Merge remote-tracking branch 'opengp/master'

Conflicts: .gitignore apps/htrack_atb/main.cpp apps/htrack_qt/main.cpp tracker/Sensor/Sensor_realsense.cpp
OpenGP · Jun 18, 2015 · 9126b47 · 9126b47
2 parents 15632bd + 790bfce
commit 9126b47
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Showing 33 changed files with 188 additions and 107 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,7 @@
+*.txt.user
+
+*-build
+
 #################
 ## openFrameworks
 #################

diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 project(htrack-helloworlds)
 
 #--- Gets rid of annoying CMake 3 warnings

diff --git a/apps/helloworld/CMakeLists.txt b/apps/helloworld/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(FOLDERNAME ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${FOLDERNAME})
 file(GLOB_RECURSE SOURCES "*.cpp")

diff --git a/apps/helloworld_atb/CMakeLists.txt b/apps/helloworld_atb/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECT ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECT})
 
@@ -11,6 +11,8 @@ include(../../cmake/ConfigureAntTweakBar.cmake)
 INCLUDE_DIRECTORIES(../../)
 #set(CMAKE_BUILD_TYPE "Release")
 set(CMAKE_BUILD_TYPE "Debug")
-add_executable(${PROJECT} main.cpp)
+
+list(APPEND SOURCES ../../tracker/TwSettings.cpp)
+add_executable(${PROJECT} main.cpp ${SOURCES})
 target_link_libraries(${PROJECT} ${LIBRARIES})
 #set(EXECUTABLE_OUTPUT_PATH ${CMAKE_SOURCE_DIR})
diff --git a/apps/helloworld_atb/main.cpp b/apps/helloworld_atb/main.cpp
@@ -5,13 +5,14 @@
 #include <QOpenGLVertexArrayObject>
 
 #include "../htrack_atb/AntTweakBarEventFilter.h"
-#include "AntTweakBar.h"
-TwBar* _bar = NULL;
+#include "tracker/TwSettings.h"
 
 float v1;
 float g1_v1;
 float g1_v2;
 
+#include "AntTweakBar.h"
+
 
 /// Format class to enable OpenGL4 core profile
 class OpenGLFormat : public QGLFormat{
@@ -38,18 +39,17 @@ class GLWidget : public QGLWidget{
         bool success = vao.create();
         if(!success) exit(EXIT_FAILURE);
         vao.bind();
-        TwInit(TW_OPENGL_CORE, NULL);
-        TwWindowSize(this->width(), this->height());
-        _bar = TwNewBar ("Settings");
-        TwAddVarRW(_bar, "p", TW_TYPE_FLOAT, &v1, "min=.5 max=50 step=0.4");
-        TwAddVarRW(_bar, "V1", TW_TYPE_FLOAT, &g1_v1, " group=g1 ");
-        TwAddVarRW(_bar, "V2", TW_TYPE_FLOAT, &g1_v2, " group=g1 ");
+        tw_settings->tw_init(this->width(), this->height());
+        tw_settings->tw_add(v1, "v1", "min=.5 max=50 step=0.4");
+        tw_settings->tw_add(g1_v1, "g1_v1", "group=g1");
+        tw_settings->tw_add(g1_v2, "g1_v2", "group=g1");
     }
 
     void paintGL() {
         glClearColor(0,1,0,1); ///< green
         glClear(GL_COLOR_BUFFER_BIT);
-        TwWindowSize(this->width(), this->height());
+        tw_settings->tw_draw();
+        // TwWindowSize(this->width(), this->height());
         TwDraw();
     }
 };

diff --git a/apps/helloworld_cublas/CMakeLists.txt b/apps/helloworld_cublas/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECT ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECT})
 

diff --git a/apps/helloworld_cudagl/CMakeLists.txt b/apps/helloworld_cudagl/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECTNAME ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECTNAME})
 

diff --git a/apps/helloworld_cudagl/main.cpp b/apps/helloworld_cudagl/main.cpp
@@ -5,11 +5,11 @@
 //   [1000x (w/  offscreen draw)] 1687.07 ms
 //   [1000x (w/o offscreen draw)] 1438.53 ms
 //   [cudaGraphicsUnregisterResource] 0.555032 ms
-// Performance on GeForce GTX980 (Ubuntu):
-//   [cudaGraphicsGLRegisterImage]
-//   [1000x (w/  offscreen draw)]
-//   [1000x (w/o offscreen draw)]
-//   [cudaGraphicsUnregisterResource]
+// Performance on GeForce GTX980 and i5@3Ghz (Ubuntu@MIT):
+//    [cudaGraphicsGLRegisterImage] 170.678 ms
+//    [1000x (w/  offscreen draw)] 204.626 ms
+//    [1000x (w/o offscreen draw)] 195.564 ms
+//    [cudaGraphicsUnregisterResource] 0.12116 ms
 // Performance on GeForce GTX980 (Win8.1):
 //   [cudaGraphicsGLRegisterImage] 109.379 ms
 //   [1000x (w/  offscreen draw)] 182.223 ms

diff --git a/apps/helloworld_opencv/CMakeLists.txt b/apps/helloworld_opencv/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECT ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECT})
 # cmake_policy(SET CMP0046 OLD)

diff --git a/apps/helloworld_openmp/CMakeLists.txt b/apps/helloworld_openmp/CMakeLists.txt
@@ -2,7 +2,7 @@ if(UNIX AND NOT APPLE)
     return()
 endif()
 
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECT ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECT})
 

diff --git a/apps/helloworld_openni/CMakeLists.txt b/apps/helloworld_openni/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECT ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECT})
 

diff --git a/apps/helloworld_qtopengl/CMakeLists.txt b/apps/helloworld_qtopengl/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECT ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECT})
 

diff --git a/apps/helloworld_realsense/CMakeLists.txt b/apps/helloworld_realsense/CMakeLists.txt
@@ -2,7 +2,7 @@ if(NOT WIN32)
     return()
 endif()
 
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECT ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECT})
 

diff --git a/apps/helloworld_thrust/CMakeLists.txt b/apps/helloworld_thrust/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8)
 get_filename_component(PROJECT ${CMAKE_CURRENT_LIST_DIR} NAME)
 project(${PROJECT})
 

diff --git a/apps/htrack_atb/main.cpp b/apps/htrack_atb/main.cpp
@@ -160,6 +160,7 @@ int main(int argc, char* argv[]){
 
 #if defined(OPENNI)
     Camera camera(QVGA, 60 /*FPS*/);
+    // Camera camera(QVGA, 30 /*FPS*/);
     SensorOpenNI sensor(&camera);
 #endif
 

diff --git a/apps/htrack_qt/Main_window.cpp b/apps/htrack_qt/Main_window.cpp
@@ -6,6 +6,7 @@
 #include "tracker/OpenGL/DebugRenderer/DebugRenderer.h"
 #include "cudax/Timer.h"
 #include "util/opencv_wrapper.h"
+#include "util/mylogger.h"
 
 #include "tracker/Worker.h"
 #include "tracker/Tracker.h"
@@ -357,7 +358,7 @@ void Main_window::menu_initialize_offset()
 
 void Main_window::display_frame(int frame_id){
     if((frame_id<0) || !(frame_id<datastream->size())){
-        printf("!!!WARNING frame_id out of range: 0<=%d<%d\n",frame_id, datastream->size());
+        mWarning("frame_id out of range: 0<=%d<%d\n",frame_id, datastream->size());
         fflush(stdout);
         return;
     }

diff --git a/apps/htrack_qt/OpenGL_viewer.h b/apps/htrack_qt/OpenGL_viewer.h
@@ -3,12 +3,13 @@
 
 #include "util/gl_wrapper.h"
 #include <memory>
-#include <QGLViewer/qglviewer.h>
 #include <QMenu>
 
 #ifdef WITH_QGLVIEWER
+#include <QGLViewer/qglviewer.h>
 typedef QGLViewer OpenGL_viewer_Superclass;
 #else
+#include <QGLWidget>
 typedef QGLWidget OpenGL_viewer_Superclass;
 #endif
 

diff --git a/apps/htrack_qt/main.cpp b/apps/htrack_qt/main.cpp
@@ -45,6 +45,7 @@ int main(int argc, char* argv[]) {
 
 #if defined(OPENNI)
     Camera camera(QVGA, 60 /*FPS*/);
+    // Camera camera(QVGA, 30 /*FPS*/);
     SensorOpenNI sensor(&camera);
 #endif
 

diff --git a/cmake/ConfigureEigen.cmake b/cmake/ConfigureEigen.cmake
@@ -1,2 +1,3 @@
 find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIRS})
+include_directories(${EIGEN3_INCLUDE_DIRS})
+add_definitions(-DWITH_EIGEN)
diff --git a/cmake/ConfigureQGLViewer.cmake b/cmake/ConfigureQGLViewer.cmake
@@ -1,5 +1,4 @@
-#--- QGLViewer
-find_package(QGLViewer REQUIRED)
+find_package(QGLViewer) #<<< Optional
 if(QGLVIEWER_FOUND)
     include_directories(${QGLVIEWER_INCLUDE_DIR})
     add_definitions(-DQGLVIEWER)

diff --git a/cmake/FindOpenNI2.cmake b/cmake/FindOpenNI2.cmake
@@ -11,6 +11,7 @@ find_path(OPENNI2_INCLUDE_DIR "OpenNI.h"
         C:/Developer/include/openni
         #--- LINUX (self deployed)
         ${CMAKE_SOURCE_DIR}/openni/include
+        ${CMAKE_SOURCE_DIR}/../openni/include
     DOC "OpenNI c++ interface header")
 
 find_library(OPENNI2_LIBRARY "OpenNI2"
@@ -24,6 +25,7 @@ find_library(OPENNI2_LIBRARY "OpenNI2"
         C:/Developer/lib
         C:/Program Files/OpenNI2/Lib
         ${CMAKE_SOURCE_DIR}/openni/lib
+        ${CMAKE_SOURCE_DIR}/../openni/lib
     DOC "OpenNI2 library")
 
 #message(STATUS "OPENNI2_LIBRARY: ${OPENNI2_LIBRARY}")

diff --git a/tracker/Data/DataStream.cpp b/tracker/Data/DataStream.cpp
@@ -6,6 +6,7 @@
 #include "util/qt2eigen.h"
 #include "util/mylogger.h"
 #include <algorithm>
+#include <fstream>
 
 DataStream::DataStream(Camera *camera) : _camera(camera){
     assert( camera != NULL);
@@ -26,8 +27,8 @@ int DataStream::add_frame(const void* color_buffer, const void* depth_buffer){
     /// Clone the data
     if(color_buffer) frame.color = cv::Mat(height(), width(), CV_8UC3, (void*) color_buffer).clone();
     if(depth_buffer) frame.depth = cv::Mat(height(), width(), CV_16UC1, (void*) depth_buffer).clone();
-    if(!color_buffer) qDebug() << "warning: null color buffer?";
-    if(!depth_buffer) qDebug() << "warning: null depth buffer?";
+    if(!color_buffer) mDebug() << "warning: null color buffer?";
+    if(!depth_buffer) mDebug() << "warning: null depth buffer?";
 
 //#define TOMPSON_COLOR_IMAGE_FIX
 #ifdef TOMPSON_COLOR_IMAGE_FIX
@@ -41,11 +42,11 @@ int DataStream::add_frame(const void* color_buffer, const void* depth_buffer){
 DataFrame&DataStream::get_frame(int id){
     // CHECK_BOUNDS(id, frames.size()); 
     if(id < 0){
-        LOG(INFO) << "!!!WARNING frame_id out of bounds";
+        mWarning() << "frame_id out of bounds";
         return *(frames.at(0));
     }
     if(id >= frames.size()){
-        LOG(INFO) << "!!!WARNING frame_id out of bounds";        
+        mWarning() << "frame_id out of bounds";        
         return *(frames.at(frames.size()-1));
     }
     return *(frames.at(id)); 
@@ -55,7 +56,7 @@ DataFrame&DataStream::get_frame(int id){
 void DataStream::crop(int start, int end){
     CHECK_BOUNDS(start, 0, frames.size());
     CHECK_BOUNDS(end, 0, frames.size());
-    CHECK(start<end) << "!start<end";
+    CHECK(start<end);
 
     /// mark frame id as invalid in the range
     for(int i=0; i<frames.size(); i++)
@@ -79,7 +80,7 @@ QString DataStream::get_basename()
 
 void DataStream::save(QString path){
     if(frames.size()==0){
-        qWarning() << "WANING: not saving an empty stream";
+        mWarning() << "WARNING: not saving an empty stream";
         return;
     }
 

diff --git a/tracker/Data/SolutionStream.h b/tracker/Data/SolutionStream.h
@@ -73,7 +73,7 @@ class SolutionStream{
     }
 
     void load(QString filename){
-        TIMED_SCOPE(timer,"SolutionStream::load()");
+        TICTOC_SCOPE(timer,"SolutionStream::load()");
 
         std::string line;
         std::ifstream in(filename.toStdString());

diff --git a/tracker/HandFinder/HandFinder.cpp b/tracker/HandFinder/HandFinder.cpp
@@ -57,7 +57,7 @@ void HandFinder::binary_classification(DataFrame& frame) {
     _wristband_found = false;
 
     // LOG(INFO) << "Worker::binary_classification";
-    TIMED_SCOPE(timer, "Worker::binary_classification");
+    // TICTOC_SCOPE(timer, "Worker::binary_classification");
 
     cv::Mat& color = frame.color;
     cv::Mat& depth = frame.depth;

diff --git a/tracker/Sensor/Sensor_openni.cpp b/tracker/Sensor/Sensor_openni.cpp
@@ -59,7 +59,7 @@ int SensorOpenNI::initialize()
     rc = kinect::OpenNI::initialize();
     if(rc!=kinect::STATUS_OK)
     {
-        qDebug()<<"Initialization Errors (if any): "<< kinect::OpenNI::getExtendedError();
+        mDebug()<<"Initialization Errors (if any): "<< kinect::OpenNI::getExtendedError();
         kinect::OpenNI::shutdown();
         exit(0);
     }
@@ -68,7 +68,7 @@ int SensorOpenNI::initialize()
     rc = device.open(deviceURI);
     if (rc != kinect::STATUS_OK)
     {
-        qDebug()<<"Device open failed: "<<kinect::OpenNI::getExtendedError();
+        mDebug()<<"Device open failed: "<<kinect::OpenNI::getExtendedError();
         kinect::OpenNI::shutdown();
         exit(0);
     }
@@ -82,20 +82,20 @@ int SensorOpenNI::initialize()
 
         if (rc != kinect::STATUS_OK)
         {
-            qDebug()<<"Couldn't start depth stream: "<<kinect::OpenNI::getExtendedError();
+            mDebug()<<"Couldn't start depth stream: "<<kinect::OpenNI::getExtendedError();
             g_depthStream.destroy();
             exit(0);
         }
     }
     else
     {
-        qDebug()<<"Couldn't find depth stream: "<<kinect::OpenNI::getExtendedError();
+        mDebug()<<"Couldn't find depth stream: "<<kinect::OpenNI::getExtendedError();
         exit(0);
     }
 
     if (!g_depthStream.isValid())
     {
-        qDebug()<<"No valid depth streams. Exiting";
+        mDebug()<<"No valid depth streams. Exiting";
         kinect::OpenNI::shutdown();
         exit(0);
     }
@@ -110,20 +110,20 @@ int SensorOpenNI::initialize()
 
         if (rc != kinect::STATUS_OK)
         {
-            qDebug()<<"Couldn't start color stream: "<<kinect::OpenNI::getExtendedError();
+            mDebug()<<"Couldn't start color stream: "<<kinect::OpenNI::getExtendedError();
             g_colorStream.destroy();
             exit(0);
         }
     }
     else
     {
-        qDebug()<<"Couldn't find color stream: "<<kinect::OpenNI::getExtendedError();
+        mDebug()<<"Couldn't find color stream: "<<kinect::OpenNI::getExtendedError();
         exit(0);
     }
 
     if (!g_colorStream.isValid())
     {
-        qDebug()<<"No valid color streams. Exiting";
+        mDebug()<<"No valid color streams. Exiting";
         kinect::OpenNI::shutdown();
         exit(0);
     }
@@ -240,7 +240,7 @@ bool SensorOpenNI::fetch_streams(DataFrame &frame)
     kinect::Status m_rc = device.setImageRegistrationMode(kinect::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
     if (m_rc != kinect::STATUS_OK)
     {
-        qDebug()<<"Could not set Image Registration Mode";
+        mDebug()<<"Could not set Image Registration Mode";
         kinect::OpenNI::shutdown();
         exit(0);
     }

diff --git a/tracker/Sensor/Sensor_realsense.cpp b/tracker/Sensor/Sensor_realsense.cpp
@@ -8,10 +8,7 @@
 
 
 #ifndef HAS_REALSENSE
-    SensorRealSense::SensorRealSense(Camera *camera) : Sensor(camera){
-        LOG(INFO) << "Intel RealSense not available in your OS";
-        exit(0);
-    }
+    SensorRealSense::SensorRealSense(Camera *camera) : Sensor(camera){ mFatal() << "Intel RealSense not available in your OS"; }
     int SensorRealSense::initialize(){ return 0; }
     SensorRealSense::~SensorRealSense(){}
     bool SensorRealSense::spin_wait_for_data(Scalar timeout_seconds){ return false; }