff --git a/blort/include/blort/Recognizer3D/Vector2.hh b/blort/include/blort/Recognizer3D/Vector2.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Vector2.hh 34111 2012-07-03 14:29:54Z student5 $
  *
  * Michael Zillich, 2004-3-04
  */

diff --git a/blort/include/blort/Recognizer3D/Vector2.ic b/blort/include/blort/Recognizer3D/Vector2.ic
@@ -1,5 +1,4 @@
 /**
- * $Id: Vector2.ic 34111 2012-07-03 14:29:54Z student5 $
  *
  * Michael Zillich, 2004-3-04
  */

diff --git a/blort/include/blort/Recognizer3D/Vector3.hh b/blort/include/blort/Recognizer3D/Vector3.hh
@@ -1,5 +1,4 @@
 /**
- * $Id: Vector3.hh 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef VECTOR3_HH

diff --git a/blort/include/blort/Recognizer3D/Vector3.ic b/blort/include/blort/Recognizer3D/Vector3.ic
@@ -1,5 +1,4 @@
 /**
- * $Id: Vector3.ic 34111 2012-07-03 14:29:54Z student5 $
  */
 
 #ifndef P_VECTOR3_IC

diff --git a/blort/manifest.xml b/blort/manifest.xml
@@ -3,12 +3,7 @@
     BLORT - The Blocks World Robotic Vision Toolbox <br/>
     Ported and refactored version of the library.
   </description>
-  <author>Michael Zillich, <br/>
-  Thomas Mörwald, <br/>
-  Johann Prankl, <br/>
-  Andreas Richtsfeld,<br/>
-  Bence Magyar (ROS version)</author>
-
+  <author>Michael Zillich et al., maintained by Bence Magyar</author>
   <license>BSD</license>
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/pal_blort</url>
@@ -18,10 +13,9 @@
   <depend package="sensor_msgs"/>
   <depend package="tf"/>
   <depend package="siftgpu"/>
-  <rosdep name="opengl"/>  <!-- libglu1 -->
+  <rosdep name="opengl"/>
+  <!-- libglu1 -->
   <export>
-     <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib"/>
+    <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib"/>
   </export>
 </package>
-
-
diff --git a/blort/src/Tracker/ImageProcessor.cpp b/blort/src/Tracker/ImageProcessor.cpp
@@ -197,6 +197,8 @@ bool ImageProcessor::transform(float i, float j, float *ix, float *iy){
     r = sqrt(x*x+y*y);
     theta = atan2(y,x);
 
+    xnew = x;
+    ynew = y;
     switch (m_lensMode) {
     case NONE:
         xnew = x;

diff --git a/blort_ros/manifest.xml b/blort_ros/manifest.xml
@@ -19,7 +19,4 @@
   <depend package="tf"/>
   <depend package="dynamic_reconfigure"/>
   <depend package="blort"/>
-
 </package>
-
-
diff --git a/blort_ros/src/nodes/tracker_node.cpp b/blort_ros/src/nodes/tracker_node.cpp
@@ -125,7 +125,7 @@ void TrackerNode::recovery(blort_ros::RecoveryCall srv)
             ss << tracker->getModelNames()[srv.request.object_ids[i].data];
             if(++i != srv.request.object_ids.size()) { ss << ", "; }
         }
-        ROS_INFO(ss.str().c_str());
+        ROS_INFO_STREAM(ss.str());
     }
     if(recovery_client.call(srv))
     {

diff --git a/siftgpu/include/LiteWindow.h b/siftgpu/include/LiteWindow.h
@@ -162,7 +162,14 @@ class LiteWindow
         if(xDisplay) return;
         if(display) std::cout << "Using display ["<<display<<"]\n";
 
-        xDisplay = XOpenDisplay(display && display[0] ? display : NULL);
+        //xDisplay = XOpenDisplay(display && display[0] ? display : NULL);
+        if ( display == NULL )
+          xDisplay = XOpenDisplay(NULL);
+        else if ( display[0] != '\0' )
+          xDisplay = XOpenDisplay(display);
+        else
+          xDisplay = XOpenDisplay(NULL);
+
         if(xDisplay == NULL) return;
         int attrib[] =  {GLX_RGBA, GLX_RED_SIZE, 1, 
                          GLX_GREEN_SIZE, 1, GLX_BLUE_SIZE, 1,  0 }; 

diff --git a/siftgpu/include/ProgramCL.h b/siftgpu/include/ProgramCL.h
@@ -42,7 +42,7 @@ class ProgramCL: public ProgramGPU
     void PrintBuildLog(cl_device_id device, int all);
 	virtual ~ProgramCL();
     virtual int UseProgram(){return 1;}
-    virtual void * GetProgramID() {return _kernel;}
+   // virtual void * GetProgramID() {return _kernel;}
     friend class ProgramBagCL;
     friend class ProgramBagCLN;
 };

diff --git a/siftgpu/include/ProgramGLSL.h b/siftgpu/include/ProgramGLSL.h
@@ -65,7 +65,7 @@ class ProgramGLSL:public ProgramGPU
 	void CheckLinkLog();
 	int LinkProgram();
 	operator GLuint (){return _programID;}
-    virtual void * GetProgramID() { return (void*) _programID; }
+//    virtual void * GetProgramID() { return (void*) _programID; }
 public:
 	ProgramGLSL();
 	~ProgramGLSL();

diff --git a/siftgpu/include/ProgramGPU.h b/siftgpu/include/ProgramGPU.h
@@ -35,7 +35,7 @@ class ProgramGPU
 public:
 	//use a gpu program
 	virtual int     UseProgram() = 0;
-    virtual void*   GetProgramID() = 0;
+   // virtual void*   GetProgramID() = 0;
 	//not used
 	virtual ~ProgramGPU(){};
 };

diff --git a/siftgpu/manifest.xml b/siftgpu/manifest.xml
@@ -2,20 +2,16 @@
   <description brief="siftgpu">
 
     The SiftGPU library is an implementation of SIFT for GPU.
-     
+
   </description>
-  <author>Changchang Wu (library), Bence Magyar (ROS wrapper)</author>
+  <author>Changchang Wu, maintained by Bence Magyar</author>
   <license>non-profit license from University of North Carolina</license>
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/siftgpu</url>
-  <depend package="mk"/>
   <export>
     <rosdoc external="http://www.cs.unc.edu/~ccwu/siftgpu"/>
-    <cpp cflags="-I${prefix}/include" 
-         lflags="-L${prefix}/lib -lsiftgpu"
-     />
+    <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -lsiftgpu"/>
   </export>
   <rosdep name="libglew-dev"/>
   <rosdep name="libdevil-dev"/>
-
 </package>
diff --git a/siftgpu/src/PyramidGL.cpp b/siftgpu/src/PyramidGL.cpp
@@ -1,3 +1,4 @@
+#pragma GCC diagnostic warning "-Wuninitialized"
 ////////////////////////////////////////////////////////////////////////////
 //	File:		PyramidGL.cpp
 //	Author:		Changchang Wu
-Original file line number
+Diff line change
@@ -1,5 +1,4 @@
     /**
-     * $Id: SMatrix.ic 34111 2012-07-03 14:29:54Z student5 $
      */
@@ Expand Down @@