diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..6fe45ee --- /dev/null +++ b/.gitignore @@ -0,0 +1,4 @@ +build +build-* +__pycache__ +*.pyc diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml new file mode 100644 index 0000000..12da6f9 --- /dev/null +++ b/.gitlab-ci.yml @@ -0,0 +1,134 @@ +stages: + - build + - test + - deploy + +variables: + #REL_CWIPC_UTIL: --release_name v2.1_stable + REL_CWIPC_UTIL: "" +build_linux: + stage: build + tags: + - ubuntu1804 + variables: + DEBIAN_FRONTEND: noninteractive + before_script: +# Install and update debian packages + - apt-get update + - apt-get install -y tzdata + - apt-get install -y software-properties-common + - apt-get install -y git + - apt-get install -y cmake + - apt-get install -y libpcl-dev libpcl-common1.8 libpcl-io1.8 + - apt-get install -y libturbojpeg0-dev +# Install Deployment repo and dependencies + - apt-get install -y python3-pip + - python3 -m pip install requests mechanize + - mkdir deployment-helpers + - cd deployment-helpers + - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@baltig.viaccess-orca.com:8443/VRT/deployment-group/Deployment + - cd .. +# Get and install cwipc_util + - python3 deployment-helpers/Deployment/getReleaseFromGitLab --cicd --project_name cwipc_util $REL_CWIPC_UTIL + - tar --directory /usr/local -xvf cwipc_util_ubuntu1804_*.tgz + script: + - mkdir -p build + - mkdir -p dist-ubuntu1804 + - cd build + - cmake .. + - make + - make test + - make install DESTDIR=../dist-ubuntu1804 + - cd .. + - tar --directory dist-ubuntu1804/usr/local -cvaf cwipc_codec_ubuntu1804_$CI_BUILD_TAG.tgz . + artifacts: + paths: + - cwipc_codec_ubuntu1804_$CI_BUILD_TAG.tgz + +build_osx: + stage: build + tags: + - osx1012 + before_script: + - brew install pkg-config || true # brew upgrade pkg-config + - brew install cmake || true # brew upgrade cmake + - brew install jpeg-turbo || true # brew upgrade jpeg-turbo + - brew unlink jpeg + - brew link --force jpeg-turbo + - brew install pcl || true # brew upgrade pcl +# Install Deployment repo and dependencies + - python3 -m pip install requests mechanize + - mkdir deployment-helpers + - cd deployment-helpers + - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@baltig.viaccess-orca.com:8443/VRT/deployment-group/Deployment + - cd .. +# Get and install cwipc_util + - python3 deployment-helpers/Deployment/getReleaseFromGitLab --cicd --project_name cwipc_util $REL_CWIPC_UTIL + - tar --directory /usr/local -xvmf cwipc_util_osx1012_*.tgz + script: + - mkdir -p build + - mkdir -p dist-osx1012 + - cd build + - cmake .. + - make + - make test + - make install DESTDIR=../dist-osx1012 + - cd .. + - tar --directory dist-osx1012/usr/local -z -cvf cwipc_codec_osx1012_$CI_BUILD_TAG.tgz . + artifacts: + paths: + - cwipc_codec_osx1012_$CI_BUILD_TAG.tgz + +build_win: + stage: build + tags: + - win10 + before_script: + - rm -rf /cygdrive/c/dist-win/installed + - mkdir -p /cygdrive/c/dist-win/installed +# Install Deployment repo and dependencies + - python -m pip install requests mechanize + - mkdir deployment-helpers + - cd deployment-helpers + - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@baltig.viaccess-orca.com:8443/VRT/deployment-group/Deployment + - cd .. +# Get and install cwipc_util + - python deployment-helpers/Deployment/getReleaseFromGitLab --cicd --project_name cwipc_util $REL_CWIPC_UTIL + - (zipfile=$PWD/cwipc_util_win1064_*.zip && cd /cygdrive/c/dist-win && unzip $zipfile) + script: + - mkdir -p build + - export ziplocation=$(pwd)/cwipc_codec_win1064_$CI_BUILD_TAG.zip + - cd build + - cmake .. -G "Visual Studio 15 2017 Win64" -DCMAKE_INSTALL_PREFIX="C:/dist-win/installed" -DJPEG_Turbo_INCLUDE_DIR="C:/libjpeg-turbo64/include" -DJPEG_Turbo_LIBRARY="C:/libjpeg-turbo64/lib/jpeg.lib" + - cmake --build . --config Release + - cmake --build . --config Release --target RUN_TESTS + - find /cygdrive/c/dist-win -type f -print > previously-installed.txt + - cmake --build . --config Release --target INSTALL + - rm `cat previously-installed.txt` + - (cd /cygdrive/c/dist-win && zip -r $ziplocation installed) + artifacts: + paths: + - cwipc_codec_win1064_$CI_BUILD_TAG.zip + +deploy_all: + stage: deploy + tags: + - linux + only: + - tags + dependencies: + - build_linux + - build_osx + - build_win + before_script: + - apt-get update + - apt-get install -y python3-pip + - python3 -m pip install requests + - mkdir deployment-helpers + - cd deployment-helpers + - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@baltig.viaccess-orca.com:8443/VRT/deployment-group/Deployment + - cd .. + script: + - mkdir deliverables + - mv cwipc_codec_osx1012_$CI_BUILD_TAG.tgz cwipc_codec_ubuntu1804_$CI_BUILD_TAG.tgz cwipc_codec_win1064_$CI_BUILD_TAG.zip deliverables + - python3 deployment-helpers/Deployment/addReleaseToGitLab --cicd --notag cwipc_codec_osx1012_$CI_BUILD_TAG.tgz cwipc_codec_ubuntu1804_$CI_BUILD_TAG.tgz cwipc_codec_win1064_$CI_BUILD_TAG.zip diff --git a/CMakeFiles/cwipc_codec-config.cmake b/CMakeFiles/cwipc_codec-config.cmake new file mode 100644 index 0000000..3914443 --- /dev/null +++ b/CMakeFiles/cwipc_codec-config.cmake @@ -0,0 +1,6 @@ +get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) +include(${SELF_DIR}/cwipc_codec.cmake) +get_filename_component(cwipc_codec_INCLUDE_DIRS "${SELF_DIR}/../../include" ABSOLUTE) +get_filename_component(cwipc_codec_LIBRARY_DIRS "${SELF_DIR}/../../lib" ABSOLUTE) +set(cwipc_codec_LIBRARIES cwipc_codec) +set(cwipc_codec_FOUND TRUE) diff --git a/CMakeLists.txt b/CMakeLists.txt index 11da4b0..a567b2e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -36,30 +36,26 @@ # POSSIBILITY OF SUCH DAMAGE. cmake_minimum_required(VERSION 2.8.10 FATAL_ERROR) -project(CWI_PCL_CODEC) -# -- From: https://stackoverflow.com/questions/16398937/cmake-and-finding-other-projects-and-their-dependencies -# set(CMAKE_DISABLE_IN_SOURCE_BUILD ON) -# set(CMAKE_DISABLE_SOURCE_CHANGES ON) +project(cwipc_codec) -# if ("${CMAKE_SOURCE_DIR}" STREQUAL "${CMAKE_BINARY_DIR}") -# message(SEND_ERROR "In-source builds are not allowed.") -# endif () +include(CTest) +include(GNUInstallDirs) -# set(CMAKE_VERBOSE_MAKEFILE ON) -# set(CMAKE_COLOR_MAKEFILE ON) +# Ensure all executable, dll/so and link-library outputs end up in the same directories +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin/${CMAKE_BUILD_TYPE}) +set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/${CMAKE_BUILD_TYPE}) +set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/${CMAKE_BUILD_TYPE}) -# You can set this to '1' if you like a lot of CMake messages, e.g. to find a bug -set (CMAKELISTS_DEBUG 0 - CACHE INTERNAL "${PROJECT_NAME}: CMakeLists.txt Debug Flag" FORCE) +# +# Find cwipc_util +# +find_package(cwipc_util REQUIRED) +include_directories(${cwipc_util_INCLUDE_DIRS}) +link_directories(${cwipc_util_LIBRARY_DIRS}) set(SUBSYS_NAME cwi_pcl_codec) set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/;${CMAKE_MODULE_PATH}") -if(CMAKELISTS_DEBUG) - message("CMAKE_MODULE_PATH=${CMAKE_MODULE_PATH}") - set(QUIET_FLAG "") -else(CMAKELISTS_DEBUG) - set(QUIET_FLAG QUIET) -endif(CMAKELISTS_DEBUG) +set(QUIET_FLAG QUIET) # Use PCL 1.9 (preferred) or 1.8 find_package(PCL 1.9 ${QUIET_FLAG} COMPONENTS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search recognition) @@ -67,112 +63,44 @@ if(NOT PCL_FOUND) find_package(PCL 1.8 REQUIRED ${QUIET_FLAG} COMPONENTS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search recognition) endif(NOT PCL_FOUND) -if(NOT PCL_ALL_IN_ONE_INSTALLER) - # search for 3rd party packages - if(WIN32) - # Remove 'lib' prefix for shared libraries on Windows - set(CMAKE_SHARED_LIBRARY_PREFIX "") - set(CMAKE_C_FLAGS "(/EHsc /UBOOST_NO_EXCEPTIONS") - set(CMAKE_CXX_FLAGS "/EHsc") - set(CMAKE_LD_FLAGS "-g -O0") - # On Windows we have VTK 7.0 - find_package(VTK 7.0 REQUIRED ${QUIET_FLAG}) - if(NOT VTK_FOUND) - message(ERROR "VTK >= 7.0 found.") - endif(VTK_FOUND) - else(WIN32) - # enable debugging on Linux - set(CMAKE_C_FLAGS "-g -O0") - set(CMAKE_CXX_FLAGS "-g -O0") - set(CMAKE_LD_FLAGS "-g -O0") - # On Ubuntu 16.04 we have VTK 6.0, on MacOSX (brew) VTK 8.1 - find_package(VTK 6.0 ${QUIET_FLAG}) - if(NOT VTK_FOUND) - find_package(VTK 6.1 ${QUIET_FLAG}) - endif(NOT VTK_FOUND) - if(NOT VTK_FOUND) - find_package(VTK 8.0 ${QUIET_FLAG}) - endif(NOT VTK_FOUND) - if(NOT VTK_FOUND) - find_package(VTK 8.1 REQUIRED) - endif(NOT VTK_FOUND) - if(NOT VTK_FOUND) - message(ERROR "Neither VTK 6.0, 6.1, 8.0 nor 8.1 found.") - endif(NOT VTK_FOUND) - endif(WIN32) -endif(NOT PCL_ALL_IN_ONE_INSTALLER) - -#include(${CMAKE_SOURCE_DIR}/cmake/pcl_find_boost.cmake) -set(BOOST_REQUIRED_MODULES system filesystem thread date_time iostreams chrono program_options) -find_package(Boost 1.47.0 ${QUIET_FLAG} REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES}) -if(NOT Boost_FOUND) - message(ERROR "Boost >= 1.48.0 not found.") -endif(NOT Boost_FOUND) -if(CMAKELISTS_DEBUG) - message("1.Boost_LIBRARIES=" ${Boost_LIBRARIES}) -endif(CMAKELISTS_DEBUG) -find_package(Eigen 4.3 ${QUIET_FLAG}) -if (NOT Eigen_FOUND) - message(ERROR "Eigen not found)") -endif(NOT Eigen_FOUND) -if(CMAKELISTS_DEBUG) - message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS}, version: ${EIGEN_VERSION})") -endif(CMAKELISTS_DEBUG) +find_package(Boost 1.47.0 ${QUIET_FLAG} REQUIRED COMPONENTS system filesystem thread date_time iostreams chrono program_options) +find_package(Eigen 4.3 ${QUIET_FLAG} REQUIRED) find_package(JPEG_Turbo ${QUIET_FLAG} REQUIRED) -if(CMAKELISTS_DEBUG) - message("2.Boost_LIBRARIES=" ${Boost_LIBRARIES}) -endif(CMAKELISTS_DEBUG) -if(NOT JPEG_Turbo_FOUND) - message(ERROR "TurboJPEG not found.") -endif(NOT JPEG_Turbo_FOUND) - -if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/io/impl/entropy_range_coder.hpp") - set(PCL_INSTALLED ON CACHE INTERNAL "PCL Installed" FORCE) -endif() # Expose public includes and libraries to subprojects set(${PROJECT_NAME}_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include ${JPEG_Turbo_INCLUDE_DIR} - ${VTK_INCLUDE_DIR} ${Boost_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS} CACHE INTERNAL "${PROJECT_NAME}: Include Directories" FORCE) -if(CMAKELISTS_DEBUG) - message("${SUBSYS_NAME}-${PROJECT_NAME}_INCLUDE_DIRS: " ${${PROJECT_NAME}_INCLUDE_DIRS}) - message("3.Boost_LIBRARIES=" ${Boost_LIBRARIES}) -endif(CMAKELISTS_DEBUG) + set(${PROJECT_NAME}_LIBRARY_DIRS ${PROJECT_SOURCE_DIR}/lib - ${VTK_LIBRARY_DIR} + ${JPEG_Turbo_LIBRARY_DIR} ${Boost_LIBRARY_DIR} ${PCL_LIBRARY_DIRS} CACHE INTERNAL "${PROJECT_NAME}: Library Directories" FORCE) -if(CMAKELISTS_DEBUG) - message("${SUBSYS_NAME}_LIBRARY_DIRS: " ${${PROJECT_NAME}_LIBRARY_DIRS}) - message("${SUBSYS_NAME}_JPEG_Turbo_LIBRARY: " ${JPEG_Turbo_LIBRARY}) - message("${SUBSYS_NAME}_VTK_LIBRARIES:" ${VTK_LIBRARIES}) - message("${SUBSYS_NAME}_Boost_LIBRARIES: " ${Boost_LIBRARIES}) - message("${SUBSYS_NAME}_PCL_LIBRARIES: " ${PCL_LIBRARIES}) -endif(CMAKELISTS_DEBUG) + set(${PROJECT_NAME}_LIBRARIES ${JPEG_Turbo_LIBRARY} ${VTK_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES} CACHE INTERNAL "${PROJECT_NAME}: Libraries" FORCE) -if(CMAKELISTS_DEBUG) - message("${SUBSYS_NAME}-${PROJECT_NAME}_LIBRARIES: " ${${PROJECT_NAME}_LIBRARIES}) -endif(CMAKELISTS_DEBUG) + set(${PROJECT_NAME}_DEFINITIONS ${JPEG_Turbo_DEFINITIONS} -DWITH_JPEG8=1 ${Boost_DEFINITIONS} ${PCL_DEFINITIONS} CACHE INTERNAL "${PROJECT_NAME}: Definitions" FORCE) -if(CMAKELISTS_DEBUG) - message("${SUBSYS_NAME}-${PROJECT_NAME}_DEFINITIONS: " ${${PROJECT_NAME}_DEFINITIONS}) -endif(CMAKELISTS_DEBUG) add_definitions( ${${PROJECT_NAME}_DEFINITIONS}) -add_subdirectory("jpeg_io") add_subdirectory("cloud_codec_v2") +add_subdirectory("src") add_subdirectory("apps/evaluate_compression") +add_subdirectory("apps/cwipc_encode") +add_subdirectory("apps/cwipc_decode") +add_subdirectory("apps/cwipc_downsample") +add_subdirectory("apps/cwipc_tilefilter") +add_subdirectory("python") +add_subdirectory("tests") diff --git a/LICENSE.txt b/LICENSE.txt index edca823..dc86695 100644 --- a/LICENSE.txt +++ b/LICENSE.txt @@ -1,36 +1,36 @@ -Software License Agreement (BSD License) - -Point Cloud Library (PCL) - www.pointclouds.org -Copyright (c) 2009-2012, Willow Garage, Inc. -Copyright (c) 2012-, Open Perception, Inc. -Copyright (c) CodeShop B.V. 2016- -Copyright (c) 2017-, Stichting Centrum Wiskunde en Informatica. - -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the following - disclaimer in the documentation and/or other materials provided - with the distribution. - * Neither the name of the copyright holder(s) nor the names of its - contributors may be used to endorse or promote products derived - from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. +Software License Agreement (BSD License) + +Point Cloud Library (PCL) - www.pointclouds.org +Copyright (c) 2009-2012, Willow Garage, Inc. +Copyright (c) 2012-, Open Perception, Inc. +Copyright (c) CodeShop B.V. 2016- +Copyright (c) 2017-, Stichting Centrum Wiskunde en Informatica. + +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above + copyright notice, this list of conditions and the following + disclaimer in the documentation and/or other materials provided + with the distribution. + * Neither the name of the copyright holder(s) nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/PCLConfig-Ubuntu16.04.patch b/PCLConfig-Ubuntu16.04.patch deleted file mode 100644 index 5897ebd..0000000 --- a/PCLConfig-Ubuntu16.04.patch +++ /dev/null @@ -1,11 +0,0 @@ ---- /usr/share/pcl-1.8/PCLConfig.cmake 2017-02-28 23:33:04.000000000 +0100 -+++ ./PCLConfig.cmake 2017-07-19 14:59:45.988250023 +0200 -@@ -743,7 +743,7 @@ - get_filename_component(PCL_ROOT "${PCL_DIR}" PATH) - else(WIN32 AND NOT MINGW) - # PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y -- set(PCL_ROOT "/usr/local") -+ set(PCL_ROOT "/usr") - endif(WIN32 AND NOT MINGW) - - # check whether PCLConfig.cmake is found into a PCL installation or in a build tree diff --git a/README.md b/README.md index f41fa61..5ebae28 100644 --- a/README.md +++ b/README.md @@ -1,157 +1,168 @@ -# Copyright (c) 2017-, Stichting Centrum Wiskunde en Informatica (CWI). +> Copyright (c) 2017-2019, Stichting Centrum Wiskunde en Informatica (CWI). -cwi-pcl-codec -============= +# cwipc_codec -This distribution contains a codec for encoding/decoding 3D Point Cloud data streams, and a toolset for its objective evaluation. -The codec is described in detail in a journal paper(R. Mekuria, K. Blom, and P. Cesar, "Design, Implementation and Evaluation of a Point Cloud Codec for Tele-Immersive Video," IEEE Transactions on Circuits and Systems for Video Technology, 27(4): 828 -842, 2017, of which a preprint is available at: https://ir.cwi.nl/pub/24395. -The codec has served as the software to generate the anchors for the Call for Proposals for Point Cloud Compression by the MPEG working group 3DG-PCC on PointCloud Compression -(http://mpeg.chiariglione.org/standards/exploration/point-cloud-compression). +This distribution contains a compressor and decompressor for pointclouds. It uses the _cwipc_ abstract object to represent pointclouds. -This version can be build on MacOSX 10.14.3 macOS Mojave (using Homebrew), Ubuntu 18.04 (64 bit) (using 'apt') or Windows 10 bit, using pre-build PointCloudLibrary(PCL) -installers, or on many other systems by downloading and building PCL and its dependencies. +It is a modified version of the cwi-pcl-codec distribution, from . Both distributions share the same codec, described in the following journal paper: -This package contains: +> _(R. Mekuria, K. Blom, and P. Cesar, "Design, Implementation and Evaluation of a Point Cloud Codec for Tele-Immersive Video," IEEE Transactions on Circuits and Systems for Video Technology, 27(4): 828 -842, 2017_ -* codec software (cloud_codec_v2) -* auxiliary files needed (for using 'cmake' and building 'jpeg_io') -* quality metrics -* evaluation library -* tools for testing and evaluation of several aspects of this codec -* installation instructions +## Installing -To use it, several dependencies (Boost,Eigen,Flann,QHull,VTK and libjpeg-turbo) need to be installed: +For use within VRtogether you can get pre-built zipfiles (or tgzfiles for Mac/Linux) from . Download the most recent release with a normal v_X_._Y_._Z_ name. You will also need the accompanying _cwipc\_util_ installer from +. -* for Windows 10, most of this can be done using an all-in-one installer -* for macOS Mojave 14.3 using Homebrew. -* for Ubuntu 18.04 by installing a number of Debian packages -* for all other supported systems by downloading, building and installing PCL - and its necessary Third Party Package (TPP's) as described at: - http://pointclouds.org/downloads -> 'Compiling from source'. +You also need to install a number of dependencies: -Installation -============ +* Boost +* Eigen +* Flann +* QHull +* libjpeg-turbo -Mac OSX 10.14.3 Installation: ------------------------------ +[![pipeline status](https://baltig.viaccess-orca.com:8443/VRT/nativeclient-group/cwipc_codec/badges/master/pipeline.svg)](https://baltig.viaccess-orca.com:8443/VRT/nativeclient-group/cwipc_codec/commits/master) -* On a clean Mac OSX 10.14.3 installation install Xcode 10.1, Cmake 10.13.4 and Homebrew 2.0.6 +### Windows -* brew unlink jpeg - brew install --HEAD jpeg-turbo - brew install vtk pcl +- Install PCL 1.8 from . Make sure you select the "add to %PATH% for all users" option. +- Download libjpeg-turbo via . Get the windows 64bit binary installer. Install in the standard location `C:\libjpeg-turbo64`. Add `C:\libjpeg-turbo64\bin` to %PATH% for all users. +- Create a folder where you will install _all_ VRtogether DLLs and EXEs, for example `C:\vrtogether\installed`. +- Extract both the `cwipc_util_win1064_vX.Y.zip` and `cwipc_codec_win1064_vX.Y.zip` files into `c:\vrtogether`. This will create `bin`, `lib` and `include` folders inside the `C:\vrtogether\installed` folder. +- Add the `c:\vrtogether\installed\bin` folder to the `%PATH%` system environment variable. -* Start 'CMake', specify the directory where this file is located in 'Where is the source code', - another empty directory 'Where to build the binaries', and select 'Xcode' in the 'CMakeSetup' - pop-up window. Then click(tap) 'Configure', and 'Generate'. - Now an Xcode project should be generated in the directory specified for 'build the binaries': - CWI-PCL-CODEC.xcodeproj. +### OSX -* Start 'Xcode' and use it to open the new Xcode-project, select 'Project->Build'. - The resulting application can be found in 'apps/evaluate_compression' and is self-documenting. +- Install _brew_, and then -Installation on Windows 10 (older versions won't work): -------------------------------------------------------- + ``` + brew install pcl + brew install jpeg-turbo + brew unlink jpeg + brew link --force jpeg-turbo + ``` -* Install 'Visual Studio (2017)' Compiler Version 15.9 and 'cmake-gui' Version 3.13 +- Extract both gzip files into `/usr/local`: -* Install PCL-1.9 and all 3rd party packages that it needs using the - All-In-One Installer from 'https://github.com/PointCloudLibrary/pcl/releases' - Select (if possible) 64-bit version (PointClouds can be huge data sets, too big for 32-bit addressing) + ``` + cd /usr/local + [sudo] tar xfv .../cwipc_util_osx1012_vX.Y.tgz + [sudo] tar xfv .../cwipc_codec_osx1012_vX.Y.tgz + ``` + +### Ubuntu 18.04 -* Download 'libjpeg-turbo64' from https://sourceforge.net/projects/libjpeg-turbo/files/1.5.3/ +- Install _PCL_ and _jpegturbo_ with -* Next start 'cmake-gui', select for 'source code' the directory 'cwi-pcl-codec' (where this file README.md - distributed), and for 'binaries' another directory + ``` + apt-get install libpcl-dev + sudo apt-get install libturbojpeg0-dev + ``` -* Search for 'jpeg', for JPEG_INCLUDES specify 'C:/libjpeg-turbo64/include' and for 'JPEG_LIBRARY' - 'C:/libjpeg-turbo64/lib/turbojpeg-static.lib'. - Next select 'Configure' and 'Generate', and you'll find a Microsoft Visual Studio Solution - in the directory that was specified for 'binaries'. - -* Start Visual Studio with the 'Solution' file created in the previous paragraph and select 'Build->Build Solution'. +- Extract both gzip files into `/usr/local`: -* After successful building, the program 'evaluate_compression.exe' can be found in the directory: - 'binaries'\apps\evaluate_compression\Debug. - Before running, adapt the following environment variable: - set path=%path%;C:\libjpeg-turbo-gcc\bin;C:\Program Files (x86)\OpenNI2\Tools - - Suitable input files for the program can be downloaded from: http://vcl.iti.gr/reconstruction/ - Most of these data sets are huge; unpack some and specify the full directory path as an argument - to the program: - evaluate_compression --input_directories= + ``` + cd /usr/local + [sudo] tar xfv .../cwipc_util_osx1012_vX.Y.tgz + [sudo] tar xfv .../cwipc_codec_osx1012_vX.Y.tgz + ``` -Ubuntu 18.04 Install PCL 1.8.1 using binary packages: ------------------------------------------------------ +## Building from source -* On a clean Ubuntu 18.04 installation, start 'Terminal' and install the Point Cloud Library (PCL) and its dependencies: - sudo apt install pcl-tools libpcl-dev libjpeg-turbo8-dev - -* Start 'cmake-gui', specify the directory where this file is located in 'Where is the source code', - another empty directory 'Where to build the binaries', and select 'Unix Makefiles' in the 'CMakeSetup' - pop-up window. Click(tap) 'Configure', and 'Generate'. - For JPEG_Turbo_INCLUDE_DIR and JPEG_Turbo_LIBRARY, select '/usr/include' and '/usr/lib/x86_64-linux-gnu/libjpeg.s§o'. - -Now the codec libraries and evaluation tools can be build by typing 'make' in the directory -that was specified in 'cmake-gui' to build the binaries. The application can be found in 'apps/evaluate_compression'. - -Not so easy (tedious, but not difficult) install PCL 1.9.1 from source: (all platforms): ----------------------------------------------------------------------------------------- - -* Get PCL source code from 'https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.0' - (note that the source code in the PCL development tree is not compatible with this package). - -* Get 3rd party packages: - follow the instructions in: http://pointclouds.org/documentation/tutorials/compiling_pcl_dependencies_windows.php - or http://pointclouds.org/documentation/tutorials/compiling_pcl_macosx.php#compiling-pcl-macosx - Be aware that the version numbers of some 3rd party packages are outdated and should match those used in the - 'apt-install' commands above. - -* Use 'cmake-gui' to configure and generate the files for building PCL - -* Use 'cmake-gui' to configure and generate the files for building the addional libraries and excutables in this package. - -Running the evaluation program -============================== - -The following arguments are recognized by the program 'evaluate_compression': -(long version arguments without '--' can also be put in a file 'parameter_config.txt' in the working directory or its parent) - - -h [ --help ] produce help message - -K [ --K_outlier_filter ] arg (=0) K neighbours for radius outlier filter - --radius arg (=0.01) radius outlier filter, maximum radius - -g [ --group_size ] arg (=0) maximum number of files to be compressed together (0=read all files, then en(de)code 1 by 1) - -f [ --bb_expand_factor ] arg (=0.2) bounding box expansion to keep bounding box equal accross frames - -a [ --algorithm ] arg (=V2) compression algorithm ('V1' or 'V2') - -i [ --input_directories ] arg Directory containing supported files (.pcd or .ply) - -o [ --output_directory ] arg Directory to store decompressed pointclouds (.ply) - -s [ --show_statistics ] [=arg(=1)] (=0) gather and show a bunch of releavant statistical data - -v [ --visualization ] [=arg(=1)] (=0) show both original and decoded PointClouds graphically - -p [ --point_resolution ] arg (=0.2) XYZ resolution of point coordinates - -r [ --octree_resolution ] arg (=0.2) voxel size - -b [ --octree_bits ] arg (=11) octree resolution (bits) - -c [ --color_bits ] arg (=8) color resolution (bits) - -e [ --enh_bits ] arg (=0) bits to code the points towards the center - -t [ --color_coding_type ] arg (=1) pcl=0,jpeg=1 or graph transform - -m [ --macroblock_size ] arg (=16) size of macroblocks used for predictive frame (has to be a power of 2) - --keep_centroid arg (=0) keep voxel grid positions or not - --create_scalable arg (=0) create scalable bitstream (not yet implemented) - --do_connectivity_coding arg (=0) connectivity coding (not yet implemented) - --icp_on_original arg (=0) icp_on_original - -q [ --jpeg_quality ] arg (=0) jpeg quality parameter - -d [ --do_delta_coding ] arg (=0) use delta (predictive) en(de)coding - --do_quality_computation arg (=0) compute quality of en(de)coding - --do_icp_color_offset arg (=0) do color offset en(de)coding on predictive frames - -j [ --num_threads ] arg (=1) number of parallel threads (1=default, single thread, no parallel execution) - --intra_frame_quality_csv arg (=intra_frame_quality.csv) intra frame coding quality results filename (.csv file) - --predictive_quality_csv arg (=predictive_quality.csv) predictive coding quality results file name (.csv file) - --debug_level arg (=0) debug print level (0=no debug print, 3=all debug print) - -The precise meanings of these parameters are explained in the journal paper mentioned above. - -Apr.6, 2017, updated: Jun 25, 2017, Apr. 23, 2018 and Mar.19, 2019. - -Kees Blom (Kees.Blom@cwi.nl) CWI, Amsterdam, The Netherlands +### OSX instructions +- You need XCode. +- Install Homebrew, from +- Install a few dependencies needed by our software and some of the third party libraries: + ``` + brew install cmake + brew install jpeg-turbo + brew unlink jpeg + brew link --force jpeg-turbo + brew install pcl + ``` + + - The `brew unlink` and `brew link` are needed to install *jpeg-turbo* in stead of the normal jpeg library. Brew prefers not to do this, but that may lead to problems with some parts of the program linking to normal libjpeg and others to jpeg-turbo and the two getting into each others way. +- Download and install the *cwipc_util* helper library. + - Use the *cwipc_util* binary distribution explained above, or + - clone from and build it from source according to the instructions in there. +- Build the compression library. Its cmakefiles need a little help, because _libjpeg-turbo_ isn't installed system-wide (because of name conflict with the normal libjpeg): + + ``` + mkdir build-makefiles + cd build-makefiles + cmake .. + make + make test # optional + make install # optional + ``` + + - Alternatively you can _cmake_ for Xcode projects in stead of Makefiles: append `-G Xcode` to the _cmake_ command line above. + +### Linux instructions + +- These instructions are for Ubuntu 18.04. +- Install cmake, pcl and other dependencies: + + ``` + sudo apt-get install cmake + sudo apt-get install libturbojpeg0-dev + sudo apt-get install libpcl-dev libpcl-common1.8 libpcl-io1.8 + ``` + - This installs pcl 1.8, because 1.9 isn't available easily for Ubuntu 18.04. +- Download and the *cwipc_util* helper library from . + - By the time you read this there may be installers, otherwise download the source and build and install according to the instructions there. +- in the codec directory (this project) create a build subdirectory and build everything: + + ``` + cmake .. + make + make test + make install + ``` + +### Windows instructions + +- Make sure you have the following on your development machine: + - Install Windows 10-64 + - Install Visual Studio Community Edition + - Install Notepad++ + - Install Git (checkout as-is, commit as-is for Unix newlines) + - Install CMake +- Install PCL 1.9.1 using the all-in-one installer. + - Project homepage is at , go to release, pick the latest 1.9 one, download the 64bit all-in-one. + - Currently that is +- Download libjpeg-turbo via . Get the windows 64bit binary installer. Install in the standard location `C:\libjpeg-turbo64`. +- Download and the *cwipc_util* helper library from . + - By the time you read this there may be installers, otherwise download the source and build and install according to the instructions there. +- Create a `build` subdirectory of the source directory (of this repo). +- Configure and build the cwi codec repo with cmake and Visual Studio, in one of two ways: + - Using the GUI: + - Configure the cwi codec repository using cmake-gui. + - Generate VS projects. + - Open solution in Visual Studio, build. + - Using the command line: + + ``` + cmake .. -G "Visual Studio 15 2017 Win64" -DJPEG_Turbo_INCLUDE_DIR="C:\libjpeg-turbo64\include" -DJPEG_Turbo_LIBRARY="C:\libjpeg-turbo64\lib\jpeg.lib" + cmake --build . --config Release + cmake --build . --config Release --target RUN_TESTS + cmake --build . --config Release --target INSTALL + ``` + +- To make things run I had to add the following directories to system environment variable PATH: + - `c:\Program Files\PCL 1.9.1\bin` + - `c:\Program Files\OpenNI2\Tools` + - `c:\libjpeg-turbo64\bin` + +## Test programs + +Three test programs are included: + +- `cwipc_encode` compresses a `.ply` pointcloud file to a `.cwicpc` compressed pointcloud file. +- `cwipc_decode` decompresses a `.cwicpc` compresssed file to a `.ply` pointcloud file. +- `evaluate_compression` allows for evaluation of the algorithm, see [its readme file](apps/evaluate_compression/readme.md) for details. + +The Python unittest [python/test\_cwipc\_codec.py](python/test_cwipc_codec.py) tests each individual feature and API call of the codec. \ No newline at end of file diff --git a/apps/cwipc_decode/CMakeLists.txt b/apps/cwipc_decode/CMakeLists.txt new file mode 100644 index 0000000..03da87d --- /dev/null +++ b/apps/cwipc_decode/CMakeLists.txt @@ -0,0 +1,13 @@ + +cmake_minimum_required(VERSION 3.10.0) + +add_executable(cwipc_decode cwipc_decode.cpp) +include_directories( + "../../include" + ${PCL_INCLUDE_DIRS} +) +target_link_libraries(cwipc_decode cwipc_codec ${PCL_LIBRARIES}) + +install(TARGETS cwipc_decode RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) + +add_test(NAME cwipc_decode COMMAND cwipc_decode ${CMAKE_SOURCE_DIR}/tests/fixtures/compressed/pcl_frame1.cwicpc ./pcl_frame1.ply ) diff --git a/apps/cwipc_decode/cwipc_decode.cpp b/apps/cwipc_decode/cwipc_decode.cpp new file mode 100644 index 0000000..fff96b5 --- /dev/null +++ b/apps/cwipc_decode/cwipc_decode.cpp @@ -0,0 +1,61 @@ +#include +#include + +#include "cwipc_codec/api.h" + +int main(int argc, char** argv) +{ + if (argc != 3) { + std::cerr << "Usage: " << argv[0] << "compressedfile.cwicpc pointcloudfile.ply" << std::endl; + return 2; + } + // + // Read compressed file + // + std::ifstream input(argv[1], std::ifstream::binary); + // Determine data size and allocate a buffer + input.seekg(0, std::ios::end); + size_t filesize = input.tellg(); + char *inputBuffer = (char *)malloc(filesize); + if (inputBuffer == NULL) { + std::cerr << argv[0] << ": could not allocate " << filesize << " bytes." << std::endl; + return 1; + } + // Read all data + input.seekg(0, std::ios::beg); + input.read(inputBuffer, filesize); + input.close(); + std::cerr << "Read " << filesize << " compressed bytes." << std::endl; + // + // Uncompress + // + char *message = NULL; + cwipc_decoder *decoder = cwipc_new_decoder(&message, CWIPC_API_VERSION); + if (decoder == NULL) { + std::cerr << argv[0] << ": Could not create decoder:" << message << std::endl; + return 1; + } + decoder->feed(inputBuffer, filesize); + free((void *)inputBuffer); // After feed() we can free the input buffer + bool ok = decoder->available(true); + if (!ok) { + std::cerr << argv[0] << ": Decoder did not create pointcloud" << std::endl; + return 1; + } + cwipc *pc = decoder->get(); + if (pc == NULL) { + std::cerr << argv[0] << ": Decoder did not return cwipc" << std::endl; + return 1; + } + decoder->free(); // We don't need the encoder anymore + std::cerr << "Decoded successfully, " <get_uncompressed_size() << " bytes (uncompressed)" << std::endl; + // + // Save pointcloud file + // + if (cwipc_write(argv[2], pc, NULL) < 0) { + std::cerr << argv[0] << ": Error writing PLY file " << argv[2] << std::endl; + return 1; + } + pc->free(); // We no longer need to pointcloud + return 0; +} diff --git a/apps/cwipc_downsample/CMakeLists.txt b/apps/cwipc_downsample/CMakeLists.txt new file mode 100644 index 0000000..2428a7d --- /dev/null +++ b/apps/cwipc_downsample/CMakeLists.txt @@ -0,0 +1,13 @@ + +cmake_minimum_required(VERSION 3.10.0) + +add_executable(cwipc_downsample cwipc_downsample.cpp) +include_directories( + "../../include" + ${PCL_INCLUDE_DIRS} +) +target_link_libraries(cwipc_downsample cwipc_codec ${PCL_LIBRARIES}) + +install(TARGETS cwipc_downsample RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) + +add_test(NAME cwipc_downsample COMMAND cwipc_downsample 0.1 ${CMAKE_SOURCE_DIR}/tests/fixtures/input/pcl_frame1.ply ./pcl_frame1_downsampled.ply ) diff --git a/apps/cwipc_downsample/cwipc_downsample.cpp b/apps/cwipc_downsample/cwipc_downsample.cpp new file mode 100644 index 0000000..4b6edfe --- /dev/null +++ b/apps/cwipc_downsample/cwipc_downsample.cpp @@ -0,0 +1,41 @@ +#include +#include + +#include "cwipc_codec/api.h" + +int main(int argc, char** argv) +{ + uint64_t timestamp = 0LL; + if (argc != 4) { + std::cerr << "Usage: " << argv[0] << " voxelsize pointcloudfile.ply newpointcloudfile.ply" << std::endl; + return 2; + } + float voxelsize = atof(argv[1]); + // + // Read pointcloud file + // + char *errorMessage = NULL; + cwipc *pc = cwipc_read(argv[2], 0LL, &errorMessage, CWIPC_API_VERSION); + + if (pc == NULL || errorMessage) { + std::cerr << argv[0] << ": Error reading pointcloud from " << argv[2] << ": " << errorMessage << std::endl; + return 1; + } + std::cerr << "Read pointcloud successfully, " << pc->get_uncompressed_size() << " bytes (uncompressed)" << std::endl; + // + // Voxelize + // + cwipc *new_pc = cwipc_downsample(pc, voxelsize); + // + // Save pointcloud file + // + if (cwipc_write(argv[3], new_pc, NULL) < 0) { + std::cerr << argv[0] << ": Error writing PLY file " << argv[3] << std::endl; + return 1; + } + pc->free(); + new_pc->free(); + + return 0; +} + diff --git a/apps/cwipc_encode/CMakeLists.txt b/apps/cwipc_encode/CMakeLists.txt new file mode 100644 index 0000000..af1f1d2 --- /dev/null +++ b/apps/cwipc_encode/CMakeLists.txt @@ -0,0 +1,13 @@ + +cmake_minimum_required(VERSION 3.10.0) + +add_executable(cwipc_encode cwipc_encode.cpp) +include_directories( + "../../include" + ${PCL_INCLUDE_DIRS} +) +target_link_libraries(cwipc_encode cwipc_codec ${PCL_LIBRARIES}) + +install(TARGETS cwipc_encode RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) + +add_test(NAME cwipc_encode COMMAND cwipc_encode ${CMAKE_SOURCE_DIR}/tests/fixtures/input/pcl_frame1.ply ./pcl_frame1.cwicpc ) diff --git a/apps/cwipc_encode/cwipc_encode.cpp b/apps/cwipc_encode/cwipc_encode.cpp new file mode 100644 index 0000000..49c480b --- /dev/null +++ b/apps/cwipc_encode/cwipc_encode.cpp @@ -0,0 +1,73 @@ +#include +#include + +#include "cwipc_codec/api.h" + +int main(int argc, char** argv) +{ + uint64_t timestamp = 0LL; + if (argc < 3) { + std::cerr << "Usage: " << argv[0] << "pointcloudfile.ply compressedfile.cwicpc [timestamp]" << std::endl; + return 2; + } + if (argc > 3) { + timestamp = (uint64_t)atoll(argv[3]); + } + // + // Read pointcloud file + // + char *errorMessage = NULL; + cwipc *pc = cwipc_read(argv[1], 0LL, &errorMessage, CWIPC_API_VERSION); + + if (pc == NULL || errorMessage) { + std::cerr << argv[0] << ": Error reading pointcloud from " << argv[1] << ": " << errorMessage << std::endl; + return 1; + } + std::cerr << "Read pointcloud successfully, " << pc->get_uncompressed_size() << " bytes (uncompressed)" << std::endl; + // + // Compress + // + cwipc_encoder_params param; + param.do_inter_frame = false; + param.gop_size = 1; + param.exp_factor = 1.0; + param.octree_bits = 9; + param.jpeg_quality = 85; + param.macroblock_size = 16; + param.tilenumber = 0; + + char *errorString; + cwipc_encoder *encoder = cwipc_new_encoder(CWIPC_ENCODER_PARAM_VERSION, ¶m, &errorString, CWIPC_API_VERSION); + if (encoder == NULL) { + std::cerr << argv[0] << ": Could not create encoder: " << errorString << std::endl; + return 1; + } + encoder->feed(pc); + pc->free(); // After feeding the pointcloud into the encoder we can free it. + bool ok = encoder->available(true); + if (!ok) { + std::cerr << argv[0] << ": Encoder did not create compressed data" << std::endl; + return 1; + } + size_t bufSize = encoder->get_encoded_size(); + char *buffer = (char *)malloc(bufSize); + if (buffer == NULL) { + std::cerr << argv[0] << ": Could not allocate " << bufSize << " bytes." << std::endl; + return 1; + } + ok = encoder->copy_data(buffer, bufSize); + if (!ok) { + std::cerr << argv[0] << ": Encoder could not copy compressed data" << std::endl; + return 1; + } + encoder->free(); // We don't need the encoder anymore. + std::cerr << "Encoded successfully, " << bufSize << " bytes." << std::endl; + // + // Save to output + // + std::ofstream output(argv[2], std::ofstream::binary); + output.write(buffer, bufSize); + output.close(); + return 0; +} + diff --git a/apps/cwipc_tilefilter/CMakeLists.txt b/apps/cwipc_tilefilter/CMakeLists.txt new file mode 100644 index 0000000..96d374e --- /dev/null +++ b/apps/cwipc_tilefilter/CMakeLists.txt @@ -0,0 +1,13 @@ + +cmake_minimum_required(VERSION 3.10.0) + +add_executable(cwipc_tilefilter cwipc_tilefilter.cpp) +include_directories( + "../../include" + ${PCL_INCLUDE_DIRS} +) +target_link_libraries(cwipc_tilefilter cwipc_codec ${PCL_LIBRARIES}) + +install(TARGETS cwipc_tilefilter RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) + +add_test(NAME cwipc_tilefilter COMMAND cwipc_tilefilter 0 ${CMAKE_SOURCE_DIR}/tests/fixtures/input/pcl_frame1.ply ./pcl_frame1_tilefiltered.ply ) diff --git a/apps/cwipc_tilefilter/cwipc_tilefilter.cpp b/apps/cwipc_tilefilter/cwipc_tilefilter.cpp new file mode 100644 index 0000000..f884909 --- /dev/null +++ b/apps/cwipc_tilefilter/cwipc_tilefilter.cpp @@ -0,0 +1,41 @@ +#include +#include + +#include "cwipc_codec/api.h" + +int main(int argc, char** argv) +{ + uint64_t timestamp = 0LL; + if (argc != 4) { + std::cerr << "Usage: " << argv[0] << " tilenumber pointcloudfile.ply newpointcloudfile.ply" << std::endl; + return 2; + } + int tile = atoi(argv[1]); + // + // Read pointcloud file + // + char *errorMessage = NULL; + cwipc *pc = cwipc_read(argv[2], 0LL, &errorMessage, CWIPC_API_VERSION); + + if (pc == NULL || errorMessage) { + std::cerr << argv[0] << ": Error reading pointcloud from " << argv[2] << ": " << errorMessage << std::endl; + return 1; + } + std::cerr << "Read pointcloud successfully, " << pc->get_uncompressed_size() << " bytes (uncompressed)" << std::endl; + // + // Voxelize + // + cwipc *new_pc = cwipc_tilefilter(pc, tile); + // + // Save pointcloud file + // + if (cwipc_write(argv[3], new_pc, NULL) < 0) { + std::cerr << argv[0] << ": Error writing PLY file " << argv[3] << std::endl; + return 1; + } + pc->free(); + new_pc->free(); + + return 0; +} + diff --git a/apps/evaluate_compression/CMakeLists.txt b/apps/evaluate_compression/CMakeLists.txt index c9fc094..1655977 100644 --- a/apps/evaluate_compression/CMakeLists.txt +++ b/apps/evaluate_compression/CMakeLists.txt @@ -36,14 +36,61 @@ # POSSIBILITY OF SUCH DAMAGE. cmake_minimum_required(VERSION 2.8.10 FATAL_ERROR) -project(CWI_PCL_CODEC) set(SUBSYS_NAME evaluate_compression) set(SUBSYS_DESC "Evaluation program for Point Cloud Compression V2 (using JPEG compression") + +# Set the following to 1 to enable the -v (visualisation) flag to evaluate_compression. Requires vtk. +set(ENABLE_VISUALIZATION 0) +if(ENABLE_VISUALIZATION) + set(VISUALIZATION_OPTIONAL visualization) + set(VISUALIZATION_DEFINITIONS -DWITH_VTK) +endif() + +if(NOT PCL_ALL_IN_ONE_INSTALLER) + # search for 3rd party packages + if(WIN32) + # Remove 'lib' prefix for shared libraries on Windows + set(CMAKE_SHARED_LIBRARY_PREFIX "") + set(CMAKE_C_FLAGS "(/EHsc /UBOOST_NO_EXCEPTIONS") + set(CMAKE_CXX_FLAGS "/EHsc") + set(CMAKE_LD_FLAGS "-g -O0") + if(ENABLE_VISUALIZATION) + # On Windows we have VTK 7.0 + find_package(VTK 7.0 REQUIRED ${QUIET_FLAG}) + if(NOT VTK_FOUND) + message(ERROR "VTK >= 7.0 found.") + endif(VTK_FOUND) + endif() + else(WIN32) + # enable debugging on Linux + set(CMAKE_C_FLAGS "-g -O0") + set(CMAKE_CXX_FLAGS "-g -O0") + set(CMAKE_LD_FLAGS "-g -O0") + if(ENABLE_VISUALIZATION) + # On Ubuntu 16.04 we have VTK 6.0, on MacOSX (brew) VTK 8.1 + find_package(VTK 6.0 ${QUIET_FLAG}) + if(NOT VTK_FOUND) + find_package(VTK 6.1 ${QUIET_FLAG}) + endif(NOT VTK_FOUND) + if(NOT VTK_FOUND) + find_package(VTK 8.0 ${QUIET_FLAG}) + endif(NOT VTK_FOUND) + if(NOT VTK_FOUND) + find_package(VTK 8.1 REQUIRED) + endif(NOT VTK_FOUND) + if(NOT VTK_FOUND) + message(ERROR "Neither VTK 6.0, 6.1, 8.0 nor 8.1 found.") + endif(NOT VTK_FOUND) + endif() + endif(WIN32) +endif(NOT PCL_ALL_IN_ONE_INSTALLER) + set(${PROJECT_NAME}_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include/pcl/apps/${SUBSYS_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/include/pcl/apps/${SUBSYS_NAME}/impl ${${PROJECT_NAME}_INCLUDE_DIRS} + ${VTK_INCLUDE_DIR} CACHE INTERNAL "${PROJECT_NAME}: Include Directories" FORCE) if(CMAKELISTS_DEBUG) message("${SUBSYS_NAME}-${PROJECT_NAME}_INCLUDE_DIRS: " ${${PROJECT_NAME}_INCLUDE_DIRS}) @@ -67,6 +114,7 @@ include_directories(${${PROJECT_NAME}_INCLUDE_DIRS}) set(${PROJECT_NAME}_LIBRARY_DIRS ${CMAKE_CURRENT_BINARY_DIR} ${${PROJECT_NAME}_LIBRARY_DIRS} + ${VTK_LIBRARY_DIR} CACHE INTERNAL "${PROJECT_NAME}: Library Directories" FORCE) if(CMAKELISTS_DEBUG) message("${SUBSYS_NAME}-${PROJECT_NAME}_LIBRARY_DIRS: " ${${PROJECT_NAME}_LIBRARY_DIRS}) @@ -75,10 +123,15 @@ endif(CMAKELISTS_DEBUG) set(${PROJECT_NAME}_LIBRARIES # ${LIB_NAME} ${${PROJECT_NAME}_LIBRARIES} + ${VTK_LIBRARIES} CACHE INTERNAL "${PROJECT_NAME}:Libraries" FORCE) if(CMAKELISTS_DEBUG) message("${SUBSYS_NAME}-${PROJECT_NAME}_LIBRARIES: " ${${PROJECT_NAME}_LIBRARIES}) endif(CMAKELISTS_DEBUG) +add_definitions(${VISUALIZATION_DEFINITIONS}) + add_executable(${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs}) target_link_libraries(${SUBSYS_NAME} ${${PROJECT_NAME}_LIBRARIES}) + +add_test(NAME ${SUBSYS_NAME} COMMAND ${SUBSYS_NAME} -o ${SUBSYS_NAME}_output ${CMAKE_SOURCE_DIR}/tests/fixtures/input ) diff --git a/apps/evaluate_compression/include/pcl/apps/evaluate_compression/evaluate_compression.h b/apps/evaluate_compression/include/pcl/apps/evaluate_compression/evaluate_compression.h index eb45684..b51b514 100644 --- a/apps/evaluate_compression/include/pcl/apps/evaluate_compression/evaluate_compression.h +++ b/apps/evaluate_compression/include/pcl/apps/evaluate_compression/evaluate_compression.h @@ -1,112 +1,112 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2014- Centrum Wiskunde en Informatica - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ -// -// evaluate_compression.h -// evaluate_compression -// -// Created by Kees Blom on 01/06/16. -// -// - -#ifndef evaluate_compression_h -#define evaluate_compression_h -#include -#include - -class evaluate_compression { -protected: - evaluate_compression (int argc, char** argv) : argc_(argc), argv_(argv), output_index_(-1) {} - private: - // get_options_from_file - // get_options_from_commandline - // load_pcl_file - // load_pcl_file_in_diroctory - // initialize - // remove_outliers - // normalize_bouding_box - // encode - // encode_group - // decode - // decode_group - // get_codec_quality - // visualize - // - // int evaluate(const int argc, const char* argv[]); - // - protected: // variables -// input settings - int argc_; - char** argv_; - std::vector input_directories_; -// output settings - int write_out_ply_; - bool show_statistics_ = false; - bool visualization_ = false; - std::string output_directory_; - std::string intra_frame_quality_csv_; - std::string predictive_quality_csv_; -// program control settings - int group_size_; - std::string algorithm_; // select compression algorithm - int testbbalign_; // testing the bounding box alignment algorithm ?TBD want to keep this ? - int debug_level_; - int num_threads_; -// outlier removal - int K_outlier_filter_; - double radius_; -// boundingbox expansion and normalisation - double bb_expand_factor_; -// compression codec settings - double point_resolution_; - double octree_resolution_; - int enh_bits_; // enhancement resolution YBD - int octree_bits_; // XYZ resoution  - int color_bits_; // color resolution - int color_coding_type_; - bool keep_centroid_; - int icp_on_original_; - int macroblock_size_; - bool do_icp_color_offset_; - bool do_delta_coding_; - bool do_quality_computation_; - bool do_icp_on_original_; - bool create_scalable_; - int jpeg_quality_; - int output_index_; - }; -#endif /* evaluate_compression_h */ +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2014- Centrum Wiskunde en Informatica + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * $Id$ + * + */ +// +// evaluate_compression.h +// evaluate_compression +// +// Created by Kees Blom on 01/06/16. +// +// + +#ifndef evaluate_compression_h +#define evaluate_compression_h +#include +#include + +class evaluate_compression { +protected: + evaluate_compression (int argc, char** argv) : argc_(argc), argv_(argv), output_index_(-1) {} + private: + // get_options_from_file + // get_options_from_commandline + // load_pcl_file + // load_pcl_file_in_diroctory + // initialize + // remove_outliers + // normalize_bouding_box + // encode + // encode_group + // decode + // decode_group + // get_codec_quality + // visualize + // + // int evaluate(const int argc, const char* argv[]); + // + protected: // variables +// input settings + int argc_; + char** argv_; + std::vector input_directories_; +// output settings + int write_out_ply_; + bool show_statistics_ = false; + bool visualization_ = false; + std::string output_directory_; + std::string intra_frame_quality_csv_; + std::string predictive_quality_csv_; +// program control settings + int group_size_; + std::string algorithm_; // select compression algorithm + int testbbalign_; // testing the bounding box alignment algorithm ?TBD want to keep this ? + int debug_level_; + int num_threads_; +// outlier removal + int K_outlier_filter_; + double radius_; +// boundingbox expansion and normalisation + double bb_expand_factor_; +// compression codec settings + double point_resolution_; + double octree_resolution_; + int enh_bits_; // enhancement resolution YBD + int octree_bits_; // XYZ resoution  + int color_bits_; // color resolution + int color_coding_type_; + bool keep_centroid_; + int icp_on_original_; + int macroblock_size_; + bool do_icp_color_offset_; + bool do_delta_coding_; + bool do_quality_computation_; + bool do_icp_on_original_; + bool create_scalable_; + int jpeg_quality_; + int output_index_; + }; +#endif /* evaluate_compression_h */ diff --git a/apps/evaluate_compression/include/pcl/apps/evaluate_compression/impl/evaluate_compression_impl.hpp b/apps/evaluate_compression/include/pcl/apps/evaluate_compression/impl/evaluate_compression_impl.hpp index a2b88cc..85a95fa 100644 --- a/apps/evaluate_compression/include/pcl/apps/evaluate_compression/impl/evaluate_compression_impl.hpp +++ b/apps/evaluate_compression/include/pcl/apps/evaluate_compression/impl/evaluate_compression_impl.hpp @@ -55,6 +55,7 @@ #include // boost library +#include #include #include #include @@ -68,7 +69,6 @@ namespace po = boost::program_options; #include #include -#define WITH_VTK 31 #ifdef WITH_VTK #include #include @@ -111,9 +111,9 @@ class evaluate_compression_impl : evaluate_compression { void do_outlier_removal (std::vector > >& pointcloud); pcl::io::BoundingBox do_bounding_box_normalization (std::vector > >& pointcloud); void do_encoding (boost::shared_ptr > point_cloud, stringstream* coded_stream, QualityMetric & achieved_quality); - void do_decoding (stringstream* coded_stream, boost::shared_ptr > pointcloud, QualityMetric & achieved_quality); + bool do_decoding (stringstream* coded_stream, boost::shared_ptr > pointcloud, QualityMetric & achieved_quality); void do_delta_encoding (boost::shared_ptr > i_cloud, boost::shared_ptr > p_cloud, boost::shared_ptr > out_cloud, stringstream* i_stream, stringstream* p__stream, QualityMetric & quality_metric); - void do_delta_decoding (stringstream* i_stream, stringstream* p_stream, boost::shared_ptr > i_cloud, boost::shared_ptr > out_cloud, QualityMetric & qualityMetric); + bool do_delta_decoding (stringstream* i_stream, stringstream* p_stream, boost::shared_ptr > i_cloud, boost::shared_ptr > out_cloud, QualityMetric & qualityMetric); void do_quality_computation (boost::shared_ptr > & pointcloud, boost::shared_ptr > &reference_pointcloud, QualityMetric & quality_metric); void do_output (std::string path, boost::shared_ptr > pointcloud, QualityMetric & qualityMetric); // V1 (common) settings @@ -473,23 +473,25 @@ evaluate_compression_impl::do_encoding (boost::shared_ptr -void +bool evaluate_compression_impl::do_decoding (std::stringstream* coded_stream, boost::shared_ptr > pointcloud, QualityMetric & qualityMetric) { pcl::console::TicToc tt; tt.tic (); if (algorithm_ == "V1") { - decoder_V1_->decodePointCloud (*coded_stream, pointcloud); + decoder_V1_->decodePointCloud (*coded_stream, pointcloud); } else { if (algorithm_ == "V2") { - decoder_V2_->decodePointCloud (*coded_stream, pointcloud); + uint64_t t = 0; + if (!decoder_V2_->decodePointCloud (*coded_stream, pointcloud, t)) return false; } } qualityMetric.decoding_time_ms = tt.toc (); + return true; } template @@ -512,7 +514,7 @@ evaluate_compression_impl::do_delta_encoding (boost::shared_ptr -void +bool evaluate_compression_impl::do_delta_decoding (std::stringstream* i_stream, std::stringstream* p_stream, boost::shared_ptr > i_cloud, @@ -521,8 +523,9 @@ evaluate_compression_impl::do_delta_decoding (std::stringstream* i_strea { pcl::console::TicToc tt; tt.tic (); - encoder_V2_->decodePointCloudDeltaFrame (i_cloud, out_cloud, *i_stream, *p_stream); + if( !encoder_V2_->decodePointCloudDeltaFrame (i_cloud, out_cloud, *i_stream, *p_stream)) return false; qualityMetric.decoding_time_ms = tt.toc (); + return true; } @@ -753,12 +756,12 @@ evaluate_compression_impl::evaluate () for (std::vector::iterator itr = filenames.begin (); itr != filenames.end (); itr++) { std::string filename = *itr; - if (output_index_ == -1) { // get index of first file, - boost::filesystem::path p(filename); + if (output_index_ == -1) { // get index of first file std::stringstream ss(filename); - ss >> output_index_; + string tmp; + ss >> tmp >> output_index_; if (output_index_ == -1) // no index found - output_index_ = 0; + output_index_ = 0; } boost::shared_ptr > pc (new PointCloud ()); if ( ! load_input_cloud(filename, pc)) @@ -828,10 +831,10 @@ evaluate_compression_impl::evaluate_group(std::vector > output_pointcloud (new pcl::PointCloud ()), opc (new pcl::PointCloud ()); opc = group[i]; - do_decoding (&coded_stream, output_pointcloud, achieved_quality); + if (!do_decoding (&coded_stream, output_pointcloud, achieved_quality)) return false; if (do_quality_computation_) { do_quality_computation (pc, output_pointcloud, achieved_quality); @@ -869,7 +872,7 @@ evaluate_compression_impl::evaluate_group(std::vector -#include - - - //////////////////////////////////////////////////////////////////////////////////////////////////////////// - /*! - * \brief - * struct to store achieved coding performance for official evaluation by MPEG committee (3DG) - * \author Rufael Mekuria (rufael.mekuria@cwi.nl) - */ - //////////////////////////////////////////////////////////////////////////////////////////////////////////// - struct QualityMetric{ - - std::size_t compressed_size; //! store the compressed byte size - - uint64_t in_point_count; - uint64_t out_point_count; - uint64_t byte_count_octree_layer; - uint64_t byte_count_centroid_layer; - uint64_t byte_count_color_layer; - - float symm_rms; //! store symm rms metric - float symm_hausdorff; //! store symm haussdorf - float left_hausdorff; //! store left haussdorf - float right_hausdorff; //! store right haussdorf - float left_rms; //! store left rms - float right_rms; //! store right rms - double psnr_db; //! store psnr for the geometry - double psnr_yuv[3]; //! store psnr for the colors - - double encoding_time_ms; - double decoding_time_ms; - - // print the header of a .csv file - static PCL_EXPORTS void print_csv_header(std::ostream &csv_ostream); - - // print results into a .csv file - PCL_EXPORTS void print_csv_line (const std::string &compression_setting_arg, std::ostream &csv_ostream); - }; - - //! \brief compute the quality metric, we assume the cloud_a is the original (for colors we only compare the original to the lossy cloud) - template PCL_EXPORTS void - computeQualityMetric (pcl::PointCloud &cloud_a, pcl::PointCloud &cloud_b, QualityMetric & qual_metric ); - -#endif + /* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2014, Centrum Wiskunde Informatica + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * $Id$ + */ + +#ifndef QUALITY_METRICS_H +#define QUALITY_METRICS_H + +#include +#include + + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + /*! + * \brief + * struct to store achieved coding performance for official evaluation by MPEG committee (3DG) + * \author Rufael Mekuria (rufael.mekuria@cwi.nl) + */ + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + struct QualityMetric{ + + std::size_t compressed_size; //! store the compressed byte size + + uint64_t in_point_count; + uint64_t out_point_count; + uint64_t byte_count_octree_layer; + uint64_t byte_count_centroid_layer; + uint64_t byte_count_color_layer; + + float symm_rms; //! store symm rms metric + float symm_hausdorff; //! store symm haussdorf + float left_hausdorff; //! store left haussdorf + float right_hausdorff; //! store right haussdorf + float left_rms; //! store left rms + float right_rms; //! store right rms + double psnr_db; //! store psnr for the geometry + double psnr_yuv[3]; //! store psnr for the colors + + double encoding_time_ms; + double decoding_time_ms; + + // print the header of a .csv file + static PCL_EXPORTS void print_csv_header(std::ostream &csv_ostream); + + // print results into a .csv file + PCL_EXPORTS void print_csv_line (const std::string &compression_setting_arg, std::ostream &csv_ostream); + }; + + //! \brief compute the quality metric, we assume the cloud_a is the original (for colors we only compare the original to the lossy cloud) + template PCL_EXPORTS void + computeQualityMetric (pcl::PointCloud &cloud_a, pcl::PointCloud &cloud_b, QualityMetric & qual_metric ); + +#endif diff --git a/parameter_config.txt b/apps/evaluate_compression/parameter_config.txt similarity index 100% rename from parameter_config.txt rename to apps/evaluate_compression/parameter_config.txt diff --git a/apps/evaluate_compression/readme.md b/apps/evaluate_compression/readme.md new file mode 100644 index 0000000..bc552ad --- /dev/null +++ b/apps/evaluate_compression/readme.md @@ -0,0 +1,83 @@ +# evaluate_compression + +This program can be used to test the compression algorithm and how it reacts to various parameter settings. + +## Running the evaluation program + +Suitable input files for the program can be downloaded from: +Most of these data sets are huge; unpack some and specify the full directory path as an argument +to the program: + +``` +evaluate_compression --input_directories= +``` + +The following arguments are recognized by the program `evaluate_compression`: +(long version arguments without '--' can also be put in a file 'parameter_config.txt' in the working directory or its parent) + +* -h [ --help ] + * produce help message +* -K [ --K_outlier_filter ] arg (=0) + * K neighbours for radius outlier filter +* --radius arg (=0.01) + * radius outlier filter, maximum radius +* -g [ --group_size ] arg (=0) + * maximum number of files to be compressed together (0=read all files, then en(de)code 1 by 1) +* -f [ --bb_expand_factor ] arg (=0.2) + * bounding box expansion to keep bounding box equal accross frames +* -a [ --algorithm ] arg (=V2) + * compression algorithm ('V1' or 'V2') +* -i [ --input_directories ] arg + * Directory containing supported files (.pcd or .ply) +* -o [ --output_directory ] arg + * Directory to store decompressed pointclouds (.ply) +* -s [ --show_statistics ] [=arg(=1)] (=0) + * gather and show a bunch of releavant statistical data +* -v [ --visualization ] [=arg(=1)] (=0) + * show both original and decoded PointClouds graphically +* -p [ --point_resolution ] arg (=0.2) + * XYZ resolution of point coordinates +* -r [ --octree_resolution ] arg (=0.2) + * voxel size +* -b [ --octree_bits ] arg (=11) + * octree resolution (bits) +* -c [ --color_bits ] arg (=8) + * color resolution (bits) +* -e [ --enh_bits ] arg (=0) + * bits to code the points towards the center +* -t [ --color\_coding\_type ] arg (=1) + * pcl=0,jpeg=1 or graph transform +* -m [ --macroblock_size ] arg (=16) + * size of macroblocks used for predictive frame (has to be a power of 2) +* --keep_centroid arg (=0) + * keep voxel grid positions or not +* --create_scalable arg (=0) + * create scalable bitstream (not yet implemented) +* --do\_connectivity_coding arg (=0) + * connectivity coding (not yet implemented) +* --icp\_on_original arg (=0) + * icp\_on_original +* -q [ --jpeg_quality ] arg (=0) + * jpeg quality parameter +* -d [ --do\_delta_coding ] arg (=0) + * use delta (predictive) en(de)coding +* --do\_quality_computation arg (=0) + * compute quality of en(de)coding +* --do\_icp\_color_offset arg (=0) + * do color offset en(de)coding on predictive frames +* -j [ --num_threads ] arg (=1) + * number of parallel threads (1=default, single thread, no parallel execution) +* --intra\_frame\_quality_csv arg (=intra\_frame\_quality.csv) + * intra frame coding quality results filename (.csv file) +* --predictive\_quality_csv arg + * (=predictive_quality.csv) predictive coding quality results file name (.csv file) +* --debug_level arg (=0) + * debug print level (0=no debug print, 3=all debug print) + +The precise meanings of these parameters are explained in the journal paper mentioned above. + +Apr.6, 2017, updated: Jun 25, 2017, Apr. 23, 2018 and Mar.19, 2019. + +Kees Blom (Kees.Blom@cwi.nl) CWI, Amsterdam, The Netherlands + + diff --git a/apps/evaluate_compression/src/evaluate_compression.cpp b/apps/evaluate_compression/src/evaluate_compression.cpp index 6cc0d8c..26912b2 100644 --- a/apps/evaluate_compression/src/evaluate_compression.cpp +++ b/apps/evaluate_compression/src/evaluate_compression.cpp @@ -1,51 +1,51 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2014- Centrum Wiskunde en Informatica - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ -// -// evaluate_compression.cpp -// -// Created by Kees Blom on 06/04/16. -// Copyright (c) 2016- Centrum Wiskunde en Informatica. All rights reserved. -// -#include -#include - - -int main(int argc, char * argv[]) { - evaluate_compression_impl evaluator(argc, argv); - return evaluator.evaluate() == true ? 0 : -1; -} +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2014- Centrum Wiskunde en Informatica + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * $Id$ + * + */ +// +// evaluate_compression.cpp +// +// Created by Kees Blom on 06/04/16. +// Copyright (c) 2016- Centrum Wiskunde en Informatica. All rights reserved. +// +#include +#include + + +int main(int argc, char * argv[]) { + evaluate_compression_impl evaluator(argc, argv); + return evaluator.evaluate() == true ? 0 : -1; +} diff --git a/apps/evaluate_compression/src/quality_metrics.cpp b/apps/evaluate_compression/src/quality_metrics.cpp index c8a48aa..788bf62 100644 --- a/apps/evaluate_compression/src/quality_metrics.cpp +++ b/apps/evaluate_compression/src/quality_metrics.cpp @@ -1,42 +1,42 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2009-2012, Willow Garage, Inc. - * Copyright (c) 2014 - Centrum Wiskunde Informatica - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of its copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - */ -#include -#include -template PCL_EXPORTS void -computeQualityMetric(pcl::PointCloud&, pcl::PointCloud&, QualityMetric&); -template PCL_EXPORTS void -computeQualityMetric(pcl::PointCloud&, pcl::PointCloud&, QualityMetric&); +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2009-2012, Willow Garage, Inc. + * Copyright (c) 2014 - Centrum Wiskunde Informatica + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of its copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + */ +#include +#include +template PCL_EXPORTS void +computeQualityMetric(pcl::PointCloud&, pcl::PointCloud&, QualityMetric&); +template PCL_EXPORTS void +computeQualityMetric(pcl::PointCloud&, pcl::PointCloud&, QualityMetric&); diff --git a/cloud_codec_v2/CMakeLists.txt b/cloud_codec_v2/CMakeLists.txt index 0725337..3b5aab1 100644 --- a/cloud_codec_v2/CMakeLists.txt +++ b/cloud_codec_v2/CMakeLists.txt @@ -36,10 +36,14 @@ # POSSIBILITY OF SUCH DAMAGE. cmake_minimum_required(VERSION 2.8.10 FATAL_ERROR) -project(CWI_PCL_CODEC) set(SUBSYS_NAME cloud_codec_v2) set(SUBSYS_DESC "Extensions for Point Cloud Compression for JPEG I/O") + +if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/io/impl/entropy_range_coder.hpp") + set(PCL_INSTALLED ON CACHE INTERNAL "PCL Installed" FORCE) +endif() + set(${PROJECT_NAME}_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include ${${PROJECT_NAME}_INCLUDE_DIRS} @@ -50,6 +54,7 @@ endif(CMAKELISTS_DEBUG) set(srcs "src/point_cloud_codec_v2.cpp" + "src/jpeg_io.cpp" ) set(LIB_NAME ${SUBSYS_NAME}) set(incs @@ -57,6 +62,7 @@ set(incs "include/pcl/${SUBSYS_NAME}/point_cloud_codec_v2_omp.h" "include/pcl/${SUBSYS_NAME}/point_coding_v2.h" "include/pcl/${SUBSYS_NAME}/color_coding_jpeg.h" + "include/pcl/${SUBSYS_NAME}/jpeg_io.h" "include/pcl/${SUBSYS_NAME}/snake_grid_mapping.h" "include/pcl/${SUBSYS_NAME}/color_coding_jpeg.h" "include/pcl/${SUBSYS_NAME}/quaternion_coding.h" @@ -74,7 +80,8 @@ endif(${PCL_INSTALLED}) include_directories(${${PROJECT_NAME}_INCLUDE_DIRS}) add_library(${LIB_NAME} ${srcs} ${incs} ${impl_incs}) -target_link_libraries(${LIB_NAME} ${CWI_PCL_CODEC_LIBS} ) +set_property(TARGET ${LIB_NAME} PROPERTY POSITION_INDEPENDENT_CODE ON) +target_link_libraries(${LIB_NAME} ${${PROJECT_NAME}_LIBRARIES}) set(${PROJECT_NAME}_LIBRARY_DIRS ${CMAKE_CURRENT_BINARY_DIR} diff --git a/cloud_codec_v2/include/pcl/cloud_codec_v2/color_coding_jpeg.h b/cloud_codec_v2/include/pcl/cloud_codec_v2/color_coding_jpeg.h index 7952fb5..dfd0322 100644 --- a/cloud_codec_v2/include/pcl/cloud_codec_v2/color_coding_jpeg.h +++ b/cloud_codec_v2/include/pcl/cloud_codec_v2/color_coding_jpeg.h @@ -37,7 +37,7 @@ #include #include -#include +#include #include namespace pcl{ @@ -221,15 +221,18 @@ namespace pcl{ l_mapped_im.data = res; #endif//__cplusplus < 201103L - io::JPEGWriter::writeJPEG(l_mapped_im,out_data,jpeg_quality_); + io::JPEGWriter::writeJPEG(l_mapped_im,out_data,jpeg_quality_); return; } void decodeJPEGSnake(std::vector &in_vec) { - PCLImage im_out; - io::JPEGReader::readJPEG(in_vec,im_out); + PCLImage im_out; + // This is not elegant. The JPEGReader wants uint8_t, but we have a char vector. + // We do a nasty cast here so we don't have to make the jpeg reader templated. + std::vector *casted_in_vec_ptr = reinterpret_cast *>(&in_vec); + io::JPEGReader::readJPEG(*casted_in_vec_ptr,im_out); SnakeGridMapping un_m(im_out.width,im_out.height); std::vector res2 = un_m.undoSnakeGridMapping(im_out.data); @@ -271,7 +274,7 @@ namespace pcl{ im_in.data = line_dat; #endif//__cplusplus < 201103L - io::JPEGWriter::writeJPEG(im_in,cdat.clines[0],jpeg_quality_); + io::JPEGWriter::writeJPEG(im_in,cdat.clines[0],jpeg_quality_); } //! write all the image lines to the grid for(int i =0; i< num_lines;i++) @@ -287,7 +290,7 @@ namespace pcl{ #else im_in.data = line_dat; #endif//__cplusplus < 201103L - io::JPEGWriter::writeJPEG(im_in,cdat.clines[i],jpeg_quality_); + io::JPEGWriter::writeJPEG(im_in,cdat.clines[i],jpeg_quality_); } else { @@ -301,7 +304,7 @@ namespace pcl{ im_in.data = line_dat; #endif//__cplusplus < 201103L im_in.width = (uint32_t) im_in.data.size() / 3; - io::JPEGWriter::writeJPEG(im_in,cdat.clines[i],jpeg_quality_); + io::JPEGWriter::writeJPEG(im_in,cdat.clines[i],jpeg_quality_); } } @@ -333,7 +336,7 @@ namespace pcl{ for(int i=0; i::readJPEG(cdat.clines[i],t_o_dat); + io::JPEGReader::readJPEG(cdat.clines[i],t_o_dat); for(int i=0; i void + template bool OctreePointCloudCodecV2::decodePointCloud ( std::istream& compressed_tree_data_in_arg, - PointCloudPtr &cloud_arg) + PointCloudPtr &cloud_arg, uint64_t &tmstmp) { - + //std::cout << "\n Entered cloud codec v2 \n"; + //std::cout << "\n Size of compressed frame" << sizeof(compressed_tree_data_in_arg); // synchronize to frame header - syncToHeader(compressed_tree_data_in_arg); - + if (!syncToHeader(compressed_tree_data_in_arg)) return false; + //std::cout << "\n Header synced \n"; // initialize octree switchBuffers (); @@ -237,7 +238,7 @@ namespace pcl{ deleteCurrentBuffer(); deleteTree(); setOutputCloud (cloud_arg); - + //std::cout << " \n Octree buffers switched \n"; // color field analysis cloud_with_color_ = false; std::vector fields; @@ -253,13 +254,20 @@ namespace pcl{ // read header from input stream readFrameHeader (compressed_tree_data_in_arg); - + tmstmp = timeStamp; + //TO DO Shishir: Set codec parameteres from frame header before decoding + // + //this->octree_resolution_ = octreeResolution; + //this->color_bit_resolution_ = colorBitResolution; + //this->jpeg_quality_ = jpeg_quality; + + //std::cout << "\n Frame header read \n "; // set the right grid pattern to the JPEG coder jp_color_coder_ = ColorCodingJPEG(75,color_coding_type_); // decode data vectors from stream entropyDecoding(compressed_tree_data_in_arg, compressed_tree_data_in_arg); - + //std::cout << "\n Entropy coding done \n"; // initialize color and point encoding if(!color_coding_type_) color_coder_.initializeDecoding (); @@ -272,7 +280,7 @@ namespace pcl{ // initialize output cloud output_->points.clear (); output_->points.reserve (static_cast (point_count_)); - + //std::cout << "\n Starting to deserialize \n"; if (i_frame_) // i-frame decoding - decode tree structure without referencing previous buffer deserializeTree (binary_tree_data_vector_, false); @@ -284,7 +292,7 @@ namespace pcl{ output_->height = 1; output_->width = static_cast (cloud_arg->points.size ()); output_->is_dense = false; - + //std::cout << "\n Pointcloud properties assigned \n"; if (b_show_statistics_) { float bytes_per_XYZ = static_cast (compressed_point_data_len_) / static_cast (point_count_); @@ -307,6 +315,8 @@ namespace pcl{ PCL_INFO ("Total compression percentage: %f%%\n", (bytes_per_XYZ + bytes_per_color) / (sizeof (int) + 3.0f * sizeof (float)) * 100.0f); PCL_INFO ("Compression ratio: %f\n\n", static_cast (sizeof (int) + 3.0f * sizeof (float)) / static_cast (bytes_per_XYZ + bytes_per_color)); } + //std::cout << "\nDecoding done\n"; + return true; } /** @@ -329,7 +339,7 @@ namespace pcl{ true, 0, true, - color_bit_resolution_ /*,0,do_voxel_centroid_enDecoding_*/ + color_bit_resolution_ /*,0,do_voxel_centroid_enDecoding_*/ ); // use bounding box and obtain the octree grid @@ -756,6 +766,7 @@ namespace pcl{ true, color_bit_resolution_, color_coding_type_, + timeStamp, do_voxel_centroid_enDecoding_ ); @@ -1097,6 +1108,7 @@ namespace pcl{ true, color_bit_resolution_, color_coding_type_, + timeStamp, do_voxel_centroid_enDecoding_ ); intra_coder.defineBoundingBox(0.0, 0.0, 0.0, 1.0, 1.0, 1.0); @@ -1117,7 +1129,7 @@ namespace pcl{ * \param i_coded_data intra encoded data * \param p_coded_data inter encoded data */ - template void + template bool OctreePointCloudCodecV2::decodePointCloudDeltaFrame( const PointCloudConstPtr &icloud_arg, PointCloudPtr &cloud_out_arg, std::istream& i_coded_data, std::istream& p_coded_data) @@ -1219,11 +1231,12 @@ namespace pcl{ 0, true, color_bit_resolution_, - color_coding_type_, + color_coding_type_, + timeStamp, do_voxel_centroid_enDecoding_ ); - - intra_coder.decodePointCloud(i_coded_data,intra_coded_points); + uint64_t t = 0; + if (!intra_coder.decodePointCloud(i_coded_data,intra_coded_points,t)) return false; // add the decoded input points to the output cloud for(int i=0; i< intra_coded_points->size();i++) @@ -1231,7 +1244,7 @@ namespace pcl{ // clean up delete i_block_tree; - + return true; } // @@ -1474,9 +1487,20 @@ namespace pcl{ { compressed_tree_data_out_arg.write (reinterpret_cast (frame_header_identifier_), strlen (frame_header_identifier_)); //! use the base class and write some extended information on codecV2 + /* + int octree_bits; + int color_bits; + int jpeg_quality; + int macroblock_size; + */ OctreePointCloudCompression::writeFrameHeader(compressed_tree_data_out_arg); //! write additional fields for cloud codec v2 + //std::cout << "\n Input time stamp is: " << timeStamp << "\n"; + compressed_tree_data_out_arg.write(reinterpret_cast (&timeStamp), sizeof(timeStamp)); + compressed_tree_data_out_arg.write(reinterpret_cast (&octreeResolution), sizeof(octreeResolution)); + compressed_tree_data_out_arg.write(reinterpret_cast (&colorBitResolution), sizeof(colorBitResolution)); + compressed_tree_data_out_arg.write(reinterpret_cast (&jpeg_quality), sizeof(jpeg_quality)); compressed_tree_data_out_arg.write (reinterpret_cast (&do_voxel_centroid_enDecoding_), sizeof (do_voxel_centroid_enDecoding_)); // centroid coding compressed_tree_data_out_arg.write (reinterpret_cast (&do_connectivity_encoding_), sizeof (do_connectivity_encoding_)); // connectivity coding (not yet added) compressed_tree_data_out_arg.write (reinterpret_cast (&create_scalable_bitstream_), sizeof (create_scalable_bitstream_)); // scalable bitstream @@ -1493,6 +1517,11 @@ namespace pcl{ OctreePointCloudCompression::readFrameHeader(compressed_tree_data_in_arg); //! read additional fields for cloud codec v2 + compressed_tree_data_in_arg.read(reinterpret_cast (&timeStamp), sizeof(timeStamp)); + compressed_tree_data_in_arg.read(reinterpret_cast (&octreeResolution), sizeof(octreeResolution)); + compressed_tree_data_in_arg.read(reinterpret_cast (&colorBitResolution), sizeof(colorBitResolution)); + compressed_tree_data_in_arg.read(reinterpret_cast (&jpeg_quality), sizeof(jpeg_quality)); + //std::cout << "\n Timestamp is :" << timeStamp; compressed_tree_data_in_arg.read (reinterpret_cast (&do_voxel_centroid_enDecoding_), sizeof (do_voxel_centroid_enDecoding_)); compressed_tree_data_in_arg.read (reinterpret_cast (&do_connectivity_encoding_), sizeof (do_connectivity_encoding_)); compressed_tree_data_in_arg.read (reinterpret_cast (&create_scalable_bitstream_), sizeof (create_scalable_bitstream_)); @@ -1656,20 +1685,27 @@ namespace pcl{ * \param compressed_tree_data_in_arg: binary input stream * \brief use the new v2 header */ - template void + template bool OctreePointCloudCodecV2::syncToHeader (std::istream& compressed_tree_data_in_arg) { // sync to frame header + //std::cout << " \n Entered sync to frame header\n"; unsigned int header_id_pos = 0; + //std::cout << "\n Frame header identifier is :" << frame_header_identifier_; while (header_id_pos < strlen (frame_header_identifier_)) { char readChar; + if (compressed_tree_data_in_arg.eof()) return false; compressed_tree_data_in_arg.read (static_cast (&readChar), sizeof (readChar)); if (readChar != frame_header_identifier_[header_id_pos++]) header_id_pos = (frame_header_identifier_[0]==readChar)?1:0; + //std::cout << "\n Header_id_pos is: " << header_id_pos; + //std::cout << "\n Read char is:" << readChar << " Current frame header char is :" << frame_header_identifier_[header_id_pos]; } + //std::cout << " \n Left loop\n"; //! read the original octree header OctreePointCloudCompression::syncToHeader (compressed_tree_data_in_arg); + return true; }; /** \brief Apply entropy encoding to encoded information and output to binary stream, added bitstream scalability and centroid encoding compared to V1 @@ -1763,8 +1799,8 @@ namespace pcl{ template void OctreePointCloudCodecV2::entropyDecoding (std::istream& compressed_tree_data_in_arg1, std::istream& compressed_tree_data_in_arg2) { - uint64_t binary_tree_data_vector_size; - uint64_t point_avg_color_data_vector_size; + uint64_t binary_tree_data_vector_size = 0; + uint64_t point_avg_color_data_vector_size = 0; compressed_point_data_len_ = 0; compressed_color_data_len_ = 0; @@ -1837,11 +1873,11 @@ namespace pcl{ template void OctreePointCloudCodecV2::remove_outliers (vector &point_clouds, int min_points, double radius, unsigned int debug_level) { // apply a radius filter to remove outliers - typedef OctreePointCloudCompression colorOctreeCodec; + typedef OctreePointCloudCompression colorOctreeCodec; if(min_points > 0) { for(int i=0;i rorfilter (true); // Initializing with true will allow us to extract the removed indices rorfilter.setInputCloud (point_clouds[i]); rorfilter.setRadiusSearch (radius); @@ -1888,7 +1924,7 @@ namespace pcl{ Eigen::Vector4f min_pt; Eigen::Vector4f max_pt; - pcl::getMinMax3D(*point_clouds[k],min_pt,max_pt); + pcl::getMinMax3D(*point_clouds[k],min_pt,max_pt); if (debug_level > 3) cerr << "[ " << min_pt.x() << "," << min_pt.y() << "," << min_pt.z() << "] [" << max_pt.x() << "," << max_pt.y() << "," << max_pt.z() <<"]" << endl; @@ -1947,7 +1983,7 @@ namespace pcl{ Eigen::Vector4f min_pt_res; Eigen::Vector4f max_pt_res; - pcl::getMinMax3D(*(point_clouds[k]),min_pt_res,max_pt_res); + pcl::getMinMax3D(*(point_clouds[k]),min_pt_res,max_pt_res); assert(min_pt_res[0] >= 0); assert(min_pt_res[1] >= 0); diff --git a/cloud_codec_v2/include/pcl/cloud_codec_v2/impl/point_cloud_codec_v2_omp_impl.hpp b/cloud_codec_v2/include/pcl/cloud_codec_v2/impl/point_cloud_codec_v2_omp_impl.hpp index 335662f..66b4174 100644 --- a/cloud_codec_v2/include/pcl/cloud_codec_v2/impl/point_cloud_codec_v2_omp_impl.hpp +++ b/cloud_codec_v2/include/pcl/cloud_codec_v2/impl/point_cloud_codec_v2_omp_impl.hpp @@ -243,6 +243,7 @@ namespace pcl true, color_bit_resolution_, color_coding_type_, + timeStamp, do_voxel_centroid_enDecoding_ ); intra_coder.defineBoundingBox(0.0, 0.0, 0.0, 1.0, 1.0, 1.0); diff --git a/jpeg_io/include/pcl/io/jpeg_io.h b/cloud_codec_v2/include/pcl/cloud_codec_v2/jpeg_io.h similarity index 89% rename from jpeg_io/include/pcl/io/jpeg_io.h rename to cloud_codec_v2/include/pcl/cloud_codec_v2/jpeg_io.h index 7431cc4..b012208 100644 --- a/jpeg_io/include/pcl/io/jpeg_io.h +++ b/cloud_codec_v2/include/pcl/cloud_codec_v2/jpeg_io.h @@ -1,120 +1,118 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2014 Centrum Wiskunde Informatica. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - */ -#ifndef JPEG_IO_H -#define JPEG_IO_H - -#include - -/**! -\brief jpeg reading and writing for PCL based on jpeg turbo -\author Rufael Mekuria rufael.mekuria@cwi.nl -*/ - -namespace pcl{ - - namespace io{ - - /** \brief Class for writing jpeg buffers and files */ - template - class PCL_EXPORTS JPEGWriter - { - public: - /** \brief function for writing an image as a compressed JPEG buffer - * \param[in] im_in PCLImage input image - * \param[out] cdat vector containing compressed jpeg data - * \param[in] quality quality value of jpeg to use (100 is best) - * \return returns true when succesfull, false otherwise - */ - static bool - writeJPEG(const PCLImage &im_in, std::vector &cdat, int quality = 75); - - /** \brief function for writing an image as a compressed JPEG file - * \param[in] im_in PCLImage input image - * \param[out] file_name string containing compressed jpeg filename - * \param[in] quality quality value of jpeg to use (100 is best) - * \return returns true when succesfull, false otherwise - */ - static bool - writeJPEG(const PCLImage &im_in, const std::string &file_name, int quality = 75); - - private: - /** \brief generic function compressed JPEG buffer/file write - * \param[in] im_in PCLImage input image - * \param[out] cdat vector - * \param[in] file_name string file to write to the output - * \param[in] quality quality value of jpeg to use (100 is best) - * \param[in] bool write file - * \return returns true when succesfull - */ - static bool - writeJPEG(const PCLImage &im_in, std::vector &cdat, const std::string &file_name, int quality, bool write_file); - }; - - /** \brief Class for reading jpeg buffers and files */ - template - class PCL_EXPORTS JPEGReader - { - public: - /** \brief function for reading a compressed JPEG buffer as a PCL image - * \param[in] jpeg_in_dat vector containing compressed jpeg - * \param[out] im_out PCLImage output image - * \return returns true when succesfull, false otherwise - */ - static bool - readJPEG(const std::vector &jpeg_in_dat, PCLImage &im_out); - - /** \brief function for reading a compressed JPEG file as a PCL image - * \param[in] jpeg_in_file string filename with compressed jpeg image - * \param[out] im_out PCLImage output image - * \return returns true when succesfull, false otherwise - */ - static bool - readJPEG(const std::string &jpeg_in_file, PCLImage &im_out); - - private: - /** \brief helper function for reading a compressed JPEG buffer/file as a PCL image - * \param[in] jpeg_in_dat character membuffer with compressed jpeg image - * \param[in] jpeg_in_file string filename with compressed jpeg image - * \param[in] read_file bool read file or from memmory buffer instead - * \param[out] im_out PCLImage output image - * \return returns true when succesfull, false otherwise - */ - static bool - readJPEG(const std::vector &jpeg_in_dat, const std::string &jpeg_in_file, bool read_file, PCLImage &im_out); - }; - } -} -#endif // JPEG_IO_H +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2014 Centrum Wiskunde Informatica. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + */ +#ifndef JPEG_IO_H +#define JPEG_IO_H + +#include + +/**! +\brief jpeg reading and writing for PCL based on jpeg turbo +\author Rufael Mekuria rufael.mekuria@cwi.nl +*/ + +namespace pcl{ + + namespace io{ + + /** \brief Class for writing jpeg buffers and files */ + class PCL_EXPORTS JPEGWriter + { + public: + /** \brief function for writing an image as a compressed JPEG buffer + * \param[in] im_in PCLImage input image + * \param[out] cdat vector containing compressed jpeg data + * \param[in] quality quality value of jpeg to use (100 is best) + * \return returns true when succesfull, false otherwise + */ + static bool + writeJPEG(const PCLImage &im_in, std::vector &cdat, int quality = 75); + + /** \brief function for writing an image as a compressed JPEG file + * \param[in] im_in PCLImage input image + * \param[out] file_name string containing compressed jpeg filename + * \param[in] quality quality value of jpeg to use (100 is best) + * \return returns true when succesfull, false otherwise + */ + static bool + writeJPEG(const PCLImage &im_in, const std::string &file_name, int quality = 75); + + private: + /** \brief generic function compressed JPEG buffer/file write + * \param[in] im_in PCLImage input image + * \param[out] cdat vector + * \param[in] file_name string file to write to the output + * \param[in] quality quality value of jpeg to use (100 is best) + * \param[in] bool write file + * \return returns true when succesfull + */ + static bool + writeJPEG(const PCLImage &im_in, std::vector &cdat, const std::string &file_name, int quality, bool write_file); + }; + + /** \brief Class for reading jpeg buffers and files */ + class PCL_EXPORTS JPEGReader + { + public: + /** \brief function for reading a compressed JPEG buffer as a PCL image + * \param[in] jpeg_in_dat vector containing compressed jpeg + * \param[out] im_out PCLImage output image + * \return returns true when succesfull, false otherwise + */ + static bool + readJPEG(const std::vector &jpeg_in_dat, PCLImage &im_out); + + /** \brief function for reading a compressed JPEG file as a PCL image + * \param[in] jpeg_in_file string filename with compressed jpeg image + * \param[out] im_out PCLImage output image + * \return returns true when succesfull, false otherwise + */ + static bool + readJPEG(const std::string &jpeg_in_file, PCLImage &im_out); + + private: + /** \brief helper function for reading a compressed JPEG buffer/file as a PCL image + * \param[in] jpeg_in_dat character membuffer with compressed jpeg image + * \param[in] jpeg_in_file string filename with compressed jpeg image + * \param[in] read_file bool read file or from memmory buffer instead + * \param[out] im_out PCLImage output image + * \return returns true when succesfull, false otherwise + */ + static bool + readJPEG(const std::vector &jpeg_in_dat, const std::string &jpeg_in_file, bool read_file, PCLImage &im_out); + }; + } +} +#endif // JPEG_IO_H diff --git a/cloud_codec_v2/include/pcl/cloud_codec_v2/point_cloud_codec_v2.h b/cloud_codec_v2/include/pcl/cloud_codec_v2/point_cloud_codec_v2.h index 98fc956..5888cb1 100644 --- a/cloud_codec_v2/include/pcl/cloud_codec_v2/point_cloud_codec_v2.h +++ b/cloud_codec_v2/include/pcl/cloud_codec_v2/point_cloud_codec_v2.h @@ -1,376 +1,384 @@ -/* -* Software License Agreement (BSD License) -* -* Point Cloud Library (PCL) - www.pointclouds.org -* Copyright (c) 2014, Stichting Centrum Wiskunde en Informatica. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of Willow Garage, Inc. nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -*/ -#ifndef POINT_CLOUD_CODECV2_H -#define POINT_CLOUD_CODECV2_H - -// from PCL library -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// added for cloud codec v2 -#include -#include - -namespace pcl{ - - namespace io{ - - //////////////////////////////////////////////////////////////////////////////////////////////////////////// - /**! - * \brief class for computation and compression of time varying cloud frames, extends original PCL cloud codec - * \author Rufael Mekuria (rufael.mekuria@cwi.nl) - */ - //////////////////////////////////////////////////////////////////////////////////////////////////////////// - struct BoundingBox - { - Eigen::Vector4f min_xyz; - Eigen::Vector4f max_xyz; - }; - - template > - class OctreePointCloudCodecV2 : public OctreePointCloudCompression - { - public: - - // public typedefs, copied from original implementation by Julius Kammerl - typedef typename OctreePointCloudCodecV2::PointCloud PointCloud; - typedef typename OctreePointCloudCodecV2::PointCloudPtr PointCloudPtr; - typedef typename OctreePointCloudCodecV2::PointCloudConstPtr PointCloudConstPtr; - typedef OctreePointCloudCompression MacroBlockTree; - - // Boost shared pointers - typedef boost::shared_ptr > Ptr; - typedef boost::shared_ptr > ConstPtr; - - typedef typename OctreeT::LeafNode LeafNode; - typedef typename OctreeT::BranchNode BranchNode; - - typedef OctreePointCloudCodecV2 > RealTimeStreamCompression; - typedef OctreePointCloudCodecV2 > SinglePointCloudCompressionLowMemory; - - /** \brief Constructor - * \param compressionProfile_arg: define compression profile - * \param octreeResolution_arg: octree resolution at lowest octree level - * \param pointResolution_arg: precision of point coordinates - * \param doVoxelGridDownDownSampling_arg: voxel grid filtering - * \param iFrameRate_arg: i-frame encoding rate - * \param doColorEncoding_arg: enable/disable color coding - * \param colorBitResolution_arg: color bit depth - * \param showStatistics_arg: output compression statistics - * \param colorCodingType_arg: jpeg or pcl dpcm - * \param doVoxelGridCentroid_arg: keep voxel grid positions or not - * \param createScalebleStream_arg: scalable bitstream (not yet implemented) - * \param codeConnectivity_arg: connectivity coding (not yet implemented) - * \param jpeg_quality_arg: quality of the jpeg encoder (jpeg quality) - */ - OctreePointCloudCodecV2 (compression_Profiles_e compressionProfile_arg = MED_RES_ONLINE_COMPRESSION_WITH_COLOR, - bool showStatistics_arg = false, - const double pointResolution_arg = 0.001, - const double octreeResolution_arg = 0.01, - bool doVoxelGridDownDownSampling_arg = false, - const unsigned int iFrameRate_arg = 0, /* NO PCL P Frames in this version of the codec !! */ - bool doColorEncoding_arg = true, - const unsigned char colorBitResolution_arg = 6, - const unsigned char colorCodingType_arg = 0, - bool doVoxelGridCentroid_arg = true, - bool createScalableStream_arg = true, - bool codeConnectivity_arg = false, - int jpeg_quality_arg = 75, - int num_threads=0) : - OctreePointCloudCompression( - compressionProfile_arg, - showStatistics_arg, - pointResolution_arg, - octreeResolution_arg, - doVoxelGridDownDownSampling_arg, - iFrameRate_arg, - doColorEncoding_arg, - colorBitResolution_arg), - color_coding_type_(colorCodingType_arg), - do_voxel_centroid_enDecoding_(doVoxelGridCentroid_arg), - create_scalable_bitstream_(createScalableStream_arg), - do_connectivity_encoding_(codeConnectivity_arg), - jp_color_coder_(jpeg_quality_arg, colorCodingType_arg), - num_threads_(num_threads) - { - macroblock_size_ = 16; // default macroblock size is 16x16x16 - icp_var_threshold_ = 100; - icp_max_iterations_=50; - do_icp_color_offset_ = false; - transformationepsilon_=1e-8; - } - - void initialization () - { - } - - void setMacroblockSize(int size) - { - macroblock_size_ = size; - } - - void setColorVarThreshold(int size) - { - macroblock_size_ = size; - } - - void setMaxIterations(int max_in) - { - icp_max_iterations_ = max_in; - } - - void setDoICPColorOffset(bool doit) - { - do_icp_color_offset_ = doit; - } - - void setDoICPColorOffset(float tfeps) - { - transformationepsilon_ = tfeps; - } - - void - encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream& compressed_tree_data_out_arg); - - void - decodePointCloud (std::istream& compressed_tree_data_in_arg, PointCloudPtr &cloud_arg); - - virtual void - generatePointCloudDeltaFrame (const PointCloudConstPtr &icloud_arg, const PointCloudConstPtr &pcloud_arg, PointCloudPtr &out_cloud_arg, - std::ostream& i_coded_data, std::ostream& p_coded_data, bool icp_on_original = false,bool write_out_cloud = true ); - - virtual void - encodePointCloudDeltaFrame (const PointCloudConstPtr &icloud_arg, const PointCloudConstPtr &pcloud_arg, PointCloudPtr &out_cloud_arg, - std::ostream& i_coded_data, std::ostream& p_coded_data, bool icp_on_original = false,bool write_out_cloud = false); - - virtual void - decodePointCloudDeltaFrame(const PointCloudConstPtr &icloud_arg, PointCloudPtr &out_cloud_arg, - std::istream& i_coded_data, std::istream& p_coded_data); - - //! function to return performance metric - uint64_t * - getPerformanceMetrics() - { - return compression_performance_metrics; - }; - - //! helper function to return - float - getMacroBlockPercentage() - { - return shared_macroblock_percentage_; - }; - - //! helper function to return convergence percentage - float - getMacroBlockConvergencePercentage(){ - return shared_macroblock_convergence_percentage_; - }; - /** \brief - * \param point_clouds: an array of pointers to point_clouds to be inspected and modified - * by \ref pcl_outlier_filter. A point in a cloud is considered an outlier, if there are - * less than 'num_points' other points in that cloud within distance 'radius' - */ - static void - remove_outliers (vector &point_clouds, int num_points, double radius, unsigned int debug_level=0); - /** \brief - * \param point_clouds: an vector of suitably aligned pointers to point_clouds to be inspected and modified - * to normalize their bouding boxes s.t. they effectivly can be used for interframe coding. - * \\returns the common bounding box for \\ref point clouds - */ - static BoundingBox - normalize_pointclouds (vector &point_clouds, vector > &bouding_boxes, double bb_expand_factor, vector dyn_range, vector offset, unsigned int debug_level=0); - - static void - restore_scaling (PointCloudPtr &point_clouds, const BoundingBox& bb); - - //! function for coding an enhancement layer - // virtual void - // encodeEnhancementLayer(const PointCloudConstPtr &cloud_arg, std::ostream& compressed_tree_data_out_arg); - - //! function for coding an enhancment layer - // virtual void - // decodeEnhancementLayer(std::istream& compressed_tree_data_in_arg, PointCloudPtr &cloud_arg, PointCloudPtr &cloud_arg_enh); - - protected: - - // protected functions for cloud_codec_v2 - - virtual void - simplifyPCloud(const PointCloudConstPtr &pcloud_arg_in, PointCloudPtr &out_cloud ); - - MacroBlockTree * - generate_macroblock_tree(PointCloudConstPtr in_cloud); - - void - do_icp_prediction( - Eigen::Matrix4f &rigid_transform, - PointCloudPtr i_cloud, - PointCloudPtr p_cloud, - bool & has_converged, - char *rgb_offsets - ); - - // protected functions overriding OctreePointCloudCompression - - void - writeFrameHeader(std::ostream& compressed_tree_data_out_arg); - - void - readFrameHeader(std::istream& compressed_tree_data_in_arg); - - virtual void - serializeTreeCallback (LeafT &leaf_arg, const OctreeKey& key_arg); - - virtual void - deserializeTreeCallback (LeafT&, const OctreeKey& key_arg); - - void - syncToHeader (std::istream& compressed_tree_data_in_arg); - - void - entropyEncoding (std::ostream& compressed_tree_data_out_arg1, - std::ostream& compressed_tree_data_out_arg2); - - void - entropyDecoding (std::istream& compressed_tree_data_in_arg1, - std::istream& compressed_tree_data_in_arg2); - - // protected variables cloud codec v2 - - uint32_t color_coding_type_; //! color coding with jpeg, graph transform, or differential encodings - - bool do_voxel_centroid_enDecoding_; //! encode the centroid in addition - - bool create_scalable_bitstream_; //! create a scalable bitstream (not yet implemented) - - bool do_connectivity_encoding_; //! encode the connectivity (not yet implemented) - - PointCodingV2 centroid_coder_; //! centroid encoding - - ColorCodingJPEG jp_color_coder_; //! new color coding via jpeg - - uint64_t compression_performance_metrics[3]; //! octree_bytes, centroid_bytes, color_bytes, monitor the buildup of compressed data - - static const char* frame_header_identifier_; //! new frame header identifier - - int macroblock_size_; //! macroblock size for inter predictive frames - - float shared_macroblock_percentage_; - - float shared_macroblock_convergence_percentage_; - - float icp_var_threshold_; - - int icp_max_iterations_; - - float transformationepsilon_; - - bool do_icp_color_offset_; - - int conv_count_; - - // store the colors for usage in the enhancement layers - std::vector decoded_colors_; - - //! number of omp threads - int num_threads_; - - // inherited protected members needed - using pcl::octree::Octree2BufBase::deleteCurrentBuffer; - using pcl::octree::Octree2BufBase::deserializeTree; // does not work in windows - using pcl::octree::Octree2BufBase::leaf_count_; - using pcl::octree::Octree2BufBase::serializeTree; - using pcl::octree::Octree2BufBase::switchBuffers; - using pcl::octree::OctreePointCloud::addPointsFromInputCloud; -// using pcl::octree::OctreePointCloud::deleteCurrentBuffer; - using pcl::octree::OctreePointCloud::deleteTree; - using pcl::octree::OctreePointCloud::getTreeDepth; - using pcl::octree::OctreePointCloud::input_; - using pcl::octree::OctreePointCloud::min_x_; - using pcl::octree::OctreePointCloud::min_y_; - using pcl::octree::OctreePointCloud::min_z_; - using pcl::octree::OctreePointCloud::resolution_; - using pcl::octree::OctreePointCloud::setInputCloud; - using pcl::io::OctreePointCloudCompression::b_show_statistics_; - using pcl::io::OctreePointCloudCompression::binary_tree_data_vector_; - using pcl::io::OctreePointCloudCompression::cloud_with_color_; - using pcl::io::OctreePointCloudCompression::color_bit_resolution_ ; - using pcl::io::OctreePointCloudCompression::compressed_color_data_len_; - using pcl::io::OctreePointCloudCompression::compressed_point_data_len_; - using pcl::io::OctreePointCloudCompression::color_coder_; - using pcl::io::OctreePointCloudCompression::data_with_color_; - using pcl::io::OctreePointCloudCompression::do_color_encoding_; - using pcl::io::OctreePointCloudCompression::do_voxel_grid_enDecoding_; - using pcl::io::OctreePointCloudCompression::entropy_coder_; - using pcl::io::OctreePointCloudCompression::frame_ID_; - using pcl::io::OctreePointCloudCompression::i_frame_; - using pcl::io::OctreePointCloudCompression::i_frame_counter_; - using pcl::io::OctreePointCloudCompression::i_frame_rate_; - using pcl::io::OctreePointCloudCompression::object_count_; - using pcl::io::OctreePointCloudCompression::octree_resolution_; - using pcl::io::OctreePointCloudCompression::output_; - using pcl::io::OctreePointCloudCompression::point_coder_; - using pcl::io::OctreePointCloudCompression::point_color_offset_; - using pcl::io::OctreePointCloudCompression::point_count_; - using pcl::io::OctreePointCloudCompression::point_count_data_vector_; - using pcl::io::OctreePointCloudCompression::point_count_data_vector_iterator_; - using pcl::io::OctreePointCloudCompression::point_resolution_; - using pcl::io::OctreePointCloudCompression::setOutputCloud; - using pcl::io::OctreePointCloudCompression::writeFrameHeader; - -// using pcl::io::OctreePointCloudCompression::jp_color_coder_; -// using pcl::io::OctreePointCloudCompression::i_frame_counter_; -// using pcl::io::OctreePointCloudCompression:: -// using pcl::octree::OctreePointCloud:: - }; - // define frame identifier for cloud codec v2 - template - const char* OctreePointCloudCodecV2::frame_header_identifier_ = ""; - } -} -#endif - - +/* +* Software License Agreement (BSD License) +* +* Point Cloud Library (PCL) - www.pointclouds.org +* Copyright (c) 2014, Stichting Centrum Wiskunde en Informatica. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of Willow Garage, Inc. nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +*/ +#ifndef POINT_CLOUD_CODECV2_H +#define POINT_CLOUD_CODECV2_H + +// from PCL library +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// added for cloud codec v2 +#include +#include + +namespace pcl{ + + namespace io{ + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + /**! + * \brief class for computation and compression of time varying cloud frames, extends original PCL cloud codec + * \author Rufael Mekuria (rufael.mekuria@cwi.nl) + */ + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + struct BoundingBox + { + Eigen::Vector4f min_xyz; + Eigen::Vector4f max_xyz; + }; + + template > + class OctreePointCloudCodecV2 : public OctreePointCloudCompression + { + public: + + // public typedefs, copied from original implementation by Julius Kammerl + typedef typename OctreePointCloudCodecV2::PointCloud PointCloud; + typedef typename OctreePointCloudCodecV2::PointCloudPtr PointCloudPtr; + typedef typename OctreePointCloudCodecV2::PointCloudConstPtr PointCloudConstPtr; + typedef OctreePointCloudCompression MacroBlockTree; + + // Boost shared pointers + typedef boost::shared_ptr > Ptr; + typedef boost::shared_ptr > ConstPtr; + + typedef typename OctreeT::LeafNode LeafNode; + typedef typename OctreeT::BranchNode BranchNode; + + typedef OctreePointCloudCodecV2 > RealTimeStreamCompression; + typedef OctreePointCloudCodecV2 > SinglePointCloudCompressionLowMemory; + + /** \brief Constructor + * \param compressionProfile_arg: define compression profile + * \param pointResolution_arg: precision of point coordinates + * \param octreeResolution_arg: octree resolution at lowest octree level + * \param doVoxelGridDownDownSampling_arg: voxel grid filtering + * \param iFrameRate_arg: i-frame encoding rate + * \param doColorEncoding_arg: enable/disable color coding + * \param colorBitResolution_arg: color bit depth + * \param showStatistics_arg: output compression statistics + * \param colorCodingType_arg: jpeg or pcl dpcm + * \param doVoxelGridCentroid_arg: keep voxel grid positions or not + * \param createScalebleStream_arg: scalable bitstream (not yet implemented) + * \param codeConnectivity_arg: connectivity coding (not yet implemented) + * \param jpeg_quality_arg: quality of the jpeg encoder (jpeg quality) + */ + OctreePointCloudCodecV2(compression_Profiles_e compressionProfile_arg = MED_RES_ONLINE_COMPRESSION_WITH_COLOR, + bool showStatistics_arg = false, + const double pointResolution_arg = 0.001, + const double octreeResolution_arg = 0.01, + bool doVoxelGridDownDownSampling_arg = false, + const unsigned int iFrameRate_arg = 0, /* NO PCL P Frames in this version of the codec !! */ + bool doColorEncoding_arg = true, + const unsigned char colorBitResolution_arg = 6, + const unsigned char colorCodingType_arg = 0, + uint64_t timeStamp_arg = 0, + //const unsigned char timeStamp_arg = 0, + bool doVoxelGridCentroid_arg = true, + bool createScalableStream_arg = true, + bool codeConnectivity_arg = false, + int jpeg_quality_arg = 75, + int num_threads=0) : + OctreePointCloudCompression( + compressionProfile_arg, + showStatistics_arg, + pointResolution_arg, + octreeResolution_arg, + doVoxelGridDownDownSampling_arg, + iFrameRate_arg, + doColorEncoding_arg, + colorBitResolution_arg), + color_coding_type_(colorCodingType_arg), + timeStamp(timeStamp_arg), + do_voxel_centroid_enDecoding_(doVoxelGridCentroid_arg), + create_scalable_bitstream_(createScalableStream_arg), + do_connectivity_encoding_(codeConnectivity_arg), + jp_color_coder_(jpeg_quality_arg, colorCodingType_arg), + num_threads_(num_threads) + { + macroblock_size_ = 16; // default macroblock size is 16x16x16 + icp_var_threshold_ = 100; + icp_max_iterations_=50; + do_icp_color_offset_ = false; + transformationepsilon_=1e-8; + } + + void initialization () + { + } + + void setMacroblockSize(int size) + { + macroblock_size_ = size; + } + + void setColorVarThreshold(int size) + { + macroblock_size_ = size; + } + + void setMaxIterations(int max_in) + { + icp_max_iterations_ = max_in; + } + + void setDoICPColorOffset(bool doit) + { + do_icp_color_offset_ = doit; + } + + void setDoICPColorOffset(float tfeps) + { + transformationepsilon_ = tfeps; + } + + void + encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream& compressed_tree_data_out_arg); + + bool + decodePointCloud (std::istream& compressed_tree_data_in_arg, PointCloudPtr &cloud_arg, uint64_t &tmstmp); + + virtual void + generatePointCloudDeltaFrame (const PointCloudConstPtr &icloud_arg, const PointCloudConstPtr &pcloud_arg, PointCloudPtr &out_cloud_arg, + std::ostream& i_coded_data, std::ostream& p_coded_data, bool icp_on_original = false,bool write_out_cloud = true ); + + virtual void + encodePointCloudDeltaFrame (const PointCloudConstPtr &icloud_arg, const PointCloudConstPtr &pcloud_arg, PointCloudPtr &out_cloud_arg, + std::ostream& i_coded_data, std::ostream& p_coded_data, bool icp_on_original = false,bool write_out_cloud = false); + + virtual bool + decodePointCloudDeltaFrame(const PointCloudConstPtr &icloud_arg, PointCloudPtr &out_cloud_arg, + std::istream& i_coded_data, std::istream& p_coded_data); + + //! function to return performance metric + uint64_t * + getPerformanceMetrics() + { + return compression_performance_metrics; + }; + + //! helper function to return + float + getMacroBlockPercentage() + { + return shared_macroblock_percentage_; + }; + + //! helper function to return convergence percentage + float + getMacroBlockConvergencePercentage(){ + return shared_macroblock_convergence_percentage_; + }; + /** \brief + * \param point_clouds: an array of pointers to point_clouds to be inspected and modified + * by \ref pcl_outlier_filter. A point in a cloud is considered an outlier, if there are + * less than 'num_points' other points in that cloud within distance 'radius' + */ + static void + remove_outliers (vector &point_clouds, int num_points, double radius, unsigned int debug_level=0); + /** \brief + * \param point_clouds: an vector of suitably aligned pointers to point_clouds to be inspected and modified + * to normalize their bouding boxes s.t. they effectivly can be used for interframe coding. + * \\returns the common bounding box for \\ref point clouds + */ + static BoundingBox + normalize_pointclouds (vector &point_clouds, vector > &bouding_boxes, double bb_expand_factor, vector dyn_range, vector offset, unsigned int debug_level=0); + + static void + restore_scaling (PointCloudPtr &point_clouds, const BoundingBox& bb); + + //! function for coding an enhancement layer + // virtual void + // encodeEnhancementLayer(const PointCloudConstPtr &cloud_arg, std::ostream& compressed_tree_data_out_arg); + + //! function for coding an enhancment layer + // virtual void + // decodeEnhancementLayer(std::istream& compressed_tree_data_in_arg, PointCloudPtr &cloud_arg, PointCloudPtr &cloud_arg_enh); + + protected: + + // protected functions for cloud_codec_v2 + + virtual void + simplifyPCloud(const PointCloudConstPtr &pcloud_arg_in, PointCloudPtr &out_cloud ); + + MacroBlockTree * + generate_macroblock_tree(PointCloudConstPtr in_cloud); + + void + do_icp_prediction( + Eigen::Matrix4f &rigid_transform, + PointCloudPtr i_cloud, + PointCloudPtr p_cloud, + bool & has_converged, + char *rgb_offsets + ); + + // protected functions overriding OctreePointCloudCompression + + void + writeFrameHeader(std::ostream& compressed_tree_data_out_arg); + + void + readFrameHeader(std::istream& compressed_tree_data_in_arg); + + virtual void + serializeTreeCallback (LeafT &leaf_arg, const OctreeKey& key_arg); + + virtual void + deserializeTreeCallback (LeafT&, const OctreeKey& key_arg); + + bool + syncToHeader (std::istream& compressed_tree_data_in_arg); + + void + entropyEncoding (std::ostream& compressed_tree_data_out_arg1, + std::ostream& compressed_tree_data_out_arg2); + + void + entropyDecoding (std::istream& compressed_tree_data_in_arg1, + std::istream& compressed_tree_data_in_arg2); + + // protected variables cloud codec v2 + + uint32_t color_coding_type_; //! color coding with jpeg, graph transform, or differential encodings + + uint64_t timeStamp; + double octreeResolution; + unsigned char colorBitResolution; + int jpeg_quality; + + bool do_voxel_centroid_enDecoding_; //! encode the centroid in addition + + bool create_scalable_bitstream_; //! create a scalable bitstream (not yet implemented) + + bool do_connectivity_encoding_; //! encode the connectivity (not yet implemented) + + PointCodingV2 centroid_coder_; //! centroid encoding + + ColorCodingJPEG jp_color_coder_; //! new color coding via jpeg + + uint64_t compression_performance_metrics[3]; //! octree_bytes, centroid_bytes, color_bytes, monitor the buildup of compressed data + + static const char* frame_header_identifier_; //! new frame header identifier + + int macroblock_size_; //! macroblock size for inter predictive frames + + float shared_macroblock_percentage_; + + float shared_macroblock_convergence_percentage_; + + float icp_var_threshold_; + + int icp_max_iterations_; + + float transformationepsilon_; + + bool do_icp_color_offset_; + + int conv_count_; + + // store the colors for usage in the enhancement layers + std::vector decoded_colors_; + + //! number of omp threads + int num_threads_; + + // inherited protected members needed + using pcl::octree::Octree2BufBase::deleteCurrentBuffer; + using pcl::octree::Octree2BufBase::deserializeTree; // does not work in windows + using pcl::octree::Octree2BufBase::leaf_count_; + using pcl::octree::Octree2BufBase::serializeTree; + using pcl::octree::Octree2BufBase::switchBuffers; + using pcl::octree::OctreePointCloud::addPointsFromInputCloud; +// using pcl::octree::OctreePointCloud::deleteCurrentBuffer; + using pcl::octree::OctreePointCloud::deleteTree; + using pcl::octree::OctreePointCloud::getTreeDepth; + using pcl::octree::OctreePointCloud::input_; + using pcl::octree::OctreePointCloud::min_x_; + using pcl::octree::OctreePointCloud::min_y_; + using pcl::octree::OctreePointCloud::min_z_; + using pcl::octree::OctreePointCloud::resolution_; + using pcl::octree::OctreePointCloud::setInputCloud; + using pcl::io::OctreePointCloudCompression::b_show_statistics_; + using pcl::io::OctreePointCloudCompression::binary_tree_data_vector_; + using pcl::io::OctreePointCloudCompression::cloud_with_color_; + using pcl::io::OctreePointCloudCompression::color_bit_resolution_ ; + using pcl::io::OctreePointCloudCompression::compressed_color_data_len_; + using pcl::io::OctreePointCloudCompression::compressed_point_data_len_; + using pcl::io::OctreePointCloudCompression::color_coder_; + using pcl::io::OctreePointCloudCompression::data_with_color_; + using pcl::io::OctreePointCloudCompression::do_color_encoding_; + using pcl::io::OctreePointCloudCompression::do_voxel_grid_enDecoding_; + using pcl::io::OctreePointCloudCompression::entropy_coder_; + using pcl::io::OctreePointCloudCompression::frame_ID_; + using pcl::io::OctreePointCloudCompression::i_frame_; + using pcl::io::OctreePointCloudCompression::i_frame_counter_; + using pcl::io::OctreePointCloudCompression::i_frame_rate_; + using pcl::io::OctreePointCloudCompression::object_count_; + using pcl::io::OctreePointCloudCompression::octree_resolution_; + using pcl::io::OctreePointCloudCompression::output_; + using pcl::io::OctreePointCloudCompression::point_coder_; + using pcl::io::OctreePointCloudCompression::point_color_offset_; + using pcl::io::OctreePointCloudCompression::point_count_; + using pcl::io::OctreePointCloudCompression::point_count_data_vector_; + using pcl::io::OctreePointCloudCompression::point_count_data_vector_iterator_; + using pcl::io::OctreePointCloudCompression::point_resolution_; + using pcl::io::OctreePointCloudCompression::setOutputCloud; + using pcl::io::OctreePointCloudCompression::writeFrameHeader; + +// using pcl::io::OctreePointCloudCompression::jp_color_coder_; +// using pcl::io::OctreePointCloudCompression::i_frame_counter_; +// using pcl::io::OctreePointCloudCompression:: +// using pcl::octree::OctreePointCloud:: + }; + // define frame identifier for cloud codec v2 + template + const char* OctreePointCloudCodecV2::frame_header_identifier_ = ""; + } +} +#endif + + diff --git a/cloud_codec_v2/include/pcl/cloud_codec_v2/point_cloud_codec_v2_omp.h b/cloud_codec_v2/include/pcl/cloud_codec_v2/point_cloud_codec_v2_omp.h index b5bb269..b2aeb4d 100644 --- a/cloud_codec_v2/include/pcl/cloud_codec_v2/point_cloud_codec_v2_omp.h +++ b/cloud_codec_v2/include/pcl/cloud_codec_v2/point_cloud_codec_v2_omp.h @@ -98,6 +98,7 @@ namespace pcl{ bool doColorEncoding_arg = true, const unsigned char colorBitResolution_arg = 6, const unsigned char colorCodingType_arg = 0, + const unsigned char timeStamp = 0, bool doVoxelGridCentroid_arg = true, bool createScalebleStream_arg = true, bool codeConnectivity_arg = false, @@ -113,6 +114,7 @@ namespace pcl{ doColorEncoding_arg, colorBitResolution_arg, colorCodingType_arg, + timeStamp_arg, doVoxelGridCentroid_arg, createScalebleStream_arg, codeConnectivity_arg, @@ -147,12 +149,14 @@ namespace pcl{ using pcl::io:: OctreePointCloudCodecV2::octree_resolution_; using pcl::io:: OctreePointCloudCodecV2::color_bit_resolution_; using pcl::io:: OctreePointCloudCodecV2::color_coding_type_; + using pcl::io::OctreePointCloudCodecV2::timeStamp; using pcl::io:: OctreePointCloudCodecV2::do_voxel_centroid_enDecoding_; using pcl::io:: OctreePointCloudCodecV2::shared_macroblock_percentage_; using pcl::io:: OctreePointCloudCodecV2::shared_macroblock_convergence_percentage_; using pcl::io:: OctreePointCloudCodecV2::simplifyPCloud; using pcl::io:: OctreePointCloudCodecV2::generate_macroblock_tree; using pcl::io:: OctreePointCloudCodecV2::do_icp_prediction; + using pcl::io::OctreePointCloudCodecV2::timeStamp; // using pcl::io:: OctreePointCloudCodecV2::; /* using pcl::octree::Octree2BufBase::deleteCurrentBuffer; diff --git a/cloud_codec_v2/src/jpeg_io.cpp b/cloud_codec_v2/src/jpeg_io.cpp new file mode 100644 index 0000000..de7619f --- /dev/null +++ b/cloud_codec_v2/src/jpeg_io.cpp @@ -0,0 +1,342 @@ +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2014-, Centrum Wiskunde Informatica. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + */ + +#define jpeg_is_ok +#include +#include +#include +#include + +namespace pcl{ + + namespace io{ + + /////////////////// HELPERS FOR LIBJPEG ERROR HANDLING ////////////////////////////// + + // JPEGLib struct for dealing with IO messages + struct JPEGIOErrorMgr + { + struct jpeg_error_mgr pub_; /* "public" fields */ + jmp_buf setjmp_buffer_; /* for return to caller */ + }; + + // pointer to the JPEG IO error pointer + typedef struct JPEGIOErrorMgr * JPEGIOErrorPtr; + + // exit handler, from libjpeg turbo + static void jpeg_error_return_false(j_common_ptr cinfo) + { + /* cinfo->err really points to a my_error_mgr struct, so coerce pointer */ + JPEGIOErrorPtr myerr = (JPEGIOErrorPtr) cinfo->err; + + // let the jpeg lib display the error message (jpeg turbo) + (*cinfo->err->output_message) (cinfo); + + // Return control to the setjmp point + longjmp(myerr->setjmp_buffer_, 1); + } + + /////////////////////////////////////////////////////////////////////////////////// + + ///////////////////////// JPEG READER ///////////////////////////////////////// + bool + pcl::io::JPEGReader::readJPEG(const std::vector &jpeg_in_dat, PCLImage &im_out) + { + std::string file_name; + return readJPEG(jpeg_in_dat,file_name,false,im_out); + } + + bool + pcl::io::JPEGReader::readJPEG(const std::string &jpeg_in_file, PCLImage &im_out) + { + std::vector empty_data; + return readJPEG(empty_data,jpeg_in_file,true,im_out); + } + + bool + pcl::io::JPEGReader::readJPEG(const std::vector &jpeg_in_dat, const std::string &file_name, bool read_file, PCLImage &im_out) + { + // jpeg structures + struct jpeg_decompress_struct cinfo; + struct JPEGIOErrorMgr jpeg_err; + + // set the error handlers + cinfo.err = jpeg_std_error(&jpeg_err.pub_); + jpeg_err.pub_.error_exit = jpeg_error_return_false; + + // establish setjump to return + if (setjmp(jpeg_err.setjmp_buffer_)) + { + // jpeg has signalled an error, we cleanup and return false + jpeg_destroy_decompress(&cinfo); + return false; + } + + // Now we can initialize the JPEG decompression object + jpeg_create_decompress(&cinfo); + + // optional file stream + FILE *in_file = NULL; + + // specify data source to jpeg lib + if (!read_file) + { + if(jpeg_in_dat.size()) + jpeg_mem_src(&cinfo, (unsigned char *) jpeg_in_dat.data(), + jpeg_in_dat.size()); + else + return false; + } + else + { + if(file_name.size()) + { + in_file = fopen(file_name.c_str(), "rb"); + jpeg_stdio_src(&cinfo, in_file); + if(!in_file) + return false; + } + else + { + return false; + } + } + + // read the header and start decompress + jpeg_read_header(&cinfo, TRUE); + jpeg_start_decompress(&cinfo); + + // prepare to readout the image line by line with libjpeg turbo + int row_stride = cinfo.output_width * cinfo.output_components; + JSAMPARRAY buffer = + (*cinfo.mem->alloc_sarray) ((j_common_ptr) & cinfo, JPOOL_IMAGE, + row_stride, 1); + + // resize the output image + if (im_out.data.size() != row_stride * cinfo.output_height) + im_out.data.resize(row_stride * cinfo.output_height); + + /* Here we use the library's state variable cinfo.output_scanline as the + * loop counter, so that we don't have to keep track ourselves. + */ + while (cinfo.output_scanline < cinfo.output_height) + { + // read a scanline and copy it to the output image + (void) jpeg_read_scanlines(&cinfo, buffer, 1); + std::copy(buffer[0], buffer[0] + row_stride, + &im_out.data[row_stride * (cinfo.output_scanline - 1)]); + } + + // Finish decompression + jpeg_finish_decompress(&cinfo); + + // return the image dimensions, output components + im_out.width = cinfo.image_width; + im_out.height = cinfo.image_height; + im_out.step = cinfo.output_components; + + // set the color space to the output image + switch (cinfo.out_color_space) { + case (JCS_GRAYSCALE): + im_out.encoding = "MONO"; + break; + case (JCS_RGB): + im_out.encoding = "RGB"; + break; + case (JCS_YCbCr): + im_out.encoding = "YUV"; + break; + default: + im_out.encoding = "unknown"; + break; + } + // destroy the libjpeg decompression object + jpeg_destroy_decompress(&cinfo); + + // done + return true; + } + ////////////////////////////// END JPEG READER ////////////////////////// + + + ////////////////////////////// JPEG WRITER ///////////////////////////// + bool + pcl::io::JPEGWriter::writeJPEG(const PCLImage &im_in, std::vector &cdat, int quality) + { + std::string fname; + return writeJPEG(im_in, cdat, fname, quality, false); + } + + bool + pcl::io::JPEGWriter::writeJPEG(const PCLImage &im_in, const std::string &file_name, int quality) + { + std::vector em_dat; + return writeJPEG(im_in, em_dat, file_name, quality, true); + } + + bool + pcl::io::JPEGWriter::writeJPEG(const PCLImage &im_in, std::vector &cdat, const std::string &file_name, int quality, bool write_file) + { + // structures for jpeg compression + struct jpeg_compress_struct cinfo; + struct JPEGIOErrorMgr jpeg_err; + + // set the error handlers + cinfo.err = jpeg_std_error(&jpeg_err.pub_); + jpeg_err.pub_.error_exit = jpeg_error_return_false; + + // data structures for writing the jpeg image (can be declared in the encoder routine) + JSAMPROW row_pointer_[1]; + int row_stride; + + // return if no data in the image + if(!im_in.data.size()) + return false; + if(!im_in.width) + return false; + if(!im_in.height) + return false; + + // structures to store the resulting compressed data + unsigned long out_data_size=0; + unsigned char * out_buffer = 0; +#ifdef _WIN32 + // Note by Jack: this is a workaround for some problem with the turbojpeg library on windows + // (as of march 2019). I think the turbojpeg DLL is linked against a different type of CRT which has + // a different malloc() which leads to a crash later in free() as this file tries to free + // memory allocated by turbojpeg. We work around this by allocating a chunk of memory + // and hoping it is going to be large enough. + out_buffer = (unsigned char *)malloc(1024 * 1024); + if (out_buffer) out_data_size = 1024 * 1024; +#endif + // Now we can initialize the JPEG compression object. + jpeg_create_compress(&cinfo); + + // establish setjump to return false + if (setjmp(jpeg_err.setjmp_buffer_)) + { + // jpeg has signalled an error, we cleanup and return false + jpeg_destroy_compress(&cinfo); + return false; + } + + // optional outfile + FILE *l_o_file = NULL; + if (write_file){ + l_o_file = fopen(file_name.c_str(), "wb"); + + if(!l_o_file) + return false; + } + + // supply the image height and width to the codec + cinfo.image_width = im_in.width; /* image width and height, in pixels */ + cinfo.image_height = im_in.height; + + // we only support YUV RGB as common in PCL + if (im_in.encoding.compare("YUV") == 0) + { + cinfo.in_color_space = JCS_YCbCr; + cinfo.input_components = 3; + } + else if (im_in.encoding.compare("RGB") == 0) + { + cinfo.in_color_space = JCS_RGB; + cinfo.input_components = 3; + } + else if (im_in.encoding.compare("MONO") == 0) + { + cinfo.in_color_space = JCS_GRAYSCALE; + cinfo.input_components = 1; + } + else if (im_in.encoding.compare("GRAY") == 0) + { + cinfo.in_color_space = JCS_GRAYSCALE; + cinfo.input_components = 1; + } + else + { + cinfo.in_color_space = JCS_RGB; // default is RGB + cinfo.input_components = 3; + } + + // do the jpeg settings + jpeg_set_defaults(&cinfo); // + jpeg_set_quality(&cinfo, quality, + TRUE /* limit to baseline-JPEG values */ ); + + // either write the output file or write to a membuffer + if (!write_file) + jpeg_mem_dest(&cinfo, &out_buffer, &out_data_size); + else if (l_o_file) + jpeg_stdio_dest(&cinfo, l_o_file); + else + return false; + jpeg_start_compress(&cinfo, TRUE); // + row_stride = im_in.width * cinfo.input_components; // JSAMPLEs per row in image_buffer + + // scan lines and compress them + while (cinfo.next_scanline < cinfo.image_height) + { + row_pointer_[0] = + (unsigned char *) &im_in.data[(cinfo.next_scanline) * + row_stride]; + jpeg_write_scanlines(&cinfo, row_pointer_, 1); + } + + // finished + jpeg_finish_compress(&cinfo); + + // resize the output to match the actual datasize + if (!write_file) + { + cdat.resize(out_data_size); + std::copy( (uint8_t *) out_buffer, (uint8_t *) (out_buffer +out_data_size) , cdat.data()); + free(out_buffer); + out_buffer = 0; + } + // destroy the libjpeg compression object + jpeg_destroy_compress(&cinfo); + // close the output file + if (write_file) + fclose(l_o_file); + // free the memory buffer + + return true; + } + ////////////////////////////// END JPEG WRITER ///////////////////////////// + } +} diff --git a/cloud_codec_v2/src/point_cloud_codec_v2.cpp b/cloud_codec_v2/src/point_cloud_codec_v2.cpp index d6ddb3d..b9953d7 100644 --- a/cloud_codec_v2/src/point_cloud_codec_v2.cpp +++ b/cloud_codec_v2/src/point_cloud_codec_v2.cpp @@ -40,9 +40,11 @@ #include #include -using namespace pcl; -using namespace io; +namespace pcl { +namespace io{ template class OctreePointCloudCodecV2; //template class OctreePointCloudCodecV2; //template class OctreePointCloudCompressionV2; +} +} diff --git a/cmake/CMakeParseArguments.cmake b/cmake/CMakeParseArguments.cmake deleted file mode 100644 index cc63604..0000000 --- a/cmake/CMakeParseArguments.cmake +++ /dev/null @@ -1,138 +0,0 @@ -# CMAKE_PARSE_ARGUMENTS( args...) -# -# CMAKE_PARSE_ARGUMENTS() is intended to be used in macros or functions for -# parsing the arguments given to that macro or function. -# It processes the arguments and defines a set of variables which hold the -# values of the respective options. -# -# The argument contains all options for the respective macro, -# i.e. keywords which can be used when calling the macro without any value -# following, like e.g. the OPTIONAL keyword of the install() command. -# -# The argument contains all keywords for this macro -# which are followed by one value, like e.g. DESTINATION keyword of the -# install() command. -# -# The argument contains all keywords for this macro -# which can be followed by more than one value, like e.g. the TARGETS or -# FILES keywords of the install() command. -# -# When done, CMAKE_PARSE_ARGUMENTS() will have defined for each of the -# keywords listed in , and -# a variable composed of the given -# followed by "_" and the name of the respective keyword. -# These variables will then hold the respective value from the argument list. -# For the keywords this will be TRUE or FALSE. -# -# All remaining arguments are collected in a variable -# _UNPARSED_ARGUMENTS, this can be checked afterwards to see whether -# your macro was called with unrecognized parameters. -# -# As an example here a my_install() macro, which takes similar arguments as the -# real install() command: -# -# function(MY_INSTALL) -# set(options OPTIONAL FAST) -# set(oneValueArgs DESTINATION RENAME) -# set(multiValueArgs TARGETS CONFIGURATIONS) -# cmake_parse_arguments(MY_INSTALL "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} ) -# ... -# -# Assume my_install() has been called like this: -# my_install(TARGETS foo bar DESTINATION bin OPTIONAL blub) -# -# After the cmake_parse_arguments() call the macro will have set the following -# variables: -# MY_INSTALL_OPTIONAL = TRUE -# MY_INSTALL_FAST = FALSE (this option was not used when calling my_install() -# MY_INSTALL_DESTINATION = "bin" -# MY_INSTALL_RENAME = "" (was not used) -# MY_INSTALL_TARGETS = "foo;bar" -# MY_INSTALL_CONFIGURATIONS = "" (was not used) -# MY_INSTALL_UNPARSED_ARGUMENTS = "blub" (no value expected after "OPTIONAL" -# -# You can the continue and process these variables. -# -# Keywords terminate lists of values, e.g. if directly after a one_value_keyword -# another recognized keyword follows, this is interpreted as the beginning of -# the new option. -# E.g. my_install(TARGETS foo DESTINATION OPTIONAL) would result in -# MY_INSTALL_DESTINATION set to "OPTIONAL", but MY_INSTALL_DESTINATION would -# be empty and MY_INSTALL_OPTIONAL would be set to TRUE therefor. - -#============================================================================= -# Copyright 2010 Alexander Neundorf -# -# Distributed under the OSI-approved BSD License (the "License"); -# see accompanying file Copyright.txt for details. -# -# This software is distributed WITHOUT ANY WARRANTY; without even the -# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. -# See the License for more information. -#============================================================================= -# (To distribute this file outside of CMake, substitute the full -# License text for the above reference.) - - -if(__CMAKE_PARSE_ARGUMENTS_INCLUDED) - return() -endif() -set(__CMAKE_PARSE_ARGUMENTS_INCLUDED TRUE) - - -function(CMAKE_PARSE_ARGUMENTS prefix _optionNames _singleArgNames _multiArgNames) - # first set all result variables to empty/FALSE - foreach(arg_name ${_singleArgNames} ${_multiArgNames}) - set(${prefix}_${arg_name}) - endforeach(arg_name) - - foreach(option ${_optionNames}) - set(${prefix}_${option} FALSE) - endforeach(option) - - set(${prefix}_UNPARSED_ARGUMENTS) - - set(insideValues FALSE) - set(currentArgName) - - # now iterate over all arguments and fill the result variables - foreach(currentArg ${ARGN}) - list(FIND _optionNames "${currentArg}" optionIndex) # ... then this marks the end of the arguments belonging to this keyword - list(FIND _singleArgNames "${currentArg}" singleArgIndex) # ... then this marks the end of the arguments belonging to this keyword - list(FIND _multiArgNames "${currentArg}" multiArgIndex) # ... then this marks the end of the arguments belonging to this keyword - - if(${optionIndex} EQUAL -1 AND ${singleArgIndex} EQUAL -1 AND ${multiArgIndex} EQUAL -1) - if(insideValues) - if("${insideValues}" STREQUAL "SINGLE") - set(${prefix}_${currentArgName} ${currentArg}) - set(insideValues FALSE) - elseif("${insideValues}" STREQUAL "MULTI") - list(APPEND ${prefix}_${currentArgName} ${currentArg}) - endif() - else(insideValues) - list(APPEND ${prefix}_UNPARSED_ARGUMENTS ${currentArg}) - endif(insideValues) - else() - if(NOT ${optionIndex} EQUAL -1) - set(${prefix}_${currentArg} TRUE) - set(insideValues FALSE) - elseif(NOT ${singleArgIndex} EQUAL -1) - set(currentArgName ${currentArg}) - set(${prefix}_${currentArgName}) - set(insideValues "SINGLE") - elseif(NOT ${multiArgIndex} EQUAL -1) - set(currentArgName ${currentArg}) - set(${prefix}_${currentArgName}) - set(insideValues "MULTI") - endif() - endif() - - endforeach(currentArg) - - # propagate the result variables to the caller: - foreach(arg_name ${_singleArgNames} ${_multiArgNames} ${_optionNames}) - set(${prefix}_${arg_name} ${${prefix}_${arg_name}} PARENT_SCOPE) - endforeach(arg_name) - set(${prefix}_UNPARSED_ARGUMENTS ${${prefix}_UNPARSED_ARGUMENTS} PARENT_SCOPE) - -endfunction(CMAKE_PARSE_ARGUMENTS _options _singleArgs _multiArgs) diff --git a/cmake/CudaComputeTargetFlags.cmake b/cmake/CudaComputeTargetFlags.cmake deleted file mode 100644 index 8d9071c..0000000 --- a/cmake/CudaComputeTargetFlags.cmake +++ /dev/null @@ -1,43 +0,0 @@ -# -# Compute target flags macros by Anatoly Baksheev -# -# Usage in CmakeLists.txt: -# include(CudaComputeTargetFlags.cmake) -# APPEND_TARGET_ARCH_FLAGS() - -#compute flags macros -MACRO(CUDA_COMPUTE_TARGET_FLAGS arch_bin arch_ptx cuda_nvcc_target_flags) - string(REGEX REPLACE "\\." "" ARCH_BIN_WITHOUT_DOTS "${${arch_bin}}") - string(REGEX REPLACE "\\." "" ARCH_PTX_WITHOUT_DOTS "${${arch_ptx}}") - - set(cuda_computer_target_flags_temp "") - - # Tell NVCC to add binaries for the specified GPUs - string(REGEX MATCHALL "[0-9()]+" ARCH_LIST "${ARCH_BIN_WITHOUT_DOTS}") - foreach(ARCH IN LISTS ARCH_LIST) - if (ARCH MATCHES "([0-9]+)\\(([0-9]+)\\)") - # User explicitly specified PTX for the concrete BIN - set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${CMAKE_MATCH_2},code=sm_${CMAKE_MATCH_1}) - else() - # User didn't explicitly specify PTX for the concrete BIN, we assume PTX=BIN - set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${ARCH},code=sm_${ARCH}) - endif() - endforeach() - - # Tell NVCC to add PTX intermediate code for the specified architectures - string(REGEX MATCHALL "[0-9]+" ARCH_LIST "${ARCH_PTX_WITHOUT_DOTS}") - foreach(ARCH IN LISTS ARCH_LIST) - set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${ARCH},code=compute_${ARCH}) - endforeach() - - set(${cuda_nvcc_target_flags} ${cuda_computer_target_flags_temp}) -ENDMACRO() - -MACRO(APPEND_TARGET_ARCH_FLAGS) - set(cuda_nvcc_target_flags "") - CUDA_COMPUTE_TARGET_FLAGS(CUDA_ARCH_BIN CUDA_ARCH_PTX cuda_nvcc_target_flags) - if (cuda_nvcc_target_flags) - message(STATUS "CUDA NVCC target flags: ${cuda_nvcc_target_flags}") - list(APPEND CUDA_NVCC_FLAGS ${cuda_nvcc_target_flags}) - endif() -ENDMACRO() \ No newline at end of file diff --git a/cmake/Modules/FindDSSDK.cmake b/cmake/Modules/FindDSSDK.cmake deleted file mode 100644 index 9b23fec..0000000 --- a/cmake/Modules/FindDSSDK.cmake +++ /dev/null @@ -1,59 +0,0 @@ -############################################################################### -# Find SoftKinetic DepthSense SDK -# -# find_package(DSSDK) -# -# Variables defined by this module: -# -# DSSDK_FOUND True if DepthSense SDK was found -# DSSDK_VERSION The version of DepthSense SDK -# DSSDK_INCLUDE_DIRS The location(s) of DepthSense SDK headers -# DSSDK_LIBRARIES Libraries needed to use DepthSense SDK - -find_path(DSSDK_DIR include/DepthSenseVersion.hxx - HINTS "$ENV{DEPTHSENSESDK32}" - "$ENV{DEPTHSENSESDK64}" - PATHS "$ENV{PROGRAMFILES}/SoftKinetic/DepthSenseSDK" - "$ENV{PROGRAMW6432}/SoftKinetic/DepthSenseSDK" - "C:/Program Files (x86)/SoftKinetic/DepthSenseSDK" - "C:/Program Files/SoftKinetic/DepthSenseSDK" - "/opt/softkinetic/DepthSenseSDK" - DOC "DepthSense SDK directory") - -if(DSSDK_DIR) - - # Include directories - set(DSSDK_INCLUDE_DIRS ${DSSDK_DIR}/include) - mark_as_advanced(DSSDK_INCLUDE_DIRS) - - # Libraries - if(MSVC) - set(DSSDK_LIBRARIES_NAMES DepthSense) - else() - set(DSSDK_LIBRARIES_NAMES DepthSense DepthSensePlugins turbojpeg) - endif() - foreach(LIB ${DSSDK_LIBRARIES_NAMES}) - find_library(DSSDK_LIBRARY_${LIB} - NAMES "${LIB}" - PATHS "${DSSDK_DIR}/lib/" NO_DEFAULT_PATH) - list(APPEND DSSDK_LIBRARIES ${DSSDK_LIBRARY_${LIB}}) - mark_as_advanced(DSSDK_LIBRARY_${LIB}) - endforeach() - - # Version - set(DSSDK_VERSION 0) - file(STRINGS "${DSSDK_INCLUDE_DIRS}/DepthSenseVersion.hxx" _dsversion_H_CONTENTS REGEX "#define DEPTHSENSE_FILE_VERSION_STRING.*") - set(_DSSDK_VERSION_REGEX "([0-9]+\\.[0-9]+\\.[0-9]+\\.[0-9]+)") - if("${_dsversion_H_CONTENTS}" MATCHES ".*#define DEPTHSENSE_FILE_VERSION_STRING .*${_DSSDK_VERSION_REGEX}.*") - set(DSSDK_VERSION "${CMAKE_MATCH_1}") - endif() - unset(_dsversion_H_CONTENTS) - -endif() - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(DSSDK - FOUND_VAR DSSDK_FOUND - REQUIRED_VARS DSSDK_LIBRARIES DSSDK_INCLUDE_DIRS - VERSION_VAR DSSDK_VERSION -) diff --git a/cmake/Modules/FindEnsenso.cmake b/cmake/Modules/FindEnsenso.cmake deleted file mode 100644 index a7220d4..0000000 --- a/cmake/Modules/FindEnsenso.cmake +++ /dev/null @@ -1,35 +0,0 @@ -############################################################################### -# - Try to find Ensenso SDK (IDS-Imaging) -# Once done this will define -# ENSENSO_FOUND - System has Ensenso SDK -# ENSENSO_INCLUDE_DIRS - The Ensenso SDK include directories -# ENSENSO_LIBRARIES - The libraries needed to use Ensenso SDK -# ENSENSO_DEFINITIONS - Compiler switches required for using Ensenso SDK -# ----------------------- - -find_path(ENSENSO_INCLUDE_DIR nxLib.h - HINTS ${ENSENSO_ABI_HINT} - /opt/ensenso/development/c - "$ENV{PROGRAMFILES}/Ensenso/development/c" "$ENV{PROGRAMW6432}/Ensenso/development/c" - PATH_SUFFIXES include/) - -find_library(ENSENSO_LIBRARY QUIET NAMES NxLib64 NxLib32 nxLib64 nxLib32 - HINTS ${ENSENSO_ABI_HINT} - "$ENV{PROGRAMFILES}/Ensenso/development/c" "$ENV{PROGRAMW6432}/Ensenso/development/c" - PATH_SUFFIXES lib/) - -set(ENSENSO_LIBRARIES ${ENSENSO_LIBRARY}) -set(ENSENSO_INCLUDE_DIRS ${ENSENSO_INCLUDE_DIR}) - -include(FindPackageHandleStandardArgs) -# handle the QUIETLY and REQUIRED arguments and set ENSENSO_FOUND to TRUE -# if all listed variables are TRUE -find_package_handle_standard_args(ensenso DEFAULT_MSG - ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) - -mark_as_advanced(ENSENSO_INCLUDE_DIR ENSENSO_LIBRARY) - -if(ENSENSO_FOUND) - message(STATUS "Ensenso SDK found") -endif(ENSENSO_FOUND) - diff --git a/cmake/Modules/FindFLANN.cmake b/cmake/Modules/FindFLANN.cmake deleted file mode 100644 index db54228..0000000 --- a/cmake/Modules/FindFLANN.cmake +++ /dev/null @@ -1,63 +0,0 @@ -############################################################################### -# Find FLANN -# -# This sets the following variables: -# FLANN_FOUND - True if FLANN was found. -# FLANN_INCLUDE_DIRS - Directories containing the FLANN include files. -# FLANN_LIBRARIES - Libraries needed to use FLANN. -# FLANN_DEFINITIONS - Compiler flags for FLANN. -# If FLANN_USE_STATIC is specified and then look for static libraries ONLY else -# look for shared ones - -if(FLANN_USE_STATIC) - set(FLANN_RELEASE_NAME flann_cpp_s) - set(FLANN_DEBUG_NAME flann_cpp_s-gd) -else(FLANN_USE_STATIC) - set(FLANN_RELEASE_NAME flann_cpp) - set(FLANN_DEBUG_NAME flann_cpp-gd) -endif(FLANN_USE_STATIC) - -find_package(PkgConfig QUIET) -if (FLANN_FIND_VERSION) - pkg_check_modules(PC_FLANN flann>=${FLANN_FIND_VERSION}) -else(FLANN_FIND_VERSION) - pkg_check_modules(PC_FLANN flann) -endif(FLANN_FIND_VERSION) - -set(FLANN_DEFINITIONS ${PC_FLANN_CFLAGS_OTHER}) - -find_path(FLANN_INCLUDE_DIR flann/flann.hpp - HINTS ${PC_FLANN_INCLUDEDIR} ${PC_FLANN_INCLUDE_DIRS} "${FLANN_ROOT}" "$ENV{FLANN_ROOT}" - PATHS "$ENV{PROGRAMFILES}/Flann" "$ENV{PROGRAMW6432}/Flann" - PATH_SUFFIXES include) - -find_library(FLANN_LIBRARY - NAMES ${FLANN_RELEASE_NAME} - HINTS ${PC_FLANN_LIBDIR} ${PC_FLANN_LIBRARY_DIRS} "${FLANN_ROOT}" "$ENV{FLANN_ROOT}" - PATHS "$ENV{PROGRAMFILES}/Flann" "$ENV{PROGRAMW6432}/Flann" - PATH_SUFFIXES lib) - -find_library(FLANN_LIBRARY_DEBUG - NAMES ${FLANN_DEBUG_NAME} ${FLANN_RELEASE_NAME} - HINTS ${PC_FLANN_LIBDIR} ${PC_FLANN_LIBRARY_DIRS} "${FLANN_ROOT}" "$ENV{FLANN_ROOT}" - PATHS "$ENV{PROGRAMFILES}/Flann" "$ENV{PROGRAMW6432}/Flann" - PATH_SUFFIXES lib) - -if(NOT FLANN_LIBRARY_DEBUG) - set(FLANN_LIBRARY_DEBUG ${FLANN_LIBRARY}) -endif(NOT FLANN_LIBRARY_DEBUG) - -set(FLANN_INCLUDE_DIRS ${FLANN_INCLUDE_DIR}) -set(FLANN_LIBRARIES optimized ${FLANN_LIBRARY} debug ${FLANN_LIBRARY_DEBUG}) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(FLANN DEFAULT_MSG FLANN_LIBRARY FLANN_INCLUDE_DIR) - -mark_as_advanced(FLANN_LIBRARY FLANN_LIBRARY_DEBUG FLANN_INCLUDE_DIR) - -if(FLANN_FOUND) - message(STATUS "FLANN found (include: ${FLANN_INCLUDE_DIRS}, lib: ${FLANN_LIBRARIES})") - if(FLANN_USE_STATIC) - add_definitions(-DFLANN_STATIC) - endif(FLANN_USE_STATIC) -endif(FLANN_FOUND) diff --git a/cmake/Modules/FindFZAPI.cmake b/cmake/Modules/FindFZAPI.cmake deleted file mode 100644 index ad28967..0000000 --- a/cmake/Modules/FindFZAPI.cmake +++ /dev/null @@ -1,26 +0,0 @@ -############################################################################### -# Find Fotonic FZAPI -# -# This sets the following variables: -# FZAPI_FOUND - True if FZAPI was found. -# FZAPI_INCLUDE_DIRS - Directories containing the FZAPI include files. -# FZAPI_LIBRARIES - Libraries needed to use FZAPI. - -if(FZ_API_DIR) - # Find include dirs - find_path(FZAPI_INCLUDE_DIR fz_api.h - PATHS "${FZ_API_DIR}" NO_DEFAULT_PATH - DOC "Fotonic include directories") - - # Find libraries - find_library(FZAPI_LIBS fotonic_fz_api - HINTS "${FZ_API_DIR}/Release" NO_DEFAULT_PATH - DOC "Fotonic libraries") -else() - set(FZ_API_DIR "default value" CACHE FILEPATH "directory of Fotonic API") -endif() - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(FZAPI DEFAULT_MSG - FZAPI_LIBS FZAPI_INCLUDE_DIRS) - diff --git a/cmake/Modules/FindG2O.cmake b/cmake/Modules/FindG2O.cmake deleted file mode 100644 index 2187c83..0000000 --- a/cmake/Modules/FindG2O.cmake +++ /dev/null @@ -1,149 +0,0 @@ - -# Macro to unify finding both the debug and release versions of the libraries -MACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) - - FIND_LIBRARY("${LIBRARY}_DEBUG" - NAMES "g2o_${LIBRARYNAME}_d" - PATHS - ${G2O_ROOT}/lib/Debug - ${G2O_ROOT}/lib - $ENV{G2O_ROOT}/lib/Debug - $ENV{G2O_ROOT}/lib - NO_DEFAULT_PATH - ) - - FIND_LIBRARY("${LIBRARY}_DEBUG" - NAMES "g2o_${LIBRARYNAME}_d" - PATHS - ~/Library/Frameworks - /Library/Frameworks - /usr/local/lib - /usr/local/lib64 - /usr/lib - /usr/lib64 - /opt/local/lib - /sw/local/lib - /sw/lib - ) - - FIND_LIBRARY("${LIBRARY}_RELEASE" - NAMES "g2o_${LIBRARYNAME}" - PATHS - ${G2O_ROOT}/lib/Release - ${G2O_ROOT}/lib - $ENV{G2O_ROOT}/lib/Release - $ENV{G2O_ROOT}/lib - NO_DEFAULT_PATH - ) - - FIND_LIBRARY("${LIBRARY}_RELEASE" - NAMES "g2o_${LIBRARYNAME}" - PATHS - ~/Library/Frameworks - /Library/Frameworks - /usr/local/lib - /usr/local/lib64 - /usr/lib - /usr/lib64 - /opt/local/lib - /sw/local/lib - /sw/lib - ) - - IF(NOT ${LIBRARY}_DEBUG) - IF(${LIBRARY}_RELEASE) - SET(${LIBRARY}_DEBUG ${${LIBRARY}_RELEASE}) - ENDIF(${LIBRARY}_RELEASE) - ENDIF(NOT ${LIBRARY}_DEBUG) - - IF(CMAKE_BUILD_TYPE STREQUAL "Debug") - SET(${LIBRARY} ${${LIBRARY}_DEBUG}) - ELSE(CMAKE_BUILD_TYPE STREQUAL "Debug") - SET(${LIBRARY} ${${LIBRARY}_RELEASE}) - ENDIF(CMAKE_BUILD_TYPE STREQUAL "Debug") - - MARK_AS_ADVANCED(FORCE ${LIBRARY}_DEBUG ${LIBRARY}_RELEASE ${LIBRARY}) - -ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) - -# Find the header files -FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h - ${G2O_ROOT} - $ENV{G2O_ROOT} - ${G2O_ROOT}/include - $ENV{G2O_ROOT}/include - /usr/local/include - /usr/include - /opt/local/include - /sw/local/include - /sw/include - NO_DEFAULT_PATH -) - -SET(G2O_SOLVERS_FOUND FALSE) -SET(G2O_FOUND FALSE) -FIND_PACKAGE(Eigen 3) -IF(Eigen_FOUND AND G2O_INCLUDE_DIR) - SET(G2O_INCLUDE_DIR ${G2O_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS}) - SET(G2O_EXTRA_LIB) - FIND_PACKAGE(SuiteSparse) - - IF(CHOLMOD_FOUND) - SET(G2O_INCLUDE_DIR ${G2O_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR}) - SET(G2O_EXTRA_LIB ${G2O_EXTRA_LIB} ${CHOLMOD_LIBRARIES}) - ENDIF(CHOLMOD_FOUND) - IF(CSPARSE_FOUND) - SET(G2O_INCLUDE_DIR ${G2O_INCLUDE_DIR} ${CSPARSE_INCLUDE_DIR}) - SET(G2O_EXTRA_LIB ${G2O_EXTRA_LIB} ${CSPARSE_LIBRARY}) - ENDIF(CSPARSE_FOUND) - MARK_AS_ADVANCED(FORCE G2O_INCLUDE_DIR G2O_EXTRA_LIB) - - # Find the core elements - FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff) - FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core) - - # Find the CLI library - FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli) - - # Find the pluggable solvers - FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod) - FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse) - FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension) - FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense) - FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg) - FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear) - FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only) - - # Find the predefined types - FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data) - FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp) - FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba) - FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d) - FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3) - FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d) - FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d) - - # G2O solvers declared found if we found at least one solver - IF((G2O_SOLVER_CHOLMOD AND CHOLMOD_FOUND) OR (G2O_SOLVER_CSPARSE AND CSPARSE_FOUND) OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY) - SET(G2O_SOLVERS_FOUND TRUE) - ENDIF((G2O_SOLVER_CHOLMOD AND CHOLMOD_FOUND) OR (G2O_SOLVER_CSPARSE AND CSPARSE_FOUND) OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY) - - # G2O itself declared found if we found the core libraries and at least one solver - IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) - SET(G2O_FOUND TRUE) - ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) -ENDIF(Eigen_FOUND AND G2O_INCLUDE_DIR) - -IF(G2O_FOUND) - IF(NOT G2O_FIND_QUIETLY) - MESSAGE(STATUS "Found G2O") - ENDIF(NOT G2O_FIND_QUIETLY) -ELSE(G2O_FOUND) - IF(G2O_FIND_REQUIRED) - MESSAGE(FATAL_ERROR "G2O NOT FOUND") - ELSE(G2O_FIND_REQUIRED) - IF(NOT G2O_FIND_QUIETLY) - MESSAGE(STATUS "G2O NOT FOUND") - ENDIF(NOT G2O_FIND_QUIETLY) - ENDIF(G2O_FIND_REQUIRED) -ENDIF(G2O_FOUND) diff --git a/cmake/Modules/FindGLEW.cmake b/cmake/Modules/FindGLEW.cmake deleted file mode 100644 index b7e2875..0000000 --- a/cmake/Modules/FindGLEW.cmake +++ /dev/null @@ -1,115 +0,0 @@ -# Copyright (c) 2009 Boudewijn Rempt -# -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. -# -# - try to find glew library and include files -# GLEW_INCLUDE_DIR, where to find GL/glew.h, etc. -# GLEW_LIBRARIES, the libraries to link against -# GLEW_FOUND, If false, do not try to use GLEW. -# Also defined, but not for general use are: -# GLEW_GLEW_LIBRARY = the full path to the glew library. - -IF (WIN32) - - IF(CYGWIN) - - FIND_PATH( GLEW_INCLUDE_DIR GL/glew.h) - - FIND_LIBRARY( GLEW_GLEW_LIBRARY glew32 - ${OPENGL_LIBRARY_DIR} - /usr/lib/w32api - /usr/X11R6/lib - ) - - - ELSE(CYGWIN) - - FIND_PATH( GLEW_INCLUDE_DIR GL/glew.h - $ENV{GLEW_ROOT}/include - ) - - FIND_LIBRARY( GLEW_GLEW_LIBRARY - NAMES glew glew32 glew32s - PATHS - $ENV{GLEW_ROOT}/lib - ${OPENGL_LIBRARY_DIR} - ) - - ENDIF(CYGWIN) - -ELSE (WIN32) - - IF (APPLE) -# These values for Apple could probably do with improvement. - if (${CMAKE_SYSTEM_VERSION} VERSION_LESS "13.0.0") - FIND_PATH( GLEW_INCLUDE_DIR glew.h - /System/Library/Frameworks/GLEW.framework/Versions/A/Headers - ${OPENGL_LIBRARY_DIR} - ) - SET(GLEW_GLEW_LIBRARY "-framework GLEW" CACHE STRING "GLEW library for OSX") - else (${CMAKE_SYSTEM_VERSION} VERSION_LESS "13.0.0") - find_package(PkgConfig) - pkg_check_modules(GLEW glew) - SET(GLEW_GLEW_LIBRARY ${GLEW_LIBRARIES} CACHE STRING "GLEW library for OSX") - SET(GLEW_INCLUDE_DIR ${GLEW_INCLUDEDIR} CACHE STRING "GLEW include dir for OSX") - endif (${CMAKE_SYSTEM_VERSION} VERSION_LESS "13.0.0") - SET(GLEW_cocoa_LIBRARY "-framework Cocoa" CACHE STRING "Cocoa framework for OSX") - ELSE (APPLE) - - FIND_PATH( GLEW_INCLUDE_DIR GL/glew.h - /usr/include/GL - /usr/openwin/share/include - /usr/openwin/include - /usr/X11R6/include - /usr/include/X11 - /opt/graphics/OpenGL/include - /opt/graphics/OpenGL/contrib/libglew - ) - - FIND_LIBRARY( GLEW_GLEW_LIBRARY GLEW - /usr/openwin/lib - /usr/X11R6/lib - ) - - ENDIF (APPLE) - -ENDIF (WIN32) - -SET( GLEW_FOUND FALSE ) -IF(GLEW_INCLUDE_DIR) - IF(GLEW_GLEW_LIBRARY) - # Is -lXi and -lXmu required on all platforms that have it? - # If not, we need some way to figure out what platform we are on. - SET( GLEW_LIBRARIES - ${GLEW_GLEW_LIBRARY} - ${GLEW_cocoa_LIBRARY} - ) - SET( GLEW_FOUND TRUE ) - -#The following deprecated settings are for backwards compatibility with CMake1.4 - SET (GLEW_LIBRARY ${GLEW_LIBRARIES}) - SET (GLEW_INCLUDE_PATH ${GLEW_INCLUDE_DIR}) - - ENDIF(GLEW_GLEW_LIBRARY) -ENDIF(GLEW_INCLUDE_DIR) - -IF(GLEW_FOUND) - IF(NOT GLEW_FIND_QUIETLY) - MESSAGE(STATUS "Found Glew: ${GLEW_LIBRARIES}") - ENDIF(NOT GLEW_FIND_QUIETLY) - IF(GLEW_GLEW_LIBRARY MATCHES glew32s) - ADD_DEFINITIONS(-DGLEW_STATIC) - ENDIF(GLEW_GLEW_LIBRARY MATCHES glew32s) -ELSE(GLEW_FOUND) - IF(GLEW_FIND_REQUIRED) - MESSAGE(FATAL_ERROR "Could not find Glew") - ENDIF(GLEW_FIND_REQUIRED) -ENDIF(GLEW_FOUND) - -MARK_AS_ADVANCED( - GLEW_INCLUDE_DIR - GLEW_GLEW_LIBRARY - GLEW_Xmu_LIBRARY - GLEW_Xi_LIBRARY -) diff --git a/cmake/Modules/FindGTSAM.cmake b/cmake/Modules/FindGTSAM.cmake deleted file mode 100644 index 4faf8b5..0000000 --- a/cmake/Modules/FindGTSAM.cmake +++ /dev/null @@ -1,87 +0,0 @@ -# This is FindGTSAM.cmake -# CMake module to locate the GTSAM package -# -# The following cache variables may be set before calling this script: -# -# GTSAM_DIR (or GTSAM_ROOT): (Optional) The install prefix OR source tree of gtsam (e.g. /usr/local or src/gtsam) -# GTSAM_BUILD_NAME: (Optional) If compiling against a source tree, the name of the build directory -# within it (e.g build-debug). Without this defined, this script tries to -# intelligently find the build directory based on the project's build directory name -# or based on the build type (Debug/Release/etc). -# -# The following variables will be defined: -# -# GTSAM_FOUND : TRUE if the package has been successfully found -# GTSAM_INCLUDE_DIR : paths to GTSAM's INCLUDE directories -# GTSAM_LIBS : paths to GTSAM's libraries -# -# NOTES on compiling against an uninstalled GTSAM build tree: -# - A GTSAM source tree will be automatically searched for in the directory -# 'gtsam' next to your project directory, after searching -# CMAKE_INSTALL_PREFIX and $HOME, but before searching /usr/local and /usr. -# - The build directory will be searched first with the same name as your -# project's build directory, e.g. if you build from 'MyProject/build-optimized', -# 'gtsam/build-optimized' will be searched first. Next, a build directory for -# your project's build type, e.g. if CMAKE_BUILD_TYPE in your project is -# 'Release', then 'gtsam/build-release' will be searched next. Finally, plain -# 'gtsam/build' will be searched. -# - You can control the gtsam build directory name directly by defining the CMake -# cache variable 'GTSAM_BUILD_NAME', then only 'gtsam/${GTSAM_BUILD_NAME} will -# be searched. -# - Use the standard CMAKE_PREFIX_PATH, or GTSAM_DIR, to find a specific gtsam -# directory. - -# Get path suffixes to help look for gtsam -if(GTSAM_BUILD_NAME) - set(gtsam_build_names "${GTSAM_BUILD_NAME}/gtsam") -else() - # lowercase build type - string(TOLOWER "${CMAKE_BUILD_TYPE}" build_type_suffix) - # build suffix of this project - get_filename_component(my_build_name "${CMAKE_BINARY_DIR}" NAME) - - set(gtsam_build_names "${my_build_name}/gtsam" "build-${build_type_suffix}/gtsam" "build/gtsam") -endif() - -# Use GTSAM_ROOT or GTSAM_DIR equivalently -if(GTSAM_ROOT AND NOT GTSAM_DIR) - set(GTSAM_DIR "${GTSAM_ROOT}") -endif() - -if(GTSAM_DIR) - # Find include dirs - find_path(GTSAM_INCLUDE_DIR gtsam/inference/FactorGraph.h - PATHS "${GTSAM_DIR}/include" "${GTSAM_DIR}" NO_DEFAULT_PATH - DOC "GTSAM include directories") - - # Find libraries - find_library(GTSAM_LIBS NAMES gtsam - HINTS "${GTSAM_DIR}/lib" "${GTSAM_DIR}" NO_DEFAULT_PATH - PATH_SUFFIXES ${gtsam_build_names} - DOC "GTSAM libraries") -else() - # Find include dirs - set(extra_include_paths ${CMAKE_INSTALL_PREFIX}/include "$ENV{HOME}/include" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/include /usr/include) - find_path(GTSAM_INCLUDE_DIR gtsam/inference/FactorGraph.h - PATHS ${extra_include_paths} - DOC "GTSAM include directories") - if(NOT GTSAM_INCLUDE_DIR) - message(STATUS "Searched for gtsam headers in default paths plus ${extra_include_paths}") - endif() - - # Find libraries - find_library(GTSAM_LIBS NAMES gtsam - HINTS ${CMAKE_INSTALL_PREFIX}/lib "$ENV{HOME}/lib" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/lib /usr/lib - PATH_SUFFIXES ${gtsam_build_names} - DOC "GTSAM libraries") -endif() - -# handle the QUIETLY and REQUIRED arguments and set GTSAM_FOUND to TRUE -# if all listed variables are TRUE -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(GTSAM DEFAULT_MSG - GTSAM_LIBS GTSAM_INCLUDE_DIR) - - - - diff --git a/cmake/Modules/FindGtest.cmake b/cmake/Modules/FindGtest.cmake deleted file mode 100644 index a12b439..0000000 --- a/cmake/Modules/FindGtest.cmake +++ /dev/null @@ -1,40 +0,0 @@ -############################################################################### -# Find GTest -# -# This sets the following variables: -# GTEST_FOUND - True if GTest was found. -# GTEST_INCLUDE_DIRS - Directories containing the GTest include files. -# GTEST_SRC_DIR - Directories containing the GTest source files. - -if(CMAKE_SYSTEM_NAME STREQUAL Linux) - set(CMAKE_INCLUDE_PATH ${CMAKE_INCLUDE_PATH} /usr /usr/local) -endif(CMAKE_SYSTEM_NAME STREQUAL Linux) -if(APPLE) - list(APPEND CMAKE_INCLUDE_PATH /opt/local) - set(CMAKE_FIND_FRAMEWORK NEVER) -endif() - -find_path(GTEST_INCLUDE_DIR gtest/gtest.h - HINTS "${GTEST_ROOT}" "$ENV{GTEST_ROOT}" - PATHS "$ENV{PROGRAMFILES}/gtest" "$ENV{PROGRAMW6432}/gtest" - PATHS "$ENV{PROGRAMFILES}/gtest-1.7.0" "$ENV{PROGRAMW6432}/gtest-1.7.0" - PATH_SUFFIXES gtest include/gtest include) - -find_path(GTEST_SRC_DIR src/gtest-all.cc - HINTS "${GTEST_ROOT}" "$ENV{GTEST_ROOT}" - PATHS "$ENV{PROGRAMFILES}/gtest" "$ENV{PROGRAMW6432}/gtest" - PATHS "$ENV{PROGRAMFILES}/gtest-1.7.0" "$ENV{PROGRAMW6432}/gtest-1.7.0" - PATH /usr/src/gtest - PATH_SUFFIXES gtest usr/src/gtest) - -set(GTEST_INCLUDE_DIRS ${GTEST_INCLUDE_DIR}) -set(CMAKE_FIND_FRAMEWORK) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Gtest DEFAULT_MSG GTEST_INCLUDE_DIR GTEST_SRC_DIR) - -mark_as_advanced(GTEST_INCLUDE_DIR GTEST_SRC_DIR) - -if(GTEST_FOUND) - message(STATUS "GTest found (include: ${GTEST_INCLUDE_DIRS}, src: ${GTEST_SRC_DIR})") -endif(GTEST_FOUND) diff --git a/cmake/Modules/FindJPEG_Turbo.cmake b/cmake/Modules/FindJPEG_Turbo.cmake index 6148593..1c7a937 100644 --- a/cmake/Modules/FindJPEG_Turbo.cmake +++ b/cmake/Modules/FindJPEG_Turbo.cmake @@ -1,54 +1,54 @@ -#.rst: -# FindJPEG_Turbo -# -------- -# -# Find JPEG_Turbo -# -# Find the JPEG_Turbo includes and library This module defines -# -# :: -# -# JPEG_Turbo_INCLUDE_DIR, where to find jpeglib.h, etc. -# JPEG_Turbo_LIBRARIES, the libraries needed to use JPEG_Turbo. -# JPEG_Turbo_FOUND, If false, do not try to use JPEG_Turbo. -# -# also defined, but not for general use are -# -# :: -# -# JPEG_Turbo_LIBRARY, where to find the JPEG_Turbo library. - -#============================================================================= -# Copyright 2001-2009 Kitware, Inc. -# -# Distributed under the OSI-approved BSD License (the "License"); -# see accompanying file Copyright.txt for details. -# -# This software is distributed WITHOUT ANY WARRANTY; without even the -# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. -# See the License for more information. -#============================================================================= -# (To distribute this file outside of CMake, substitute the full -# License text for the above reference.) - -find_path(JPEG_Turbo_INCLUDE_DIR turbojpeg.h) - -set(JPEG_Turbo_NAMES ${JPEG_Turbo_NAMES} turbojpeg) -find_library(JPEG_Turbo_LIBRARY NAMES ${JPEG_Turbo_NAMES} ) - -# handle the QUIETLY and REQUIRED arguments and set JPEG_FOUND to TRUE if -# all listed variables are TRUE -#include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake) -FIND_PACKAGE_HANDLE_STANDARD_ARGS(JPEG_Turbo DEFAULT_MSG JPEG_Turbo_LIBRARY JPEG_Turbo_INCLUDE_DIR) - -if(JPEG_Turbo_FOUND) - set(JPEG_Turbo_LIBRARIES ${JPEG_Turbo_LIBRARY}) -endif() - -# Deprecated declarations. -set (NATIVE_JPEG_Turbo_INCLUDE_PATH ${JPEG_Turbo_INCLUDE_DIR} ) -if(JPEG_Turbo_LIBRARY) - get_filename_component (NATIVE_JPEG_Turbo_LIB_PATH ${JPEG_Turbo_LIBRARY} PATH) -endif() -# message(STATUS "JPEG_Turbo_INCLUDE_DIR ${JPEG_Turbo_INCLUDE_DIR} JPEG_Turbo_LIBRARY ${JPEG_Turbo_LIBRARY} JPEG_Turbo_NAMES ${JPEG_Turbo_NAMES} JPEG_Turbo_FOUND ${JPEG_Turbo_FOUND}") -mark_as_advanced(JPEG_Turbo_LIBRARY JPEG_Turbo_INCLUDE_DIR ) +#.rst: +# FindJPEG_Turbo +# -------- +# +# Find JPEG_Turbo +# +# Find the JPEG_Turbo includes and library This module defines +# +# :: +# +# JPEG_Turbo_INCLUDE_DIR, where to find jpeglib.h, etc. +# JPEG_Turbo_LIBRARIES, the libraries needed to use JPEG_Turbo. +# JPEG_Turbo_FOUND, If false, do not try to use JPEG_Turbo. +# +# also defined, but not for general use are +# +# :: +# +# JPEG_Turbo_LIBRARY, where to find the JPEG_Turbo library. + +#============================================================================= +# Copyright 2001-2009 Kitware, Inc. +# +# Distributed under the OSI-approved BSD License (the "License"); +# see accompanying file Copyright.txt for details. +# +# This software is distributed WITHOUT ANY WARRANTY; without even the +# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. +# See the License for more information. +#============================================================================= +# (To distribute this file outside of CMake, substitute the full +# License text for the above reference.) + +find_path(JPEG_Turbo_INCLUDE_DIR turbojpeg.h) + +set(JPEG_Turbo_NAMES ${JPEG_Turbo_NAMES} turbojpeg) +find_library(JPEG_Turbo_LIBRARY NAMES ${JPEG_Turbo_NAMES} ) + +# handle the QUIETLY and REQUIRED arguments and set JPEG_FOUND to TRUE if +# all listed variables are TRUE +#include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake) +FIND_PACKAGE_HANDLE_STANDARD_ARGS(JPEG_Turbo DEFAULT_MSG JPEG_Turbo_LIBRARY JPEG_Turbo_INCLUDE_DIR) + +if(JPEG_Turbo_FOUND) + set(JPEG_Turbo_LIBRARIES ${JPEG_Turbo_LIBRARY}) +endif() + +# Deprecated declarations. +set (NATIVE_JPEG_Turbo_INCLUDE_PATH ${JPEG_Turbo_INCLUDE_DIR} ) +if(JPEG_Turbo_LIBRARY) + get_filename_component (NATIVE_JPEG_Turbo_LIB_PATH ${JPEG_Turbo_LIBRARY} PATH) +endif() +# message(STATUS "JPEG_Turbo_INCLUDE_DIR ${JPEG_Turbo_INCLUDE_DIR} JPEG_Turbo_LIBRARY ${JPEG_Turbo_LIBRARY} JPEG_Turbo_NAMES ${JPEG_Turbo_NAMES} JPEG_Turbo_FOUND ${JPEG_Turbo_FOUND}") +mark_as_advanced(JPEG_Turbo_LIBRARY JPEG_Turbo_INCLUDE_DIR ) diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake deleted file mode 100644 index 7a65efa..0000000 --- a/cmake/Modules/FindOpenNI.cmake +++ /dev/null @@ -1,77 +0,0 @@ -############################################################################### -# Find OpenNI -# -# This sets the following variables: -# OPENNI_FOUND - True if OPENNI was found. -# OPENNI_INCLUDE_DIRS - Directories containing the OPENNI include files. -# OPENNI_LIBRARIES - Libraries needed to use OPENNI. -# OPENNI_DEFINITIONS - Compiler flags for OPENNI. -# -# For libusb-1.0, add USB_10_ROOT if not found - -find_package(PkgConfig QUIET) - -# Find LibUSB -if(NOT WIN32) - pkg_check_modules(PC_USB_10 libusb-1.0) - find_path(USB_10_INCLUDE_DIR libusb-1.0/libusb.h - HINTS ${PC_USB_10_INCLUDEDIR} ${PC_USB_10_INCLUDE_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}" - PATH_SUFFIXES libusb-1.0) - - find_library(USB_10_LIBRARY - NAMES usb-1.0 - HINTS ${PC_USB_10_LIBDIR} ${PC_USB_10_LIBRARY_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}" - PATH_SUFFIXES lib) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(USB_10 DEFAULT_MSG USB_10_LIBRARY USB_10_INCLUDE_DIR) - - if(NOT USB_10_FOUND) - message(STATUS "OpenNI disabled because libusb-1.0 not found.") - return() - else() - include_directories(SYSTEM ${USB_10_INCLUDE_DIR}) - endif() -endif(NOT WIN32) - -if(${CMAKE_VERSION} VERSION_LESS 2.8.2) - pkg_check_modules(PC_OPENNI libopenni) -else() - pkg_check_modules(PC_OPENNI QUIET libopenni) -endif() - -set(OPENNI_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER}) - -set(OPENNI_SUFFIX) -if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8) - set(OPENNI_SUFFIX 64) -endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8) - -#add a hint so that it can find it without the pkg-config -find_path(OPENNI_INCLUDE_DIR XnStatus.h - HINTS ${PC_OPENNI_INCLUDEDIR} ${PC_OPENNI_INCLUDE_DIRS} /usr/include/openni /usr/include/ni /opt/local/include/ni "${OPENNI_ROOT}" "$ENV{OPENNI_ROOT}" - PATHS "$ENV{OPEN_NI_INSTALL_PATH${OPENNI_SUFFIX}}/Include" - PATH_SUFFIXES openni include Include) -#add a hint so that it can find it without the pkg-config -find_library(OPENNI_LIBRARY - NAMES OpenNI${OPENNI_SUFFIX} - HINTS ${PC_OPENNI_LIBDIR} ${PC_OPENNI_LIBRARY_DIRS} /usr/lib "${OPENNI_ROOT}" "$ENV{OPENNI_ROOT}" - PATHS "$ENV{OPEN_NI_LIB${OPENNI_SUFFIX}}" - PATH_SUFFIXES lib Lib Lib64) - -if(CMAKE_SYSTEM_NAME STREQUAL "Darwin") - set(OPENNI_LIBRARIES ${OPENNI_LIBRARY} ${LIBUSB_1_LIBRARIES}) -else() - set(OPENNI_LIBRARIES ${OPENNI_LIBRARY}) -endif() - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(OpenNI DEFAULT_MSG OPENNI_LIBRARY OPENNI_INCLUDE_DIR) - -mark_as_advanced(OPENNI_LIBRARY OPENNI_INCLUDE_DIR) - -if(OPENNI_FOUND) - # Add the include directories - set(OPENNI_INCLUDE_DIRS ${OPENNI_INCLUDE_DIR}) - message(STATUS "OpenNI found (include: ${OPENNI_INCLUDE_DIRS}, lib: ${OPENNI_LIBRARY})") -endif(OPENNI_FOUND) diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake deleted file mode 100644 index 0124f52..0000000 --- a/cmake/Modules/FindOpenNI2.cmake +++ /dev/null @@ -1,80 +0,0 @@ -############################################################################### -# Find OpenNI 2 -# -# This sets the following variables: -# OPENNI2_FOUND - True if OPENNI 2 was found. -# OPENNI2_INCLUDE_DIRS - Directories containing the OPENNI 2 include files. -# OPENNI2_LIBRARIES - Libraries needed to use OPENNI 2. -# OPENNI2_DEFINITIONS - Compiler flags for OPENNI 2. -# -# For libusb-1.0, add USB_10_ROOT if not found - -find_package(PkgConfig QUIET) - -# Find LibUSB -if(NOT WIN32) - pkg_check_modules(PC_USB_10 libusb-1.0) - find_path(USB_10_INCLUDE_DIR libusb-1.0/libusb.h - HINTS ${PC_USB_10_INCLUDEDIR} ${PC_USB_10_INCLUDE_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}" - PATH_SUFFIXES libusb-1.0) - - find_library(USB_10_LIBRARY - NAMES usb-1.0 - HINTS ${PC_USB_10_LIBDIR} ${PC_USB_10_LIBRARY_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}" - PATH_SUFFIXES lib) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(USB_10 DEFAULT_MSG USB_10_LIBRARY USB_10_INCLUDE_DIR) - - if(NOT USB_10_FOUND) - message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.") - return() - else() - include_directories(SYSTEM ${USB_10_INCLUDE_DIR}) - endif() -endif(NOT WIN32) - -if(${CMAKE_VERSION} VERSION_LESS 2.8.2) - pkg_check_modules(PC_OPENNI2 libopenni2) -else() - pkg_check_modules(PC_OPENNI2 QUIET libopenni2) -endif() - -set(OPENNI2_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER}) - -set(OPENNI2_SUFFIX) -if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8) - set(OPENNI2_SUFFIX 64) -endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8) - -find_path(OPENNI2_INCLUDE_DIRS OpenNI.h - PATHS - "$ENV{OPENNI2_INCLUDE${OPENNI2_SUFFIX}}" # Win64 needs '64' suffix - /usr/include/openni2 # common path for deb packages -) - -find_library(OPENNI2_LIBRARY - NAMES OpenNI2 # No suffix needed on Win64 - libOpenNI2 # Linux - PATHS "$ENV{OPENNI2_LIB${OPENNI2_SUFFIX}}" # Windows default path, Win64 needs '64' suffix - "$ENV{OPENNI2_REDIST}" # Linux install does not use a separate 'lib' directory - ) - -if(CMAKE_SYSTEM_NAME STREQUAL "Darwin") - set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} ${LIBUSB_1_LIBRARIES}) -else() - set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY}) -endif() - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(OpenNI2 DEFAULT_MSG OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS) - -mark_as_advanced(OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS) - -if(OPENNI2_FOUND) - # Add the include directories - set(OPENNI2_INCLUDE_DIRS ${OPENNI2_INCLUDE_DIR}) - set(OPENNI2_REDIST_DIR $ENV{OPENNI2_REDIST${OPENNI2_SUFFIX}}) - message(STATUS "OpenNI 2 found (include: ${OPENNI2_INCLUDE_DIRS}, lib: ${OPENNI2_LIBRARY}, redist: ${OPENNI2_REDIST_DIR})") -endif(OPENNI2_FOUND) - diff --git a/cmake/Modules/FindPXCAPI.cmake b/cmake/Modules/FindPXCAPI.cmake deleted file mode 100644 index be82346..0000000 --- a/cmake/Modules/FindPXCAPI.cmake +++ /dev/null @@ -1,33 +0,0 @@ -############################################################################### -# Find Intel Perceptual Computing SDK PXCAPI -# -# This sets the following variables: -# PXCAPI_FOUND - True if PXCAPI was found. -# PXCAPI_INCLUDE_DIRS - Directories containing the PXCAPI include files. -# PXCAPI_LIBRARIES - Libraries needed to use PXCAPI. - -find_path(PXCAPI_DIR include/pxcimage.h - PATHS "${PXCAPI_DIR}" "C:/Program Files/Intel/PCSDK" "C:/Program Files (x86)/Intel/PCSDK" - DOC "PXCAPI include directories") - -if(PXCAPI_DIR) - set(PXCAPI_INCLUDE_DIRS ${PXCAPI_DIR}/include ${PXCAPI_DIR}/sample/common/include) - - find_library(PXCAPI_LIB libpxc.lib - PATHS "${PXCAPI_DIR}/lib/" NO_DEFAULT_PATH - PATH_SUFFIXES x64 Win32) - find_library(PXCAPI_SAMPLE_LIB libpxcutils.lib - PATHS "${PXCAPI_DIR}/sample/common/lib" NO_DEFAULT_PATH - PATH_SUFFIXES x64/v100 Win32/v100) - set(PXCAPI_LIBS ${PXCAPI_LIB} ${PXCAPI_SAMPLE_LIB}) -endif() - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(PXCAPI DEFAULT_MSG - PXCAPI_LIBS PXCAPI_INCLUDE_DIRS) - -mark_as_advanced(PXCAPI_LIB PXCAPI_SAMPLE_LIB) - -if(MSVC) - set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /NODEFAULTLIB:LIBCMT") -endif() diff --git a/cmake/Modules/FindPcap.cmake b/cmake/Modules/FindPcap.cmake deleted file mode 100644 index d05d242..0000000 --- a/cmake/Modules/FindPcap.cmake +++ /dev/null @@ -1,109 +0,0 @@ -################################################################### -# -# Copyright (c) 2006 Frederic Heem, -# Copyright (c) 2012 Keven Ring -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# -# * Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# -# * Neither the name of the Telsey nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -################################################################### -# - Find pcap -# Find the PCAP includes and library -# http://www.tcpdump.org/ -# -# The environment variable PCAPDIR allows to specficy where to find -# libpcap in non standard location. -# -# 2012/01/02 - KEVEN RING -# Modified to find include/libs for WinPCAP -# -# PCAP_INCLUDE_DIRS - where to find pcap.h, etc. -# PCAP_LIBRARIES - List of libraries when using pcap. -# PCAP_FOUND - True if pcap found. - -if(WIN32) - set(_PCAP_LIBRARY_NAME wpcap) -else(WIN32) - set(_PCAP_LIBRARY_NAME pcap) -endif(WIN32) - -IF(EXISTS $ENV{PCAPDIR}) -FIND_PATH(PCAP_INCLUDE_DIR -NAMES -pcap/pcap.h -pcap.h -PATHS -$ENV{PCAPDIR} -PATHS -$ENV{PCAPDIR}/include -NO_DEFAULT_PATH -) - -FIND_LIBRARY(PCAP_LIBRARY -NAMES -${_PCAP_LIBRARY_NAME} -PATHS -$ENV{PCAPDIR} -PATHS -$ENV{PCAPDIR}/lib -NO_DEFAULT_PATH -) - -ELSE(EXISTS $ENV{PCAPDIR}) -FIND_PATH(PCAP_INCLUDE_DIR -NAMES -pcap/pcap.h -pcap.h -) - -FIND_LIBRARY(PCAP_LIBRARY -NAMES -${_PCAP_LIBRARY_NAME} -) - -ENDIF(EXISTS $ENV{PCAPDIR}) - -SET(PCAP_INCLUDE_DIRS ${PCAP_INCLUDE_DIR}) -SET(PCAP_LIBRARIES ${PCAP_LIBRARY}) - -#Functions -INCLUDE(CheckFunctionExists) -SET(CMAKE_REQUIRED_INCLUDES ${PCAP_INCLUDE_DIRS}) -SET(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARIES}) - -#Is pcap found ? -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(PCAP DEFAULT_MSG - PCAP_LIBRARIES PCAP_INCLUDE_DIRS) - -MARK_AS_ADVANCED( -PCAP_LIBRARIES -PCAP_INCLUDE_DIRS -) diff --git a/cmake/Modules/FindQVTK.cmake b/cmake/Modules/FindQVTK.cmake deleted file mode 100644 index f6bb0e4..0000000 --- a/cmake/Modules/FindQVTK.cmake +++ /dev/null @@ -1,30 +0,0 @@ -############################################################################### -# Find QVTK -# -# This sets the following variables: -# QVTK_FOUND - True if QVTK was found. -# QVTK_INCLUDE_DIR - Directory containing the QVTK include files. -# QVTK_LIBRARY - QVTK library. -# if QVTK_FOUND then QVTK_INCLUDE_DIR is appended to VTK_INCLUDE_DIRS and -# QVTK_LIBRARY is appended to QVTK_LIBRARY_DIR -if (${VTK_MAJOR_VERSION} VERSION_LESS "6.0") - find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin) - find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS}) - find_package_handle_standard_args(QVTK DEFAULT_MSG - QVTK_LIBRARY QVTK_INCLUDE_DIR) - if(NOT QVTK_FOUND) - set (VTK_USE_QVTK OFF) - else(NOT QVTK_FOUND) - get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH) - set (VTK_LIBRARY_DIRS ${VTK_LIBRARY_DIRS} ${QVTK_LIBRARY_DIR}) - set (VTK_INCLUDE_DIRS ${VTK_INCLUDE_DIRS} ${QVTK_INCLUDE_DIR}) - set (VTK_USE_QVTK ON) - endif(NOT QVTK_FOUND) -else (${VTK_MAJOR_VERSION} VERSION_LESS "6.0") - if (";${VTK_MODULES_ENABLED};" MATCHES ";vtkGUISupportQt;" AND ";${VTK_MODULES_ENABLED};" MATCHES ";vtkRenderingQt;") - set (VTK_USE_QVTK ON) - set (QVTK_LIBRARY vtkRenderingQt vtkGUISupportQt) - else () - unset(QVTK_FOUND) - endif () -endif (${VTK_MAJOR_VERSION} VERSION_LESS "6.0") diff --git a/cmake/Modules/FindQhull.cmake b/cmake/Modules/FindQhull.cmake deleted file mode 100644 index 83087a0..0000000 --- a/cmake/Modules/FindQhull.cmake +++ /dev/null @@ -1,83 +0,0 @@ -############################################################################### -# Find QHULL -# -# This sets the following variables: -# QHULL_FOUND - True if QHULL was found. -# QHULL_INCLUDE_DIRS - Directories containing the QHULL include files. -# QHULL_LIBRARIES - Libraries needed to use QHULL. -# QHULL_DEFINITIONS - Compiler flags for QHULL. -# If QHULL_USE_STATIC is specified then look for static libraries ONLY else -# look for shared ones - -set(QHULL_MAJOR_VERSION 6) - -if(QHULL_USE_STATIC) - set(QHULL_RELEASE_NAME qhullstatic) - set(QHULL_DEBUG_NAME qhullstatic_d) -else(QHULL_USE_STATIC) - set(QHULL_RELEASE_NAME qhull_p qhull${QHULL_MAJOR_VERSION} qhull) - set(QHULL_DEBUG_NAME qhull_pd qhull${QHULL_MAJOR_VERSION}_d qhull_d${QHULL_MAJOR_VERSION} qhull_d) -endif(QHULL_USE_STATIC) - -find_file(QHULL_HEADER - NAMES libqhull/libqhull.h qhull.h - HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" "${QHULL_INCLUDE_DIR}" - PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull" - PATH_SUFFIXES qhull src/libqhull libqhull include) - -set(QHULL_HEADER "${QHULL_HEADER}" CACHE INTERNAL "QHull header" FORCE ) - -if(QHULL_HEADER) - get_filename_component(qhull_header ${QHULL_HEADER} NAME_WE) - if("${qhull_header}" STREQUAL "qhull") - set(HAVE_QHULL_2011 OFF) - get_filename_component(QHULL_INCLUDE_DIR ${QHULL_HEADER} PATH) - elseif("${qhull_header}" STREQUAL "libqhull") - set(HAVE_QHULL_2011 ON) - get_filename_component(QHULL_INCLUDE_DIR ${QHULL_HEADER} PATH) - get_filename_component(QHULL_INCLUDE_DIR ${QHULL_INCLUDE_DIR} PATH) - endif() -else(QHULL_HEADER) - set(QHULL_INCLUDE_DIR "QHULL_INCLUDE_DIR-NOTFOUND") -endif(QHULL_HEADER) - -set(QHULL_INCLUDE_DIR "${QHULL_INCLUDE_DIR}" CACHE PATH "QHull include dir." FORCE) - -find_library(QHULL_LIBRARY - NAMES ${QHULL_RELEASE_NAME} - HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" - PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull" - PATH_SUFFIXES project build bin lib) - -get_filename_component(QHULL_LIBRARY_NAME "${QHULL_LIBRARY}" NAME) - -find_library(QHULL_LIBRARY_DEBUG - NAMES ${QHULL_DEBUG_NAME} ${QHULL_RELEASE_NAME} - HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" - PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull" - PATH_SUFFIXES project build bin lib) - -if(NOT QHULL_LIBRARY_DEBUG) - set(QHULL_LIBRARY_DEBUG ${QHULL_LIBRARY}) -endif(NOT QHULL_LIBRARY_DEBUG) - -get_filename_component(QHULL_LIBRARY_DEBUG_NAME "${QHULL_LIBRARY_DEBUG}" NAME) - -set(QHULL_INCLUDE_DIRS ${QHULL_INCLUDE_DIR}) -set(QHULL_LIBRARIES optimized ${QHULL_LIBRARY} debug ${QHULL_LIBRARY_DEBUG}) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Qhull DEFAULT_MSG QHULL_LIBRARY QHULL_INCLUDE_DIR) - -mark_as_advanced(QHULL_LIBRARY QHULL_LIBRARY_DEBUG QHULL_INCLUDE_DIR) - -if(QHULL_FOUND) - set(HAVE_QHULL ON) - if(NOT QHULL_USE_STATIC) - add_definitions("-Dqh_QHpointer") - if(MSVC) - add_definitions("-Dqh_QHpointer_dllimport") - endif(MSVC) - endif(NOT QHULL_USE_STATIC) - message(STATUS "QHULL found (include: ${QHULL_INCLUDE_DIRS}, lib: ${QHULL_LIBRARIES})") -endif(QHULL_FOUND) diff --git a/cmake/Modules/FindRSSDK.cmake b/cmake/Modules/FindRSSDK.cmake deleted file mode 100644 index f68d94b..0000000 --- a/cmake/Modules/FindRSSDK.cmake +++ /dev/null @@ -1,71 +0,0 @@ -############################################################################### -# Find Intel RealSense SDK -# -# find_package(RSSDK) -# -# Variables defined by this module: -# -# RSSDK_FOUND True if RealSense SDK was found -# RSSDK_VERSION The version of RealSense SDK -# RSSDK_INCLUDE_DIRS The location(s) of RealSense SDK headers -# RSSDK_LIBRARIES Libraries needed to use RealSense SDK - -find_path(RSSDK_DIR include/pxcversion.h - PATHS "$ENV{RSSDK_DIR}" - "$ENV{PROGRAMFILES}/Intel/RSSDK" - "$ENV{PROGRAMW6432}/Intel/RSSDK" - "C:/Program Files (x86)/Intel/RSSDK" - "C:/Program Files/Intel/RSSDK" - DOC "RealSense SDK directory") - -if(RSSDK_DIR) - - # Include directories - set(RSSDK_INCLUDE_DIRS ${RSSDK_DIR}/include) - mark_as_advanced(RSSDK_INCLUDE_DIRS) - - # Libraries - set(RSSDK_RELEASE_NAME libpxc.lib) - set(RSSDK_DEBUG_NAME libpxc_d.lib) - set(RSSDK_SUFFIX Win32) - if(CMAKE_SIZEOF_VOID_P EQUAL 8) - set(RSSDK_SUFFIX x64) - endif() - find_library(RSSDK_LIBRARY - NAMES ${RSSDK_RELEASE_NAME} - PATHS "${RSSDK_DIR}/lib/" NO_DEFAULT_PATH - PATH_SUFFIXES ${RSSDK_SUFFIX}) - find_library(RSSDK_LIBRARY_DEBUG - NAMES ${RSSDK_DEBUG_NAME} ${RSSDK_RELEASE_NAME} - PATHS "${RSSDK_DIR}/lib/" NO_DEFAULT_PATH - PATH_SUFFIXES ${RSSDK_SUFFIX}) - if(NOT RSSDK_LIBRARY_DEBUG) - set(RSSDK_LIBRARY_DEBUG ${RSSDK_LIBRARY}) - endif() - set(RSSDK_LIBRARIES optimized ${RSSDK_LIBRARY} debug ${RSSDK_LIBRARY_DEBUG}) - mark_as_advanced(RSSDK_LIBRARY RSSDK_LIBRARY_DEBUG) - - # Version - set(RSSDK_VERSION 0) - file(STRINGS "${RSSDK_INCLUDE_DIRS}/pxcversion.h" _pxcversion_H_CONTENTS REGEX "#define PXC_VERSION_.*") - set(_RSSDK_VERSION_REGEX "([0-9]+)") - foreach(v MAJOR MINOR BUILD REVISION) - if("${_pxcversion_H_CONTENTS}" MATCHES ".*#define PXC_VERSION_${v} *${_RSSDK_VERSION_REGEX}.*") - set(RSSDK_VERSION_${v} "${CMAKE_MATCH_1}") - endif() - endforeach() - unset(_pxcversion_H_CONTENTS) - set(RSSDK_VERSION "${RSSDK_VERSION_MAJOR}.${RSSDK_VERSION_MINOR}.${RSSDK_VERSION_BUILD}.${RSSDK_VERSION_REVISION}") - -endif() - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(RSSDK - FOUND_VAR RSSDK_FOUND - REQUIRED_VARS RSSDK_LIBRARIES RSSDK_INCLUDE_DIRS - VERSION_VAR RSSDK_VERSION -) - -if(MSVC) - set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /NODEFAULTLIB:LIBCMTD") -endif() diff --git a/cmake/Modules/FindSphinx.cmake b/cmake/Modules/FindSphinx.cmake deleted file mode 100644 index 656b2db..0000000 --- a/cmake/Modules/FindSphinx.cmake +++ /dev/null @@ -1,26 +0,0 @@ -############################################################################### -# Find Sphinx -# -# This sets the following variables: -# SPHINX_FOUND - True if Sphinx was found. -# SPHINX_EXECUTABLE - Sphinx-build executable - -find_package(PkgConfig QUIET) -pkg_check_modules(PC_SPHINX sphinx-build) - -find_package(PythonInterp) - -if(PYTHONINTERP_FOUND) - get_filename_component(PYTHON_DIR "${PYTHON_EXECUTABLE}" PATH) -endif(PYTHONINTERP_FOUND) - -find_program(SPHINX_EXECUTABLE NAMES sphinx-build - HINTS ${PC_SPHINX_EXECUTABLE} $ENV{SPHINX_DIR} ${PYTHON_DIR}/Scripts - PATH_SUFFIXES bin - DOC "Sphinx documentation generator" -) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Sphinx DEFAULT_MSG SPHINX_EXECUTABLE) - -mark_as_advanced(SPHINX_EXECUTABLE) diff --git a/cmake/Modules/FindSuiteSparse.cmake b/cmake/Modules/FindSuiteSparse.cmake deleted file mode 100644 index 7d507b2..0000000 --- a/cmake/Modules/FindSuiteSparse.cmake +++ /dev/null @@ -1,122 +0,0 @@ - -FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h amd.h camd.h - PATHS - /usr/include/suitesparse - /usr/include/ufsparse - /opt/local/include/ufsparse - /usr/local/include/ufsparse - /sw/include/ufsparse - ) - -FIND_LIBRARY(CHOLMOD_LIBRARY NAMES cholmod - PATHS - /usr/lib - /usr/local/lib - /opt/local/lib - /sw/lib - ) - -FIND_LIBRARY(AMD_LIBRARY NAMES SHARED NAMES amd - PATHS - /usr/lib - /usr/local/lib - /opt/local/lib - /sw/lib - ) - -FIND_LIBRARY(CAMD_LIBRARY NAMES camd - PATHS - /usr/lib - /usr/local/lib - /opt/local/lib - /sw/lib - ) - -mark_as_advanced(FORCE CHOLMOD_INCLUDE_DIR CHOLMOD_LIBRARY AMD_LIBRARY CAMD_LIBRARY) - -# Different platforms seemingly require linking against different sets of libraries -IF(CYGWIN) - FIND_PACKAGE(PkgConfig) - FIND_LIBRARY(COLAMD_LIBRARY NAMES colamd - PATHS - /usr/lib - /usr/local/lib - /opt/local/lib - /sw/lib - ) - PKG_CHECK_MODULES(LAPACK lapack REQUIRED) - - mark_as_advanced(FORCE COLAMD_LIBRARY CCOLAMD_LIBRARY LAPACK_LIBRARIES) - - SET(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARY} ${AMD_LIBRARY} ${CAMD_LIBRARY} ${COLAMD_LIBRARY} ${CCOLAMD_LIBRARY} ${LAPACK_LIBRARIES}) - -# MacPorts build of the SparseSuite requires linking against extra libraries - -ELSEIF(APPLE) - - FIND_LIBRARY(COLAMD_LIBRARY NAMES colamd - PATHS - /usr/lib - /usr/local/lib - /opt/local/lib - /sw/lib - ) - - FIND_LIBRARY(CCOLAMD_LIBRARY NAMES ccolamd - PATHS - /usr/lib - /usr/local/lib - /opt/local/lib - /sw/lib - ) - - FIND_LIBRARY(METIS_LIBRARY NAMES metis - PATHS - /usr/lib - /usr/local/lib - /opt/local/lib - /sw/lib - ) - - mark_as_advanced(FORCE COLAMD_LIBRARY CCOLAMD_LIBRARY METIS_LIBRARY) - - SET(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARY} ${AMD_LIBRARY} ${CAMD_LIBRARY} ${COLAMD_LIBRARY} ${CCOLAMD_LIBRARY} ${METIS_LIBRARY} "-framework Accelerate") -ELSE(APPLE) - SET(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARY} ${AMD_LIBRARY}) -ENDIF(CYGWIN) - -IF(CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARIES) - SET(CHOLMOD_FOUND TRUE) -ELSE(CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARIES) - SET(CHOLMOD_FOUND FALSE) -ENDIF(CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARIES) - -# Look for csparse; note the difference in the directory specifications! -FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h - PATHS - /usr/include/suitesparse - /usr/include - /opt/local/include - /usr/local/include - /sw/include - /usr/include/ufsparse - /opt/local/include/ufsparse - /usr/local/include/ufsparse - /sw/include/ufsparse - ) - -FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse - PATHS - /usr/lib - /usr/local/lib - /opt/local/lib - /sw/lib - ) - -mark_as_advanced(FORCE CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY) - -IF(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY) - SET(CSPARSE_FOUND TRUE) -ELSE(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY) - SET(CSPARSE_FOUND FALSE) -ENDIF(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY) diff --git a/cmake/Modules/FinddavidSDK.cmake b/cmake/Modules/FinddavidSDK.cmake deleted file mode 100644 index faef703..0000000 --- a/cmake/Modules/FinddavidSDK.cmake +++ /dev/null @@ -1,35 +0,0 @@ -############################################################################### -# - Try to find davidSDK (David Vision Systems) -# Once done this will define -# DAVIDSDK_FOUND - System has davidSDK -# DAVIDSDK_INCLUDE_DIRS - The davidSDK include directories -# DAVIDSDK_LIBRARIES - The libraries needed to use davidSDK -# DAVIDSDK_DEFINITIONS - Compiler switches required for using davidSDK -# ----------------------- - -find_path(DAVIDSDK_INCLUDE_DIR david.h - HINTS ${DAVIDSDK_ABI_HINT} - /usr/local/include/davidSDK - "$ENV{PROGRAMFILES}/davidSDK" "$ENV{PROGRAMW6432}/davidSDK" - PATH_SUFFIXES include/) - -find_library(DAVIDSDK_LIBRARY QUIET NAMES davidSDK - HINTS ${DAVIDSDK_ABI_HINT} - "$ENV{PROGRAMFILES}/davidSDK" "$ENV{PROGRAMW6432}/davidSDK" - PATH_SUFFIXES lib/) - -set(DAVIDSDK_LIBRARIES ${DAVIDSDK_LIBRARY}) -set(DAVIDSDK_INCLUDE_DIRS ${DAVIDSDK_INCLUDE_DIR}) - -include(FindPackageHandleStandardArgs) -# handle the QUIETLY and REQUIRED arguments and set DAVIDSDK_FOUND to TRUE -# if all listed variables are TRUE -find_package_handle_standard_args(davidSDK DEFAULT_MSG - DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) - -mark_as_advanced(DAVIDSDK_INCLUDE_DIR DAVIDSDK_LIBRARY) - -if(DAVIDSDK_FOUND) - message(STATUS "davidSDK found") -endif(DAVIDSDK_FOUND) - diff --git a/cmake/Modules/Findlibusb-1.0.cmake b/cmake/Modules/Findlibusb-1.0.cmake deleted file mode 100644 index 292dcac..0000000 --- a/cmake/Modules/Findlibusb-1.0.cmake +++ /dev/null @@ -1,70 +0,0 @@ -# - Try to find libusb-1.0 -# Once done this will define -# -# LIBUSB_1_FOUND - system has libusb -# LIBUSB_1_INCLUDE_DIRS - the libusb include directory -# LIBUSB_1_LIBRARIES - Link these to use libusb -# LIBUSB_1_DEFINITIONS - Compiler switches required for using libusb -# -# Adapted from cmake-modules Google Code project -# -# Copyright (c) 2006 Andreas Schneider -# -# (Changes for libusb) Copyright (c) 2008 Kyle Machulis -# -# Point Cloud Library (PCL) - www.pointclouds.org -# Copyright (c) 2012, Willow Garage, Inc. (use of FindPackageHandleStandardArgs) -# -# Redistribution and use is allowed according to the terms of the New BSD license. -# -# CMake-Modules Project New BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, this -# list of conditions and the following disclaimer. -# -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the -# documentation and/or other materials provided with the distribution. -# -# * Neither the name of the CMake-Modules Project nor the names of its -# contributors may be used to endorse or promote products derived from this -# software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR -# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON -# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -# - -if (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS) - # in cache already - set(LIBUSB_FOUND TRUE) - set(LIBUSB_1_FOUND TRUE) -else (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS) - find_path(LIBUSB_1_INCLUDE_DIR - NAMES libusb-1.0/libusb.h - PATHS /usr/include /usr/local/include /opt/local/include /sw/include - PATH_SUFFIXES libusb-1.0) - - find_library(LIBUSB_1_LIBRARY - NAMES usb-1.0 - PATHS /usr/lib /usr/local/lib /opt/local/lib /sw/lib) - - set(LIBUSB_1_INCLUDE_DIRS ${LIBUSB_1_INCLUDE_DIR}) - set(LIBUSB_1_LIBRARIES ${LIBUSB_1_LIBRARY}) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(LIBUSB_1 DEFAULT_MSG LIBUSB_1_LIBRARY LIBUSB_1_INCLUDE_DIR) - - # show the LIBUSB_1_INCLUDE_DIRS and LIBUSB_1_LIBRARIES variables only in the advanced view - mark_as_advanced(LIBUSB_1_INCLUDE_DIRS LIBUSB_1_LIBRARIES) -endif (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS) diff --git a/cmake/Modules/NSIS.template.in b/cmake/Modules/NSIS.template.in deleted file mode 100644 index c6f0ca6..0000000 --- a/cmake/Modules/NSIS.template.in +++ /dev/null @@ -1,963 +0,0 @@ -; CPack install script designed for a nmake build - -;-------------------------------- -; You must define these values - - !define VERSION "@CPACK_PACKAGE_VERSION@" - !define PATCH "@CPACK_PACKAGE_VERSION_PATCH@" - !define INST_DIR "@CPACK_TEMPORARY_DIRECTORY@" - -;-------------------------------- -;Variables - - Var MUI_TEMP - Var STARTMENU_FOLDER - Var SV_ALLUSERS - Var START_MENU - Var DO_NOT_ADD_TO_PATH - Var ADD_TO_PATH_ALL_USERS - Var ADD_TO_PATH_CURRENT_USER - Var INSTALL_DESKTOP - Var IS_DEFAULT_INSTALLDIR -;-------------------------------- -;Include Modern UI - - !include "MUI.nsh" - - ;Default installation folder - InstallDir "@CPACK_NSIS_INSTALL_ROOT@\@CPACK_PACKAGE_INSTALL_DIRECTORY@" - -;-------------------------------- -;General - - ;Name and file - Name "@CPACK_NSIS_PACKAGE_NAME@" - OutFile "@CPACK_TOPLEVEL_DIRECTORY@/@CPACK_OUTPUT_FILE_NAME@" - - ;Set compression - SetCompressor @CPACK_NSIS_COMPRESSOR@ - -@CPACK_NSIS_DEFINES@ - - !include Sections.nsh - -;--- Component support macros: --- -; The code for the add/remove functionality is from: -; http://nsis.sourceforge.net/Add/Remove_Functionality -; It has been modified slightly and extended to provide -; inter-component dependencies. -Var AR_SecFlags -Var AR_RegFlags -@CPACK_NSIS_SECTION_SELECTED_VARS@ - -; Loads the "selected" flag for the section named SecName into the -; variable VarName. -!macro LoadSectionSelectedIntoVar SecName VarName - SectionGetFlags ${${SecName}} $${VarName} - IntOp $${VarName} $${VarName} & ${SF_SELECTED} ;Turn off all other bits -!macroend - -; Loads the value of a variable... can we get around this? -!macro LoadVar VarName - IntOp $R0 0 + $${VarName} -!macroend - -; Sets the value of a variable -!macro StoreVar VarName IntValue - IntOp $${VarName} 0 + ${IntValue} -!macroend - -!macro InitSection SecName - ; This macro reads component installed flag from the registry and - ;changes checked state of the section on the components page. - ;Input: section index constant name specified in Section command. - - ClearErrors - ;Reading component status from registry - ReadRegDWORD $AR_RegFlags HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@\Components\${SecName}" "Installed" - IfErrors "default_${SecName}" - ;Status will stay default if registry value not found - ;(component was never installed) - IntOp $AR_RegFlags $AR_RegFlags & ${SF_SELECTED} ;Turn off all other bits - SectionGetFlags ${${SecName}} $AR_SecFlags ;Reading default section flags - IntOp $AR_SecFlags $AR_SecFlags & 0xFFFE ;Turn lowest (enabled) bit off - IntOp $AR_SecFlags $AR_RegFlags | $AR_SecFlags ;Change lowest bit - - ; Note whether this component was installed before - !insertmacro StoreVar ${SecName}_was_installed $AR_RegFlags - IntOp $R0 $AR_RegFlags & $AR_RegFlags - - ;Writing modified flags - SectionSetFlags ${${SecName}} $AR_SecFlags - - "default_${SecName}:" - !insertmacro LoadSectionSelectedIntoVar ${SecName} ${SecName}_selected -!macroend - -!macro FinishSection SecName - ; This macro reads section flag set by user and removes the section - ;if it is not selected. - ;Then it writes component installed flag to registry - ;Input: section index constant name specified in Section command. - - SectionGetFlags ${${SecName}} $AR_SecFlags ;Reading section flags - ;Checking lowest bit: - IntOp $AR_SecFlags $AR_SecFlags & ${SF_SELECTED} - IntCmp $AR_SecFlags 1 "leave_${SecName}" - ;Section is not selected: - ;Calling Section uninstall macro and writing zero installed flag - !insertmacro "Remove_${${SecName}}" - WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@\Components\${SecName}" \ - "Installed" 0 - Goto "exit_${SecName}" - - "leave_${SecName}:" - ;Section is selected: - WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@\Components\${SecName}" \ - "Installed" 1 - - "exit_${SecName}:" -!macroend - -!macro RemoveSection SecName - ; This macro is used to call section's Remove_... macro - ;from the uninstaller. - ;Input: section index constant name specified in Section command. - - !insertmacro "Remove_${${SecName}}" -!macroend - -; Determine whether the selection of SecName changed -!macro MaybeSelectionChanged SecName - !insertmacro LoadVar ${SecName}_selected - SectionGetFlags ${${SecName}} $R1 - IntOp $R1 $R1 & ${SF_SELECTED} ;Turn off all other bits - - ; See if the status has changed: - IntCmp $R0 $R1 "${SecName}_unchanged" - !insertmacro LoadSectionSelectedIntoVar ${SecName} ${SecName}_selected - - IntCmp $R1 ${SF_SELECTED} "${SecName}_was_selected" - !insertmacro "Deselect_required_by_${SecName}" - goto "${SecName}_unchanged" - - "${SecName}_was_selected:" - !insertmacro "Select_${SecName}_depends" - - "${SecName}_unchanged:" -!macroend -;--- End of Add/Remove macros --- - -;-------------------------------- -;Interface Settings - - !define MUI_HEADERIMAGE - !define MUI_ABORTWARNING - -;-------------------------------- -; path functions - -!verbose 3 -!include "WinMessages.NSH" -!verbose 4 - -;---------------------------------------- -; based upon a script of "Written by KiCHiK 2003-01-18 05:57:02" -;---------------------------------------- -!verbose 3 -!include "WinMessages.NSH" -!verbose 4 -;==================================================== -; get_NT_environment -; Returns: the selected environment -; Output : head of the stack -;==================================================== -!macro select_NT_profile UN -Function ${UN}select_NT_profile - StrCmp $ADD_TO_PATH_ALL_USERS "1" 0 environment_single - DetailPrint "Selected environment for all users" - Push "all" - Return - environment_single: - DetailPrint "Selected environment for current user only." - Push "current" - Return -FunctionEnd -!macroend -!insertmacro select_NT_profile "" -!insertmacro select_NT_profile "un." -;---------------------------------------------------- -!define NT_current_env 'HKCU "Environment"' -!define NT_all_env 'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"' - -!ifndef WriteEnvStr_RegKey - !ifdef ALL_USERS - !define WriteEnvStr_RegKey \ - 'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"' - !else - !define WriteEnvStr_RegKey 'HKCU "Environment"' - !endif -!endif - -; AddToPath - Adds the given dir to the search path. -; Input - head of the stack -; Note - Win9x systems requires reboot - -Function AddToPath - Exch $0 - Push $1 - Push $2 - Push $3 - - # don't add if the path doesn't exist - IfFileExists "$0\*.*" "" AddToPath_done - - ReadEnvStr $1 PATH - ; if the path is too long for a NSIS variable NSIS will return a 0 - ; length string. If we find that, then warn and skip any path - ; modification as it will trash the existing path. - StrLen $2 $1 - IntCmp $2 0 CheckPathLength_ShowPathWarning CheckPathLength_Done CheckPathLength_Done - CheckPathLength_ShowPathWarning: - Messagebox MB_OK|MB_ICONEXCLAMATION "Warning! PATH too long installer unable to modify PATH!" - Goto AddToPath_done - CheckPathLength_Done: - Push "$1;" - Push "$0;" - Call StrStr - Pop $2 - StrCmp $2 "" "" AddToPath_done - Push "$1;" - Push "$0\;" - Call StrStr - Pop $2 - StrCmp $2 "" "" AddToPath_done - GetFullPathName /SHORT $3 $0 - Push "$1;" - Push "$3;" - Call StrStr - Pop $2 - StrCmp $2 "" "" AddToPath_done - Push "$1;" - Push "$3\;" - Call StrStr - Pop $2 - StrCmp $2 "" "" AddToPath_done - - Call IsNT - Pop $1 - StrCmp $1 1 AddToPath_NT - ; Not on NT - StrCpy $1 $WINDIR 2 - FileOpen $1 "$1\autoexec.bat" a - FileSeek $1 -1 END - FileReadByte $1 $2 - IntCmp $2 26 0 +2 +2 # DOS EOF - FileSeek $1 -1 END # write over EOF - FileWrite $1 "$\r$\nSET PATH=%PATH%;$3$\r$\n" - FileClose $1 - SetRebootFlag true - Goto AddToPath_done - - AddToPath_NT: - StrCmp $ADD_TO_PATH_ALL_USERS "1" ReadAllKey - ReadRegStr $1 ${NT_current_env} "PATH" - Goto DoTrim - ReadAllKey: - ReadRegStr $1 ${NT_all_env} "PATH" - DoTrim: - StrCmp $1 "" AddToPath_NTdoIt - Push $1 - Call Trim - Pop $1 - StrCpy $0 "$1;$0" - AddToPath_NTdoIt: - StrCmp $ADD_TO_PATH_ALL_USERS "1" WriteAllKey - WriteRegExpandStr ${NT_current_env} "PATH" $0 - Goto DoSend - WriteAllKey: - WriteRegExpandStr ${NT_all_env} "PATH" $0 - DoSend: - SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000 - - AddToPath_done: - Pop $3 - Pop $2 - Pop $1 - Pop $0 -FunctionEnd - - -; RemoveFromPath - Remove a given dir from the path -; Input: head of the stack - -Function un.RemoveFromPath - Exch $0 - Push $1 - Push $2 - Push $3 - Push $4 - Push $5 - Push $6 - - IntFmt $6 "%c" 26 # DOS EOF - - Call un.IsNT - Pop $1 - StrCmp $1 1 unRemoveFromPath_NT - ; Not on NT - StrCpy $1 $WINDIR 2 - FileOpen $1 "$1\autoexec.bat" r - GetTempFileName $4 - FileOpen $2 $4 w - GetFullPathName /SHORT $0 $0 - StrCpy $0 "SET PATH=%PATH%;$0" - Goto unRemoveFromPath_dosLoop - - unRemoveFromPath_dosLoop: - FileRead $1 $3 - StrCpy $5 $3 1 -1 # read last char - StrCmp $5 $6 0 +2 # if DOS EOF - StrCpy $3 $3 -1 # remove DOS EOF so we can compare - StrCmp $3 "$0$\r$\n" unRemoveFromPath_dosLoopRemoveLine - StrCmp $3 "$0$\n" unRemoveFromPath_dosLoopRemoveLine - StrCmp $3 "$0" unRemoveFromPath_dosLoopRemoveLine - StrCmp $3 "" unRemoveFromPath_dosLoopEnd - FileWrite $2 $3 - Goto unRemoveFromPath_dosLoop - unRemoveFromPath_dosLoopRemoveLine: - SetRebootFlag true - Goto unRemoveFromPath_dosLoop - - unRemoveFromPath_dosLoopEnd: - FileClose $2 - FileClose $1 - StrCpy $1 $WINDIR 2 - Delete "$1\autoexec.bat" - CopyFiles /SILENT $4 "$1\autoexec.bat" - Delete $4 - Goto unRemoveFromPath_done - - unRemoveFromPath_NT: - StrCmp $ADD_TO_PATH_ALL_USERS "1" unReadAllKey - ReadRegStr $1 ${NT_current_env} "PATH" - Goto unDoTrim - unReadAllKey: - ReadRegStr $1 ${NT_all_env} "PATH" - unDoTrim: - StrCpy $5 $1 1 -1 # copy last char - StrCmp $5 ";" +2 # if last char != ; - StrCpy $1 "$1;" # append ; - Push $1 - Push "$0;" - Call un.StrStr ; Find `$0;` in $1 - Pop $2 ; pos of our dir - StrCmp $2 "" unRemoveFromPath_done - ; else, it is in path - # $0 - path to add - # $1 - path var - StrLen $3 "$0;" - StrLen $4 $2 - StrCpy $5 $1 -$4 # $5 is now the part before the path to remove - StrCpy $6 $2 "" $3 # $6 is now the part after the path to remove - StrCpy $3 $5$6 - - StrCpy $5 $3 1 -1 # copy last char - StrCmp $5 ";" 0 +2 # if last char == ; - StrCpy $3 $3 -1 # remove last char - - StrCmp $ADD_TO_PATH_ALL_USERS "1" unWriteAllKey - WriteRegExpandStr ${NT_current_env} "PATH" $3 - Goto unDoSend - unWriteAllKey: - WriteRegExpandStr ${NT_all_env} "PATH" $3 - unDoSend: - SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000 - - unRemoveFromPath_done: - Pop $6 - Pop $5 - Pop $4 - Pop $3 - Pop $2 - Pop $1 - Pop $0 -FunctionEnd - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; -; Uninstall sutff -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -########################################### -# Utility Functions # -########################################### - -;==================================================== -; IsNT - Returns 1 if the current system is NT, 0 -; otherwise. -; Output: head of the stack -;==================================================== -; IsNT -; no input -; output, top of the stack = 1 if NT or 0 if not -; -; Usage: -; Call IsNT -; Pop $R0 -; ($R0 at this point is 1 or 0) - -!macro IsNT un -Function ${un}IsNT - Push $0 - ReadRegStr $0 HKLM "SOFTWARE\Microsoft\Windows NT\CurrentVersion" CurrentVersion - StrCmp $0 "" 0 IsNT_yes - ; we are not NT. - Pop $0 - Push 0 - Return - - IsNT_yes: - ; NT!!! - Pop $0 - Push 1 -FunctionEnd -!macroend -!insertmacro IsNT "" -!insertmacro IsNT "un." - -; StrStr -; input, top of stack = string to search for -; top of stack-1 = string to search in -; output, top of stack (replaces with the portion of the string remaining) -; modifies no other variables. -; -; Usage: -; Push "this is a long ass string" -; Push "ass" -; Call StrStr -; Pop $R0 -; ($R0 at this point is "ass string") - -!macro StrStr un -Function ${un}StrStr -Exch $R1 ; st=haystack,old$R1, $R1=needle - Exch ; st=old$R1,haystack - Exch $R2 ; st=old$R1,old$R2, $R2=haystack - Push $R3 - Push $R4 - Push $R5 - StrLen $R3 $R1 - StrCpy $R4 0 - ; $R1=needle - ; $R2=haystack - ; $R3=len(needle) - ; $R4=cnt - ; $R5=tmp - loop: - StrCpy $R5 $R2 $R3 $R4 - StrCmp $R5 $R1 done - StrCmp $R5 "" done - IntOp $R4 $R4 + 1 - Goto loop -done: - StrCpy $R1 $R2 "" $R4 - Pop $R5 - Pop $R4 - Pop $R3 - Pop $R2 - Exch $R1 -FunctionEnd -!macroend -!insertmacro StrStr "" -!insertmacro StrStr "un." - -Function Trim ; Added by Pelaca - Exch $R1 - Push $R2 -Loop: - StrCpy $R2 "$R1" 1 -1 - StrCmp "$R2" " " RTrim - StrCmp "$R2" "$\n" RTrim - StrCmp "$R2" "$\r" RTrim - StrCmp "$R2" ";" RTrim - GoTo Done -RTrim: - StrCpy $R1 "$R1" -1 - Goto Loop -Done: - Pop $R2 - Exch $R1 -FunctionEnd - -Function ConditionalAddToRegisty - Pop $0 - Pop $1 - StrCmp "$0" "" ConditionalAddToRegisty_EmptyString - WriteRegStr SHCTX "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" \ - "$1" "$0" - ;MessageBox MB_OK "Set Registry: '$1' to '$0'" - DetailPrint "Set install registry entry: '$1' to '$0'" - ConditionalAddToRegisty_EmptyString: -FunctionEnd - -;-------------------------------- - -!ifdef CPACK_USES_DOWNLOAD -Function DownloadFile - IfFileExists $INSTDIR\* +2 - CreateDirectory $INSTDIR - Pop $0 - - ; Skip if already downloaded - IfFileExists $INSTDIR\$0 0 +2 - Return - - StrCpy $1 "@CPACK_DOWNLOAD_SITE@" - - try_again: - NSISdl::download "$1/$0" "$INSTDIR\$0" - - Pop $1 - StrCmp $1 "success" success - StrCmp $1 "Cancelled" cancel - MessageBox MB_OK "Download failed: $1" - cancel: - Return - success: -FunctionEnd -!endif - -;-------------------------------- -; Installation types -@CPACK_NSIS_INSTALLATION_TYPES@ - -;-------------------------------- -; Component sections -@CPACK_NSIS_COMPONENT_SECTIONS@ - -;-------------------------------- -; Define some macro setting for the gui -@CPACK_NSIS_INSTALLER_MUI_ICON_CODE@ -@CPACK_NSIS_INSTALLER_ICON_CODE@ -@CPACK_NSIS_INSTALLER_MUI_COMPONENTS_DESC@ -@CPACK_NSIS_INSTALLER_MUI_FINISHPAGE_RUN_CODE@ - -;-------------------------------- -;Pages - !insertmacro MUI_PAGE_WELCOME - - !insertmacro MUI_PAGE_LICENSE "@CPACK_RESOURCE_FILE_LICENSE@" - Page custom InstallOptionsPage - !insertmacro MUI_PAGE_DIRECTORY - - ;Start Menu Folder Page Configuration - !define MUI_STARTMENUPAGE_REGISTRY_ROOT "SHCTX" - !define MUI_STARTMENUPAGE_REGISTRY_KEY "Software\@CPACK_PACKAGE_VENDOR@\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" - !define MUI_STARTMENUPAGE_REGISTRY_VALUENAME "Start Menu Folder" - !insertmacro MUI_PAGE_STARTMENU Application $STARTMENU_FOLDER - - @CPACK_NSIS_PAGE_COMPONENTS@ - - !insertmacro MUI_PAGE_INSTFILES - !insertmacro MUI_PAGE_FINISH - - !insertmacro MUI_UNPAGE_CONFIRM - !insertmacro MUI_UNPAGE_INSTFILES - -;-------------------------------- -;Languages - - !insertmacro MUI_LANGUAGE "English" ;first language is the default language - !insertmacro MUI_LANGUAGE "Albanian" - !insertmacro MUI_LANGUAGE "Arabic" - !insertmacro MUI_LANGUAGE "Basque" - !insertmacro MUI_LANGUAGE "Belarusian" - !insertmacro MUI_LANGUAGE "Bosnian" - !insertmacro MUI_LANGUAGE "Breton" - !insertmacro MUI_LANGUAGE "Bulgarian" - !insertmacro MUI_LANGUAGE "Croatian" - !insertmacro MUI_LANGUAGE "Czech" - !insertmacro MUI_LANGUAGE "Danish" - !insertmacro MUI_LANGUAGE "Dutch" - !insertmacro MUI_LANGUAGE "Estonian" - !insertmacro MUI_LANGUAGE "Farsi" - !insertmacro MUI_LANGUAGE "Finnish" - !insertmacro MUI_LANGUAGE "French" - !insertmacro MUI_LANGUAGE "German" - !insertmacro MUI_LANGUAGE "Greek" - !insertmacro MUI_LANGUAGE "Hebrew" - !insertmacro MUI_LANGUAGE "Hungarian" - !insertmacro MUI_LANGUAGE "Icelandic" - !insertmacro MUI_LANGUAGE "Indonesian" - !insertmacro MUI_LANGUAGE "Irish" - !insertmacro MUI_LANGUAGE "Italian" - !insertmacro MUI_LANGUAGE "Japanese" - !insertmacro MUI_LANGUAGE "Korean" - !insertmacro MUI_LANGUAGE "Kurdish" - !insertmacro MUI_LANGUAGE "Latvian" - !insertmacro MUI_LANGUAGE "Lithuanian" - !insertmacro MUI_LANGUAGE "Luxembourgish" - !insertmacro MUI_LANGUAGE "Macedonian" - !insertmacro MUI_LANGUAGE "Malay" - !insertmacro MUI_LANGUAGE "Mongolian" - !insertmacro MUI_LANGUAGE "Norwegian" - !insertmacro MUI_LANGUAGE "Polish" - !insertmacro MUI_LANGUAGE "Portuguese" - !insertmacro MUI_LANGUAGE "PortugueseBR" - !insertmacro MUI_LANGUAGE "Romanian" - !insertmacro MUI_LANGUAGE "Russian" - !insertmacro MUI_LANGUAGE "Serbian" - !insertmacro MUI_LANGUAGE "SerbianLatin" - !insertmacro MUI_LANGUAGE "SimpChinese" - !insertmacro MUI_LANGUAGE "Slovak" - !insertmacro MUI_LANGUAGE "Slovenian" - !insertmacro MUI_LANGUAGE "Spanish" - !insertmacro MUI_LANGUAGE "Swedish" - !insertmacro MUI_LANGUAGE "Thai" - !insertmacro MUI_LANGUAGE "TradChinese" - !insertmacro MUI_LANGUAGE "Turkish" - !insertmacro MUI_LANGUAGE "Ukrainian" - !insertmacro MUI_LANGUAGE "Welsh" - - -;-------------------------------- -;Reserve Files - - ;These files should be inserted before other files in the data block - ;Keep these lines before any File command - ;Only for solid compression (by default, solid compression is enabled for BZIP2 and LZMA) - - ReserveFile "NSIS.InstallOptions.ini" - !insertmacro MUI_RESERVEFILE_INSTALLOPTIONS - -;-------------------------------- -;Installer Sections - -Section "-Core installation" - ;Use the entire tree produced by the INSTALL target. Keep the - ;list of directories here in sync with the RMDir commands below. - SetOutPath "$INSTDIR" - @CPACK_NSIS_FULL_INSTALL@ - - ;Store installation folder - WriteRegStr SHCTX "Software\@CPACK_PACKAGE_VENDOR@\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "" $INSTDIR - WriteRegStr SHCTX "Software\Kitware\CMake\Packages\@CPACK_PACKAGE_NAME@" "@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "$INSTDIR\@CPACK_PACKAGE_CONFIG_INSTALL_DIR@" - ; HKLM (all users) vs HKCU (current user) defines - !define env_hklm 'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"' - !define env_hkcu 'HKCU "Environment"' - ; set variable - WriteRegExpandStr ${env_hklm} PCL_ROOT "$INSTDIR" - ; make sure windows knows about the change - SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=1000 - - ;Create uninstaller - WriteUninstaller "$INSTDIR\Uninstall.exe" - Push "DisplayName" - Push "@CPACK_NSIS_DISPLAY_NAME@" - Call ConditionalAddToRegisty - Push "DisplayVersion" - Push "@CPACK_PACKAGE_VERSION@" - Call ConditionalAddToRegisty - Push "Publisher" - Push "@CPACK_PACKAGE_VENDOR@" - Call ConditionalAddToRegisty - Push "UninstallString" - Push "$INSTDIR\Uninstall.exe" - Call ConditionalAddToRegisty - Push "NoRepair" - Push "1" - Call ConditionalAddToRegisty - - !ifdef CPACK_NSIS_ADD_REMOVE - ;Create add/remove functionality - Push "ModifyPath" - Push "$INSTDIR\AddRemove.exe" - Call ConditionalAddToRegisty - !else - Push "NoModify" - Push "1" - Call ConditionalAddToRegisty - !endif - - ; Optional registration - Push "DisplayIcon" - Push "$INSTDIR\@CPACK_NSIS_INSTALLED_ICON_NAME@" - Call ConditionalAddToRegisty - Push "HelpLink" - Push "@CPACK_NSIS_HELP_LINK@" - Call ConditionalAddToRegisty - Push "URLInfoAbout" - Push "@CPACK_NSIS_URL_INFO_ABOUT@" - Call ConditionalAddToRegisty - Push "Contact" - Push "@CPACK_NSIS_CONTACT@" - Call ConditionalAddToRegisty - !insertmacro MUI_INSTALLOPTIONS_READ $INSTALL_DESKTOP "NSIS.InstallOptions.ini" "Field 5" "State" - !insertmacro MUI_STARTMENU_WRITE_BEGIN Application - - ;Create shortcuts - CreateDirectory "$SMPROGRAMS\$STARTMENU_FOLDER" -@CPACK_NSIS_CREATE_ICONS@ -@CPACK_NSIS_CREATE_ICONS_EXTRA@ - CreateShortCut "$SMPROGRAMS\$STARTMENU_FOLDER\Uninstall.lnk" "$INSTDIR\Uninstall.exe" - - ;Read a value from an InstallOptions INI file - !insertmacro MUI_INSTALLOPTIONS_READ $DO_NOT_ADD_TO_PATH "NSIS.InstallOptions.ini" "Field 2" "State" - !insertmacro MUI_INSTALLOPTIONS_READ $ADD_TO_PATH_ALL_USERS "NSIS.InstallOptions.ini" "Field 3" "State" - !insertmacro MUI_INSTALLOPTIONS_READ $ADD_TO_PATH_CURRENT_USER "NSIS.InstallOptions.ini" "Field 4" "State" - - ; Write special uninstall registry entries - Push "StartMenu" - Push "$STARTMENU_FOLDER" - Call ConditionalAddToRegisty - Push "DoNotAddToPath" - Push "$DO_NOT_ADD_TO_PATH" - Call ConditionalAddToRegisty - Push "AddToPathAllUsers" - Push "$ADD_TO_PATH_ALL_USERS" - Call ConditionalAddToRegisty - Push "AddToPathCurrentUser" - Push "$ADD_TO_PATH_CURRENT_USER" - Call ConditionalAddToRegisty - Push "InstallToDesktop" - Push "$INSTALL_DESKTOP" - Call ConditionalAddToRegisty - - !insertmacro MUI_STARTMENU_WRITE_END - -@CPACK_NSIS_EXTRA_INSTALL_COMMANDS@ - -SectionEnd - -Section "-Add to path" - Push $INSTDIR\bin - StrCmp "@CPACK_NSIS_MODIFY_PATH@" "ON" 0 doNotAddToPath - StrCmp $DO_NOT_ADD_TO_PATH "1" doNotAddToPath 0 - Call AddToPath - doNotAddToPath: -SectionEnd - -;-------------------------------- -; Create custom pages -Function InstallOptionsPage - !insertmacro MUI_HEADER_TEXT "Install Options" "Choose options for installing @CPACK_NSIS_PACKAGE_NAME@" - !insertmacro MUI_INSTALLOPTIONS_DISPLAY "NSIS.InstallOptions.ini" - -FunctionEnd - -;-------------------------------- -; determine admin versus local install -Function un.onInit - - ClearErrors - UserInfo::GetName - IfErrors noLM - Pop $0 - UserInfo::GetAccountType - Pop $1 - StrCmp $1 "Admin" 0 +3 - SetShellVarContext all - ;MessageBox MB_OK 'User "$0" is in the Admin group' - Goto done - StrCmp $1 "Power" 0 +3 - SetShellVarContext all - ;MessageBox MB_OK 'User "$0" is in the Power Users group' - Goto done - - noLM: - ;Get installation folder from registry if available - - done: - -FunctionEnd - -;--- Add/Remove callback functions: --- -!macro SectionList MacroName - ;This macro used to perform operation on multiple sections. - ;List all of your components in following manner here. -@CPACK_NSIS_COMPONENT_SECTION_LIST@ -!macroend - -Section -FinishComponents - ;Removes unselected components and writes component status to registry - !insertmacro SectionList "FinishSection" - -!ifdef CPACK_NSIS_ADD_REMOVE - ; Get the name of the installer executable - System::Call 'kernel32::GetModuleFileNameA(i 0, t .R0, i 1024) i r1' - StrCpy $R3 $R0 - - ; Strip off the last 13 characters, to see if we have AddRemove.exe - StrLen $R1 $R0 - IntOp $R1 $R0 - 13 - StrCpy $R2 $R0 13 $R1 - StrCmp $R2 "AddRemove.exe" addremove_installed - - ; We're not running AddRemove.exe, so install it - CopyFiles $R3 $INSTDIR\AddRemove.exe - - addremove_installed: -!endif -SectionEnd -;--- End of Add/Remove callback functions --- - -;-------------------------------- -; Component dependencies -Function .onSelChange - !insertmacro SectionList MaybeSelectionChanged -FunctionEnd - -;-------------------------------- -;Uninstaller Section - -Section "Uninstall" - ReadRegStr $START_MENU SHCTX \ - "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "StartMenu" - ;MessageBox MB_OK "Start menu is in: $START_MENU" - ReadRegStr $DO_NOT_ADD_TO_PATH SHCTX \ - "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "DoNotAddToPath" - ReadRegStr $ADD_TO_PATH_ALL_USERS SHCTX \ - "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "AddToPathAllUsers" - ReadRegStr $ADD_TO_PATH_CURRENT_USER SHCTX \ - "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "AddToPathCurrentUser" - ;MessageBox MB_OK "Add to path: $DO_NOT_ADD_TO_PATH all users: $ADD_TO_PATH_ALL_USERS" - ReadRegStr $INSTALL_DESKTOP SHCTX \ - "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "InstallToDesktop" - ;MessageBox MB_OK "Install to desktop: $INSTALL_DESKTOP " - -@CPACK_NSIS_EXTRA_UNINSTALL_COMMANDS@ - - ;Remove files we installed. - ;Keep the list of directories here in sync with the File commands above. -@CPACK_NSIS_DELETE_FILES@ -@CPACK_NSIS_DELETE_DIRECTORIES@ - -!ifdef CPACK_NSIS_ADD_REMOVE - ;Remove the add/remove program - Delete "$INSTDIR\AddRemove.exe" -!endif - - ;Remove the uninstaller itself. - Delete "$INSTDIR\Uninstall.exe" - DeleteRegKey SHCTX "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" - - ;Remove the installation directory if it is empty. - RMDir "$INSTDIR" - - ; Remove the registry entries. - DeleteRegKey SHCTX "Software\@CPACK_PACKAGE_VENDOR@\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" - DeleteRegValue SHCTX "Software\Kitware\CMake\Packages\@CPACK_PACKAGE_NAME@" "@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" - ; delete variable - DeleteRegValue ${env_hklm} PCL_ROOT - ; make sure windows knows about the change - SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=1000 - - ; Removes all optional components - !insertmacro SectionList "RemoveSection" - - !insertmacro MUI_STARTMENU_GETFOLDER Application $MUI_TEMP - - Delete "$SMPROGRAMS\$MUI_TEMP\Uninstall.lnk" -@CPACK_NSIS_DELETE_ICONS@ -@CPACK_NSIS_DELETE_ICONS_EXTRA@ - - ;Delete empty start menu parent diretories - StrCpy $MUI_TEMP "$SMPROGRAMS\$MUI_TEMP" - - startMenuDeleteLoop: - ClearErrors - RMDir $MUI_TEMP - GetFullPathName $MUI_TEMP "$MUI_TEMP\.." - - IfErrors startMenuDeleteLoopDone - - StrCmp "$MUI_TEMP" "$SMPROGRAMS" startMenuDeleteLoopDone startMenuDeleteLoop - startMenuDeleteLoopDone: - - ; If the user changed the shortcut, then untinstall may not work. This should - ; try to fix it. - StrCpy $MUI_TEMP "$START_MENU" - Delete "$SMPROGRAMS\$MUI_TEMP\Uninstall.lnk" -@CPACK_NSIS_DELETE_ICONS_EXTRA@ - - ;Delete empty start menu parent diretories - StrCpy $MUI_TEMP "$SMPROGRAMS\$MUI_TEMP" - - secondStartMenuDeleteLoop: - ClearErrors - RMDir $MUI_TEMP - GetFullPathName $MUI_TEMP "$MUI_TEMP\.." - - IfErrors secondStartMenuDeleteLoopDone - - StrCmp "$MUI_TEMP" "$SMPROGRAMS" secondStartMenuDeleteLoopDone secondStartMenuDeleteLoop - secondStartMenuDeleteLoopDone: - - DeleteRegKey /ifempty SHCTX "Software\@CPACK_PACKAGE_VENDOR@\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" - DeleteRegValue SHCTX "Software\Kitware\CMake\Packages\@CPACK_PACKAGE_NAME@" "@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" - - Push $INSTDIR\bin - StrCmp $DO_NOT_ADD_TO_PATH_ "1" doNotRemoveFromPath 0 - Call un.RemoveFromPath - doNotRemoveFromPath: -SectionEnd - -;-------------------------------- -; determine admin versus local install -; Is install for "AllUsers" or "JustMe"? -; Default to "JustMe" - set to "AllUsers" if admin or on Win9x -; This function is used for the very first "custom page" of the installer. -; This custom page does not show up visibly, but it executes prior to the -; first visible page and sets up $INSTDIR properly... -; Choose different default installation folder based on SV_ALLUSERS... -; "Program Files" for AllUsers, "My Documents" for JustMe... - -Function .onInit - ; Reads components status for registry - !insertmacro SectionList "InitSection" - - ; check to see if /D has been used to change - ; the install directory by comparing it to the - ; install directory that is expected to be the - ; default - StrCpy $IS_DEFAULT_INSTALLDIR 0 - StrCmp "$INSTDIR" "@CPACK_NSIS_INSTALL_ROOT@\@CPACK_PACKAGE_INSTALL_DIRECTORY@" 0 +2 - StrCpy $IS_DEFAULT_INSTALLDIR 1 - - StrCpy $SV_ALLUSERS "JustMe" - ; if default install dir then change the default - ; if it is installed for JustMe - StrCmp "$IS_DEFAULT_INSTALLDIR" "1" 0 +2 - StrCpy $INSTDIR "$DOCUMENTS\@CPACK_PACKAGE_INSTALL_DIRECTORY@" - - ClearErrors - UserInfo::GetName - IfErrors noLM - Pop $0 - UserInfo::GetAccountType - Pop $1 - StrCmp $1 "Admin" 0 +3 - SetShellVarContext all - ;MessageBox MB_OK 'User "$0" is in the Admin group' - StrCpy $SV_ALLUSERS "AllUsers" - Goto done - StrCmp $1 "Power" 0 +3 - SetShellVarContext all - ;MessageBox MB_OK 'User "$0" is in the Power Users group' - StrCpy $SV_ALLUSERS "AllUsers" - Goto done - - noLM: - StrCpy $SV_ALLUSERS "AllUsers" - ;Get installation folder from registry if available - - done: - StrCmp $SV_ALLUSERS "AllUsers" 0 +3 - StrCmp "$IS_DEFAULT_INSTALLDIR" "1" 0 +2 - StrCpy $INSTDIR "@CPACK_NSIS_INSTALL_ROOT@\@CPACK_PACKAGE_INSTALL_DIRECTORY@" - - StrCmp "@CPACK_NSIS_MODIFY_PATH@" "ON" 0 noOptionsPage - !insertmacro MUI_INSTALLOPTIONS_EXTRACT "NSIS.InstallOptions.ini" - - noOptionsPage: -FunctionEnd diff --git a/cmake/cpack_options.cmake.in b/cmake/cpack_options.cmake.in deleted file mode 100644 index a18f79f..0000000 --- a/cmake/cpack_options.cmake.in +++ /dev/null @@ -1,49 +0,0 @@ -set(CPACK_PACKAGE_NAME "@PROJECT_NAME@") -set(CPACK_PACKAGE_VENDOR "PointClouds.org") -set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Point Cloud Library (PCL)") -set(CPACK_PACKAGE_INSTALL_DIRECTORY "@PROJECT_NAME@ @PCL_VERSION@") -set(CPACK_RESOURCE_FILE_LICENSE "@PROJECT_SOURCE_DIR@/LICENSE.txt") -set(CPACK_RESOURCE_FILE_README "@PROJECT_SOURCE_DIR@/AUTHORS.txt") - -@PCL_CPACK_COMPONENTS@ - -IF ((WIN32 OR UNIX) AND (CPACK_GENERATOR STREQUAL "NSIS")) - set(CPACK_NSIS_DISPLAY_NAME "@PROJECT_NAME@-@PCL_VERSION@") - set(CPACK_NSIS_MUI_ICON "@PROJECT_SOURCE_DIR@/cmake/images/pcl.ico") - set(CPACK_NSIS_MUI_UNIICON "@PROJECT_SOURCE_DIR@/cmake/images/pcl.ico") - set(CPACK_NSIS_HELP_LINK "http://www.pointclouds.org") - set(CPACK_NSIS_URL_INFO_ABOUT "http://www.pointclouds.org") - set(CPACK_NSIS_MODIFY_PATH ON) - set(CPACK_PACKAGE_EXECUTABLES @PCL_EXECUTABLES@) - set(CPACK_NSIS_MENU_LINKS - "share/doc/pcl/tutorials/html/index.html" "Tutorials" - "share/doc/pcl/tutorials/html/sources" "Tutorials sources" - "share/doc/pcl/html/pcl-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@.chm" "Documentation" - "http://www.pointclouds.org" "PCL Website") - #set(CPACK_NSIS_MENU_LINKS "share/doc/@PROJECT_NAME@/user_guide.pdf" "User's guide") - #set(CPACK_NSIS_MENU_LINKS "share/doc/@PROJECT_NAME@/developer_guide.pdf" "Developer's guide") - if(WIN32 AND NOT UNIX) - # There is a bug in NSI that does not handle full unix paths properly. Make - # sure there is at least one set of four (4) backlasshes. - set(CPACK_PACKAGE_ICON "@PROJECT_SOURCE_DIR@/cmake/images\\\\pcl_horz_large_pos.bmp") - else(WIN32 AND NOT UNIX) - set(CPACK_PACKAGE_ICON "@PROJECT_SOURCE_DIR@/cmake/images/pcl_horz_large_pos.bmp") - endif(WIN32 AND NOT UNIX) -ENDIF () - -IF (UNIX AND ((CPACK_GENERATOR STREQUAL "DEB") OR (CPACK_GENERATOR STREQUAL "RPM"))) - # define stuff for the DEB/RPM packages - set(CPACK_PACKAGE_CONTACT "pcl-developers@pointclouds.org") -ENDIF () - -IF (UNIX AND (CPACK_GENERATOR STREQUAL "DEB")) - SET(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON) -ENDIF () - -IF (APPLE AND (CPACK_GENERATOR STREQUAL "PackageMaker")) - # define stuff for the PackageMaker packages - set(CPACK_OSX_PACKAGE_VERSION 10.5) - set(CPACK_PACKAGE_CONTACT "pcl-developers@pointclouds.org") - set(CPACK_SET_DESTDIR ON) - set(CPACK_PACKAGING_INSTALL_PREFIX /usr/local) -ENDIF () diff --git a/cmake/custom_output.sh b/cmake/custom_output.sh deleted file mode 100644 index fdf15d7..0000000 --- a/cmake/custom_output.sh +++ /dev/null @@ -1,17 +0,0 @@ -#!/bin/bash - -# shell script invoked with the following arguments -# $(CXX) $(CXX_DEFINES) $(CXX_FLAGS) -o OBJECT_FILE -c SOURCE_FILE - -# extract parameters -SOURCE_FILE="${@: -1:1}" -OBJECT_FILE="${@: -3:1}" - -# invoke compiler -TIME_BEFORE=`date +%s%N | cut -b1-13` -"$@" -TIME_AFTER=`date +%s%N | cut -b1-13` -TIME=$(($TIME_AFTER-$TIME_BEFORE)) - -echo " *** Built object `basename \"$OBJECT_FILE\"` from $SOURCE_FILE in $TIME ms." - diff --git a/cmake/dep_graph.cmake b/cmake/dep_graph.cmake deleted file mode 100644 index 78e5b02..0000000 --- a/cmake/dep_graph.cmake +++ /dev/null @@ -1,32 +0,0 @@ -############################################################################### -# Make a dependency graph dot file -function(MAKE_DEP_GRAPH) - set(_dot_file "${PROJECT_BINARY_DIR}/pcl.dot") - file(WRITE ${_dot_file} "digraph pcl {\n") - foreach(_ss ${PCL_SUBSYSTEMS}) - if(NOT _ss STREQUAL "global_tests" AND - NOT _ss STREQUAL "apps" AND - NOT _ss STREQUAL "tools" AND - NOT _ss STREQUAL "test" AND - NOT _ss STREQUAL "python" AND - NOT _ss STREQUAL "documentation") - PCL_GET_SUBSYS_STATUS(_status ${_ss}) - if(_status) - file(APPEND ${_dot_file} - " \"${_ss}\" [style=\"filled\" fillcolor=\"#008000\" shape=\"box\"];\n ") - else(_status) - file(APPEND ${_dot_file} - " \"${_ss}\" [style=\"filled\" fillcolor=\"#D40000\" shape=\"box\"];\n ") - endif(_status) - GET_IN_MAP(_deps PCL_SUBSYS_DEPS ${_ss}) - foreach(_dep ${_deps}) - file(APPEND ${_dot_file} " \"${_ss}\" -> \"${_dep}\";\n") - endforeach(_dep) - endif() - endforeach(_ss) - - #file(APPEND ${_dot_file} - # " \"test\" [style=\"filled\" fillcolor=\"#A3A27C\" shape=\"box\"];\n ") - file(APPEND ${_dot_file} "}\n") -endfunction(MAKE_DEP_GRAPH) - diff --git a/cmake/images/README b/cmake/images/README deleted file mode 100644 index 4492dab..0000000 --- a/cmake/images/README +++ /dev/null @@ -1 +0,0 @@ -- use instructions on http://regx.dgswa.com/html/Gimp+ico+how+to and the file pcl_vert_large_pose_no_text.png diff --git a/cmake/images/pcl.ico b/cmake/images/pcl.ico deleted file mode 100644 index 8d0c94e..0000000 Binary files a/cmake/images/pcl.ico and /dev/null differ diff --git a/cmake/images/pcl_horz_large_pos.bmp b/cmake/images/pcl_horz_large_pos.bmp deleted file mode 100644 index 3ad997f..0000000 Binary files a/cmake/images/pcl_horz_large_pos.bmp and /dev/null differ diff --git a/cmake/images/pcl_vert_large_pos.png b/cmake/images/pcl_vert_large_pos.png deleted file mode 100644 index d60baf7..0000000 Binary files a/cmake/images/pcl_vert_large_pos.png and /dev/null differ diff --git a/cmake/images/pcl_vert_large_pos_no_text.bmp b/cmake/images/pcl_vert_large_pos_no_text.bmp deleted file mode 100644 index fcf1a09..0000000 Binary files a/cmake/images/pcl_vert_large_pos_no_text.bmp and /dev/null differ diff --git a/cmake/merge_cmake_install.py b/cmake/merge_cmake_install.py deleted file mode 100644 index d107016..0000000 --- a/cmake/merge_cmake_install.py +++ /dev/null @@ -1,36 +0,0 @@ -#!/usr/bin/env python -# file: merge_cmake_install.py - -import sys, math -import fnmatch -import os -import shutil - -if len(sys.argv) != 2: - # stop the program and print an error message - sys.exit("Must provide a cmake binary folder") - -base_folder = sys.argv[1] - -string_to_remove_debug = "IF(\"${CMAKE_INSTALL_CONFIG_NAME}\" MATCHES \"^([Dd][Ee][Bb][Uu][Gg])$\")" -string_to_remove_release = "IF(\"${CMAKE_INSTALL_CONFIG_NAME}\" MATCHES \"^([Rr][Ee][Ll][Ee][Aa][Ss][Ee])$\")" - -matches = [] -for root, dirnames, filenames in os.walk(base_folder): - for filename in fnmatch.filter(filenames, 'cmake_install.cmake'): - matches.append(os.path.join(root, filename)) - -for one_match in matches: - #print one_match, "\n" - shutil.move( one_match, one_match+"~" ) - destination= open( one_match, "w" ) - source= open( one_match+"~", "r" ) - for line in source: - if string_to_remove_debug in line: - destination.write( "\n" ) - elif string_to_remove_release in line: - destination.write( "\n" ) - else: - destination.write( line ) - source.close() - destination.close() \ No newline at end of file diff --git a/cmake/pkgconfig-headeronly.cmake.in b/cmake/pkgconfig-headeronly.cmake.in deleted file mode 100644 index d76d349..0000000 --- a/cmake/pkgconfig-headeronly.cmake.in +++ /dev/null @@ -1,12 +0,0 @@ -# This file was generated by CMake for @PROJECT_NAME@ library @PKG_NAME@ -prefix=@CMAKE_INSTALL_PREFIX@ -exec_prefix=${prefix} -libdir=${prefix}/@LIB_INSTALL_DIR@ -#includedir=${prefix}/@INCLUDE_INSTALL_DIR@ -includedir=${prefix}/include/@PROJECT_NAME_LOWER@-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@ -Name: @PKG_NAME@ -Description: @PKG_DESC@ -Version: @PCL_VERSION@ -Requires: @PKG_EXTERNAL_DEPS@ -Libs: -Cflags: -I${includedir} @PKG_CFLAGS@ diff --git a/cmake/pkgconfig.cmake.in b/cmake/pkgconfig.cmake.in deleted file mode 100644 index 919508f..0000000 --- a/cmake/pkgconfig.cmake.in +++ /dev/null @@ -1,13 +0,0 @@ -# This file was generated by CMake for @PROJECT_NAME@ library @PKG_NAME@ -prefix=@CMAKE_INSTALL_PREFIX@ -exec_prefix=${prefix} -libdir=${prefix}/@LIB_INSTALL_DIR@ -#includedir=${prefix}/@INCLUDE_INSTALL_DIR@ -includedir=${prefix}/include/@PROJECT_NAME_LOWER@-@PCL_MAJOR_VERSION@.@PCL_MINOR_VERSION@ -Name: @PKG_NAME@ -Description: @PKG_DESC@ -Version: @PCL_VERSION@ -Requires: @PKG_EXTERNAL_DEPS@ -Libs: -L${libdir} -l@PKG_NAME@ @PKG_LIBFLAGS@ @PKG_INTERNAL_DEPS@ -Cflags: -I${includedir} @PKG_CFLAGS@ - diff --git a/cmake/uninstall_target.cmake.in b/cmake/uninstall_target.cmake.in deleted file mode 100644 index ac9588f..0000000 --- a/cmake/uninstall_target.cmake.in +++ /dev/null @@ -1,66 +0,0 @@ -if(NOT EXISTS "@PROJECT_BINARY_DIR@/install_manifest.txt") - message(FATAL_ERROR "Cannot find install manifest: \"@PROJECT_BINARY_DIR@/install_manifest.txt\"") -endif(NOT EXISTS "@PROJECT_BINARY_DIR@/install_manifest.txt") - -file(READ "@PROJECT_BINARY_DIR@/install_manifest.txt" files) -string(REGEX REPLACE "\n" ";" files "${files}") -foreach(file ${files}) - message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"") - if(EXISTS "$ENV{DESTDIR}${file}" OR IS_SYMLINK "$ENV{DESTDIR}${file}") - exec_program("@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\"" - OUTPUT_VARIABLE rm_out RETURN_VALUE rm_retval) - if(NOT "${rm_retval}" STREQUAL 0) - message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"") - endif(NOT "${rm_retval}" STREQUAL 0) - else(EXISTS "$ENV{DESTDIR}${file}" OR IS_SYMLINK "$ENV{DESTDIR}${file}") - message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.") - endif(EXISTS "$ENV{DESTDIR}${file}" OR IS_SYMLINK "$ENV{DESTDIR}${file}") -endforeach(file) - -# remove pcl directory in include (removes all files in it!) -message(STATUS "Uninstalling \"@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_ROOT@\"") -if(EXISTS "@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_ROOT@") - exec_program("@CMAKE_COMMAND@" - ARGS "-E remove_directory \"@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_ROOT@\"" - OUTPUT_VARIABLE rm_out RETURN_VALUE rm_retval) - if(NOT "${rm_retval}" STREQUAL 0) - message(FATAL_ERROR - "Problem when removing \"@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_ROOT@\"") - endif(NOT "${rm_retval}" STREQUAL 0) -else(EXISTS "@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_ROOT@") - message(STATUS - "Directory \"@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_ROOT@\" does not exist.") -endif(EXISTS "@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_ROOT@") - -# remove pcl directory in share (removes all files in it!) -# created by CMakeLists.txt for PCLConfig.cmake -message(STATUS "Uninstalling \"@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@\"") -if(EXISTS "@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@") - exec_program("@CMAKE_COMMAND@" - ARGS "-E remove_directory \"@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@\"" - OUTPUT_VARIABLE rm_out RETURN_VALUE rm_retval) - if(NOT "${rm_retval}" STREQUAL 0) - message(FATAL_ERROR - "Problem when removing \"@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@\"") - endif(NOT "${rm_retval}" STREQUAL 0) -else(EXISTS "@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@") - message(STATUS - "Directory \"@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@\" does not exist.") -endif(EXISTS "@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@") - -# remove pcl directory in share/doc (removes all files in it!) -if(@WITH_DOCS@) - message(STATUS "Uninstalling \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\"") - if(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@") - exec_program("@CMAKE_COMMAND@" - ARGS "-E remove_directory \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\"" - OUTPUT_VARIABLE rm_out RETURN_VALUE rm_retval) - if(NOT "${rm_retval}" STREQUAL 0) - message(FATAL_ERROR - "Problem when removing \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\"") - endif(NOT "${rm_retval}" STREQUAL 0) - else(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@") - message(STATUS - "Directory \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\" does not exist.") - endif(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@") -endif() diff --git a/cwi-pcl-codec.supp b/cwi-pcl-codec.supp deleted file mode 100644 index dc84541..0000000 --- a/cwi-pcl-codec.supp +++ /dev/null @@ -1,123 +0,0 @@ -{ - setjmp_buffer - Memcheck:Cond - fun:jpeg_mem_dest - fun:_ZN3pcl2io10JPEGWriterIhE9writeJPEGERKNS_8PCLImageERSt6vectorIhSaIhEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEib - fun:_ZN3pcl2io10JPEGWriterIhE9writeJPEGERKNS_8PCLImageERSt6vectorIhSaIhEEi - fun:_ZN3pcl6octree15ColorCodingJPEGINS_11PointXYZRGBEE15encodeJPEGSnakeERSt6vectorIcSaIcEERS4_IhSaIhEE - fun:_ZN3pcl6octree15ColorCodingJPEGINS_11PointXYZRGBEE20getAverageDataVectorEv - fun:_ZN3pcl2io23OctreePointCloudCodecV2INS_11PointXYZRGBENS_6octree27OctreeContainerPointIndicesENS3_20OctreeContainerEmptyENS3_14Octree2BufBaseIS4_S5_EEE15entropyEncodingERSoS9_ - fun:_ZN3pcl2io23OctreePointCloudCodecV2INS_11PointXYZRGBENS_6octree27OctreeContainerPointIndicesENS3_20OctreeContainerEmptyENS3_14Octree2BufBaseIS4_S5_EEE16encodePointCloudERKN5boost10shared_ptrIKNS_10PointCloudIS2_EEEERSo - fun:_ZN25evaluate_compression_implIN3pcl11PointXYZRGBEE11do_encodingEN5boost10shared_ptrINS0_10PointCloudIS1_EEEEPNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEER13QualityMetric - fun:_ZN25evaluate_compression_implIN3pcl11PointXYZRGBEE14evaluate_groupERSt6vectorIN5boost10shared_ptrINS0_10PointCloudIS1_EEEESaIS8_EERNSt7__cxx1118basic_stringstreamIcSt11char_traitsIcESaIcEEERSt14basic_ofstreamIcSF_ESL_ - fun:_ZN25evaluate_compression_implIN3pcl11PointXYZRGBEE8evaluateEv - fun:main -} -{ - python-0 - Memcheck:Addr4 - fun:PyObject_Free - obj:/usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 - ... - fun:* -} -{ - python-1 - Memcheck:Addr4 - fun:PyObject_Free - obj:/usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 - ... - obj:* -} -{ - python-2 - Memcheck:Cond - fun:PyObject_Free - 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VTK-3 - Memcheck:Leak - match-leak-kinds: definite - fun:malloc - ... - obj:* -} diff --git a/include/cwipc_codec/api.h b/include/cwipc_codec/api.h new file mode 100644 index 0000000..0c6464c --- /dev/null +++ b/include/cwipc_codec/api.h @@ -0,0 +1,366 @@ +#ifndef cwipc_codec_api_h +#define cwipc_codec_api_h +#include +#include "cwipc_util/api.h" +#ifdef __cplusplus +#include +#endif + +// For Windows ensure that the symbols are imported from a DLL, unless we're compiling the DLL itself. +#ifndef _CWIPC_CODEC_EXPORT +#ifdef WIN32 +#define _CWIPC_CODEC_EXPORT __declspec(dllimport) +#else +#define _CWIPC_CODEC_EXPORT +#endif +#endif + + +// +// Memory allocator that allocates blocks that can be transferred to csharp. +// + +#ifdef WIN32 +#define CSHARP_COMPAT_ALLOC(nbytes) GlobalAlloc(GPTR, (nbytes)) +#else +#define CSHARP_COMPAT_ALLOC(nbytes) malloc(nbytes) +#endif + +/** \brief Pointcloud encoder settings. + * + * Various parameters governing encoder quality and performance settings. + * + */ +struct cwipc_encoder_params +{ + bool do_inter_frame; /**< (unused in this version, must be false) do inter-frame compression */ + int gop_size; /**< (unused in this version, ignored) spacing of I frames for inter-frame compression */ + float exp_factor; /**< (unused in this version, ignored). Bounding box expansion factor for inter-frame coding */ + int octree_bits; /**< Octree depth: a fully populated octree will have 8**octree_bits points */ + int jpeg_quality; /**< JPEG encoding quality */ + int macroblock_size; /**< (unused in this version, ignored) macroblock size for inter-frame prediction */ + int tilenumber; /**< 0 for encoding full pointclouds, > 0 for selecting a single tile to encode */ + float voxelsize; /**< If non-zero run voxelizer with this cell size to get better tiled pointcloud */ +}; + +/** \brief Version of cwipc_encoder_params structure. + * + * The external representation of the encoder parameters may change between versions of + * this library. Therefore when you pass the structure to the constructor you should + * also pass this version number, to ensure your code is compatible with this version + * of the library. + */ +#define CWIPC_ENCODER_PARAM_VERSION 0x20190506 + +#ifdef __cplusplus + +/** \brief Pointcloud encoder, abstract C++ interface. + * + * This interface is provided by pointcloud compressors. The caller + * feeds in pointclouds (as `cwipc` objects) and it returns memory blocks + * with compressed pointcloud data. + */ +class cwipc_encoder +{ +public: + virtual ~cwipc_encoder() {} + + /** \brief Deallocate the encoder. + * + * Because the encoder may be used in a different implementation + * language or DLL than where it is implemented we do not count on refcounting + * and such. Call this method if you no longer need it. + * + * Do not call on an encoder in an encodergroup, call the group free() in stead. + */ + virtual void free() = 0; + + /** \brief Encode a pointcloud. + * + * This call presents the encoder with a new pointcloud to encode. + * Do *not* call this method an on encoder that is part of an encoder group, + * call the group feed() method in stead. + */ + virtual void feed(cwipc *pc) = 0; + + /** \brief Return true if no more encoded buffers are forthcoming. + */ + virtual bool eof() = 0; + + /** \brief Return true if a data buffer is currently available. + * \param wait Set to true if the caller is willing to wait until one is available. + * + * If this cwipc_encoder is not multi-threading capable the wait parameter is ignored. + * If it is multi-threaded aware and no data is currently available + * it may wait a reasonable amount of time (think: about a second) to see whether + * one becomes available. + */ + virtual bool available(bool wait) = 0; + + /** \brief Return size (in bytes) of compressed data available. + * + * The caller should first call `available()` to check that compressed + * data is available, then `get_encoded_size()` to check how much data is available, + * then allocate a buffer of suitable size, then call `copy_data()`. + */ + virtual size_t get_encoded_size() = 0; + + /** \brief Obtain compressed pointcloud data. + * + * Copies the data of the most recently compressed pointcloud into a buffer + * supplied by the caller. + * The compressed data is returned at most once, so after this call + * `available()` will return false again until `feed()` has been called. + */ + virtual bool copy_data(void *buffer, size_t bufferSize) = 0; + + /** \brief Check whether we are at a Group-of-Pointclouds boundary + * + * \return true if the next compressed pointcloud should begin a new GOP. + */ + virtual bool at_gop_boundary() = 0; +}; + +/** \brief Pointcloud encoder, abstract C++ interface. + * + * This interface is provided by group of pointcloud compressors. The caller + * feeds in pointclouds (as `cwipc` objects). Each pointcloud is fed to every + * encoder in the group, and these encoders return the compressed pointcloud + * data. + */ +class cwipc_encodergroup +{ +public: + virtual ~cwipc_encodergroup() {} + + /** \brief Deallocate the multiencoder. + * + * Because the encoder may be used in a different implementation + * language or DLL than where it is implemented we do not count on refcounting + * and such. Call this method if you no longer need it. + * + * Note that this frees all encoders in the group as well. + */ + virtual void free() = 0; + + /** \brief Encode a pointcloud. + * + * This call presents each encoder in the group with a new pointcloud to encode. + */ + virtual void feed(cwipc *pc) = 0; + + /** \brief Add a new encoder to an encodergroup. + * \param version Pass in CWIPC_ENCODER_PARAM_VERSION to ensure runtime compatibility. + * \param params Pointer to a structure with parameters than govern the encoding process. + * \param errorMessage Pointer to a string that will be filled with a message in case of errors. + * + * The returned object is the cwipc_encoder. It will return compressed pointcloud data + * for each pointcloud fed into the group. + */ + virtual cwipc_encoder *addencoder(int version, cwipc_encoder_params* params, char **errorMessage) = 0; +}; + +/** \brief Pointcloud decoder, abstract C++ interface. + * + * This interface is provided by pointcloud decompressors. The caller + * feeds in memory blocks with compressed pointcloud data. The interface + * adheres to the `cwipc_source` interface and produces `cwipc` objects on the + * output side. + */ +class cwipc_decoder : public cwipc_source +{ +public: + virtual ~cwipc_decoder() {} + virtual void free() = 0; + virtual bool eof() = 0; + virtual bool available(bool wait) = 0; + + /** \brief Feed compressed data into the decoder. + * \param buffer Pointer to the data buffer containing the compressed pointcloud data. + * \param bufferSize Size of the data buffer. + * + * Use this call to pass a new compressed pointcloud into the decoder. + * After decompression `available()` will return true, and `get()` can be + * used to obtain the cwipc pointcloud data. + */ + virtual void feed(void *buffer, size_t bufferSize) = 0; + virtual cwipc *get() = 0; +}; +#else +typedef struct _cwipc_encoder { + int _dummy; +} cwipc_encoder; + +typedef struct _cwipc_encodergroup { + int _dummy; +} cwipc_encodergroup; + +typedef struct _cwipc_decoder { + cwipc_source source; +} cwipc_decoder; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/** \brief Create pointcloud decompressor. + * + * \param version Pass in CWIPC_ENCODER_PARAM_VERSION to ensure runtime compatibility. + * \param params Pointer to a structure with parameters than govern the encoding process. + * \param errorMessage Pointer to a string that will be filled with a message in case of errors. + * \param apiVersion Pass in CWIPC_API_VERSION to ensure dll compatibility. + * \return A cwipc_encoder object. + */ +_CWIPC_CODEC_EXPORT cwipc_encoder* cwipc_new_encoder(int version, cwipc_encoder_params* params, char **errorMessage, uint64_t apiVersion); + +/** \brief Deallocate the encoder (C interface). + * \param obj The cwipc_encoder object. + * + * Because the encoder may be used in a different implementation + * language or DLL than where it is implemented we do not count on refcounting + * and such. Call this method if you no longer need it. + */ +_CWIPC_CODEC_EXPORT void cwipc_encoder_free(cwipc_encoder *obj); + +/** \brief Return true if no more encoded buffers are forthcoming (C interface). + * \param obj The cwipc_encoder object. + */ +_CWIPC_CODEC_EXPORT bool cwipc_encoder_eof(cwipc_encoder *obj); + +/** \brief Return true if a data buffer is currently available (C interface). + * \param obj The cwipc_encoder object. + * \param wait Set to true if the caller is willing to wait until one is available. + * + * If this cwipc_encoder is not multi-threading capable the wait parameter is ignored. + * If it is multi-threaded aware and no data is currently available + * it may wait a reasonable amount of time (think: about a second) to see whether + * one becomes available. + */ +_CWIPC_CODEC_EXPORT bool cwipc_encoder_available(cwipc_encoder *obj, bool wait); + +/** \brief Encode a pointcloud (C interface). + * \param obj The cwipc_encoder object. + * \param pc The pointcloud to encode. + * + * This call presents the encoder with a new pointcloud to encode. + */ +_CWIPC_CODEC_EXPORT void cwipc_encoder_feed(cwipc_encoder *obj, cwipc* pc); + +/** \brief Return size (in bytes) of compressed data available (C interface). + * \param obj The cwipc_encoder object. + * + * The caller should first call `available()` to check that compressed + * data is available, then `get_encoded_size()` to check how much data is available, + * then allocate a buffer of suitable size, then call `copy_data()`. + */ +_CWIPC_CODEC_EXPORT size_t cwipc_encoder_get_encoded_size(cwipc_encoder *obj); + +/** \brief Obtain compressed pointcloud data (C interface). + * \param obj The cwipc_encoder object. + * \param buffer Pointer to the buffer where the compressed data will be stored. + * \param bufferSize Size of buffer (in bytes) + * + * Copies the data of the most recently compressed pointcloud into a buffer + * supplied by the caller. + * The compressed data is returned at most once, so after this call + * `available()` will return false again until `feed()` has been called. + */ +_CWIPC_CODEC_EXPORT bool cwipc_encoder_copy_data(cwipc_encoder *obj, void *buffer, size_t bufferSize); + +/** \brief Check whether we are at a Group-of-Pointclouds boundary + * + * \return true if the next compressed pointcloud should begin a new GOP. + */ + _CWIPC_CODEC_EXPORT bool cwipc_encoder_at_gop_boundary(cwipc_encoder *obj); + +/** \brief Create a new encoder group. + * \param errorMessage Pointer to a string that will be filled with a message in case of errors. + * \param apiVersion Pass in CWIPC_API_VERSION to ensure dll compatibility. + * + * Creates a group of encoders. Initially the group is empty, add + * encoders by calling group->addencoder(). + */ +_CWIPC_CODEC_EXPORT cwipc_encodergroup *cwipc_new_encodergroup(char **errorMessage, uint64_t apiVersion); + +/** \brief Deallocate the encoder group (C interface). + * \param obj The cwipc_encoder object. + * + * Free the encoder group, including all encoders within the group. + */ +_CWIPC_CODEC_EXPORT void cwipc_encodergroup_free(cwipc_encodergroup *obj); + + +/** \brief Add a new encoder to an encodergroup. + * \param obj The cwipc_encodergroup object. + * \param version Pass in CWIPC_ENCODER_PARAM_VERSION to ensure runtime compatibility. + * \param params Pointer to a structure with parameters than govern the encoding process. + * \param errorMessage Pointer to a string that will be filled with a message in case of errors. + * + * The returned object is the cwipc_encoder. It will return compressed pointcloud data + * for each pointcloud fed into the group. + */ +_CWIPC_CODEC_EXPORT cwipc_encoder *cwipc_encodergroup_addencoder(cwipc_encodergroup *obj, int version, cwipc_encoder_params* params, char **errorMessage); + +/** \brief Encode a pointcloud (C interface). + * \param obj The cwipc_encodergroup object. + * \param pc The pointcloud to encode. + * + * This call presents the group of encoders with a new pointcloud to encode. + */ +_CWIPC_CODEC_EXPORT void cwipc_encodergroup_feed(cwipc_encodergroup *obj, cwipc* pc); + + +/** \brief Create pointcloud decompressor. + * \param errorMessage Pointer to a string that will be filled with a message in case of errors. + * \param apiVersion Pass in CWIPC_API_VERSION to ensure dll compatibility. + * \returns cwipc_decoder object representing the decompressor. + * + * After creating the decoder you feed it data using the `feed()` method. + * Whenever `available()` returns true a new pointcloud can be obtained with + * `get()`. + */ +_CWIPC_CODEC_EXPORT cwipc_decoder* cwipc_new_decoder(char **errorMessage, uint64_t apiVersion); + +/* Methods defined in the cwipc_source superclass, use those */ +#define cwipc_decoder_free(obj) cwipc_source_free(obj) +#define cwipc_decoder_available(obj, wait) cwipc_source_available(obj, wait) +#define cwipc_decoder_eof(obj) cwipc_source_eof(obj) +#define cwipc_decoder_get(obj) cwipc_source_get(obj) + +/** \brief Feed compressed data into the decoder (C interface). + * \param obj The cwipc_encoder object. + * \param buffer Pointer to the data buffer containing the compressed pointcloud data. + * \param bufferSize Size of the data buffer. + * + * Use this call to pass a new compressed pointcloud into the decoder. + * After decompression `available()` will return true, and `get()` can be + * used to obtain the cwipc pointcloud data. + */ +_CWIPC_CODEC_EXPORT void cwipc_decoder_feed(cwipc_decoder *obj, void *buffer, size_t bufferSize); + +/** \brief Downsample a cwipc pointcloud. + * \param pc The source pointcloud + * \param voxelsize Wanted resolution for returned pointcloud. + * \return a new pointcloud + * + * A grid of voxelsize*voxelsize*voxelsize is overlaid over the pointcloud. All + * points within each cube are combined into the new point, with coordinates and colors + * of that new point being a smart average of the original points in the cell. + * The tile of the new point is the OR of the tiles of the contributing points. + */ +_CWIPC_CODEC_EXPORT cwipc *cwipc_downsample(cwipc *pc, float voxelsize); + +/** \brief Filter a pointcloud by tile. + * \param pc The source pointcloud. + * \param tile The tile number. + * + * Returns a new pointcloud (possibly empty) that only consists only of the points + * with the given tile number. + */ +_CWIPC_CODEC_EXPORT cwipc *cwipc_tilefilter(cwipc *pc, int tile); + +#ifdef __cplusplus +} +#endif +#endif /* cwipc_codec_api_h */ diff --git a/jpeg_io/include/pcl/io/impl/jpeg_io.hpp b/jpeg_io/include/pcl/io/impl/jpeg_io.hpp deleted file mode 100644 index f5e449a..0000000 --- a/jpeg_io/include/pcl/io/impl/jpeg_io.hpp +++ /dev/null @@ -1,334 +0,0 @@ - -/* -* Software License Agreement (BSD License) -* -* Point Cloud Library (PCL) - www.pointclouds.org -* Copyright (c) 2014-, Centrum Wiskunde Informatica. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the copyright holder(s) nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -*/ -#ifndef JPEG_IO_HPP -#define JPEG_IO_HPP -#include -#include -#include -#include - -namespace pcl{ - - namespace io{ - - /////////////////// HELPERS FOR LIBJPEG ERROR HANDLING ////////////////////////////// - - // JPEGLib struct for dealing with IO messages - struct JPEGIOErrorMgr - { - struct jpeg_error_mgr pub_; /* "public" fields */ - jmp_buf setjmp_buffer_; /* for return to caller */ - }; - - // pointer to the JPEG IO error pointer - typedef struct JPEGIOErrorMgr * JPEGIOErrorPtr; - - // exit handler, from libjpeg turbo - static void jpeg_error_return_false(j_common_ptr cinfo) - { - /* cinfo->err really points to a my_error_mgr struct, so coerce pointer */ - JPEGIOErrorPtr myerr = (JPEGIOErrorPtr) cinfo->err; - - // let the jpeg lib display the error message (jpeg turbo) - (*cinfo->err->output_message) (cinfo); - - // Return control to the setjmp point - longjmp(myerr->setjmp_buffer_, 1); - } - - /////////////////////////////////////////////////////////////////////////////////// - - ///////////////////////// JPEG READER ///////////////////////////////////////// - template bool - pcl::io::JPEGReader::readJPEG(const std::vector &jpeg_in_dat, PCLImage &im_out) - { - std::string file_name; - return readJPEG(jpeg_in_dat,file_name,false,im_out); - } - - template bool - pcl::io::JPEGReader::readJPEG(const std::string &jpeg_in_file, PCLImage &im_out) - { - std::vector empty_data; - return readJPEG(empty_data,jpeg_in_file,true,im_out); - } - - template bool - pcl::io::JPEGReader::readJPEG(const std::vector &jpeg_in_dat, const std::string &file_name, bool read_file, PCLImage &im_out) - { - // jpeg structures - struct jpeg_decompress_struct cinfo; - struct JPEGIOErrorMgr jpeg_err; - - // set the error handlers - cinfo.err = jpeg_std_error(&jpeg_err.pub_); - jpeg_err.pub_.error_exit = jpeg_error_return_false; - - // establish setjump to return - if (setjmp(jpeg_err.setjmp_buffer_)) - { - // jpeg has signalled an error, we cleanup and return false - jpeg_destroy_decompress(&cinfo); - return false; - } - - // Now we can initialize the JPEG decompression object - jpeg_create_decompress(&cinfo); - - // optional file stream - FILE *in_file = NULL; - - // specify data source to jpeg lib - if (!read_file) - { - if(jpeg_in_dat.size()) - jpeg_mem_src(&cinfo, (unsigned char *) jpeg_in_dat.data(), - jpeg_in_dat.size()); - else - return false; - } - else - { - if(file_name.size()) - { - in_file = fopen(file_name.c_str(), "rb"); - jpeg_stdio_src(&cinfo, in_file); - if(!in_file) - return false; - } - else - { - return false; - } - } - - // read the header and start decompress - jpeg_read_header(&cinfo, TRUE); - jpeg_start_decompress(&cinfo); - - // prepare to readout the image line by line with libjpeg turbo - int row_stride = cinfo.output_width * cinfo.output_components; - JSAMPARRAY buffer = - (*cinfo.mem->alloc_sarray) ((j_common_ptr) & cinfo, JPOOL_IMAGE, - row_stride, 1); - - // resize the output image - if (im_out.data.size() != row_stride * cinfo.output_height) - im_out.data.resize(row_stride * cinfo.output_height); - - /* Here we use the library's state variable cinfo.output_scanline as the - * loop counter, so that we don't have to keep track ourselves. - */ - while (cinfo.output_scanline < cinfo.output_height) - { - // read a scanline and copy it to the output image - (void) jpeg_read_scanlines(&cinfo, buffer, 1); - std::copy(buffer[0], buffer[0] + row_stride, - &im_out.data[row_stride * (cinfo.output_scanline - 1)]); - } - - // Finish decompression - jpeg_finish_decompress(&cinfo); - - // return the image dimensions, output components - im_out.width = cinfo.image_width; - im_out.height = cinfo.image_height; - im_out.step = cinfo.output_components; - - // set the color space to the output image - switch (cinfo.out_color_space) { - case (JCS_GRAYSCALE): - im_out.encoding = "MONO"; - break; - case (JCS_RGB): - im_out.encoding = "RGB"; - break; - case (JCS_YCbCr): - im_out.encoding = "YUV"; - break; - default: - im_out.encoding = "unknown"; - break; - } - // destroy the libjpeg decompression object - jpeg_destroy_decompress(&cinfo); - - // done - return true; - } - ////////////////////////////// END JPEG READER ////////////////////////// - - - ////////////////////////////// JPEG WRITER ///////////////////////////// - template bool - pcl::io::JPEGWriter::writeJPEG(const PCLImage &im_in, std::vector &cdat, int quality) - { - std::string fname; - return writeJPEG(im_in, cdat, fname, quality, false); - } - - template bool - pcl::io::JPEGWriter::writeJPEG(const PCLImage &im_in, const std::string &file_name, int quality) - { - std::vector em_dat; - return writeJPEG(im_in, em_dat, file_name, quality, true); - } - - template bool - pcl::io::JPEGWriter::writeJPEG(const PCLImage &im_in, std::vector &cdat, const std::string &file_name, int quality, bool write_file) - { - // structures for jpeg compression - struct jpeg_compress_struct cinfo; - struct JPEGIOErrorMgr jpeg_err; - - // set the error handlers - cinfo.err = jpeg_std_error(&jpeg_err.pub_); - jpeg_err.pub_.error_exit = jpeg_error_return_false; - - // data structures for writing the jpeg image (can be declared in the encoder routine) - JSAMPROW row_pointer_[1]; - int row_stride; - - // return if no data in the image - if(!im_in.data.size()) - return false; - if(!im_in.width) - return false; - if(!im_in.height) - return false; - - // structures to store the resulting compressed data - unsigned long out_data_size=0; - unsigned char * out_buffer; - - // Now we can initialize the JPEG compression object. - jpeg_create_compress(&cinfo); - - // establish setjump to return false - if (setjmp(jpeg_err.setjmp_buffer_)) - { - // jpeg has signalled an error, we cleanup and return false - jpeg_destroy_compress(&cinfo); - return false; - } - - // optional outfile - FILE *l_o_file = NULL; - if (write_file){ - l_o_file = fopen(file_name.c_str(), "wb"); - - if(!l_o_file) - return false; - } - - // supply the image height and width to the codec - cinfo.image_width = im_in.width; /* image width and height, in pixels */ - cinfo.image_height = im_in.height; - - // we only support YUV RGB as common in PCL - if (im_in.encoding.compare("YUV") == 0) - { - cinfo.in_color_space = JCS_YCbCr; - cinfo.input_components = 3; - } - else if (im_in.encoding.compare("RGB") == 0) - { - cinfo.in_color_space = JCS_RGB; - cinfo.input_components = 3; - } - else if (im_in.encoding.compare("MONO") == 0) - { - cinfo.in_color_space = JCS_GRAYSCALE; - cinfo.input_components = 1; - } - else if (im_in.encoding.compare("GRAY") == 0) - { - cinfo.in_color_space = JCS_GRAYSCALE; - cinfo.input_components = 1; - } - else - { - cinfo.in_color_space = JCS_RGB; // default is RGB - cinfo.input_components = 3; - } - - // do the jpeg settings - jpeg_set_defaults(&cinfo); // - jpeg_set_quality(&cinfo, quality, - TRUE /* limit to baseline-JPEG values */ ); - - // either write the output file or write to a membuffer - if (!write_file) - jpeg_mem_dest(&cinfo, &out_buffer, &out_data_size); - else if (l_o_file) - jpeg_stdio_dest(&cinfo, l_o_file); - else - return false; - jpeg_start_compress(&cinfo, TRUE); // - row_stride = im_in.width * cinfo.input_components; // JSAMPLEs per row in image_buffer - - // scan lines and compress them - while (cinfo.next_scanline < cinfo.image_height) - { - row_pointer_[0] = - (unsigned char *) &im_in.data[(cinfo.next_scanline) * - row_stride]; - jpeg_write_scanlines(&cinfo, row_pointer_, 1); - } - - // finished - jpeg_finish_compress(&cinfo); - - // resize the output to match the actual datasize - if (!write_file) - { - cdat.resize(out_data_size); - std::copy( (charT *) out_buffer, (charT *) (out_buffer +out_data_size) , cdat.data()); - free(out_buffer); - } - // destroy the libjpeg compression object - jpeg_destroy_compress(&cinfo); - // close the output file - if (write_file) - fclose(l_o_file); - - return true; - } - ////////////////////////////// END JPEG WRITER ///////////////////////////// - } -} -#endif diff --git a/jpeg_io/src/jpeg_io.cpp b/jpeg_io/src/jpeg_io.cpp deleted file mode 100644 index 2d16b04..0000000 --- a/jpeg_io/src/jpeg_io.cpp +++ /dev/null @@ -1,56 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2014-, Centrum Wiskunde Informatica. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include -#include -#include -#include -#include - -using namespace pcl; -using namespace io; - -#ifdef _WIN32 -template class PCL_EXPORTS pcl::io::JPEGReader; -#endif//_WIN32 -template class PCL_EXPORTS pcl::io::JPEGReader; -template class PCL_EXPORTS pcl::io::JPEGReader; - -#ifdef _WIN32 -template class PCL_EXPORTS pcl::io::JPEGWriter; -#endif//_WIN32 -template class PCL_EXPORTS pcl::io::JPEGWriter; -template class PCL_EXPORTS pcl::io::JPEGWriter; diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt new file mode 100644 index 0000000..f2f85ef --- /dev/null +++ b/python/CMakeLists.txt @@ -0,0 +1,38 @@ +cmake_minimum_required(VERSION 3.10.0) + +set(INSTALL_PATH ${CMAKE_INSTALL_DATADIR}/cwipc_codec/python) + +install(FILES test_cwipc_codec.py DESTINATION ${INSTALL_PATH}) + +find_package(Python3 COMPONENTS Interpreter) + +# Unfortunately Ubuntu 18.04 doesn't have the Python3 package (introduced in cmake 3.12 or so). Work around it. +if(NOT Python3_FOUND) + find_program(PY3INTERPRETER python3) + if(PY3INTERPRETER) + set(Python3_EXECUTABLE ${PY3INTERPRETER}) + set(Python3_FOUND TRUE) + endif() +endif() +if(Python3_FOUND) + add_test(NAME run_python_tests + COMMAND ${Python3_EXECUTABLE} test_cwipc_codec.py + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + ) + + # Ensure the cwipc_codec dynamic library and cwipc python module can be found by the tests + if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") + set_property(TEST run_python_tests PROPERTY ENVIRONMENT DYLD_LIBRARY_PATH=${CMAKE_LIBRARY_OUTPUT_DIRECTORY}:$ENV{DYLD_LIBRARY_PATH}) + set_property(TEST run_python_tests APPEND PROPERTY ENVIRONMENT PYTHONPATH=${cwipc_util_PYTHON_DIRS}:$ENV{PYTHONPATH}) + endif() + if(${CMAKE_SYSTEM_NAME} MATCHES "Linux") + set_property(TEST run_python_tests PROPERTY ENVIRONMENT LD_LIBRARY_PATH=${CMAKE_LIBRARY_OUTPUT_DIRECTORY}:${cwipc_util_LIBRARY_DIRS}:$ENV{LD_LIBRARY_PATH}) + set_property(TEST run_python_tests APPEND PROPERTY ENVIRONMENT PYTHONPATH=${cwipc_util_PYTHON_DIRS}:$ENV{PYTHONPATH}) + endif() + if(${CMAKE_SYSTEM_NAME} MATCHES "Windows") + # Jack doesn't understand why modifying PATH doesn't seem to work on Windows... + # Jack doesn't understand why we need the "Release" here, which should already be in CMAKE_RUNTIME_OUTPUT_DIRECTORY... + set_property(TEST run_python_tests PROPERTY ENVIRONMENT CWIPC_TEST_DLL=${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/Release/cwipc_codec.dll) + set_property(TEST run_python_tests APPEND PROPERTY ENVIRONMENT PYTHONPATH=${cwipc_util_PYTHON_DIRS};$ENV{PYTHONPATH}) + endif() +endif() diff --git a/python/test_cwipc_codec.py b/python/test_cwipc_codec.py new file mode 100644 index 0000000..3a64ea7 --- /dev/null +++ b/python/test_cwipc_codec.py @@ -0,0 +1,299 @@ +import unittest +import cwipc +import cwipc.codec +import os +import sys +import tempfile + +if 0: + # This code can be used to debug the C++ code in XCode: + # - build for XCode with cmake + # - build the cwipc_util project + # - Fix the pathname for the dylib + # - run `python3 test_cwipc_util` + # - Attach to python in the XCode debugger + # - press return to python3. + import cwipc.codec + cwipc.codec._cwipc_codec_dll('/Users/jack/src/VRTogether/cwipc_codec/build-xcode/lib/Debug/libcwipc_codec.dylib') + print('Type return after attaching in XCode debugger - ') + sys.stdin.readline() + +# +# Windows search path is horrible. Work around it for testing with an environment variable +# +if 'CWIPC_TEST_DLL' in os.environ: + filename = os.environ['CWIPC_TEST_DLL'] + dllobj = cwipc.codec._cwipc_codec_dll(filename) +# +# Find directories for test inputs and outputs +# +if 'CWIPC_TEST_DIR' in os.environ: + CWIPC_TEST_DIR=os.environ['CWIPC_TEST_DIR'] +else: + _thisdir=os.path.dirname(os.path.abspath(__file__)) + _topdir=os.path.dirname(_thisdir) + TEST_FIXTURES_DIR=os.path.join(_topdir, "tests", "fixtures") + TEST_OUTPUT_DIR=os.path.join(TEST_FIXTURES_DIR, "output") + if not os.access(TEST_OUTPUT_DIR, os.W_OK): + TEST_OUTPUT_DIR=tempfile.mkdtemp('cwipc_codec_test') +PLY_FILENAME=os.path.join(TEST_FIXTURES_DIR, "input", "pcl_frame1.ply") +COMPRESSED_FILENAME=os.path.join(TEST_FIXTURES_DIR, "compressed", "pcl_frame1.cwicpc") + +class TestApi(unittest.TestCase): + + def test_cwipc_new_encoder(self): + """Can we create and free a cwipc_encoder object""" + encoder = cwipc.codec.cwipc_new_encoder() + self.assertFalse(encoder.eof()) + self.assertFalse(encoder.available(False)) + self.assertFalse(encoder.available(True)) + encoder.free() + + def test_cwipc_new_encoder_bad_parameters(self): + """Do we get exceptions when creating an encoder with unimplemented parameters?""" + with self.assertRaises(cwipc.CwipcError): + encoder = cwipc.codec.cwipc_new_encoder(do_inter_frame=True) + with self.assertRaises(cwipc.CwipcError): + encoder = cwipc.codec.cwipc_new_encoder(gop_size=0) + with self.assertRaises(cwipc.CwipcError): + encoder = cwipc.codec.cwipc_new_encoder(gop_size=2) + + def test_cwipc_new_decoder(self): + """Can we create and free a cwipc_decoder object""" + decoder = cwipc.codec.cwipc_new_decoder() + self.assertFalse(decoder.eof()) + self.assertFalse(decoder.available(False)) + self.assertFalse(decoder.available(True)) + decoder.free() + + def test_cwipc_encoder_plyfile(self): + """Test that we can encode a PLY file and the available flags behaves correct""" + pc = cwipc.cwipc_read(PLY_FILENAME, 1234) + self._verify_pointcloud(pc) + encoder = cwipc.codec.cwipc_new_encoder() + self.assertFalse(encoder.available(False)) + encoder.feed(pc) + self.assertTrue(encoder.available(False)) + self.assertTrue(encoder.at_gop_boundary()) + data = encoder.get_bytes() + self.assertNotEqual(len(data), 0) + self.assertFalse(encoder.available(False)) + encoder.free() + pc.free() + + @unittest.skip('unexpected difference') + def test_cwipc_encoder_plyfile_multiple_same(self): + """Test that we can encode a ply file multiple times and the results are the same""" + pc = cwipc.cwipc_read(PLY_FILENAME, 1234) + encoder = cwipc.codec.cwipc_new_encoder() + encoder.feed(pc) + data_one = encoder.get_bytes() + encoder.feed(pc) + data_two = encoder.get_bytes() + self.assertEqual(data_one, data_two) + + encoder.free() + pc.free() + + def test_cwipc_encoder_plyfile_multiple_different(self): + """Test that we can encode a ply file multiple times and the results are the same, and different for different timestamps""" + pc = cwipc.cwipc_read(PLY_FILENAME, 1234) + encoder = cwipc.codec.cwipc_new_encoder() + encoder.feed(pc) + data_one = encoder.get_bytes() + pc3 = cwipc.cwipc_read(PLY_FILENAME, 4567) + encoder.feed(pc3) + data_three = encoder.get_bytes() + self.assertNotEqual(data_one, data_three) + + encoder.free() + pc.free() + pc3.free() + + def test_cwipc_encoder_octree_depth(self): + """Test that octree_bits encoder param makes a significant difference""" + pc = cwipc.cwipc_read(PLY_FILENAME, 1234) + decoder = cwipc.codec.cwipc_new_decoder() + depth = 11 + decoded_npoints_per_depth = {} + while depth >= 0: + encoder = cwipc.codec.cwipc_new_encoder(octree_bits=depth) + encoder.feed(pc) + encoded_data = encoder.get_bytes() + encoded_size = len(encoded_data) + decoder.feed(encoded_data) + assert decoder.available(True) + decoded_pc = decoder.get() + points = decoded_pc.get_points() + decoded_npoints = len(points) + decoded_npoints_per_depth[depth] = decoded_npoints + encoder.free() + decoded_pc.free() + depth = depth - 1 + # Some sanity checks + for i in range(11): + self.assertLessEqual(decoded_npoints_per_depth[i], decoded_npoints_per_depth[i+1]) + if decoded_npoints_per_depth[11] < 80000: + self.assertLessEqual(decoded_npoints_per_depth[0], 16) + else: + self.assertLessEqual(decoded_npoints_per_depth[0], decoded_npoints_per_depth[11]/10000) + pc.free() + + def test_cwipc_encoder_jpeg_quality(self): + """Test that jpeg_quality encoder param makes a difference""" + pc = cwipc.cwipc_read(PLY_FILENAME, 1234) + quality = 90 + prev_size = None + while quality >= 10: + params = cwipc.codec.cwipc_new_encoder_params(jpeg_quality=quality) + encoder = cwipc.codec.cwipc_new_encoder(params=params) + encoder.feed(pc) + encoded_data = encoder.get_bytes() + encoded_size = len(encoded_data) + if prev_size != None: + self.assertLess(encoded_size, prev_size) + prev_size = encoded_size + encoder.free() + quality = quality - 10 + pc.free() + + def test_cwipc_decode_cwicpc(self): + """Test that we can decode a cwicpc compressed pointcloud and get an acceptable cwipc""" + with open(COMPRESSED_FILENAME, 'rb') as fp: + compdata = fp.read() + decoder = cwipc.codec.cwipc_new_decoder() + self.assertFalse(decoder.available(False)) + decoder.feed(compdata) + self.assertTrue(decoder.available(False)) + pc = decoder.get() + self.assertFalse(decoder.available(False)) + self._verify_pointcloud(pc) + decoder.free() + pc.free() + + def test_cwipc_codec_roundtrip(self): + """Check that we can roundtrip encoder-decoder and get at most as many points back""" + timestamp = 0x1122334455667788 + pc = cwipc.cwipc_read(PLY_FILENAME, timestamp) + encoder = cwipc.codec.cwipc_new_encoder() + decoder = cwipc.codec.cwipc_new_decoder() + encoder.feed(pc) + data = encoder.get_bytes() + decoder.feed(data) + pc2 = decoder.get() + self._verify_pointcloud(pc2) + points = pc.get_points() + points2 = pc2.get_points() + self.assertGreaterEqual(len(points), len(points2)) + self.assertEqual(pc2.timestamp(), timestamp) + encoder.free() + decoder.free() + pc.free() + pc2.free() + + def test_cwipc_codec_roundtrip_empty(self): + """Check that we can roundtrip an empty pointcloud""" + timestamp = 0x2233445566778899 + pc = cwipc.cwipc_from_points([], timestamp) + encoder = cwipc.codec.cwipc_new_encoder() + decoder = cwipc.codec.cwipc_new_decoder() + encoder.feed(pc) + data = encoder.get_bytes() + self.assertNotEqual(len(data), 0) + decoder.feed(data) + pc2 = decoder.get() + points = pc.get_points() + points2 = pc2.get_points() + self.assertEqual(len(points), 0) + self.assertEqual(len(points2), 0) + self.assertEqual(pc2.timestamp(), timestamp) + encoder.free() + decoder.free() + pc.free() + pc2.free() + + def test_tilefilter(self): + """Check that the tilefilter returns the same number of points if not filtering, and correct number if filtering""" + gen = cwipc.cwipc_synthetic() + pc_orig = gen.get() + pc_filtered = cwipc.codec.cwipc_tilefilter(pc_orig, 0) + self.assertEqual(len(pc_orig.get_points()), len(pc_filtered.get_points())) + pc_filtered_1 = cwipc.codec.cwipc_tilefilter(pc_orig, 1) + pc_filtered_2 = cwipc.codec.cwipc_tilefilter(pc_orig, 2) + self.assertEqual(len(pc_orig.get_points()), len(pc_filtered_1.get_points()) + len(pc_filtered_2.get_points())) + self.assertEqual(pc_orig.timestamp(), pc_filtered_1.timestamp()) + self.assertEqual(pc_orig.timestamp(), pc_filtered_2.timestamp()) + gen.free() + pc_orig.free() + pc_filtered.free() + pc_filtered_1.free() + pc_filtered_2.free() + + def test_tilefilter_empty(self): + """Check that the tilefilter returns an empty pointcloud when passed an empty pointcloud""" + pc_orig = cwipc.cwipc_from_points([], 0) + pc_filtered = cwipc.codec.cwipc_tilefilter(pc_orig, 0) + self.assertEqual(len(pc_orig.get_points()), 0) + self.assertEqual(len(pc_filtered.get_points()), 0) + pc_orig.free() + pc_filtered.free() + + def test_downsample(self): + """Check that the downsampler returns at most the same number of points and eventually returns 1""" + gen = cwipc.cwipc_synthetic() + pc_orig = gen.get() + count_orig = len(pc_orig.get_points()) + count_prev = count_orig + factor = 1024 + while factor > 0.0001: + pc_filtered = cwipc.codec.cwipc_downsample(pc_orig, factor) + count_filtered = len(pc_filtered.get_points()) + self.assertGreaterEqual(count_filtered, 1) + self.assertLessEqual(count_filtered, count_orig) + self.assertEqual(pc_orig.timestamp(), pc_filtered.timestamp()) + count_prev = count_filtered + pc_filtered.free() + if count_filtered > count_orig/2: + break + factor = factor / 2 + gen.free() + pc_orig.free() + + def test_downsample_empty(self): + """Check that the downsample returns an empty pointcloud when passed an empty pointcloud""" + pc_orig = cwipc.cwipc_from_points([], 0) + pc_filtered = cwipc.codec.cwipc_downsample(pc_orig, 1) + self.assertEqual(len(pc_orig.get_points()), 0) + self.assertEqual(len(pc_filtered.get_points()), 0) + pc_orig.free() + pc_filtered.free() + + def test_cwipc_multiencoder_octree_depth(self): + """Test that a multiencoder setup for 2 octree depths returns sensible pointclouds""" + gen = cwipc.cwipc_synthetic() + pc_orig = gen.get() + count_orig = len(pc_orig.get_points()) + group = cwipc.codec.cwipc_new_encodergroup() + enc_high = group.addencoder(octree_bits=9) + enc_low = group.addencoder(octree_bits=5) + group.feed(pc_orig) + self.assertTrue(enc_high.available(False)) + self.assertTrue(enc_low.available(False)) + + data_high = enc_high.get_bytes() + data_low = enc_low.get_bytes() + self.assertLess(len(data_low), len(data_high)) + + # xxxjack todo: decompress both and compare + group.free() + pc_orig.free() + + def _verify_pointcloud(self, pc): + points = pc.get_points() + self.assertGreater(len(points), 1) + p0 = points[0].x, points[0].y, points[0].z + p1 = points[len(points)-1].x, points[len(points)-1].y, points[len(points)-1].z + self.assertNotEqual(p0, p1) + +if __name__ == '__main__': + unittest.main() diff --git a/jpeg_io/CMakeLists.txt b/src/CMakeLists.txt similarity index 57% rename from jpeg_io/CMakeLists.txt rename to src/CMakeLists.txt index d886569..a54cb08 100644 --- a/jpeg_io/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -35,45 +35,44 @@ # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. -cmake_minimum_required(VERSION 2.8.10 FATAL_ERROR) -project(CWI_PCL_CODEC) -set(SUBSYS_NAME jpeg_io) -set(SUBSYS_DESC "Extensions for Point Cloud Compression for JPEG I/O") +cmake_minimum_required(VERSION 3.10.0) -set(${PROJECT_NAME}_INCLUDE_DIRS - ${${PROJECT_NAME}_INCLUDE_DIRS} - ${CMAKE_CURRENT_SOURCE_DIR}/include - CACHE INTERNAL "${PROJECT_NAME}: Include Directories" FORCE) -if(CMAKELISTS_DEBUG) - message("${SUBSYS_NAME}-${PROJECT_NAME}_INCLUDE_DIRS: " ${${PROJECT_NAME}_INCLUDE_DIRS}) -endif(CMAKELISTS_DEBUG) -set(srcs - "src/${SUBSYS_NAME}.cpp" +add_library(cwipc_codec SHARED cwipc_codec.cpp cwipc_filters.cpp cwipc_pcl_additions.cpp) + +target_sources(cwipc_codec + PRIVATE + "../include/cwipc_codec/api.h" +) + +target_include_directories( + cwipc_codec PUBLIC + $ + $ ) -set(LIB_NAME pcl_${SUBSYS_NAME}) -set(incs - "include/pcl/io/${SUBSYS_NAME}.h" +target_include_directories( + cwipc_codec PRIVATE + "../cloud_codec_v2/include" + "../jpeg_io/include" + ${PCL_INCLUDE_DIRS} ) -set(impl_incs - "include/pcl/io/impl/${SUBSYS_NAME}.hpp" - ) -include_directories(${${PROJECT_NAME}_INCLUDE_DIRS}) -add_library(${LIB_NAME} ${srcs} ${incs} ${impl_incs}) -target_link_libraries(${LIB_NAME} ${CWI_PCL_CODEC_LIBS} ) -set(${PROJECT_NAME}_LIBRARY_DIRS - ${CMAKE_CURRENT_BINARY_DIR} - ${${PROJECT_NAME}_LIBRARY_DIRS} - CACHE INTERNAL "${PROJECT_NAME}: Library Directories" FORCE) -if(CMAKELISTS_DEBUG) - message("${SUBSYS_NAME}-${PROJECT_NAME}_LIBRARY_DIRS: " ${${PROJECT_NAME}_LIBRARY_DIRS}) -endif(CMAKELISTS_DEBUG) +target_link_libraries(cwipc_codec PUBLIC cwipc_util PRIVATE cloud_codec_v2 ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${JPEG_Turbo_LIBRARY}) +# target_link_libraries(cwipc_codec PUBLIC cwipc_util PRIVATE ${${PROJECT_NAME}_LIBRARIES}) + +install(TARGETS cwipc_codec + EXPORT cwipc_codec + RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} + LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} + ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} + PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_PREFIX}/include/cwipc_codec" +) + +install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/cwipc_codec + DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} +) + +install(FILES ${PROJECT_SOURCE_DIR}/CMakeFiles/cwipc_codec-config.cmake DESTINATION lib/cmake/cwipc_codec) + +install(EXPORT cwipc_codec DESTINATION lib/cmake/cwipc_codec) -set(${PROJECT_NAME}_LIBRARIES - ${LIB_NAME} - ${${PROJECT_NAME}_LIBRARIES} - CACHE INTERNAL "${PROJECT_NAME}:Libraries" FORCE) -if(CMAKELISTS_DEBUG) - message("${SUBSYS_NAME}-${PROJECT_NAME}_LIBRARIES: " ${${PROJECT_NAME}_LIBRARIES}) -endif(CMAKELISTS_DEBUG) diff --git a/src/cwipc_codec.cpp b/src/cwipc_codec.cpp new file mode 100644 index 0000000..9004cdb --- /dev/null +++ b/src/cwipc_codec.cpp @@ -0,0 +1,357 @@ +// cwi_encode.cpp : Defines the exported functions for the DLL application. +// +#include +#include +#include +#ifdef WIN32 +#define _CWIPC_CODEC_EXPORT __declspec(dllexport) +#else +#define _CWIPC_CODEC_EXPORT +#endif + +#include "cwipc_util/api_pcl.h" +#include "cwipc_codec/api.h" + +#include +#include + +using namespace std; + +// Some parameters that will eventually be customizable again +const int num_threads = 1; +const bool downdownsampling = false; +const int iframerate = 1; + +class cwipc_encoder_impl : public cwipc_encoder +{ +public: + cwipc_encoder_impl(cwipc_encoder_params *_params) + : m_encoder(NULL), + m_params(*_params), + m_result(NULL), + m_result_size(0), + m_remaining_frames_in_gop(0) + { + + } + + ~cwipc_encoder_impl() {} + void free() { + if (m_result) ::free(m_result); + m_encoder = NULL; + m_result = NULL; + m_result_size = 0; + }; + + bool eof() { return false; }; + + bool available(bool wait) { return m_result != NULL; }; + + bool at_gop_boundary() { return m_encoder == NULL; }; + + void feed(cwipc *pc) { + cwipc *newpc = NULL; + // Apply tile filtering, if needed + if (m_params.tilenumber) { + newpc = cwipc_tilefilter(pc, m_params.tilenumber); + if (newpc == NULL) { + std::cerr << "cwipc_encoder: tilefilter failed" << std::endl; + return; + } + pc = newpc; + } + std::stringstream comp_frame; + // Allocate an encoder if none is available (we are at the beginning of a GOP) + if (m_encoder == NULL) + alloc_encoder(pc->timestamp()); + + cwipc_pcl_pointcloud pcl_pc = pc->access_pcl_pointcloud(); + if (pcl_pc->size() == 0) { + // Special case: if the point cloud is empty we compress a point cloud with a single black point at 0,0,0 + pcl_pc = new_cwipc_pcl_pointcloud(); + cwipc_pcl_point dummyPoint; + pcl_pc->push_back(dummyPoint); + } + m_encoder->encodePointCloud(pcl_pc, comp_frame); + + /* Free the encoder if we are at the end of the GOP */ + if (--m_remaining_frames_in_gop <= 0) { + m_encoder = NULL; + } + + /* Store the result */ + /* xxxjack should lock here */ + if (m_result) { + ::free(m_result); + m_result = NULL; + m_result_size = 0; + } + m_result_size = comp_frame.str().length(); + m_result = (void *)malloc(m_result_size); + comp_frame.str().copy((char *)m_result, m_result_size); + if (newpc) { + // Free a temporary pointcloud we allocated + newpc->free(); + } + }; + + size_t get_encoded_size() { return m_result_size; }; + + bool copy_data(void *buffer, size_t bufferSize) { + if (m_result == NULL || bufferSize < m_result_size) return false; + memcpy(buffer, m_result, m_result_size); + ::free(m_result); + m_result = NULL; + m_result_size = 0; + return true; + }; + +private: + void alloc_encoder(uint64_t timestamp) { + double point_resolution = std::pow ( 2.0, -1.0 * m_params.octree_bits); + double octree_resolution = std::pow ( 2.0, -1.0 * m_params.octree_bits); + m_encoder = NULL; + m_encoder = boost::shared_ptr > ( + new pcl::io::OctreePointCloudCodecV2 ( + pcl::io::MANUAL_CONFIGURATION, + false, + point_resolution, + octree_resolution, + downdownsampling, // no intra voxel coding in this first version of the codec + iframerate, // i_frame_rate, + true, // do color encoding + 8, // color bits + 1, // color coding type + timestamp, + false, + false, // not implemented + false, // do_connectivity_coding_ not implemented + m_params.jpeg_quality, + num_threads + )); + m_encoder->setMacroblockSize(m_params.macroblock_size); + m_remaining_frames_in_gop = m_params.gop_size; + } + boost::shared_ptr > m_encoder; + cwipc_encoder_params m_params; + void *m_result; + size_t m_result_size; + int m_remaining_frames_in_gop; +}; + +class cwipc_encodergroup_impl : public cwipc_encodergroup +{ +public: + cwipc_encodergroup_impl() + : m_voxelsize(-1) + { + } + + ~cwipc_encodergroup_impl() {} + + void free() { + for (auto enc: m_encoders) { + enc->free(); + } + m_encoders.clear(); + }; + + void feed(cwipc *pc) { + cwipc *newpc = NULL; + if (m_voxelsize > 0) { + newpc = cwipc_downsample(pc, m_voxelsize); + if (newpc == NULL) { + std::cerr << "cwipc_encodergroup: cwipc_downsample failed" << std::endl; + return; + } + } + for (auto enc : m_encoders) { + enc->feed(pc); + } + if (newpc) { + // Free temporary pointcloud, if we allocated one + newpc->free(); + } + }; + + cwipc_encoder *addencoder(int version, cwipc_encoder_params* params, char **errorMessage) { + if (m_voxelsize >= 0 && m_voxelsize != params->voxelsize) { + *errorMessage = (char *)"cwipc_encodergroup: voxelsize must be the same for all encoders"; + return NULL; + } + m_voxelsize = params->voxelsize; + cwipc_encoder *newEncoder = cwipc_new_encoder(version, params, errorMessage, CWIPC_API_VERSION); + if (newEncoder == NULL) return NULL; + m_encoders.push_back(newEncoder); + return newEncoder; + }; +private: + std::vector m_encoders; + float m_voxelsize; +}; + +class cwipc_decoder_impl : public cwipc_decoder +{ +public: + cwipc_decoder_impl() + : m_result(NULL) + {} + + ~cwipc_decoder_impl() {} + + void free() {}; + + bool eof() {return false; }; + + bool available(bool wait) { return m_result != NULL; }; + + void feed(void *buffer, size_t bufferSize) { + cwipc_encoder_params par; + //Default codec parameter values set in signals + par.do_inter_frame = false; + par.gop_size = 1; + par.exp_factor = 1.0; + par.octree_bits = 8; + par.jpeg_quality = 85; + par.macroblock_size = 16; + std::stringstream compfr; + //Convert buffer to stringstream for encoding + std::string str((char *)buffer, bufferSize); + std::stringstream istream(str); + boost::shared_ptr > decoder_V2_; + decoder_V2_ = boost::shared_ptr > ( + new pcl::io::OctreePointCloudCodecV2 ( + pcl::io::MANUAL_CONFIGURATION, + false, + std::pow ( 2.0, -1.0 * par.octree_bits ), + std::pow ( 2.0, -1.0 * par.octree_bits), + downdownsampling, // no intra voxel coding in this first version of the codec + iframerate, // i_frame_rate, + true, + 8, + 1, + 0, + false, + false, // not implemented + false, // do_connectivity_coding_, not implemented + par.jpeg_quality, + num_threads + )); + cwipc_pcl_pointcloud decpc = new_cwipc_pcl_pointcloud(); + uint64_t tmStmp = 0; + bool ok = decoder_V2_->decodePointCloud(istream, decpc, tmStmp); + if (decpc->size() == 1) { + // Special case: single point (0,0,0,0,0,0) signals an empty pointcloud + cwipc_pcl_point& pt(decpc->at(0)); + if (abs(pt.x) < 0.01 && abs(pt.y) < 0.01 && abs(pt.z) < 0.01 + && pt.r < 2 && pt.g < 2 && pt.b < 2 + ) { + decpc->clear(); + } + } + if (ok) { + m_result = cwipc_from_pcl(decpc, tmStmp, NULL, CWIPC_API_VERSION); + } else { + m_result = NULL; + } + }; + + cwipc *get() { + cwipc *rv = m_result; + m_result = NULL; + return rv; + }; +private: + cwipc *m_result; +}; + +cwipc_encoder* cwipc_new_encoder(int version, cwipc_encoder_params *params, char **errorMessage, uint64_t apiVersion) { + if (apiVersion < CWIPC_API_VERSION_OLD || apiVersion > CWIPC_API_VERSION) { + if (errorMessage) { + *errorMessage = (char *)"cwipc_synthetic: incorrect apiVersion"; + } + return NULL; + } + if (version != CWIPC_ENCODER_PARAM_VERSION) { + *errorMessage = (char *)"cwpic_bew_encoder: incorrect encoder param version"; + return NULL; + } + if (params == NULL) { + static cwipc_encoder_params dft = {false, 1, 1.0, 9, 85, 16, 0, 0}; + params = &dft; + } + // Check parameters for this release + if (params->do_inter_frame) { + *errorMessage = (char *)"cwipc_new_encoder: do_inter_frame must be false for this version"; + return NULL; + } + if (params->gop_size != 1) { + *errorMessage = (char *)"cwipc_new_encoder: gop_size must be 1 for this version"; + return NULL; + } + return new cwipc_encoder_impl(params); +} + +void cwipc_encoder_free(cwipc_encoder *obj) { + obj->free(); +} + +bool cwipc_encoder_available(cwipc_encoder *obj, bool wait) { + return obj->available(wait); +} + +bool cwipc_encoder_eof(cwipc_encoder *obj) { + return obj->eof(); +} + +void cwipc_encoder_feed(cwipc_encoder *obj, cwipc* pc) { + obj->feed(pc); +} + +size_t cwipc_encoder_get_encoded_size(cwipc_encoder *obj) { + return obj->get_encoded_size(); +} + +bool cwipc_encoder_copy_data(cwipc_encoder *obj, void *buffer, size_t bufferSize) { + return obj->copy_data(buffer, bufferSize); +} + +bool cwipc_encoder_at_gop_boundary(cwipc_encoder *obj) { + return obj->at_gop_boundary(); +} + +cwipc_encodergroup *cwipc_new_encodergroup(char **errorMessage, uint64_t apiVersion) { + if (apiVersion < CWIPC_API_VERSION_OLD || apiVersion > CWIPC_API_VERSION) { + if (errorMessage) { + *errorMessage = (char *)"cwipc_new_encodergroup: incorrect apiVersion"; + } + return NULL; + } + return new cwipc_encodergroup_impl(); +}; + +void cwipc_encodergroup_free(cwipc_encodergroup *obj) { + obj->free(); +} + +cwipc_encoder *cwipc_encodergroup_addencoder(cwipc_encodergroup *obj, int version, cwipc_encoder_params* params, char **errorMessage) { + return obj->addencoder(version, params, errorMessage); +} + +void cwipc_encodergroup_feed(cwipc_encodergroup *obj, cwipc* pc) { + return obj->feed(pc); +} + +cwipc_decoder* cwipc_new_decoder(char **errorMessage, uint64_t apiVersion) { + if (apiVersion < CWIPC_API_VERSION_OLD || apiVersion > CWIPC_API_VERSION) { + if (errorMessage) { + *errorMessage = (char *)"cwipc_synthetic: incorrect apiVersion"; + } + return NULL; + } + return new cwipc_decoder_impl(); +} + +void cwipc_decoder_feed(cwipc_decoder *obj, void *buffer, size_t bufferSize) { + obj->feed(buffer, bufferSize); +} diff --git a/src/cwipc_filters.cpp b/src/cwipc_filters.cpp new file mode 100644 index 0000000..4a249c4 --- /dev/null +++ b/src/cwipc_filters.cpp @@ -0,0 +1,70 @@ +// cwi_encode.cpp : Defines the exported functions for the DLL application. +// +#include +#include +#include +#ifdef WIN32 +#define _CWIPC_CODEC_EXPORT __declspec(dllexport) +#else +#define _CWIPC_CODEC_EXPORT +#endif + +#include "cwipc_util/api_pcl.h" +#include "cwipc_codec/api.h" + +#include +#include +#include + +cwipc *cwipc_downsample(cwipc *pc, float voxelsize) +{ + if (pc == NULL) return NULL; + cwipc_pcl_pointcloud src = pc->access_pcl_pointcloud(); + if (src == NULL) return NULL; + cwipc_pcl_pointcloud dst = new_cwipc_pcl_pointcloud(); + // Step 1 - Voxelize + try { + pcl::VoxelGrid grid; + grid.setInputCloud(src); + grid.setLeafSize(voxelsize, voxelsize, voxelsize); + grid.setSaveLeafLayout(true); + grid.filter(*dst); + // Step 2 - Clear tile numbers in destination + for (auto dstpt : dst->points) { + dstpt.a = 0; + } + // Step 3 - Do OR of all contribution point tile numbers in destination. + for (auto srcpt : src->points) { + auto dstIndex = grid.getCentroidIndex(srcpt); + auto dstpt = dst->points[dstIndex]; + dstpt.a |= srcpt.a; + } + } catch (pcl::PCLException& e) { + std::cerr << "cwipc_downsample: PCL exception: " << e.detailedMessage() << std::endl; + return NULL; + } + catch (std::exception& e) { + std::cerr << "cwipc_downsample: std exception: " << e.what() << std::endl; + return NULL; + } + cwipc *rv = cwipc_from_pcl(dst, pc->timestamp(), NULL, CWIPC_API_VERSION); + rv->_set_cellsize(voxelsize); + return rv; +} + +cwipc *cwipc_tilefilter(cwipc *pc, int tile) +{ + if (pc == NULL) return NULL; + cwipc_pcl_pointcloud src = pc->access_pcl_pointcloud(); + if (src == NULL) return NULL; + cwipc_pcl_pointcloud dst = new_cwipc_pcl_pointcloud(); + for (auto pt : src->points) { + if (tile == 0 || tile == pt.a) { + dst->points.push_back(pt); + } + } + cwipc *rv = cwipc_from_pcl(dst, pc->timestamp(), NULL, CWIPC_API_VERSION); + rv->_set_cellsize(pc->cellsize()); + return rv; +} + diff --git a/src/cwipc_pcl_additions.cpp b/src/cwipc_pcl_additions.cpp new file mode 100644 index 0000000..4ec20ee --- /dev/null +++ b/src/cwipc_pcl_additions.cpp @@ -0,0 +1,24 @@ +#define PCL_NO_PRECOMPILE + +#include +#include +#include +#include + +#define PCL_INSTALLED // xxxjack temp +#include +#include +#include + +#include "cwipc_util/api_pcl.h" +#include "cwipc_util/api.h" + +namespace pcl { + +namespace io { +template class OctreePointCloudCodecV2; +} + +template class RadiusOutlierRemoval; +template class VoxelGrid; +} diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt new file mode 100644 index 0000000..6d1f701 --- /dev/null +++ b/tests/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 3.10.0) + +set(INSTALL_PATH ${CMAKE_INSTALL_DATADIR}/cwipc_codec/tests) + +install(DIRECTORY fixtures DESTINATION ${INSTALL_PATH}) diff --git a/tests/fixtures/compressed/pcl_frame1.cwicpc b/tests/fixtures/compressed/pcl_frame1.cwicpc new file mode 100644 index 0000000..9e336de Binary files /dev/null and b/tests/fixtures/compressed/pcl_frame1.cwicpc differ diff --git a/tests/fixtures/input/pcl_frame1.ply b/tests/fixtures/input/pcl_frame1.ply new file mode 100644 index 0000000..be863cf --- /dev/null +++ b/tests/fixtures/input/pcl_frame1.ply @@ -0,0 +1,378881 @@ +ply +format ascii 1.0 +element vertex 378871 +property float x +property 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