First attemps on Ubuntu

CMakeLists.txt

@@ -39,8 +39,10 @@ IF (BUILD_RT_VISUALIZATION)
 
 	INCLUDE_DIRECTORIES($ENV{OPENNI2_INCLUDE})
 	LINK_DIRECTORIES($ENV{OPENNI2_LIB})
-	#SET(OpenNI_lib "/usr/lib/libOpenNI2.so")
-	SET(OpenNI_lib "C:/Users/Mariano/Programas/OpenNI2_32/Lib/OpenNI2.lib")
+	SET(OpenNI_lib "/usr/lib/libOpenNI2.so")
+	#SET(OpenNI_lib "C:/Users/Mariano/Programas/OpenNI2_32/Lib/OpenNI2.lib")
+
+	#message( "jajaj y esto vale ${OPENNI2_INCLUDE}" )
 
 	ADD_EXECUTABLE(Scene-Flow-Visualization  
 		main_scene_flow_visualization.cpp

main_scene_flow_impair.cpp

@@ -23,6 +23,7 @@
 
 #include <stdio.h>
 #include <string.h>
+#include <stdlib.h>
 #include "scene_flow_impair.h"
 
 using namespace std;
@@ -47,13 +48,14 @@ int main(int num_arg, char *argv[])
 		printf(" --help: Shows this menu... \n\n");
 		printf(" --rows r: Number of rows at the finest level of the pyramid. \n");
 		printf("\t   Options: r=15, r=30, r=60, r=120, r=240, r=480 (if VGA)\n");
-		std::getchar();
+        std::getwchar(); //Windows -> getchar();
 		return 1;
 	}
 	else
 	{
 		if ( string(argv[1]) == "--rows")
-			rows = stof(string(argv[2]));
+            //Windows -> rows = stof(string(argv[2]));
+            rows = strtof(argv[2], NULL);
 	}
 
 	//==============================================================================
@@ -73,7 +75,7 @@ int main(int num_arg, char *argv[])
 		sceneflow.solveSceneFlowGPU();
 		sceneflow.showAndSaveResults();
 		sceneflow.freeGPUMemory();
-		printf("\nPush any key over the scene flow image to finish");
+        printf("\nPush any key over the scene flow image to finish\n");
 	}
 
 	return 0;

main_scene_flow_visualization.cpp

@@ -23,6 +23,7 @@
 
 #include <stdio.h>
 #include <string.h>
+#include <stdlib.h>
 #include "scene_flow_visualization.h"
 
 
@@ -57,13 +58,13 @@ int main(int num_arg, char *argv[])
 		for (int i=1; i<num_arg; i++)
 		{
 			if ( string(argv[i]) == "--cam_mode")
-				cam_mode = stof(string(argv[i+1]));
+                cam_mode = strtof(argv[i+1], NULL);
 
 			if ( string(argv[i]) == "--fps")
-				fps = stof(string(argv[i+1]));
+                fps = strtof(argv[i+1], NULL);
 
 			if ( string(argv[i]) == "--rows")
-				rows = stof(string(argv[i+1]));
+                rows = strtof(argv[i+1], NULL);
 		}
 	}
 

scene_flow_impair.cpp

@@ -27,7 +27,7 @@ PD_flow_opencv::PD_flow_opencv(unsigned int rows_config)
 {     
     rows = rows_config;      //Maximum size of the coarse-to-fine scheme
     cols = rows*320/240;
-    ctf_levels = unsigned int(log2(rows/15)) + 1;
+    ctf_levels = static_cast<unsigned int>(log2(rows/15)) + 1;
     fovh = M_PI*62.5f/180.f;
     fovv = M_PI*45.f/180.f;
     len_disp = 0.022f;
@@ -68,7 +68,7 @@ void PD_flow_opencv::createImagePyramidGPU()
     //Cuda copy object to device
     csf_device = ObjectToDevice(&csf_host);
 
-    unsigned int pyr_levels = unsigned int(log2(width/cols)) + ctf_levels;
+    unsigned int pyr_levels = static_cast<unsigned int>(log2(width/cols)) + ctf_levels;
     GaussianPyramidBridge(csf_device, pyr_levels, cam_mode);
 
     //Cuda copy object back to host
@@ -89,7 +89,7 @@ void PD_flow_opencv::solveSceneFlowGPU()
         s = pow(2.f,int(ctf_levels-(i+1)));
         cols_i = cols/s;
         rows_i = rows/s;
-        level_image = ctf_levels - i + unsigned int(log2(width/cols)) - 1;
+        level_image = ctf_levels - i + static_cast<unsigned int>(log2(width/cols)) - 1;
 
         //=========================================================================
         //                              Cuda - Begin
@@ -274,30 +274,30 @@ void PD_flow_opencv::showAndSaveResults()
 	//Save scene flow as an RGB image (one colour per direction)
 	cv::Mat sf_image(rows, cols, CV_8UC3);
 
-	//Compute the max-min values of the flow
+    //Compute the max values of the flow (of its norm)
 	float maxmodx = 0.f, maxmody = 0.f, maxmodz = 0.f;
 	for (unsigned int v=0; v<rows; v++)
 		for (unsigned int u=0; u<cols; u++)
 		{
-			if (abs(dxp[v + u*rows]) > maxmodx)
-				maxmodx = abs(dxp[v + u*rows]);
-			if (abs(dyp[v + u*rows]) > maxmody)
-				maxmody = abs(dyp[v + u*rows]);
-			if (abs(dzp[v + u*rows]) > maxmodz)
-				maxmodz = abs(dzp[v + u*rows]);
+            if (fabs(dxp[v + u*rows]) > maxmodx)
+                maxmodx = fabs(dxp[v + u*rows]);
+            if (fabs(dyp[v + u*rows]) > maxmody)
+                maxmody = fabs(dyp[v + u*rows]);
+            if (fabs(dzp[v + u*rows]) > maxmodz)
+                maxmodz = fabs(dzp[v + u*rows]);
 		}
 
 	for (unsigned int v=0; v<rows; v++)
 		for (unsigned int u=0; u<cols; u++)
 		{
-			sf_image.at<cv::Vec3b>(v,u)[0] = 255.f*abs(dxp[v + u*rows])/maxmodx; //Blue
-			sf_image.at<cv::Vec3b>(v,u)[1] = 255.f*abs(dyp[v + u*rows])/maxmody; //Green
-			sf_image.at<cv::Vec3b>(v,u)[2] = 255.f*abs(dzp[v + u*rows])/maxmodz; //Red
+            sf_image.at<cv::Vec3b>(v,u)[0] = static_cast<unsigned char>(255.f*fabs(dxp[v + u*rows])/maxmodx); //Blue
+            sf_image.at<cv::Vec3b>(v,u)[1] = static_cast<unsigned char>(255.f*fabs(dyp[v + u*rows])/maxmody); //Green
+            sf_image.at<cv::Vec3b>(v,u)[2] = static_cast<unsigned char>(255.f*fabs(dzp[v + u*rows])/maxmodz); //Red
 		}
 
 	//Show the scene flow as an RGB image	
 	cv::namedWindow("SceneFlow", cv::WINDOW_NORMAL);
-	cv::moveWindow("SceneFlow",10,10);
+    cv::moveWindow("SceneFlow",width - cols/2,height - rows/2);
 	cv::imshow("SceneFlow", sf_image);
 	cv::waitKey(100000);
 
@@ -334,4 +334,4 @@ void PD_flow_opencv::showAndSaveResults()
 	//sprintf(name, "pdflow_representation%02u.png", nFichero);
 	//printf("Saving the visual representation to file: %s \n", name);
 	//cv::imwrite(name, sf_image);
-}
+}

scene_flow_impair.h

@@ -21,18 +21,21 @@
 **																			**
 *****************************************************************************/
 
-#include <opencv2/core.hpp>
-#include <opencv2/highgui.hpp>
+//Windows -> #include <opencv2/core.hpp>
+#include <opencv2/core/core.hpp>
+//Windows -> #include <opencv2/highgui.hpp>
+#include <opencv2/highgui/highgui.hpp>
 #include "pdflow_cudalib.h"
 #include "legend_pdflow.xpm"
 #include <ostream>
 
-#define M_PI 3.14159265f
-#define M_LOG2E 1.44269504088896340736f //log2(e)
+//Windows -> #define M_PI 3.14159265f
+//Windows -> #define M_LOG2E 1.44269504088896340736f //log2(e)
 
-inline float log2(const float x){
-    return  log(x) * M_LOG2E;
-}
+//Windows
+//inline float log2(const float x){
+//    return  log(x) * M_LOG2E;
+//}
 
 
 class PD_flow_opencv {

scene_flow_visualization.h

@@ -25,16 +25,17 @@
 #include <mrpt/system.h>
 #include <mrpt/gui/CDisplayWindow3D.h>
 #include <mrpt/opengl.h>
-#include <OpenNI.h> //<openni2/OpenNI.h>
+//Windows #include <OpenNI.h>
+#include <openni2/OpenNI.h>
 #include <Eigen/src/Core/Matrix.h>
 #include "pdflow_cudalib.h"
 #include "legend_pdflow.xpm"
 
 //#define M_LOG2E 1.44269504088896340736f //log2(e)
 
-inline float log2(const float x){
-    return  log(x) * M_LOG2E;
-}
+//inline float log2(const float x){
+//    return  log(x) * M_LOG2E;
+//}
 
 
 using namespace mrpt;