From 738ce8df7d7092036b852d265e48247da235f871 Mon Sep 17 00:00:00 2001
From: MarianoJT88 <mjaimezt_mjt@hotmail.com>
Date: Fri, 16 Jan 2015 10:12:35 +0100
Subject: [PATCH] Working on compatibility Windows - Linux

---
 CMakeLists.txt                    | 19 ++++++++++++-------
 main_scene_flow_impair.cpp        |  3 +--
 main_scene_flow_visualization.cpp |  7 ++++---
 scene_flow_impair.h               | 21 +++++++++++++--------
 scene_flow_visualization.h        | 12 ++++++++----
 5 files changed, 38 insertions(+), 24 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f2d0206..b681018 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,7 +11,7 @@ set(CUDA_NVCC_FLAGS "-arch=sm_20")
 
 #Build scene flow CUDA lib
 CUDA_ADD_LIBRARY(pdflow_cudalib pdflow_cudalib.h pdflow_cudalib.cu)
-#message( ${CUDA_LIBRARIES} )
+
 
 SET(DEFAULT_BUILD_EVALUATOR ON)
 SET(BUILD_EVALUATOR ${DEFAULT_BUILD_EVALUATOR} CACHE BOOL "Build the scene flow evaluator for a RGB-D frame pair that uses OpenCV")
@@ -32,17 +32,22 @@ IF (BUILD_EVALUATOR)
 ENDIF (BUILD_EVALUATOR)
 
 SET(DEFAULT_BUILD_RT_VISUALIZATION ON)
-SET(BUILD_RT_VISUALIZATION ${DEFAULT_BUILD_RT_VISUALIZATION} CACHE BOOL "Build the scene flow estimator with real-time visualization that uses MRPT and OpenNI2")
+SET(BUILD_RT_VISUALIZATION ${DEFAULT_BUILD_RT_VISUALIZATION} CACHE BOOL "Build the scene flow estimator with real-time visualization that requires MRPT and OpenNI2")
 
 IF (BUILD_RT_VISUALIZATION)
 	FIND_PACKAGE(MRPT REQUIRED base gui opengl)
 
-	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")
+	IF (WIN32)
+		INCLUDE_DIRECTORIES($ENV{OPENNI2_INCLUDE})
+		LINK_DIRECTORIES($ENV{OPENNI2_LIB})
+		SET(OpenNI_lib "$ENV{OPENNI2_LIB}/OpenNI2.lib")
+	ENDIF (WIN32)
+	
+	IF (UNIX)
+		SET(OpenNI_lib "/usr/lib/libOpenNI2.so")
+	ENDIF (UNIX)
 
-	#message( "jajaj y esto vale ${OPENNI2_INCLUDE}" )
+	message( "esto vale ${OpenNI_lib}" )
 
 	ADD_EXECUTABLE(Scene-Flow-Visualization  
 		main_scene_flow_visualization.cpp
diff --git a/main_scene_flow_impair.cpp b/main_scene_flow_impair.cpp
index e0b0c82..ef73623 100644
--- a/main_scene_flow_impair.cpp
+++ b/main_scene_flow_impair.cpp
@@ -54,8 +54,7 @@ int main(int num_arg, char *argv[])
 	else
 	{
 		if ( string(argv[1]) == "--rows")
-            //Windows -> rows = stof(string(argv[2]));
-            rows = strtof(argv[2], NULL);
+            rows = stoi(argv[2], NULL);
 	}
 
 	//==============================================================================
diff --git a/main_scene_flow_visualization.cpp b/main_scene_flow_visualization.cpp
index 907bf0b..be1fab7 100644
--- a/main_scene_flow_visualization.cpp
+++ b/main_scene_flow_visualization.cpp
@@ -58,13 +58,14 @@ int main(int num_arg, char *argv[])
 		for (int i=1; i<num_arg; i++)
 		{
 			if ( string(argv[i]) == "--cam_mode")
-                cam_mode = strtof(argv[i+1], NULL);
+                cam_mode = stoi(argv[i+1], NULL);
 
 			if ( string(argv[i]) == "--fps")
-                fps = strtof(argv[i+1], NULL);
+				fps = stoi(argv[i+1], NULL);
+                //fps = strtof(argv[i+1], NULL);
 
 			if ( string(argv[i]) == "--rows")
-                rows = strtof(argv[i+1], NULL);
+                rows = stoi(argv[i+1], NULL);
 		}
 	}
 
diff --git a/scene_flow_impair.h b/scene_flow_impair.h
index f42b7f1..3468151 100644
--- a/scene_flow_impair.h
+++ b/scene_flow_impair.h
@@ -21,21 +21,26 @@
 **																			**
 *****************************************************************************/
 
-//Windows -> #include <opencv2/core.hpp>
+#if BUILD_PLATFORM == WINDOWS_BUILD
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#elif BUILD_PLATFORM == LINUX_BUILD
 #include <opencv2/core/core.hpp>
-//Windows -> #include <opencv2/highgui.hpp>
 #include <opencv2/highgui/highgui.hpp>
+#endif
+
 #include "pdflow_cudalib.h"
 #include "legend_pdflow.xpm"
 #include <ostream>
 
-//Windows -> #define M_PI 3.14159265f
-//Windows -> #define M_LOG2E 1.44269504088896340736f //log2(e)
 
-//Windows
-//inline float log2(const float x){
-//    return  log(x) * M_LOG2E;
-//}
+#if BUILD_PLATFORM == WINDOWS_BUILD
+
+#define M_PI 3.14159265f
+#define M_LOG2E 1.44269504088896340736f //log2(e)
+inline float log2(const float x){ return  log(x) * M_LOG2E; }
+
+#endif
 
 
 class PD_flow_opencv {
diff --git a/scene_flow_visualization.h b/scene_flow_visualization.h
index fc5de32..2783e43 100644
--- a/scene_flow_visualization.h
+++ b/scene_flow_visualization.h
@@ -25,17 +25,21 @@
 #include <mrpt/system.h>
 #include <mrpt/gui/CDisplayWindow3D.h>
 #include <mrpt/opengl.h>
-//Windows #include <OpenNI.h>
+#if BUILD_PLATFORM == WINDOWS_BUILD
+#include <OpenNI.h>
+#elif BUILD_PLATFORM == LINUX_BUILD
 #include <openni2/OpenNI.h>
+#endif
 #include <Eigen/src/Core/Matrix.h>
 #include "pdflow_cudalib.h"
 #include "legend_pdflow.xpm"
 
+#if BUILD_PLATFORM == WINDOWS_BUILD
+
 //#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;
-//}
+#endif
 
 
 using namespace mrpt;