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lamiastella

git diff 17e24f8f66eda0b831ed2296482c7a4d42a8a0ba 7b860664

lamiastella
Jun 8th, 2017
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  1. diff --git a/.gitignore b/.gitignore
  2. index 7290fd5..9f7d59e 100644
  3. --- a/.gitignore
  4. +++ b/.gitignore
  5. @@ -1,287 +1,287 @@
  6. -## Ignore Visual Studio temporary files, build results, and
  7. -## files generated by popular Visual Studio add-ons.
  8. -##
  9. -## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore
  10. -
  11. -# User-specific files
  12. -*.suo
  13. -*.user
  14. -*.userosscache
  15. -*.sln.docstates
  16. -
  17. -# User-specific files (MonoDevelop/Xamarin Studio)
  18. -*.userprefs
  19. -
  20. -# Build results
  21. -[Dd]ebug/
  22. -[Dd]ebugPublic/
  23. -[Rr]elease/
  24. -[Rr]eleases/
  25. -x64/
  26. -x86/
  27. -bld/
  28. -[Bb]in/
  29. -[Oo]bj/
  30. -[Ll]og/
  31. -
  32. -# Visual Studio 2015 cache/options directory
  33. -.vs/
  34. -# Uncomment if you have tasks that create the project's static files in wwwroot
  35. -#wwwroot/
  36. -
  37. -# MSTest test Results
  38. -[Tt]est[Rr]esult*/
  39. -[Bb]uild[Ll]og.*
  40. -
  41. -# NUNIT
  42. -*.VisualState.xml
  43. -TestResult.xml
  44. -
  45. -# Build Results of an ATL Project
  46. -[Dd]ebugPS/
  47. -[Rr]eleasePS/
  48. -dlldata.c
  49. -
  50. -# .NET Core
  51. -project.lock.json
  52. -project.fragment.lock.json
  53. -artifacts/
  54. -**/Properties/launchSettings.json
  55. -
  56. -*_i.c
  57. -*_p.c
  58. -*_i.h
  59. -*.ilk
  60. -*.meta
  61. -*.obj
  62. -*.pch
  63. -*.pdb
  64. -*.pgc
  65. -*.pgd
  66. -*.rsp
  67. -*.sbr
  68. -*.tlb
  69. -*.tli
  70. -*.tlh
  71. -*.tmp
  72. -*.tmp_proj
  73. -*.log
  74. -*.vspscc
  75. -*.vssscc
  76. -.builds
  77. -*.pidb
  78. -*.svclog
  79. -*.scc
  80. -
  81. -# Chutzpah Test files
  82. -_Chutzpah*
  83. -
  84. -# Visual C++ cache files
  85. -ipch/
  86. -*.aps
  87. -*.ncb
  88. -*.opendb
  89. -*.opensdf
  90. -*.sdf
  91. -*.cachefile
  92. -*.VC.db
  93. -*.VC.VC.opendb
  94. -
  95. -# Visual Studio profiler
  96. -*.psess
  97. -*.vsp
  98. -*.vspx
  99. -*.sap
  100. -
  101. -# TFS 2012 Local Workspace
  102. -$tf/
  103. -
  104. -# Guidance Automation Toolkit
  105. -*.gpState
  106. -
  107. -# ReSharper is a .NET coding add-in
  108. -_ReSharper*/
  109. -*.[Rr]e[Ss]harper
  110. -*.DotSettings.user
  111. -
  112. -# JustCode is a .NET coding add-in
  113. -.JustCode
  114. -
  115. -# TeamCity is a build add-in
  116. -_TeamCity*
  117. -
  118. -# DotCover is a Code Coverage Tool
  119. -*.dotCover
  120. -
  121. -# Visual Studio code coverage results
  122. -*.coverage
  123. -*.coveragexml
  124. -
  125. -# NCrunch
  126. -_NCrunch_*
  127. -.*crunch*.local.xml
  128. -nCrunchTemp_*
  129. -
  130. -# MightyMoose
  131. -*.mm.*
  132. -AutoTest.Net/
  133. -
  134. -# Web workbench (sass)
  135. -.sass-cache/
  136. -
  137. -# Installshield output folder
  138. -[Ee]xpress/
  139. -
  140. -# DocProject is a documentation generator add-in
  141. -DocProject/buildhelp/
  142. -DocProject/Help/*.HxT
  143. -DocProject/Help/*.HxC
  144. -DocProject/Help/*.hhc
  145. -DocProject/Help/*.hhk
  146. -DocProject/Help/*.hhp
  147. -DocProject/Help/Html2
  148. -DocProject/Help/html
  149. -
  150. -# Click-Once directory
  151. -publish/
  152. -
  153. -# Publish Web Output
  154. -*.[Pp]ublish.xml
  155. -*.azurePubxml
  156. -# TODO: Comment the next line if you want to checkin your web deploy settings
  157. -# but database connection strings (with potential passwords) will be unencrypted
  158. -*.pubxml
  159. -*.publishproj
  160. -
  161. -# Microsoft Azure Web App publish settings. Comment the next line if you want to
  162. -# checkin your Azure Web App publish settings, but sensitive information contained
  163. -# in these scripts will be unencrypted
  164. -PublishScripts/
  165. -
  166. -# NuGet Packages
  167. -*.nupkg
  168. -# The packages folder can be ignored because of Package Restore
  169. -**/packages/*
  170. -# except build/, which is used as an MSBuild target.
  171. -!**/packages/build/
  172. -# Uncomment if necessary however generally it will be regenerated when needed
  173. -#!**/packages/repositories.config
  174. -# NuGet v3's project.json files produces more ignorable files
  175. -*.nuget.props
  176. -*.nuget.targets
  177. -
  178. -# Microsoft Azure Build Output
  179. -csx/
  180. -*.build.csdef
  181. -
  182. -# Microsoft Azure Emulator
  183. -ecf/
  184. -rcf/
  185. -
  186. -# Windows Store app package directories and files
  187. -AppPackages/
  188. -BundleArtifacts/
  189. -Package.StoreAssociation.xml
  190. -_pkginfo.txt
  191. -
  192. -# Visual Studio cache files
  193. -# files ending in .cache can be ignored
  194. -*.[Cc]ache
  195. -# but keep track of directories ending in .cache
  196. -!*.[Cc]ache/
  197. -
  198. -# Others
  199. -ClientBin/
  200. -~$*
  201. -*~
  202. -*.dbmdl
  203. -*.dbproj.schemaview
  204. -*.jfm
  205. -*.pfx
  206. -*.publishsettings
  207. -orleans.codegen.cs
  208. -
  209. -# Since there are multiple workflows, uncomment next line to ignore bower_components
  210. -# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
  211. -#bower_components/
  212. -
  213. -# RIA/Silverlight projects
  214. -Generated_Code/
  215. -
  216. -# Backup & report files from converting an old project file
  217. -# to a newer Visual Studio version. Backup files are not needed,
  218. -# because we have git ;-)
  219. -_UpgradeReport_Files/
  220. -Backup*/
  221. -UpgradeLog*.XML
  222. -UpgradeLog*.htm
  223. -
  224. -# SQL Server files
  225. -*.mdf
  226. -*.ldf
  227. -
  228. -# Business Intelligence projects
  229. -*.rdl.data
  230. -*.bim.layout
  231. -*.bim_*.settings
  232. -
  233. -# Microsoft Fakes
  234. -FakesAssemblies/
  235. -
  236. -# GhostDoc plugin setting file
  237. -*.GhostDoc.xml
  238. -
  239. -# Node.js Tools for Visual Studio
  240. -.ntvs_analysis.dat
  241. -node_modules/
  242. -
  243. -# Typescript v1 declaration files
  244. -typings/
  245. -
  246. -# Visual Studio 6 build log
  247. -*.plg
  248. -
  249. -# Visual Studio 6 workspace options file
  250. -*.opt
  251. -
  252. -# Visual Studio 6 auto-generated workspace file (contains which files were open etc.)
  253. -*.vbw
  254. -
  255. -# Visual Studio LightSwitch build output
  256. -**/*.HTMLClient/GeneratedArtifacts
  257. -**/*.DesktopClient/GeneratedArtifacts
  258. -**/*.DesktopClient/ModelManifest.xml
  259. -**/*.Server/GeneratedArtifacts
  260. -**/*.Server/ModelManifest.xml
  261. -_Pvt_Extensions
  262. -
  263. -# Paket dependency manager
  264. -.paket/paket.exe
  265. -paket-files/
  266. -
  267. -# FAKE - F# Make
  268. -.fake/
  269. -
  270. -# JetBrains Rider
  271. -.idea/
  272. -*.sln.iml
  273. -
  274. -# CodeRush
  275. -.cr/
  276. -
  277. -# Python Tools for Visual Studio (PTVS)
  278. -__pycache__/
  279. -*.pyc
  280. -
  281. -# OpenARK Third Party Resources
  282. -*.pap
  283. -*.ppp
  284. -*.dylib
  285. -opencv_*
  286. -pmdaccess2.dll
  287. -OpenNI2.dll
  288. -main.cpp
  289. -
  290. -# Cake - Uncomment if you are using it
  291. -# tools/**
  292. -# !tools/packages.config
  293. +## Ignore Visual Studio temporary files, build results, and
  294. +## files generated by popular Visual Studio add-ons.
  295. +##
  296. +## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore
  297. +
  298. +# User-specific files
  299. +*.suo
  300. +*.user
  301. +*.userosscache
  302. +*.sln.docstates
  303. +
  304. +# User-specific files (MonoDevelop/Xamarin Studio)
  305. +*.userprefs
  306. +
  307. +# Build results
  308. +[Dd]ebug/
  309. +[Dd]ebugPublic/
  310. +[Rr]elease/
  311. +[Rr]eleases/
  312. +x64/
  313. +x86/
  314. +bld/
  315. +[Bb]in/
  316. +[Oo]bj/
  317. +[Ll]og/
  318. +
  319. +# Visual Studio 2015 cache/options directory
  320. +.vs/
  321. +# Uncomment if you have tasks that create the project's static files in wwwroot
  322. +#wwwroot/
  323. +
  324. +# MSTest test Results
  325. +[Tt]est[Rr]esult*/
  326. +[Bb]uild[Ll]og.*
  327. +
  328. +# NUNIT
  329. +*.VisualState.xml
  330. +TestResult.xml
  331. +
  332. +# Build Results of an ATL Project
  333. +[Dd]ebugPS/
  334. +[Rr]eleasePS/
  335. +dlldata.c
  336. +
  337. +# .NET Core
  338. +project.lock.json
  339. +project.fragment.lock.json
  340. +artifacts/
  341. +**/Properties/launchSettings.json
  342. +
  343. +*_i.c
  344. +*_p.c
  345. +*_i.h
  346. +*.ilk
  347. +*.meta
  348. +*.obj
  349. +*.pch
  350. +*.pdb
  351. +*.pgc
  352. +*.pgd
  353. +*.rsp
  354. +*.sbr
  355. +*.tlb
  356. +*.tli
  357. +*.tlh
  358. +*.tmp
  359. +*.tmp_proj
  360. +*.log
  361. +*.vspscc
  362. +*.vssscc
  363. +.builds
  364. +*.pidb
  365. +*.svclog
  366. +*.scc
  367. +
  368. +# Chutzpah Test files
  369. +_Chutzpah*
  370. +
  371. +# Visual C++ cache files
  372. +ipch/
  373. +*.aps
  374. +*.ncb
  375. +*.opendb
  376. +*.opensdf
  377. +*.sdf
  378. +*.cachefile
  379. +*.VC.db
  380. +*.VC.VC.opendb
  381. +
  382. +# Visual Studio profiler
  383. +*.psess
  384. +*.vsp
  385. +*.vspx
  386. +*.sap
  387. +
  388. +# TFS 2012 Local Workspace
  389. +$tf/
  390. +
  391. +# Guidance Automation Toolkit
  392. +*.gpState
  393. +
  394. +# ReSharper is a .NET coding add-in
  395. +_ReSharper*/
  396. +*.[Rr]e[Ss]harper
  397. +*.DotSettings.user
  398. +
  399. +# JustCode is a .NET coding add-in
  400. +.JustCode
  401. +
  402. +# TeamCity is a build add-in
  403. +_TeamCity*
  404. +
  405. +# DotCover is a Code Coverage Tool
  406. +*.dotCover
  407. +
  408. +# Visual Studio code coverage results
  409. +*.coverage
  410. +*.coveragexml
  411. +
  412. +# NCrunch
  413. +_NCrunch_*
  414. +.*crunch*.local.xml
  415. +nCrunchTemp_*
  416. +
  417. +# MightyMoose
  418. +*.mm.*
  419. +AutoTest.Net/
  420. +
  421. +# Web workbench (sass)
  422. +.sass-cache/
  423. +
  424. +# Installshield output folder
  425. +[Ee]xpress/
  426. +
  427. +# DocProject is a documentation generator add-in
  428. +DocProject/buildhelp/
  429. +DocProject/Help/*.HxT
  430. +DocProject/Help/*.HxC
  431. +DocProject/Help/*.hhc
  432. +DocProject/Help/*.hhk
  433. +DocProject/Help/*.hhp
  434. +DocProject/Help/Html2
  435. +DocProject/Help/html
  436. +
  437. +# Click-Once directory
  438. +publish/
  439. +
  440. +# Publish Web Output
  441. +*.[Pp]ublish.xml
  442. +*.azurePubxml
  443. +# TODO: Comment the next line if you want to checkin your web deploy settings
  444. +# but database connection strings (with potential passwords) will be unencrypted
  445. +*.pubxml
  446. +*.publishproj
  447. +
  448. +# Microsoft Azure Web App publish settings. Comment the next line if you want to
  449. +# checkin your Azure Web App publish settings, but sensitive information contained
  450. +# in these scripts will be unencrypted
  451. +PublishScripts/
  452. +
  453. +# NuGet Packages
  454. +*.nupkg
  455. +# The packages folder can be ignored because of Package Restore
  456. +**/packages/*
  457. +# except build/, which is used as an MSBuild target.
  458. +!**/packages/build/
  459. +# Uncomment if necessary however generally it will be regenerated when needed
  460. +#!**/packages/repositories.config
  461. +# NuGet v3's project.json files produces more ignorable files
  462. +*.nuget.props
  463. +*.nuget.targets
  464. +
  465. +# Microsoft Azure Build Output
  466. +csx/
  467. +*.build.csdef
  468. +
  469. +# Microsoft Azure Emulator
  470. +ecf/
  471. +rcf/
  472. +
  473. +# Windows Store app package directories and files
  474. +AppPackages/
  475. +BundleArtifacts/
  476. +Package.StoreAssociation.xml
  477. +_pkginfo.txt
  478. +
  479. +# Visual Studio cache files
  480. +# files ending in .cache can be ignored
  481. +*.[Cc]ache
  482. +# but keep track of directories ending in .cache
  483. +!*.[Cc]ache/
  484. +
  485. +# Others
  486. +ClientBin/
  487. +~$*
  488. +*~
  489. +*.dbmdl
  490. +*.dbproj.schemaview
  491. +*.jfm
  492. +*.pfx
  493. +*.publishsettings
  494. +orleans.codegen.cs
  495. +
  496. +# Since there are multiple workflows, uncomment next line to ignore bower_components
  497. +# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
  498. +#bower_components/
  499. +
  500. +# RIA/Silverlight projects
  501. +Generated_Code/
  502. +
  503. +# Backup & report files from converting an old project file
  504. +# to a newer Visual Studio version. Backup files are not needed,
  505. +# because we have git ;-)
  506. +_UpgradeReport_Files/
  507. +Backup*/
  508. +UpgradeLog*.XML
  509. +UpgradeLog*.htm
  510. +
  511. +# SQL Server files
  512. +*.mdf
  513. +*.ldf
  514. +
  515. +# Business Intelligence projects
  516. +*.rdl.data
  517. +*.bim.layout
  518. +*.bim_*.settings
  519. +
  520. +# Microsoft Fakes
  521. +FakesAssemblies/
  522. +
  523. +# GhostDoc plugin setting file
  524. +*.GhostDoc.xml
  525. +
  526. +# Node.js Tools for Visual Studio
  527. +.ntvs_analysis.dat
  528. +node_modules/
  529. +
  530. +# Typescript v1 declaration files
  531. +typings/
  532. +
  533. +# Visual Studio 6 build log
  534. +*.plg
  535. +
  536. +# Visual Studio 6 workspace options file
  537. +*.opt
  538. +
  539. +# Visual Studio 6 auto-generated workspace file (contains which files were open etc.)
  540. +*.vbw
  541. +
  542. +# Visual Studio LightSwitch build output
  543. +**/*.HTMLClient/GeneratedArtifacts
  544. +**/*.DesktopClient/GeneratedArtifacts
  545. +**/*.DesktopClient/ModelManifest.xml
  546. +**/*.Server/GeneratedArtifacts
  547. +**/*.Server/ModelManifest.xml
  548. +_Pvt_Extensions
  549. +
  550. +# Paket dependency manager
  551. +.paket/paket.exe
  552. +paket-files/
  553. +
  554. +# FAKE - F# Make
  555. +.fake/
  556. +
  557. +# JetBrains Rider
  558. +.idea/
  559. +*.sln.iml
  560. +
  561. +# CodeRush
  562. +.cr/
  563. +
  564. +# Python Tools for Visual Studio (PTVS)
  565. +__pycache__/
  566. +*.pyc
  567. +
  568. +# OpenARK Third Party Resources
  569. +*.pap
  570. +*.ppp
  571. +*.dylib
  572. +opencv_*
  573. +pmdaccess2.dll
  574. +OpenNI2.dll
  575. +main.cpp
  576. +
  577. +# Cake - Uncomment if you are using it
  578. +# tools/**
  579. +# !tools/packages.config
  580. diff --git a/CMakeLists.txt b/CMakeLists.txt
  581. index 14427d1..e6cd58d 100644
  582. --- a/CMakeLists.txt
  583. +++ b/CMakeLists.txt
  584. @@ -1,6 +1,6 @@
  585. -cmake_minimum_required(VERSION 2.8)
  586. -project( OpenARK )
  587. -find_package( OpenCV REQUIRED )
  588. -set(SOURCES Clustering.cpp PMDSensor.cpp Sensor.cpp Webcam.cpp DepthSensor.cpp RGBSensor.cpp Visualizer.cpp main.cpp)
  589. -add_executable( OpenARK ${SOURCES} )
  590. +cmake_minimum_required(VERSION 2.8)
  591. +project( OpenARK )
  592. +find_package( OpenCV REQUIRED )
  593. +set(SOURCES Clustering.cpp PMDSensor.cpp Sensor.cpp Webcam.cpp DepthSensor.cpp RGBSensor.cpp Visualizer.cpp main.cpp)
  594. +add_executable( OpenARK ${SOURCES} )
  595. target_link_libraries( OpenARK ${OpenCV_LIBS} )
  596. \ No newline at end of file
  597. diff --git a/Calibration.cpp b/Calibration.cpp
  598. index 5747d01..0fdd729 100644
  599. --- a/Calibration.cpp
  600. +++ b/Calibration.cpp
  601. @@ -1,206 +1,206 @@
  602. -#include "Calibration.h"
  603. -
  604. -
  605. -void Calibration::XYZToUnity(DepthCamera& depth_cam, int num_boards, int board_w, int board_h)
  606. -{
  607. - cv::Size board_sz = cv::Size(board_w, board_h);
  608. - int board_n = board_w * board_h;
  609. - std::vector<cv::Point2f> cornersAmp; // Corners of amplitude image
  610. - std::vector<cv::Point3f> cornersXYZ; // Corners of the depth image
  611. - std::vector<std::vector<cv::Point3f>> XYZ_points;
  612. -
  613. - // Prepare the Unity side data
  614. - std::vector<std::vector<cv::Point3f>> Unity_points;
  615. - std::vector<cv::Point3f> upper_left;
  616. - upper_left.push_back(cv::Point3f(-0.05, 0.03, 0.40));
  617. - upper_left.push_back(cv::Point3f(0.05, 0.03, 0.40));
  618. - upper_left.push_back(cv::Point3f(0.0, 0.08, 0.35));
  619. - upper_left.push_back(cv::Point3f(0.0, -0.02, 0.35));
  620. - Unity_points = prepareUnityData(upper_left, 0.03, board_h, board_w);
  621. -
  622. - int success = 0;
  623. -
  624. - // Collect data for calibration
  625. - while (success < num_boards)
  626. - {
  627. - cornersAmp.clear();
  628. - cornersXYZ.clear();
  629. - bool found1 = false;
  630. - depth_cam.update();
  631. - depth_cam.removeNoise();
  632. - cv::Mat xyzMap = depth_cam.getXYZMap();
  633. -
  634. - cv::Mat ampGray;
  635. - cv::normalize(depth_cam.getAmpMap(), ampGray, 0, 255, cv::NORM_MINMAX, CV_8UC1);
  636. - cv::equalizeHist(ampGray, ampGray);
  637. - cv::resize(ampGray, ampGray, cv::Size(ampGray.cols * 4, ampGray.rows * 4));
  638. -
  639. - // Sharpen amplitude image
  640. - cv::Mat unsharp_mask;
  641. - cv::GaussianBlur(ampGray, unsharp_mask, cv::Size(5, 5), 5);
  642. - cv::addWeighted(ampGray, 1.5, unsharp_mask, -0.5, 0, ampGray);
  643. - cv::imshow("Gray Amp", ampGray);
  644. -
  645. - // Find chessboards on amplitude
  646. - found1 = findChessboardCorners(ampGray, board_sz, cornersAmp, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
  647. -
  648. -
  649. - if (found1) {
  650. - cornerSubPix(ampGray, cornersAmp, cv::Size(11, 11), cv::Size(-1, -1), cv::TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
  651. - cv::Mat ampRGB = ampGray.clone();
  652. - cv::cvtColor(ampRGB, ampRGB, CV_GRAY2BGR);
  653. - drawChessboardCorners(ampRGB, board_sz, cornersAmp, found1);
  654. - cv::imshow("Gray Corners", ampRGB);
  655. -
  656. - for (int i = 0; i < cornersAmp.size(); i++) {
  657. - cornersAmp[i].x = cornersAmp[i].x / 4;
  658. - cornersAmp[i].y = cornersAmp[i].y / 4;
  659. - }
  660. -
  661. - for (int i = 0; i < cornersAmp.size(); i++) {
  662. - cv::Vec3f xyz = Util::averageAroundPoint(xyzMap, cv::Point2i(cornersAmp[i].x, cornersAmp[i].y), 5);
  663. - cv::Point3f pt;
  664. - pt.x = xyz[0]; pt.y = xyz[1], pt.z = xyz[2];
  665. - if (pt.z == 0) {
  666. - continue;
  667. - }
  668. - cornersXYZ.push_back(pt);
  669. - }
  670. -
  671. - int c = cvWaitKey(1);
  672. - if (c == ' ') {
  673. - success++;
  674. - XYZ_points.push_back(cornersXYZ);
  675. - printf("%d points recorded!\n", cornersXYZ.size());
  676. - }
  677. - }
  678. -
  679. -
  680. - int c = cvWaitKey(1);
  681. - if (c == 'q' || c == 'Q' || c == 27) {
  682. - break;
  683. - }
  684. - }
  685. -
  686. - /**** Perform calculations ****/
  687. - Calibration::writeDataToFile(Unity_points, 4, 3, "Unity.txt");
  688. - Calibration::writeDataToFile(XYZ_points, 4, 3, "XYZ.txt");
  689. - float x_input[3][48];
  690. - float y_input[3][48];
  691. - int count = 0;
  692. - for (int i = 0; i < XYZ_points.size(); i++) {
  693. - for (int v = 0; v < XYZ_points[i].size(); v++) {
  694. - x_input[0][count] = XYZ_points[i][v].x;
  695. - x_input[1][count] = XYZ_points[i][v].y;
  696. - x_input[2][count] = XYZ_points[i][v].z;
  697. -
  698. - y_input[0][count] = Unity_points[i][v].x;
  699. - y_input[1][count] = Unity_points[i][v].y;
  700. - y_input[2][count] = Unity_points[i][v].z;
  701. -
  702. - count++;
  703. - }
  704. - }
  705. -
  706. - cv::Mat x = cv::Mat(3, 48, CV_32FC1, &x_input); //XYZ
  707. - cv::Mat y = cv::Mat(3, 48, CV_32FC1, &y_input); //Unity
  708. - cv::Mat r, t;
  709. - computeRT(x, y, &r, &t);
  710. -
  711. - cv::FileStorage fs("RT_Transform.txt", cv::FileStorage::WRITE);
  712. -
  713. - fs << "R" << r;
  714. - fs << "T" << t;
  715. -
  716. - fs.release();
  717. -}
  718. -void Calibration::computeRT(cv::Mat x, cv::Mat y, cv::Mat *R, cv::Mat *t) {
  719. -
  720. - cv::Mat x_mean, y_mean, H;
  721. - cv::reduce(x, x_mean, 1, CV_REDUCE_AVG);
  722. - cv::reduce(y, y_mean, 1, CV_REDUCE_AVG);
  723. - for (int i = 0; i < x.cols; i++) {
  724. - H = H + (x.col(i) - x_mean) * ((y.col(i) - y_mean).t());
  725. - }
  726. - cv::Mat u, s, v;
  727. - cv::SVD::compute(H, s, u, v);
  728. - u = -1 * u;
  729. - v = -1 * v.t();
  730. - *R = v * u.t();
  731. - if (cv::determinant(*R) > 0) {
  732. - v.col(2) = -1 * v.col(2);
  733. - *R = v * u.t();
  734. - }
  735. - *t = -1 * *R * x_mean + y_mean;
  736. -}
  737. -
  738. -void Calibration::XYZToRGB(DepthCamera* depth_cam, RGBCamera* rgb_cam, int num_boards, int board_w, int board_h)
  739. -{
  740. - return;
  741. -}
  742. -
  743. -double Calibration::reprojectXYZToUnity(std::vector<std::vector<cv::Point3f>> XYZ_points, std::vector<std::vector<cv::Point3f>> Unity_points, Eigen::MatrixXf R, Eigen::MatrixXf T)
  744. -{
  745. - // Return error value if there is a size mismatch
  746. - if (XYZ_points.size() != Unity_points.size())
  747. - {
  748. - return -1.00;
  749. - }
  750. -
  751. - double error = 0;
  752. - for (int i = 0; i < XYZ_points.size(); i++) {
  753. - for (int v = 0; v < XYZ_points[i].size(); v++) {
  754. - Eigen::MatrixXf pt_xyz(3, 1);
  755. - Eigen::MatrixXf pt_unity(3, 1);
  756. - pt_xyz(0, 0) = XYZ_points[i][v].x;
  757. - pt_xyz(1, 0) = XYZ_points[i][v].y;
  758. - pt_xyz(2, 0) = XYZ_points[i][v].z;
  759. - pt_unity(0, 0) = Unity_points[i][v].x;
  760. - pt_unity(1, 0) = Unity_points[i][v].y;
  761. - pt_unity(2, 0) = Unity_points[i][v].z;
  762. -
  763. - Eigen::MatrixXf result = R * T * pt_xyz;
  764. - error += abs((result - pt_unity).norm());
  765. - }
  766. - }
  767. -
  768. - return error;
  769. -}
  770. -
  771. -double Calibration::reprojectXYZtoRGB()
  772. -{
  773. - return false;
  774. -}
  775. -
  776. -std::vector<std::vector<cv::Point3f>> Calibration::prepareUnityData(std::vector<cv::Point3f> upper_left, float distance, int num_rows, int num_cols)
  777. -{
  778. - std::vector<std::vector<cv::Point3f>> Unity_points;
  779. -
  780. - for (int i = 0; i < upper_left.size(); i++) {
  781. - std::vector<cv::Point3f> points;
  782. - for (int y = 0; y < num_rows; y++) {
  783. - for (int x = 0; x < num_cols; x++) {
  784. - points.push_back(cv::Point3f(upper_left[i].x + x * distance, upper_left[i].y - y * distance, upper_left[i].z));
  785. - }
  786. - }
  787. - Unity_points.push_back(points);
  788. - }
  789. -
  790. - return Unity_points;
  791. -}
  792. -
  793. -void Calibration::writeDataToFile(std::vector<std::vector<cv::Point3f>> points, int board_w, int board_h, std::string filename)
  794. -{
  795. - ofstream output_file;
  796. - output_file.open(filename);
  797. - for (int i = 0; i < points.size(); i++) {
  798. - for (int v = 0; v < points[i].size(); v++) {
  799. - if (v%board_w == 0) {
  800. - output_file << "\n";
  801. - }
  802. - output_file << "(" << points[i][v].x << ", " << points[i][v].y << ", " << points[i][v].z << ") ";
  803. - }
  804. - output_file << "\n\n";
  805. - }
  806. - output_file.close();
  807. +#include "Calibration.h"
  808. +
  809. +
  810. +void Calibration::XYZToUnity(DepthCamera& depth_cam, int num_boards, int board_w, int board_h)
  811. +{
  812. + cv::Size board_sz = cv::Size(board_w, board_h);
  813. + int board_n = board_w * board_h;
  814. + std::vector<cv::Point2f> cornersAmp; // Corners of amplitude image
  815. + std::vector<cv::Point3f> cornersXYZ; // Corners of the depth image
  816. + std::vector<std::vector<cv::Point3f>> XYZ_points;
  817. +
  818. + // Prepare the Unity side data
  819. + std::vector<std::vector<cv::Point3f>> Unity_points;
  820. + std::vector<cv::Point3f> upper_left;
  821. + upper_left.push_back(cv::Point3f(-0.05, 0.03, 0.40));
  822. + upper_left.push_back(cv::Point3f(0.05, 0.03, 0.40));
  823. + upper_left.push_back(cv::Point3f(0.0, 0.08, 0.35));
  824. + upper_left.push_back(cv::Point3f(0.0, -0.02, 0.35));
  825. + Unity_points = prepareUnityData(upper_left, 0.03, board_h, board_w);
  826. +
  827. + int success = 0;
  828. +
  829. + // Collect data for calibration
  830. + while (success < num_boards)
  831. + {
  832. + cornersAmp.clear();
  833. + cornersXYZ.clear();
  834. + bool found1 = false;
  835. + depth_cam.update();
  836. + depth_cam.removeNoise();
  837. + cv::Mat xyzMap = depth_cam.getXYZMap();
  838. +
  839. + cv::Mat ampGray;
  840. + cv::normalize(depth_cam.getAmpMap(), ampGray, 0, 255, cv::NORM_MINMAX, CV_8UC1);
  841. + cv::equalizeHist(ampGray, ampGray);
  842. + cv::resize(ampGray, ampGray, cv::Size(ampGray.cols * 4, ampGray.rows * 4));
  843. +
  844. + // Sharpen amplitude image
  845. + cv::Mat unsharp_mask;
  846. + cv::GaussianBlur(ampGray, unsharp_mask, cv::Size(5, 5), 5);
  847. + cv::addWeighted(ampGray, 1.5, unsharp_mask, -0.5, 0, ampGray);
  848. + cv::imshow("Gray Amp", ampGray);
  849. +
  850. + // Find chessboards on amplitude
  851. + found1 = findChessboardCorners(ampGray, board_sz, cornersAmp, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
  852. +
  853. +
  854. + if (found1) {
  855. + cornerSubPix(ampGray, cornersAmp, cv::Size(11, 11), cv::Size(-1, -1), cv::TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
  856. + cv::Mat ampRGB = ampGray.clone();
  857. + cv::cvtColor(ampRGB, ampRGB, CV_GRAY2BGR);
  858. + drawChessboardCorners(ampRGB, board_sz, cornersAmp, found1);
  859. + cv::imshow("Gray Corners", ampRGB);
  860. +
  861. + for (int i = 0; i < cornersAmp.size(); i++) {
  862. + cornersAmp[i].x = cornersAmp[i].x / 4;
  863. + cornersAmp[i].y = cornersAmp[i].y / 4;
  864. + }
  865. +
  866. + for (int i = 0; i < cornersAmp.size(); i++) {
  867. + cv::Vec3f xyz = Util::averageAroundPoint(xyzMap, cv::Point2i(cornersAmp[i].x, cornersAmp[i].y), 5);
  868. + cv::Point3f pt;
  869. + pt.x = xyz[0]; pt.y = xyz[1], pt.z = xyz[2];
  870. + if (pt.z == 0) {
  871. + continue;
  872. + }
  873. + cornersXYZ.push_back(pt);
  874. + }
  875. +
  876. + int c = cvWaitKey(1);
  877. + if (c == ' ') {
  878. + success++;
  879. + XYZ_points.push_back(cornersXYZ);
  880. + printf("%d points recorded!\n", cornersXYZ.size());
  881. + }
  882. + }
  883. +
  884. +
  885. + int c = cvWaitKey(1);
  886. + if (c == 'q' || c == 'Q' || c == 27) {
  887. + break;
  888. + }
  889. + }
  890. +
  891. + /**** Perform calculations ****/
  892. + Calibration::writeDataToFile(Unity_points, 4, 3, "Unity.txt");
  893. + Calibration::writeDataToFile(XYZ_points, 4, 3, "XYZ.txt");
  894. + float x_input[3][48];
  895. + float y_input[3][48];
  896. + int count = 0;
  897. + for (int i = 0; i < XYZ_points.size(); i++) {
  898. + for (int v = 0; v < XYZ_points[i].size(); v++) {
  899. + x_input[0][count] = XYZ_points[i][v].x;
  900. + x_input[1][count] = XYZ_points[i][v].y;
  901. + x_input[2][count] = XYZ_points[i][v].z;
  902. +
  903. + y_input[0][count] = Unity_points[i][v].x;
  904. + y_input[1][count] = Unity_points[i][v].y;
  905. + y_input[2][count] = Unity_points[i][v].z;
  906. +
  907. + count++;
  908. + }
  909. + }
  910. +
  911. + cv::Mat x = cv::Mat(3, 48, CV_32FC1, &x_input); //XYZ
  912. + cv::Mat y = cv::Mat(3, 48, CV_32FC1, &y_input); //Unity
  913. + cv::Mat r, t;
  914. + computeRT(x, y, &r, &t);
  915. +
  916. + cv::FileStorage fs("RT_Transform.txt", cv::FileStorage::WRITE);
  917. +
  918. + fs << "R" << r;
  919. + fs << "T" << t;
  920. +
  921. + fs.release();
  922. +}
  923. +void Calibration::computeRT(cv::Mat x, cv::Mat y, cv::Mat *R, cv::Mat *t) {
  924. +
  925. + cv::Mat x_mean, y_mean, H;
  926. + cv::reduce(x, x_mean, 1, CV_REDUCE_AVG);
  927. + cv::reduce(y, y_mean, 1, CV_REDUCE_AVG);
  928. + for (int i = 0; i < x.cols; i++) {
  929. + H = H + (x.col(i) - x_mean) * ((y.col(i) - y_mean).t());
  930. + }
  931. + cv::Mat u, s, v;
  932. + cv::SVD::compute(H, s, u, v);
  933. + u = -1 * u;
  934. + v = -1 * v.t();
  935. + *R = v * u.t();
  936. + if (cv::determinant(*R) > 0) {
  937. + v.col(2) = -1 * v.col(2);
  938. + *R = v * u.t();
  939. + }
  940. + *t = -1 * *R * x_mean + y_mean;
  941. +}
  942. +
  943. +void Calibration::XYZToRGB(DepthCamera* depth_cam, RGBCamera* rgb_cam, int num_boards, int board_w, int board_h)
  944. +{
  945. + return;
  946. +}
  947. +
  948. +double Calibration::reprojectXYZToUnity(std::vector<std::vector<cv::Point3f>> XYZ_points, std::vector<std::vector<cv::Point3f>> Unity_points, Eigen::MatrixXf R, Eigen::MatrixXf T)
  949. +{
  950. + // Return error value if there is a size mismatch
  951. + if (XYZ_points.size() != Unity_points.size())
  952. + {
  953. + return -1.00;
  954. + }
  955. +
  956. + double error = 0;
  957. + for (int i = 0; i < XYZ_points.size(); i++) {
  958. + for (int v = 0; v < XYZ_points[i].size(); v++) {
  959. + Eigen::MatrixXf pt_xyz(3, 1);
  960. + Eigen::MatrixXf pt_unity(3, 1);
  961. + pt_xyz(0, 0) = XYZ_points[i][v].x;
  962. + pt_xyz(1, 0) = XYZ_points[i][v].y;
  963. + pt_xyz(2, 0) = XYZ_points[i][v].z;
  964. + pt_unity(0, 0) = Unity_points[i][v].x;
  965. + pt_unity(1, 0) = Unity_points[i][v].y;
  966. + pt_unity(2, 0) = Unity_points[i][v].z;
  967. +
  968. + Eigen::MatrixXf result = R * T * pt_xyz;
  969. + error += abs((result - pt_unity).norm());
  970. + }
  971. + }
  972. +
  973. + return error;
  974. +}
  975. +
  976. +double Calibration::reprojectXYZtoRGB()
  977. +{
  978. + return false;
  979. +}
  980. +
  981. +std::vector<std::vector<cv::Point3f>> Calibration::prepareUnityData(std::vector<cv::Point3f> upper_left, float distance, int num_rows, int num_cols)
  982. +{
  983. + std::vector<std::vector<cv::Point3f>> Unity_points;
  984. +
  985. + for (int i = 0; i < upper_left.size(); i++) {
  986. + std::vector<cv::Point3f> points;
  987. + for (int y = 0; y < num_rows; y++) {
  988. + for (int x = 0; x < num_cols; x++) {
  989. + points.push_back(cv::Point3f(upper_left[i].x + x * distance, upper_left[i].y - y * distance, upper_left[i].z));
  990. + }
  991. + }
  992. + Unity_points.push_back(points);
  993. + }
  994. +
  995. + return Unity_points;
  996. +}
  997. +
  998. +void Calibration::writeDataToFile(std::vector<std::vector<cv::Point3f>> points, int board_w, int board_h, std::string filename)
  999. +{
  1000. + ofstream output_file;
  1001. + output_file.open(filename);
  1002. + for (int i = 0; i < points.size(); i++) {
  1003. + for (int v = 0; v < points[i].size(); v++) {
  1004. + if (v%board_w == 0) {
  1005. + output_file << "\n";
  1006. + }
  1007. + output_file << "(" << points[i][v].x << ", " << points[i][v].y << ", " << points[i][v].z << ") ";
  1008. + }
  1009. + output_file << "\n\n";
  1010. + }
  1011. + output_file.close();
  1012. }
  1013. \ No newline at end of file
  1014. diff --git a/Calibration.h b/Calibration.h
  1015. index 665de28..b6fe383 100644
  1016. --- a/Calibration.h
  1017. +++ b/Calibration.h
  1018. @@ -1,90 +1,92 @@
  1019. -#pragma once
  1020. -// C++ Libaries
  1021. -#include <fstream>
  1022. -
  1023. -// OpenCV Libraries
  1024. -#include "opencv2/calib3d/calib3d.hpp"
  1025. -#include "opencv2/highgui/highgui.hpp"
  1026. -#include <opencv2/video/tracking.hpp>
  1027. -#include "opencv2/imgproc/imgproc.hpp"
  1028. -#include <opencv2/objdetect/objdetect.hpp>
  1029. -#include <opencv2/features2d/features2d.hpp>
  1030. -
  1031. -// Eigen Libaries
  1032. -#include <Eigen/SVD>
  1033. -
  1034. -// OpenARK Libraries
  1035. -#include "Visualizer.h"
  1036. -#include "DepthCamera.h"
  1037. -#include "RGBCamera.h"
  1038. -#include "Util.h"
  1039. -
  1040. -/**
  1041. -* Class for various calibration operations.
  1042. -*/
  1043. -class Calibration
  1044. -{
  1045. -public:
  1046. - /**
  1047. - * Compute a calibration from (x,y,z) real world coordinates to (x',y',z') Unity coordinates.
  1048. - * @param depth_cam instance of a live @see DepthCamera
  1049. - * @param num_boards number of checkboard positions
  1050. - * @param board_w width of the board (number of inner intersections)
  1051. - * @param board_h height of the board (number of inner intersections)
  1052. - */
  1053. - static void XYZToUnity(DepthCamera& depth_cam, int num_boards, int board_w, int board_h);
  1054. -
  1055. - /**
  1056. - * Compute a calibration from (x,y,z) real world coordiantes to (i,j) RGB camera coordinates.
  1057. - * @param depth_cam instance of a live @see DepthCamera
  1058. - * @param rgb_cam instance of a live @see RGBCamera
  1059. - * @param num_boards number of checkboard positions
  1060. - * @param board_w width of the board (number of inner intersections)
  1061. - * @param board_h height of the board (number of inner intersections)
  1062. - */
  1063. - static void XYZToRGB(DepthCamera* depth_cam, RGBCamera* rgb_cam, int num_boards, int board_w, int board_h);
  1064. -
  1065. - /**
  1066. - * Reproject the (x,y,z) points to (x',y',z') Unity points with the RT matrix to test for error.
  1067. - * @param XYZ_points coordinates from the PMD sensor
  1068. - * @param Unity_points coordinates from the game engine
  1069. - * @param R the rotation matrix to use
  1070. - * @param T the translation matrix to use
  1071. - * @return cummulative reprojection error
  1072. - */
  1073. - static double reprojectXYZToUnity(std::vector<std::vector<cv::Point3f>> XYZ_points, std::vector<std::vector<cv::Point3f>> Unity_points, Eigen::MatrixXf R, Eigen::MatrixXf T);
  1074. -
  1075. - /**
  1076. - * Reproject the (x,y,z) points to (i,j) RGB image points with the RT matrix to test for error.
  1077. - */
  1078. - static double reprojectXYZtoRGB();
  1079. -
  1080. - /**
  1081. - * Compute full set of Unity checkboard coordinates.
  1082. - * @param upper_left the upper left corner coordinates of the chessboard
  1083. - * @param distance size of the checkerboard (meters)
  1084. - * @param num_rows number of rows (inner intersections)
  1085. - * @param num_cols number of columns (inner intersections)
  1086. - */
  1087. - static std::vector<std::vector<cv::Point3f>> prepareUnityData(std::vector<cv::Point3f> upper_left, float distance, int num_rows, int num_cols);
  1088. -
  1089. - /**
  1090. - * Write calibration data points to file
  1091. - * @param points data points to be written to file
  1092. - * @param board_w board width (used for formatting the file)
  1093. - * @param board_h board height (used for formatting the file)
  1094. - * @param filename path of the file
  1095. - */
  1096. - static void writeDataToFile(std::vector<std::vector<cv::Point3f>> points, int board_w, int board_h, std::string filename);
  1097. -
  1098. -private:
  1099. - /**
  1100. - * Compute the translation and rotation matrix from coordinate system x->y given a set of corresponding points
  1101. - * @param [in] x set of coordinates from the first coordinate system
  1102. - * @param [in] y set of corresponding coordinates from the second coordinate system
  1103. - * @param [out] R resultant rotation matrix
  1104. - * @param [out] t resultant translation matrix
  1105. - */
  1106. - static void computeRT(cv::Mat x, cv::Mat y, cv::Mat *R, cv::Mat *t);
  1107. -
  1108. +#pragma once
  1109. +// C++ Libaries
  1110. +#include <fstream>
  1111. +
  1112. +// OpenCV Libraries
  1113. +#include <opencv/cxcore.h>
  1114. +#include <opencv/highgui.h>
  1115. +#include "opencv2/calib3d/calib3d.hpp"
  1116. +#include "opencv2/highgui/highgui.hpp"
  1117. +#include <opencv2/video/tracking.hpp>
  1118. +#include "opencv2/imgproc/imgproc.hpp"
  1119. +#include <opencv2/objdetect/objdetect.hpp>
  1120. +#include <opencv2/features2d/features2d.hpp>
  1121. +
  1122. +// Eigen Libaries
  1123. +#include <Eigen/SVD>
  1124. +
  1125. +// OpenARK Libraries
  1126. +#include "Visualizer.h"
  1127. +#include "DepthCamera.h"
  1128. +#include "RGBCamera.h"
  1129. +#include "Util.h"
  1130. +
  1131. +/**
  1132. +* Class for various calibration operations.
  1133. +*/
  1134. +class Calibration
  1135. +{
  1136. +public:
  1137. + /**
  1138. + * Compute a calibration from (x,y,z) real world coordinates to (x',y',z') Unity coordinates.
  1139. + * @param depth_cam instance of a live @see DepthCamera
  1140. + * @param num_boards number of checkboard positions
  1141. + * @param board_w width of the board (number of inner intersections)
  1142. + * @param board_h height of the board (number of inner intersections)
  1143. + */
  1144. + static void XYZToUnity(DepthCamera& depth_cam, int num_boards, int board_w, int board_h);
  1145. +
  1146. + /**
  1147. + * Compute a calibration from (x,y,z) real world coordiantes to (i,j) RGB camera coordinates.
  1148. + * @param depth_cam instance of a live @see DepthCamera
  1149. + * @param rgb_cam instance of a live @see RGBCamera
  1150. + * @param num_boards number of checkboard positions
  1151. + * @param board_w width of the board (number of inner intersections)
  1152. + * @param board_h height of the board (number of inner intersections)
  1153. + */
  1154. + static void XYZToRGB(DepthCamera* depth_cam, RGBCamera* rgb_cam, int num_boards, int board_w, int board_h);
  1155. +
  1156. + /**
  1157. + * Reproject the (x,y,z) points to (x',y',z') Unity points with the RT matrix to test for error.
  1158. + * @param XYZ_points coordinates from the PMD sensor
  1159. + * @param Unity_points coordinates from the game engine
  1160. + * @param R the rotation matrix to use
  1161. + * @param T the translation matrix to use
  1162. + * @return cummulative reprojection error
  1163. + */
  1164. + static double reprojectXYZToUnity(std::vector<std::vector<cv::Point3f>> XYZ_points, std::vector<std::vector<cv::Point3f>> Unity_points, Eigen::MatrixXf R, Eigen::MatrixXf T);
  1165. +
  1166. + /**
  1167. + * Reproject the (x,y,z) points to (i,j) RGB image points with the RT matrix to test for error.
  1168. + */
  1169. + static double reprojectXYZtoRGB();
  1170. +
  1171. + /**
  1172. + * Compute full set of Unity checkboard coordinates.
  1173. + * @param upper_left the upper left corner coordinates of the chessboard
  1174. + * @param distance size of the checkerboard (meters)
  1175. + * @param num_rows number of rows (inner intersections)
  1176. + * @param num_cols number of columns (inner intersections)
  1177. + */
  1178. + static std::vector<std::vector<cv::Point3f>> prepareUnityData(std::vector<cv::Point3f> upper_left, float distance, int num_rows, int num_cols);
  1179. +
  1180. + /**
  1181. + * Write calibration data points to file
  1182. + * @param points data points to be written to file
  1183. + * @param board_w board width (used for formatting the file)
  1184. + * @param board_h board height (used for formatting the file)
  1185. + * @param filename path of the file
  1186. + */
  1187. + static void writeDataToFile(std::vector<std::vector<cv::Point3f>> points, int board_w, int board_h, std::string filename);
  1188. +
  1189. +private:
  1190. + /**
  1191. + * Compute the translation and rotation matrix from coordinate system x->y given a set of corresponding points
  1192. + * @param [in] x set of coordinates from the first coordinate system
  1193. + * @param [in] y set of corresponding coordinates from the second coordinate system
  1194. + * @param [out] R resultant rotation matrix
  1195. + * @param [out] t resultant translation matrix
  1196. + */
  1197. + static void computeRT(cv::Mat x, cv::Mat y, cv::Mat *R, cv::Mat *t);
  1198. +
  1199. };
  1200. \ No newline at end of file
  1201. diff --git a/Converter.cpp b/Converter.cpp
  1202. deleted file mode 100644
  1203. index 718a81a..0000000
  1204. --- a/Converter.cpp
  1205. +++ /dev/null
  1206. @@ -1,65 +0,0 @@
  1207. -#include "Converter.h"
  1208. -
  1209. -
  1210. -/***
  1211. -Returns the next frame if next frame is recorded
  1212. -Returns the previous frame if next frame is not recorded
  1213. -***/
  1214. -void Converter::ConvertPXCImageToOpenCVMat(Intel::RealSense::Image *inImg, Intel::RealSense::ImageData data, cv::Mat *outImg) {
  1215. -
  1216. - int cvDataType;
  1217. - int cvDataWidth;
  1218. -
  1219. - Intel::RealSense::Image::ImageInfo imgInfo = inImg->QueryInfo();
  1220. -
  1221. - switch (data.format) {
  1222. - /* STREAM_TYPE_COLOR */
  1223. - case Intel::RealSense::Image::PIXEL_FORMAT_YUY2: /* YUY2 image */
  1224. - case Intel::RealSense::Image::PIXEL_FORMAT_NV12: /* NV12 image */
  1225. - throw(0); // Not implemented
  1226. - case Intel::RealSense::Image::PIXEL_FORMAT_RGB32: /* BGRA layout on a little-endian machine */
  1227. - cvDataType = CV_8UC4;
  1228. - cvDataWidth = 4;
  1229. - break;
  1230. - case Intel::RealSense::Image::PIXEL_FORMAT_RGB24: /* BGR layout on a little-endian machine */
  1231. - cvDataType = CV_8UC3;
  1232. - cvDataWidth = 3;
  1233. - break;
  1234. - case Intel::RealSense::Image::PIXEL_FORMAT_Y8: /* 8-Bit Gray Image, or IR 8-bit */
  1235. - cvDataType = CV_8U;
  1236. - cvDataWidth = 1;
  1237. - break;
  1238. -
  1239. - /* STREAM_TYPE_DEPTH */
  1240. - case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH: /* 16-bit unsigned integer with precision mm. */
  1241. - case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */
  1242. - cvDataType = CV_16U;
  1243. - cvDataWidth = 2;
  1244. - break;
  1245. - case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */
  1246. - cvDataType = CV_32F;
  1247. - cvDataWidth = 4;
  1248. - break;
  1249. -
  1250. - /* STREAM_TYPE_IR */
  1251. - case Intel::RealSense::Image::PIXEL_FORMAT_Y16: /* 16-Bit Gray Image */
  1252. - cvDataType = CV_16U;
  1253. - cvDataWidth = 2;
  1254. - break;
  1255. - case Intel::RealSense::Image::PIXEL_FORMAT_Y8_IR_RELATIVE: /* Relative IR Image */
  1256. - cvDataType = CV_8U;
  1257. - cvDataWidth = 1;
  1258. - break;
  1259. - }
  1260. -
  1261. - // suppose that no other planes
  1262. - if (data.planes[1] != NULL) throw(0); // not implemented
  1263. - // suppose that no sub pixel padding needed
  1264. - if (data.pitches[0] % cvDataWidth != 0) throw(0); // not implemented
  1265. -
  1266. - outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);
  1267. -
  1268. - //memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth * sizeof(pxcBYTE));
  1269. - memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth * sizeof(uint8_t));
  1270. -}
  1271. -
  1272. diff --git a/Converter.h b/Converter.h
  1273. deleted file mode 100644
  1274. index 265ee26..0000000
  1275. --- a/Converter.h
  1276. +++ /dev/null
  1277. @@ -1,29 +0,0 @@
  1278. -#pragma once
  1279. -//Intel RealSense 3D SDK libraries
  1280. -#include "RealSense/SenseManager.h"
  1281. -#include "RealSense/SampleReader.h"
  1282. -#include "RealSense/Session.h"
  1283. -
  1284. -//OpenCV libraries
  1285. -#include <opencv2/opencv.hpp>
  1286. -#include "opencv2/highgui/highgui.hpp"
  1287. -#include <opencv2/video/tracking.hpp>
  1288. -#include "opencv2/imgproc/imgproc.hpp"
  1289. -#include <opencv2/objdetect/objdetect.hpp>
  1290. -#include <opencv2/features2d/features2d.hpp>
  1291. -
  1292. -/**
  1293. -* Class for converting Intel RealSense images to OpenCV image format
  1294. -*/
  1295. -class Converter
  1296. -{
  1297. -public:
  1298. -
  1299. - /**
  1300. - * Converting an Intel RealSense 3D camera image to OpenCV image format
  1301. - * @param inImg input image
  1302. - * @param data Intel RealSense image data
  1303. - * @param outImg output image in form of OpenCV image
  1304. - */
  1305. - static void Converter::ConvertPXCImageToOpenCVMat(Intel::RealSense::Image *inImg, Intel::RealSense::ImageData data, cv::Mat *outImg);
  1306. -};
  1307. \ No newline at end of file
  1308. diff --git a/DepthCamera.cpp b/DepthCamera.cpp
  1309. index 2a67e46..18577db 100644
  1310. --- a/DepthCamera.cpp
  1311. +++ b/DepthCamera.cpp
  1312. @@ -1,198 +1,188 @@
  1313. -#include "DepthCamera.h"
  1314. -
  1315. -void DepthCamera::computeClusters(double max_distance, double min_size)
  1316. -{
  1317. - clusters.clear();
  1318. - cv::Mat depthMap = cv::Mat::zeros(depthMap.rows, depthMap.cols, depthMap.type());
  1319. - cv::medianBlur(xyzMap, depthMap, 3);
  1320. - cv::Mat mask = cv::Mat::zeros(depthMap.rows, depthMap.cols, depthMap.type());
  1321. - for (int r = depthMap.rows - 1; r >= 0; r--) {
  1322. - for (int c = 0; c < depthMap.cols; c++) {
  1323. - if (depthMap.at<cv::Vec3f>(r, c)[2] > 0.2) {
  1324. - mask = cv::Mat::zeros(depthMap.rows, depthMap.cols, depthMap.type());
  1325. - floodFill(c, r, depthMap, mask, max_distance);
  1326. - cv::Mat channels[3];
  1327. - cv::split(mask, channels);
  1328. - if (cv::countNonZero(channels[2]) > min_size) {
  1329. - cv::medianBlur(mask, mask, 3);
  1330. - clusters.push_back(mask.clone());
  1331. - }
  1332. - }
  1333. - }
  1334. - }
  1335. -}
  1336. -
  1337. -/***
  1338. -Recursively performs floodfill on depthMap
  1339. -***/
  1340. -void DepthCamera::floodFill(int x, int y, cv::Mat& depthMap, cv::Mat& mask, double max_distance)
  1341. -{
  1342. - if (x < 0 || x >= depthMap.cols || y < 0 || y >= depthMap.rows || depthMap.at<cv::Vec3f>(y, x)[2] == 0.0)
  1343. - return;
  1344. - if (closeEnough(x, y, depthMap, 4, max_distance)) {
  1345. - mask.at<cv::Vec3f>(y, x) = depthMap.at<cv::Vec3f>(y, x);
  1346. - depthMap.at<cv::Vec3f>(y, x)[0] = 0;
  1347. - depthMap.at<cv::Vec3f>(y, x)[1] = 0;
  1348. - depthMap.at<cv::Vec3f>(y, x)[2] = 0;
  1349. - }
  1350. - else {
  1351. - return;
  1352. - }
  1353. -
  1354. - floodFill(x + 1, y, depthMap, mask, max_distance);
  1355. - floodFill(x - 1, y, depthMap, mask, max_distance);
  1356. - floodFill(x, y + 1, depthMap, mask, max_distance);
  1357. - floodFill(x, y - 1, depthMap, mask, max_distance);
  1358. -}
  1359. -
  1360. -/***
  1361. -Check whether candidate point is close enough to neighboring points
  1362. -***/
  1363. -bool DepthCamera::closeEnough(int x, int y, cv::Mat& depthMap, int num_neighbors, double max_distance)
  1364. -{
  1365. - int num_close = 0;
  1366. - if (x - 1 < 0 || depthMap.at<cv::Vec3f>(y, x - 1)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y, x - 1)) < max_distance) {
  1367. - num_close++;
  1368. - }
  1369. - if (x + 1 >= depthMap.cols || depthMap.at<cv::Vec3f>(y, x + 1)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y, x + 1)) < max_distance) {
  1370. - num_close++;
  1371. - }
  1372. - if (y - 1 < 0 || depthMap.at<cv::Vec3f>(y - 1, x)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y - 1, x)) < max_distance) {
  1373. - num_close++;
  1374. - }
  1375. - if (y + 1 >= depthMap.rows || depthMap.at<cv::Vec3f>(y + 1, x)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y + 1, x)) < max_distance) {
  1376. - num_close++;
  1377. - }
  1378. -
  1379. - if (num_close >= num_neighbors) {
  1380. - return true;
  1381. - }
  1382. -
  1383. - return false;
  1384. -}
  1385. -
  1386. -/***
  1387. -Remove noise on zMap and xyzMap based on INVALID_FLAG_VALUE and CONFIDENCE_THRESHOLD
  1388. -***/
  1389. -void DepthCamera::removeNoise() {
  1390. -
  1391. - for (int y = 0; y < xyzMap.rows; y++) {
  1392. - for (int x = 0; x < xyzMap.cols; x++) {
  1393. - if (ampMap.data != NULL) {
  1394. - if (xyzMap.at<cv::Vec3f>(y, x)[2] > 0.9f || ampMap.at<float>(y, x) < CONFIDENCE_THRESHHOLD) {
  1395. - xyzMap.at<cv::Vec3f>(y, x)[0] = 0;
  1396. - xyzMap.at<cv::Vec3f>(y, x)[1] = 0;
  1397. - xyzMap.at<cv::Vec3f>(y, x)[2] = 0;
  1398. - }
  1399. - }
  1400. - else {
  1401. - if (xyzMap.at<cv::Vec3f>(y, x)[2] > 0.9f){
  1402. - xyzMap.at<cv::Vec3f>(y, x)[0] = 0;
  1403. - xyzMap.at<cv::Vec3f>(y, x)[1] = 0;
  1404. - xyzMap.at<cv::Vec3f>(y, x)[2] = 0;
  1405. - }
  1406. - }
  1407. - }
  1408. - }
  1409. -
  1410. -
  1411. - cv::Mat channels[3];
  1412. - cv::split(xyzMap, channels);
  1413. - if ((float)cv::countNonZero(channels[2]) / (xyzMap.rows*xyzMap.cols) > 0.5) {
  1414. - badInput = true;
  1415. - }
  1416. - else {
  1417. - badInput = false;
  1418. - }
  1419. -
  1420. - return;
  1421. -}
  1422. -
  1423. -void DepthCamera::removePoints(std::vector<cv::Point2i> points)
  1424. -{
  1425. - for (int i = 0; i < points.size(); i++) {
  1426. - int x = points[i].x;
  1427. - int y = points[i].y;
  1428. - xyzMap.at<cv::Vec3f>(y, x)[0] = 0;
  1429. - xyzMap.at<cv::Vec3f>(y, x)[1] = 0;
  1430. - xyzMap.at<cv::Vec3f>(y, x)[2] = 0;
  1431. - }
  1432. - return;
  1433. -}
  1434. -
  1435. -int DepthCamera::getWidth()
  1436. -{
  1437. - return X_DIMENSION;
  1438. -}
  1439. -
  1440. -int DepthCamera::getHeight()
  1441. -{
  1442. - return Y_DIMENSION;
  1443. -}
  1444. -
  1445. -cv::Mat DepthCamera::getXYZMap()
  1446. -{
  1447. - return xyzMap;
  1448. -}
  1449. -
  1450. -cv::Mat DepthCamera::getAmpMap()
  1451. -{
  1452. - return ampMap;
  1453. -}
  1454. -
  1455. -cv::Mat DepthCamera::getFlagMap()
  1456. -{
  1457. - return flagMap;
  1458. -}
  1459. -
  1460. -std::vector<cv::Mat> DepthCamera::getClusters()
  1461. -{
  1462. - return clusters;
  1463. -}
  1464. -
  1465. -void DepthCamera::initilizeImages()
  1466. -{
  1467. - cv::Size dimension = cv::Size(X_DIMENSION, Y_DIMENSION);
  1468. - ampMap = cv::Mat(dimension, CV_32FC1);
  1469. - xyzMap = cv::Mat(dimension, CV_32FC3);
  1470. - flagMap = cv::Mat(dimension, CV_8UC1);
  1471. - clusters.clear();
  1472. -
  1473. - return;
  1474. -}
  1475. -
  1476. -/***
  1477. -write a frame into file located at "destination"
  1478. -***/
  1479. -bool DepthCamera::writeImage(std::string destination) {
  1480. - cv::FileStorage fs(destination, cv::FileStorage::WRITE);
  1481. -
  1482. - fs << "xyzMap" << xyzMap;
  1483. - fs << "ampMap" << ampMap;
  1484. - fs << "flagMap" << flagMap;
  1485. -
  1486. - fs.release();
  1487. - return true;
  1488. -}
  1489. -
  1490. -/***
  1491. -Reads a frame from file located at "source"
  1492. -***/
  1493. -bool DepthCamera::readImage(std::string source) {
  1494. - cv::FileStorage fs;
  1495. - fs.open(source, cv::FileStorage::READ);
  1496. -
  1497. - initilizeImages();
  1498. - fs["xyzMap"] >> xyzMap;
  1499. - fs["ampMap"] >> ampMap;
  1500. - fs["flagMap"] >> flagMap;
  1501. -
  1502. - fs.release();
  1503. -
  1504. - if (xyzMap.rows == 0 || ampMap.rows == 0 || flagMap.rows == 0) {
  1505. - return false;
  1506. - }
  1507. - else {
  1508. - return true;
  1509. - }
  1510. +#include "DepthCamera.h"
  1511. +
  1512. +void DepthCamera::computeClusters(double max_distance, double min_size)
  1513. +{
  1514. + clusters.clear();
  1515. + cv::Mat depthMap = cv::Mat::zeros(depthMap.rows, depthMap.cols, depthMap.type());
  1516. + cv::medianBlur(xyzMap, depthMap, 3);
  1517. + cv::Mat mask = cv::Mat::zeros(depthMap.rows, depthMap.cols, depthMap.type());
  1518. + for (int r = depthMap.rows - 1; r >= 0; r--) {
  1519. + for (int c = 0; c < depthMap.cols; c++) {
  1520. + if (depthMap.at<cv::Vec3f>(r, c)[2] > 0.2) {
  1521. + mask = cv::Mat::zeros(depthMap.rows, depthMap.cols, depthMap.type());
  1522. + floodFill(c, r, depthMap, mask, max_distance);
  1523. + cv::Mat channels[3];
  1524. + cv::split(mask, channels);
  1525. + if (cv::countNonZero(channels[2]) > min_size) {
  1526. + cv::medianBlur(mask, mask, 3);
  1527. + clusters.push_back(mask.clone());
  1528. + }
  1529. + }
  1530. + }
  1531. + }
  1532. +}
  1533. +
  1534. +/***
  1535. +Recursively performs floodfill on depthMap
  1536. +***/
  1537. +void DepthCamera::floodFill(int x, int y, cv::Mat& depthMap, cv::Mat& mask, double max_distance)
  1538. +{
  1539. + if (x < 0 || x >= depthMap.cols || y < 0 || y >= depthMap.rows || depthMap.at<cv::Vec3f>(y, x)[2] == 0.0)
  1540. + return;
  1541. + if (closeEnough(x, y, depthMap, 4, max_distance)) {
  1542. + mask.at<cv::Vec3f>(y, x) = depthMap.at<cv::Vec3f>(y, x);
  1543. + depthMap.at<cv::Vec3f>(y, x)[0] = 0;
  1544. + depthMap.at<cv::Vec3f>(y, x)[1] = 0;
  1545. + depthMap.at<cv::Vec3f>(y, x)[2] = 0;
  1546. + }
  1547. + else {
  1548. + return;
  1549. + }
  1550. +
  1551. + floodFill(x + 1, y, depthMap, mask, max_distance);
  1552. + floodFill(x - 1, y, depthMap, mask, max_distance);
  1553. + floodFill(x, y + 1, depthMap, mask, max_distance);
  1554. + floodFill(x, y - 1, depthMap, mask, max_distance);
  1555. +}
  1556. +
  1557. +/***
  1558. +Check whether candidate point is close enough to neighboring points
  1559. +***/
  1560. +bool DepthCamera::closeEnough(int x, int y, cv::Mat& depthMap, int num_neighbors, double max_distance)
  1561. +{
  1562. + int num_close = 0;
  1563. + if (x - 1 < 0 || depthMap.at<cv::Vec3f>(y, x - 1)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y, x - 1)) < max_distance) {
  1564. + num_close++;
  1565. + }
  1566. + if (x + 1 >= depthMap.cols || depthMap.at<cv::Vec3f>(y, x + 1)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y, x + 1)) < max_distance) {
  1567. + num_close++;
  1568. + }
  1569. + if (y - 1 < 0 || depthMap.at<cv::Vec3f>(y - 1, x)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y - 1, x)) < max_distance) {
  1570. + num_close++;
  1571. + }
  1572. + if (y + 1 >= depthMap.rows || depthMap.at<cv::Vec3f>(y + 1, x)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y + 1, x)) < max_distance) {
  1573. + num_close++;
  1574. + }
  1575. +
  1576. + if (num_close >= num_neighbors) {
  1577. + return true;
  1578. + }
  1579. +
  1580. + return false;
  1581. +}
  1582. +
  1583. +/***
  1584. +Remove noise on zMap and xyzMap based on INVALID_FLAG_VALUE and CONFIDENCE_THRESHOLD
  1585. +***/
  1586. +void DepthCamera::removeNoise() {
  1587. +
  1588. + for (int y = 0; y < xyzMap.rows; y++) {
  1589. + for (int x = 0; x < xyzMap.cols; x++) {
  1590. + if (xyzMap.at<cv::Vec3f>(y, x)[2] > 0.9f || ampMap.at<float>(y, x) < CONFIDENCE_THRESHHOLD)
  1591. + {
  1592. + xyzMap.at<cv::Vec3f>(y, x)[0] = 0;
  1593. + xyzMap.at<cv::Vec3f>(y, x)[1] = 0;
  1594. + xyzMap.at<cv::Vec3f>(y, x)[2] = 0;
  1595. + }
  1596. + }
  1597. + }
  1598. +
  1599. + cv::Mat channels[3];
  1600. + cv::split(xyzMap, channels);
  1601. + if ((float)cv::countNonZero(channels[2]) / (xyzMap.rows*xyzMap.cols) > 0.5) {
  1602. + badInput = true;
  1603. + } else {
  1604. + badInput = false;
  1605. + }
  1606. +
  1607. + return;
  1608. +}
  1609. +
  1610. +void DepthCamera::removePoints(std::vector<cv::Point2i> points)
  1611. +{
  1612. + for (int i = 0; i < points.size();i++) {
  1613. + int x = points[i].x;
  1614. + int y = points[i].y;
  1615. + xyzMap.at<cv::Vec3f>(y, x)[0] = 0;
  1616. + xyzMap.at<cv::Vec3f>(y, x)[1] = 0;
  1617. + xyzMap.at<cv::Vec3f>(y, x)[2] = 0;
  1618. + }
  1619. + return;
  1620. +}
  1621. +
  1622. +int DepthCamera::getWidth()
  1623. +{
  1624. + return X_DIMENSION;
  1625. +}
  1626. +
  1627. +int DepthCamera::getHeight()
  1628. +{
  1629. + return Y_DIMENSION;
  1630. +}
  1631. +
  1632. +cv::Mat DepthCamera::getXYZMap()
  1633. +{
  1634. + return xyzMap;
  1635. +}
  1636. +
  1637. +cv::Mat DepthCamera::getAmpMap()
  1638. +{
  1639. + return ampMap;
  1640. +}
  1641. +
  1642. +cv::Mat DepthCamera::getFlagMap()
  1643. +{
  1644. + return flagMap;
  1645. +}
  1646. +
  1647. +std::vector<cv::Mat> DepthCamera::getClusters()
  1648. +{
  1649. + return clusters;
  1650. +}
  1651. +
  1652. +void DepthCamera::initilizeImages()
  1653. +{
  1654. + cv::Size dimension = cv::Size(X_DIMENSION, Y_DIMENSION);
  1655. + ampMap = cv::Mat(dimension, CV_32FC1);
  1656. + xyzMap = cv::Mat(dimension, CV_32FC3);
  1657. + flagMap = cv::Mat(dimension, CV_8UC1);
  1658. + clusters.clear();
  1659. +
  1660. + return;
  1661. +}
  1662. +
  1663. +/***
  1664. +write a frame into file located at "destination"
  1665. +***/
  1666. +bool DepthCamera::writeImage(std::string destination) {
  1667. + cv::FileStorage fs(destination, cv::FileStorage::WRITE);
  1668. +
  1669. + fs << "xyzMap" << xyzMap;
  1670. + fs << "ampMap" << ampMap;
  1671. + fs << "flagMap" << flagMap;
  1672. +
  1673. + fs.release();
  1674. + return true;
  1675. +}
  1676. +
  1677. +/***
  1678. +Reads a frame from file located at "source"
  1679. +***/
  1680. +bool DepthCamera::readImage(std::string source) {
  1681. + cv::FileStorage fs;
  1682. + fs.open(source, cv::FileStorage::READ);
  1683. +
  1684. + initilizeImages();
  1685. + fs["xyzMap"] >> xyzMap;
  1686. + fs["ampMap"] >> ampMap;
  1687. + fs["flagMap"] >> flagMap;
  1688. +
  1689. + fs.release();
  1690. +
  1691. + if (xyzMap.rows == 0 || ampMap.rows == 0 || flagMap.rows == 0) {
  1692. + return false;
  1693. + }
  1694. + else {
  1695. + return true;
  1696. + }
  1697. }
  1698. \ No newline at end of file
  1699. diff --git a/DepthCamera.h b/DepthCamera.h
  1700. index e199060..4672faa 100644
  1701. --- a/DepthCamera.h
  1702. +++ b/DepthCamera.h
  1703. @@ -1,173 +1,173 @@
  1704. -#pragma once
  1705. -// C++ Libraries
  1706. -#include <iostream>
  1707. -
  1708. -// OpenCV Libraries
  1709. -#include "opencv2/highgui/highgui.hpp"
  1710. -#include <opencv2/video/tracking.hpp>
  1711. -#include "opencv2/imgproc/imgproc.hpp"
  1712. -#include <opencv2/objdetect/objdetect.hpp>
  1713. -#include <opencv2/features2d/features2d.hpp>
  1714. -
  1715. -// OpenARK Libraries
  1716. -#include "Util.h"
  1717. -
  1718. -/**
  1719. - * Class defining general behavior of a depth camera.
  1720. - * Any depth camera should be able to generate a XYXMap, AmpMap (confidence), and FlagMap.
  1721. - */
  1722. -class DepthCamera
  1723. -{
  1724. -public:
  1725. - /**
  1726. - * Update the depth camera by one frame.
  1727. - * This function should be overriden with a concrete implementation depending on the specific depth camera
  1728. - */
  1729. - virtual void update() = 0;
  1730. -
  1731. - /**
  1732. - * Closes and exists the depth camera.
  1733. - * This function should be overriden with a concrete implementation depending on the specific depth camera
  1734. - */
  1735. - virtual void destroyInstance() = 0;
  1736. -
  1737. - /**
  1738. - * Performs euclidean clustering to separate discrete objects in the input point cloud.
  1739. - * @param max_distance the maximum allowed distance to be clustered
  1740. - * @param min_size the minimum number of points a valid cluster should have
  1741. - */
  1742. - void computeClusters(double max_distance, double min_size);
  1743. -
  1744. - /**
  1745. - * Reads a sample frame from file.
  1746. - * @param source the directory which the frame file is stored
  1747. - */
  1748. - bool readImage(std::string source);
  1749. -
  1750. - /**
  1751. - * Writes the current frame into file.
  1752. - * @param destination the directory which the frame should be written to
  1753. - */
  1754. - bool writeImage(std::string destination);
  1755. -
  1756. - /**
  1757. - * Removes noise from the XYZMap based on confidence provided in the AmpMap and FlagMap.
  1758. - */
  1759. - void removeNoise();
  1760. -
  1761. - /**
  1762. - * Removes all points defined by the coordinates in the points vector from the XYZMap.
  1763. - * @param [in] points the list of coordinates where data from the XYZMap should be removed
  1764. - */
  1765. - void removePoints(std::vector<cv::Point2i> points);
  1766. -
  1767. - /**
  1768. - * Return the current XYZMap.
  1769. - */
  1770. - cv::Mat getXYZMap();
  1771. -
  1772. - /**
  1773. - * Return the current AmpMap
  1774. - */
  1775. - cv::Mat getAmpMap();
  1776. -
  1777. - /**
  1778. - * Return the current FlagMap.
  1779. - */
  1780. - cv::Mat getFlagMap();
  1781. -
  1782. - /**
  1783. - * Returns the width of the frame in pixels.
  1784. - */
  1785. - int getWidth();
  1786. -
  1787. - /**
  1788. - * Returns the height of the frame in pixels.
  1789. - */
  1790. - int getHeight();
  1791. -
  1792. - /**
  1793. - * Returns all the clusters (discrete objects) in the current frame.
  1794. - * @see computeClusters
  1795. - * @return vector of matrixes with each matrix corresponding to a cluster in no particular order
  1796. - */
  1797. - std::vector<cv::Mat> getClusters();
  1798. -
  1799. - bool badInput;
  1800. -
  1801. -
  1802. -protected:
  1803. - /**
  1804. - * Initializes all variables used by the generic depth camera.
  1805. - * Sets xyzMap, ampMap, flagMap, and clusters to empty
  1806. - */
  1807. - void initilizeImages();
  1808. -
  1809. - /**
  1810. - * Performs floodfill starting from seed point (x,y).
  1811. - * @param x x-coordinate of the seed point
  1812. - * @param y y-coordinate of the seed point
  1813. - * @param [in] zMap the xyzMap point cloud
  1814. - * @param [out] mask the resulting region of the floodfill
  1815. - * @param max_distance the maximum euclidean distance allowed between neighbors
  1816. - */
  1817. - void floodFill(int x, int y, cv::Mat& zMap, cv::Mat& mask, double max_distance);
  1818. -
  1819. - /**
  1820. - * Analyze the candidate point with its neighbors to determine whether they belong to the same cluster.
  1821. - * @param x x-coordinate of the candidate point
  1822. - * @param y y-coordinate of the candidate point
  1823. - * @param [in] depthMap the xyzMap point cloud of the scene
  1824. - * @param num_neighbors the number of neighbors to consider
  1825. - * @param max_distance the maximum euclidean distance allowed between neighbors
  1826. - */
  1827. - bool closeEnough(int x, int y, cv::Mat& depthMap, int num_neighbors, double max_distance);
  1828. -
  1829. - /**
  1830. - * Stores the (x,y,z) data of every point in the observable world.
  1831. - * Matrix type CV_32FC3
  1832. - */
  1833. - cv::Mat xyzMap;
  1834. -
  1835. - /**
  1836. - * Stores the confidence value of each corresponding point in the world.
  1837. - * Matrix type CV_32FC1
  1838. - */
  1839. - cv::Mat ampMap;
  1840. -
  1841. - /**
  1842. - * Stores additional information about the points in the world.
  1843. - * Matrix type CV_8UC1
  1844. - */
  1845. - cv::Mat flagMap;
  1846. -
  1847. - /**
  1848. - * Stores the each individual cluster in its individual XYZMap.
  1849. - */
  1850. - std::vector<cv::Mat> clusters;
  1851. -
  1852. - /**
  1853. - * Value that determines the validity of a point in respect to the ampMap.
  1854. - * This value varies from sensor to sensor so it should be define when constructing child class
  1855. - */
  1856. - double CONFIDENCE_THRESHHOLD;
  1857. -
  1858. - /**
  1859. - * Value that determines the validity of a point in respect to the flagMap.
  1860. - * This value varies from sensor to sensor so it should be defined when constructing child class
  1861. - */
  1862. - int INVALID_FLAG_VALUE;
  1863. -
  1864. - /**
  1865. - * The image width resolution (pixels) that the depth sensor produces.
  1866. - */
  1867. - //mona int X_DIMENSION = 176;
  1868. - int X_DIMENSION = 640;
  1869. -
  1870. -
  1871. - /**
  1872. - * The image height resolution (pixels) that the depth sensor produces.
  1873. - */
  1874. - //mona int Y_DIMENSION = 120;
  1875. - int Y_DIMENSION = 480;
  1876. +#pragma once
  1877. +
  1878. +// C++ Libraries
  1879. +#include <iostream>
  1880. +
  1881. +// OpenCV Libraries
  1882. +#include <opencv/cxcore.h>
  1883. +#include <opencv/highgui.h>
  1884. +#include "opencv2/highgui/highgui.hpp"
  1885. +#include <opencv2/video/tracking.hpp>
  1886. +#include "opencv2/imgproc/imgproc.hpp"
  1887. +#include <opencv2/objdetect/objdetect.hpp>
  1888. +#include <opencv2/features2d/features2d.hpp>
  1889. +
  1890. +// OpenARK Libraries
  1891. +#include "Util.h"
  1892. +
  1893. +/**
  1894. + * Class defining general behavior of a depth camera.
  1895. + * Any depth camera should be able to generate a XYXMap, AmpMap (confidence), and FlagMap.
  1896. + */
  1897. +class DepthCamera
  1898. +{
  1899. +public:
  1900. + /**
  1901. + * Update the depth camera by one frame.
  1902. + * This function should be overriden with a concrete implementation depending on the specific depth camera
  1903. + */
  1904. + virtual void update() = 0;
  1905. +
  1906. + /**
  1907. + * Closes and exists the depth camera.
  1908. + * This function should be overriden with a concrete implementation depending on the specific depth camera
  1909. + */
  1910. + virtual void destroyInstance() = 0;
  1911. +
  1912. + /**
  1913. + * Performs euclidean clustering to separate discrete objects in the input point cloud.
  1914. + * @param max_distance the maximum allowed distance to be clustered
  1915. + * @param min_size the minimum number of points a valid cluster should have
  1916. + */
  1917. + void computeClusters(double max_distance, double min_size);
  1918. +
  1919. + /**
  1920. + * Reads a sample frame from file.
  1921. + * @param source the directory which the frame file is stored
  1922. + */
  1923. + bool readImage(std::string source);
  1924. +
  1925. + /**
  1926. + * Writes the current frame into file.
  1927. + * @param destination the directory which the frame should be written to
  1928. + */
  1929. + bool writeImage(std::string destination);
  1930. +
  1931. + /**
  1932. + * Removes noise from the XYZMap based on confidence provided in the AmpMap and FlagMap.
  1933. + */
  1934. + void removeNoise();
  1935. +
  1936. + /**
  1937. + * Removes all points defined by the coordinates in the points vector from the XYZMap.
  1938. + * @param [in] points the list of coordinates where data from the XYZMap should be removed
  1939. + */
  1940. + void removePoints(std::vector<cv::Point2i> points);
  1941. +
  1942. + /**
  1943. + * Return the current XYZMap.
  1944. + */
  1945. + cv::Mat getXYZMap();
  1946. +
  1947. + /**
  1948. + * Return the current AmpMap
  1949. + */
  1950. + cv::Mat getAmpMap();
  1951. +
  1952. + /**
  1953. + * Return the current FlagMap.
  1954. + */
  1955. + cv::Mat getFlagMap();
  1956. +
  1957. + /**
  1958. + * Returns the width of the frame in pixels.
  1959. + */
  1960. + int getWidth();
  1961. +
  1962. + /**
  1963. + * Returns the height of the frame in pixels.
  1964. + */
  1965. + int getHeight();
  1966. +
  1967. + /**
  1968. + * Returns all the clusters (discrete objects) in the current frame.
  1969. + * @see computeClusters
  1970. + * @return vector of matrixes with each matrix corresponding to a cluster in no particular order
  1971. + */
  1972. + std::vector<cv::Mat> getClusters();
  1973. +
  1974. + bool badInput;
  1975. +
  1976. +
  1977. +protected:
  1978. + /**
  1979. + * Initializes all variables used by the generic depth camera.
  1980. + * Sets xyzMap, ampMap, flagMap, and clusters to empty
  1981. + */
  1982. + void initilizeImages();
  1983. +
  1984. + /**
  1985. + * Performs floodfill starting from seed point (x,y).
  1986. + * @param x x-coordinate of the seed point
  1987. + * @param y y-coordinate of the seed point
  1988. + * @param [in] zMap the xyzMap point cloud
  1989. + * @param [out] mask the resulting region of the floodfill
  1990. + * @param max_distance the maximum euclidean distance allowed between neighbors
  1991. + */
  1992. + void floodFill(int x, int y, cv::Mat& zMap, cv::Mat& mask, double max_distance);
  1993. +
  1994. + /**
  1995. + * Analyze the candidate point with its neighbors to determine whether they belong to the same cluster.
  1996. + * @param x x-coordinate of the candidate point
  1997. + * @param y y-coordinate of the candidate point
  1998. + * @param [in] depthMap the xyzMap point cloud of the scene
  1999. + * @param num_neighbors the number of neighbors to consider
  2000. + * @param max_distance the maximum euclidean distance allowed between neighbors
  2001. + */
  2002. + bool closeEnough(int x, int y, cv::Mat& depthMap, int num_neighbors, double max_distance);
  2003. +
  2004. + /**
  2005. + * Stores the (x,y,z) data of every point in the observable world.
  2006. + * Matrix type CV_32FC3
  2007. + */
  2008. + cv::Mat xyzMap;
  2009. +
  2010. + /**
  2011. + * Stores the confidence value of each corresponding point in the world.
  2012. + * Matrix type CV_32FC1
  2013. + */
  2014. + cv::Mat ampMap;
  2015. +
  2016. + /**
  2017. + * Stores additional information about the points in the world.
  2018. + * Matrix type CV_8UC1
  2019. + */
  2020. + cv::Mat flagMap;
  2021. +
  2022. + /**
  2023. + * Stores the each individual cluster in its individual XYZMap.
  2024. + */
  2025. + std::vector<cv::Mat> clusters;
  2026. +
  2027. + /**
  2028. + * Value that determines the validity of a point in respect to the ampMap.
  2029. + * This value varies from sensor to sensor so it should be define when constructing child class
  2030. + */
  2031. + double CONFIDENCE_THRESHHOLD;
  2032. +
  2033. + /**
  2034. + * Value that determines the validity of a point in respect to the flagMap.
  2035. + * This value varies from sensor to sensor so it should be defined when constructing child class
  2036. + */
  2037. + int INVALID_FLAG_VALUE;
  2038. +
  2039. + /**
  2040. + * The image width resolution (pixels) that the depth sensor produces.
  2041. + */
  2042. + int X_DIMENSION = 176;
  2043. +
  2044. + /**
  2045. + * The image height resolution (pixels) that the depth sensor produces.
  2046. + */
  2047. + int Y_DIMENSION = 120;
  2048. };
  2049. \ No newline at end of file
  2050. diff --git a/DoxygenConfig b/DoxygenConfig
  2051. index 17e8556..ee7aca3 100644
  2052. --- a/DoxygenConfig
  2053. +++ b/DoxygenConfig
  2054. @@ -1,2487 +1,2487 @@
  2055. -# Doxyfile 1.8.12
  2056. -
  2057. -# This file describes the settings to be used by the documentation system
  2058. -# doxygen (www.doxygen.org) for a project.
  2059. -#
  2060. -# All text after a double hash (##) is considered a comment and is placed in
  2061. -# front of the TAG it is preceding.
  2062. -#
  2063. -# All text after a single hash (#) is considered a comment and will be ignored.
  2064. -# The format is:
  2065. -# TAG = value [value, ...]
  2066. -# For lists, items can also be appended using:
  2067. -# TAG += value [value, ...]
  2068. -# Values that contain spaces should be placed between quotes (\" \").
  2069. -
  2070. -#---------------------------------------------------------------------------
  2071. -# Project related configuration options
  2072. -#---------------------------------------------------------------------------
  2073. -
  2074. -# This tag specifies the encoding used for all characters in the config file
  2075. -# that follow. The default is UTF-8 which is also the encoding used for all text
  2076. -# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
  2077. -# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
  2078. -# for the list of possible encodings.
  2079. -# The default value is: UTF-8.
  2080. -
  2081. -DOXYFILE_ENCODING = UTF-8
  2082. -
  2083. -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
  2084. -# double-quotes, unless you are using Doxywizard) that should identify the
  2085. -# project for which the documentation is generated. This name is used in the
  2086. -# title of most generated pages and in a few other places.
  2087. -# The default value is: My Project.
  2088. -
  2089. -PROJECT_NAME = "Open Augmented Reality Kit (OpenARK)"
  2090. -
  2091. -# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
  2092. -# could be handy for archiving the generated documentation or if some version
  2093. -# control system is used.
  2094. -
  2095. -PROJECT_NUMBER = 0.8
  2096. -
  2097. -# Using the PROJECT_BRIEF tag one can provide an optional one line description
  2098. -# for a project that appears at the top of each page and should give viewer a
  2099. -# quick idea about the purpose of the project. Keep the description short.
  2100. -
  2101. -PROJECT_BRIEF = "Open-source wearable augmented reality (AR) system founded at UC Berkeley in 2016"
  2102. -
  2103. -# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
  2104. -# in the documentation. The maximum height of the logo should not exceed 55
  2105. -# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
  2106. -# the logo to the output directory.
  2107. -
  2108. -PROJECT_LOGO =
  2109. -
  2110. -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
  2111. -# into which the generated documentation will be written. If a relative path is
  2112. -# entered, it will be relative to the location where doxygen was started. If
  2113. -# left blank the current directory will be used.
  2114. -
  2115. -OUTPUT_DIRECTORY = D:\OpenARK-Documentation\0.8
  2116. -
  2117. -# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
  2118. -# directories (in 2 levels) under the output directory of each output format and
  2119. -# will distribute the generated files over these directories. Enabling this
  2120. -# option can be useful when feeding doxygen a huge amount of source files, where
  2121. -# putting all generated files in the same directory would otherwise causes
  2122. -# performance problems for the file system.
  2123. -# The default value is: NO.
  2124. -
  2125. -CREATE_SUBDIRS = NO
  2126. -
  2127. -# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
  2128. -# characters to appear in the names of generated files. If set to NO, non-ASCII
  2129. -# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
  2130. -# U+3044.
  2131. -# The default value is: NO.
  2132. -
  2133. -ALLOW_UNICODE_NAMES = NO
  2134. -
  2135. -# The OUTPUT_LANGUAGE tag is used to specify the language in which all
  2136. -# documentation generated by doxygen is written. Doxygen will use this
  2137. -# information to generate all constant output in the proper language.
  2138. -# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
  2139. -# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
  2140. -# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
  2141. -# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
  2142. -# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
  2143. -# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
  2144. -# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
  2145. -# Ukrainian and Vietnamese.
  2146. -# The default value is: English.
  2147. -
  2148. -OUTPUT_LANGUAGE = English
  2149. -
  2150. -# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
  2151. -# descriptions after the members that are listed in the file and class
  2152. -# documentation (similar to Javadoc). Set to NO to disable this.
  2153. -# The default value is: YES.
  2154. -
  2155. -BRIEF_MEMBER_DESC = YES
  2156. -
  2157. -# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
  2158. -# description of a member or function before the detailed description
  2159. -#
  2160. -# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
  2161. -# brief descriptions will be completely suppressed.
  2162. -# The default value is: YES.
  2163. -
  2164. -REPEAT_BRIEF = YES
  2165. -
  2166. -# This tag implements a quasi-intelligent brief description abbreviator that is
  2167. -# used to form the text in various listings. Each string in this list, if found
  2168. -# as the leading text of the brief description, will be stripped from the text
  2169. -# and the result, after processing the whole list, is used as the annotated
  2170. -# text. Otherwise, the brief description is used as-is. If left blank, the
  2171. -# following values are used ($name is automatically replaced with the name of
  2172. -# the entity):The $name class, The $name widget, The $name file, is, provides,
  2173. -# specifies, contains, represents, a, an and the.
  2174. -
  2175. -ABBREVIATE_BRIEF = "The $name class" \
  2176. - "The $name widget" \
  2177. - "The $name file" \
  2178. - is \
  2179. - provides \
  2180. - specifies \
  2181. - contains \
  2182. - represents \
  2183. - a \
  2184. - an \
  2185. - the
  2186. -
  2187. -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
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  2189. -# description.
  2190. -# The default value is: NO.
  2191. -
  2192. -ALWAYS_DETAILED_SEC = NO
  2193. -
  2194. -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
  2195. -# inherited members of a class in the documentation of that class as if those
  2196. -# members were ordinary class members. Constructors, destructors and assignment
  2197. -# operators of the base classes will not be shown.
  2198. -# The default value is: NO.
  2199. -
  2200. -INLINE_INHERITED_MEMB = NO
  2201. -
  2202. -# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
  2203. -# before files name in the file list and in the header files. If set to NO the
  2204. -# shortest path that makes the file name unique will be used
  2205. -# The default value is: YES.
  2206. -
  2207. -FULL_PATH_NAMES = NO
  2208. -
  2209. -# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
  2210. -# Stripping is only done if one of the specified strings matches the left-hand
  2211. -# part of the path. The tag can be used to show relative paths in the file list.
  2212. -# If left blank the directory from which doxygen is run is used as the path to
  2213. -# strip.
  2214. -#
  2215. -# Note that you can specify absolute paths here, but also relative paths, which
  2216. -# will be relative from the directory where doxygen is started.
  2217. -# This tag requires that the tag FULL_PATH_NAMES is set to YES.
  2218. -
  2219. -STRIP_FROM_PATH =
  2220. -
  2221. -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
  2222. -# path mentioned in the documentation of a class, which tells the reader which
  2223. -# header file to include in order to use a class. If left blank only the name of
  2224. -# the header file containing the class definition is used. Otherwise one should
  2225. -# specify the list of include paths that are normally passed to the compiler
  2226. -# using the -I flag.
  2227. -
  2228. -STRIP_FROM_INC_PATH =
  2229. -
  2230. -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
  2231. -# less readable) file names. This can be useful is your file systems doesn't
  2232. -# support long names like on DOS, Mac, or CD-ROM.
  2233. -# The default value is: NO.
  2234. -
  2235. -SHORT_NAMES = NO
  2236. -
  2237. -# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
  2238. -# first line (until the first dot) of a Javadoc-style comment as the brief
  2239. -# description. If set to NO, the Javadoc-style will behave just like regular Qt-
  2240. -# style comments (thus requiring an explicit @brief command for a brief
  2241. -# description.)
  2242. -# The default value is: NO.
  2243. -
  2244. -JAVADOC_AUTOBRIEF = YES
  2245. -
  2246. -# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
  2247. -# line (until the first dot) of a Qt-style comment as the brief description. If
  2248. -# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
  2249. -# requiring an explicit \brief command for a brief description.)
  2250. -# The default value is: NO.
  2251. -
  2252. -QT_AUTOBRIEF = NO
  2253. -
  2254. -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
  2255. -# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
  2256. -# a brief description. This used to be the default behavior. The new default is
  2257. -# to treat a multi-line C++ comment block as a detailed description. Set this
  2258. -# tag to YES if you prefer the old behavior instead.
  2259. -#
  2260. -# Note that setting this tag to YES also means that rational rose comments are
  2261. -# not recognized any more.
  2262. -# The default value is: NO.
  2263. -
  2264. -MULTILINE_CPP_IS_BRIEF = NO
  2265. -
  2266. -# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
  2267. -# documentation from any documented member that it re-implements.
  2268. -# The default value is: YES.
  2269. -
  2270. -INHERIT_DOCS = YES
  2271. -
  2272. -# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
  2273. -# page for each member. If set to NO, the documentation of a member will be part
  2274. -# of the file/class/namespace that contains it.
  2275. -# The default value is: NO.
  2276. -
  2277. -SEPARATE_MEMBER_PAGES = NO
  2278. -
  2279. -# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
  2280. -# uses this value to replace tabs by spaces in code fragments.
  2281. -# Minimum value: 1, maximum value: 16, default value: 4.
  2282. -
  2283. -TAB_SIZE = 4
  2284. -
  2285. -# This tag can be used to specify a number of aliases that act as commands in
  2286. -# the documentation. An alias has the form:
  2287. -# name=value
  2288. -# For example adding
  2289. -# "sideeffect=@par Side Effects:\n"
  2290. -# will allow you to put the command \sideeffect (or @sideeffect) in the
  2291. -# documentation, which will result in a user-defined paragraph with heading
  2292. -# "Side Effects:". You can put \n's in the value part of an alias to insert
  2293. -# newlines.
  2294. -
  2295. -ALIASES =
  2296. -
  2297. -# This tag can be used to specify a number of word-keyword mappings (TCL only).
  2298. -# A mapping has the form "name=value". For example adding "class=itcl::class"
  2299. -# will allow you to use the command class in the itcl::class meaning.
  2300. -
  2301. -TCL_SUBST =
  2302. -
  2303. -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
  2304. -# only. Doxygen will then generate output that is more tailored for C. For
  2305. -# instance, some of the names that are used will be different. The list of all
  2306. -# members will be omitted, etc.
  2307. -# The default value is: NO.
  2308. -
  2309. -OPTIMIZE_OUTPUT_FOR_C = NO
  2310. -
  2311. -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
  2312. -# Python sources only. Doxygen will then generate output that is more tailored
  2313. -# for that language. For instance, namespaces will be presented as packages,
  2314. -# qualified scopes will look different, etc.
  2315. -# The default value is: NO.
  2316. -
  2317. -OPTIMIZE_OUTPUT_JAVA = NO
  2318. -
  2319. -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
  2320. -# sources. Doxygen will then generate output that is tailored for Fortran.
  2321. -# The default value is: NO.
  2322. -
  2323. -OPTIMIZE_FOR_FORTRAN = NO
  2324. -
  2325. -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
  2326. -# sources. Doxygen will then generate output that is tailored for VHDL.
  2327. -# The default value is: NO.
  2328. -
  2329. -OPTIMIZE_OUTPUT_VHDL = NO
  2330. -
  2331. -# Doxygen selects the parser to use depending on the extension of the files it
  2332. -# parses. With this tag you can assign which parser to use for a given
  2333. -# extension. Doxygen has a built-in mapping, but you can override or extend it
  2334. -# using this tag. The format is ext=language, where ext is a file extension, and
  2335. -# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
  2336. -# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
  2337. -# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
  2338. -# Fortran. In the later case the parser tries to guess whether the code is fixed
  2339. -# or free formatted code, this is the default for Fortran type files), VHDL. For
  2340. -# instance to make doxygen treat .inc files as Fortran files (default is PHP),
  2341. -# and .f files as C (default is Fortran), use: inc=Fortran f=C.
  2342. -#
  2343. -# Note: For files without extension you can use no_extension as a placeholder.
  2344. -#
  2345. -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
  2346. -# the files are not read by doxygen.
  2347. -
  2348. -EXTENSION_MAPPING =
  2349. -
  2350. -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
  2351. -# according to the Markdown format, which allows for more readable
  2352. -# documentation. See http://daringfireball.net/projects/markdown/ for details.
  2353. -# The output of markdown processing is further processed by doxygen, so you can
  2354. -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
  2355. -# case of backward compatibilities issues.
  2356. -# The default value is: YES.
  2357. -
  2358. -MARKDOWN_SUPPORT = YES
  2359. -
  2360. -# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
  2361. -# to that level are automatically included in the table of contents, even if
  2362. -# they do not have an id attribute.
  2363. -# Note: This feature currently applies only to Markdown headings.
  2364. -# Minimum value: 0, maximum value: 99, default value: 0.
  2365. -# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
  2366. -
  2367. -TOC_INCLUDE_HEADINGS = 0
  2368. -
  2369. -# When enabled doxygen tries to link words that correspond to documented
  2370. -# classes, or namespaces to their corresponding documentation. Such a link can
  2371. -# be prevented in individual cases by putting a % sign in front of the word or
  2372. -# globally by setting AUTOLINK_SUPPORT to NO.
  2373. -# The default value is: YES.
  2374. -
  2375. -AUTOLINK_SUPPORT = YES
  2376. -
  2377. -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
  2378. -# to include (a tag file for) the STL sources as input, then you should set this
  2379. -# tag to YES in order to let doxygen match functions declarations and
  2380. -# definitions whose arguments contain STL classes (e.g. func(std::string);
  2381. -# versus func(std::string) {}). This also make the inheritance and collaboration
  2382. -# diagrams that involve STL classes more complete and accurate.
  2383. -# The default value is: NO.
  2384. -
  2385. -BUILTIN_STL_SUPPORT = NO
  2386. -
  2387. -# If you use Microsoft's C++/CLI language, you should set this option to YES to
  2388. -# enable parsing support.
  2389. -# The default value is: NO.
  2390. -
  2391. -CPP_CLI_SUPPORT = NO
  2392. -
  2393. -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
  2394. -# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
  2395. -# will parse them like normal C++ but will assume all classes use public instead
  2396. -# of private inheritance when no explicit protection keyword is present.
  2397. -# The default value is: NO.
  2398. -
  2399. -SIP_SUPPORT = NO
  2400. -
  2401. -# For Microsoft's IDL there are propget and propput attributes to indicate
  2402. -# getter and setter methods for a property. Setting this option to YES will make
  2403. -# doxygen to replace the get and set methods by a property in the documentation.
  2404. -# This will only work if the methods are indeed getting or setting a simple
  2405. -# type. If this is not the case, or you want to show the methods anyway, you
  2406. -# should set this option to NO.
  2407. -# The default value is: YES.
  2408. -
  2409. -IDL_PROPERTY_SUPPORT = YES
  2410. -
  2411. -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
  2412. -# tag is set to YES then doxygen will reuse the documentation of the first
  2413. -# member in the group (if any) for the other members of the group. By default
  2414. -# all members of a group must be documented explicitly.
  2415. -# The default value is: NO.
  2416. -
  2417. -DISTRIBUTE_GROUP_DOC = NO
  2418. -
  2419. -# If one adds a struct or class to a group and this option is enabled, then also
  2420. -# any nested class or struct is added to the same group. By default this option
  2421. -# is disabled and one has to add nested compounds explicitly via \ingroup.
  2422. -# The default value is: NO.
  2423. -
  2424. -GROUP_NESTED_COMPOUNDS = NO
  2425. -
  2426. -# Set the SUBGROUPING tag to YES to allow class member groups of the same type
  2427. -# (for instance a group of public functions) to be put as a subgroup of that
  2428. -# type (e.g. under the Public Functions section). Set it to NO to prevent
  2429. -# subgrouping. Alternatively, this can be done per class using the
  2430. -# \nosubgrouping command.
  2431. -# The default value is: YES.
  2432. -
  2433. -SUBGROUPING = YES
  2434. -
  2435. -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
  2436. -# are shown inside the group in which they are included (e.g. using \ingroup)
  2437. -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
  2438. -# and RTF).
  2439. -#
  2440. -# Note that this feature does not work in combination with
  2441. -# SEPARATE_MEMBER_PAGES.
  2442. -# The default value is: NO.
  2443. -
  2444. -INLINE_GROUPED_CLASSES = NO
  2445. -
  2446. -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
  2447. -# with only public data fields or simple typedef fields will be shown inline in
  2448. -# the documentation of the scope in which they are defined (i.e. file,
  2449. -# namespace, or group documentation), provided this scope is documented. If set
  2450. -# to NO, structs, classes, and unions are shown on a separate page (for HTML and
  2451. -# Man pages) or section (for LaTeX and RTF).
  2452. -# The default value is: NO.
  2453. -
  2454. -INLINE_SIMPLE_STRUCTS = NO
  2455. -
  2456. -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
  2457. -# enum is documented as struct, union, or enum with the name of the typedef. So
  2458. -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
  2459. -# with name TypeT. When disabled the typedef will appear as a member of a file,
  2460. -# namespace, or class. And the struct will be named TypeS. This can typically be
  2461. -# useful for C code in case the coding convention dictates that all compound
  2462. -# types are typedef'ed and only the typedef is referenced, never the tag name.
  2463. -# The default value is: NO.
  2464. -
  2465. -TYPEDEF_HIDES_STRUCT = NO
  2466. -
  2467. -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
  2468. -# cache is used to resolve symbols given their name and scope. Since this can be
  2469. -# an expensive process and often the same symbol appears multiple times in the
  2470. -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
  2471. -# doxygen will become slower. If the cache is too large, memory is wasted. The
  2472. -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
  2473. -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
  2474. -# symbols. At the end of a run doxygen will report the cache usage and suggest
  2475. -# the optimal cache size from a speed point of view.
  2476. -# Minimum value: 0, maximum value: 9, default value: 0.
  2477. -
  2478. -LOOKUP_CACHE_SIZE = 0
  2479. -
  2480. -#---------------------------------------------------------------------------
  2481. -# Build related configuration options
  2482. -#---------------------------------------------------------------------------
  2483. -
  2484. -# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
  2485. -# documentation are documented, even if no documentation was available. Private
  2486. -# class members and static file members will be hidden unless the
  2487. -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
  2488. -# Note: This will also disable the warnings about undocumented members that are
  2489. -# normally produced when WARNINGS is set to YES.
  2490. -# The default value is: NO.
  2491. -
  2492. -EXTRACT_ALL = YES
  2493. -
  2494. -# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
  2495. -# be included in the documentation.
  2496. -# The default value is: NO.
  2497. -
  2498. -EXTRACT_PRIVATE = YES
  2499. -
  2500. -# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
  2501. -# scope will be included in the documentation.
  2502. -# The default value is: NO.
  2503. -
  2504. -EXTRACT_PACKAGE = NO
  2505. -
  2506. -# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
  2507. -# included in the documentation.
  2508. -# The default value is: NO.
  2509. -
  2510. -EXTRACT_STATIC = YES
  2511. -
  2512. -# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
  2513. -# locally in source files will be included in the documentation. If set to NO,
  2514. -# only classes defined in header files are included. Does not have any effect
  2515. -# for Java sources.
  2516. -# The default value is: YES.
  2517. -
  2518. -EXTRACT_LOCAL_CLASSES = YES
  2519. -
  2520. -# This flag is only useful for Objective-C code. If set to YES, local methods,
  2521. -# which are defined in the implementation section but not in the interface are
  2522. -# included in the documentation. If set to NO, only methods in the interface are
  2523. -# included.
  2524. -# The default value is: NO.
  2525. -
  2526. -EXTRACT_LOCAL_METHODS = NO
  2527. -
  2528. -# If this flag is set to YES, the members of anonymous namespaces will be
  2529. -# extracted and appear in the documentation as a namespace called
  2530. -# 'anonymous_namespace{file}', where file will be replaced with the base name of
  2531. -# the file that contains the anonymous namespace. By default anonymous namespace
  2532. -# are hidden.
  2533. -# The default value is: NO.
  2534. -
  2535. -EXTRACT_ANON_NSPACES = NO
  2536. -
  2537. -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
  2538. -# undocumented members inside documented classes or files. If set to NO these
  2539. -# members will be included in the various overviews, but no documentation
  2540. -# section is generated. This option has no effect if EXTRACT_ALL is enabled.
  2541. -# The default value is: NO.
  2542. -
  2543. -HIDE_UNDOC_MEMBERS = NO
  2544. -
  2545. -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
  2546. -# undocumented classes that are normally visible in the class hierarchy. If set
  2547. -# to NO, these classes will be included in the various overviews. This option
  2548. -# has no effect if EXTRACT_ALL is enabled.
  2549. -# The default value is: NO.
  2550. -
  2551. -HIDE_UNDOC_CLASSES = NO
  2552. -
  2553. -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
  2554. -# (class|struct|union) declarations. If set to NO, these declarations will be
  2555. -# included in the documentation.
  2556. -# The default value is: NO.
  2557. -
  2558. -HIDE_FRIEND_COMPOUNDS = NO
  2559. -
  2560. -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
  2561. -# documentation blocks found inside the body of a function. If set to NO, these
  2562. -# blocks will be appended to the function's detailed documentation block.
  2563. -# The default value is: NO.
  2564. -
  2565. -HIDE_IN_BODY_DOCS = NO
  2566. -
  2567. -# The INTERNAL_DOCS tag determines if documentation that is typed after a
  2568. -# \internal command is included. If the tag is set to NO then the documentation
  2569. -# will be excluded. Set it to YES to include the internal documentation.
  2570. -# The default value is: NO.
  2571. -
  2572. -INTERNAL_DOCS = NO
  2573. -
  2574. -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
  2575. -# names in lower-case letters. If set to YES, upper-case letters are also
  2576. -# allowed. This is useful if you have classes or files whose names only differ
  2577. -# in case and if your file system supports case sensitive file names. Windows
  2578. -# and Mac users are advised to set this option to NO.
  2579. -# The default value is: system dependent.
  2580. -
  2581. -CASE_SENSE_NAMES = NO
  2582. -
  2583. -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
  2584. -# their full class and namespace scopes in the documentation. If set to YES, the
  2585. -# scope will be hidden.
  2586. -# The default value is: NO.
  2587. -
  2588. -HIDE_SCOPE_NAMES = NO
  2589. -
  2590. -# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
  2591. -# append additional text to a page's title, such as Class Reference. If set to
  2592. -# YES the compound reference will be hidden.
  2593. -# The default value is: NO.
  2594. -
  2595. -HIDE_COMPOUND_REFERENCE= NO
  2596. -
  2597. -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
  2598. -# the files that are included by a file in the documentation of that file.
  2599. -# The default value is: YES.
  2600. -
  2601. -SHOW_INCLUDE_FILES = YES
  2602. -
  2603. -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
  2604. -# grouped member an include statement to the documentation, telling the reader
  2605. -# which file to include in order to use the member.
  2606. -# The default value is: NO.
  2607. -
  2608. -SHOW_GROUPED_MEMB_INC = NO
  2609. -
  2610. -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
  2611. -# files with double quotes in the documentation rather than with sharp brackets.
  2612. -# The default value is: NO.
  2613. -
  2614. -FORCE_LOCAL_INCLUDES = NO
  2615. -
  2616. -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
  2617. -# documentation for inline members.
  2618. -# The default value is: YES.
  2619. -
  2620. -INLINE_INFO = YES
  2621. -
  2622. -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
  2623. -# (detailed) documentation of file and class members alphabetically by member
  2624. -# name. If set to NO, the members will appear in declaration order.
  2625. -# The default value is: YES.
  2626. -
  2627. -SORT_MEMBER_DOCS = YES
  2628. -
  2629. -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
  2630. -# descriptions of file, namespace and class members alphabetically by member
  2631. -# name. If set to NO, the members will appear in declaration order. Note that
  2632. -# this will also influence the order of the classes in the class list.
  2633. -# The default value is: NO.
  2634. -
  2635. -SORT_BRIEF_DOCS = NO
  2636. -
  2637. -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
  2638. -# (brief and detailed) documentation of class members so that constructors and
  2639. -# destructors are listed first. If set to NO the constructors will appear in the
  2640. -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
  2641. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
  2642. -# member documentation.
  2643. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
  2644. -# detailed member documentation.
  2645. -# The default value is: NO.
  2646. -
  2647. -SORT_MEMBERS_CTORS_1ST = NO
  2648. -
  2649. -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
  2650. -# of group names into alphabetical order. If set to NO the group names will
  2651. -# appear in their defined order.
  2652. -# The default value is: NO.
  2653. -
  2654. -SORT_GROUP_NAMES = NO
  2655. -
  2656. -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
  2657. -# fully-qualified names, including namespaces. If set to NO, the class list will
  2658. -# be sorted only by class name, not including the namespace part.
  2659. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
  2660. -# Note: This option applies only to the class list, not to the alphabetical
  2661. -# list.
  2662. -# The default value is: NO.
  2663. -
  2664. -SORT_BY_SCOPE_NAME = NO
  2665. -
  2666. -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
  2667. -# type resolution of all parameters of a function it will reject a match between
  2668. -# the prototype and the implementation of a member function even if there is
  2669. -# only one candidate or it is obvious which candidate to choose by doing a
  2670. -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
  2671. -# accept a match between prototype and implementation in such cases.
  2672. -# The default value is: NO.
  2673. -
  2674. -STRICT_PROTO_MATCHING = NO
  2675. -
  2676. -# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
  2677. -# list. This list is created by putting \todo commands in the documentation.
  2678. -# The default value is: YES.
  2679. -
  2680. -GENERATE_TODOLIST = YES
  2681. -
  2682. -# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
  2683. -# list. This list is created by putting \test commands in the documentation.
  2684. -# The default value is: YES.
  2685. -
  2686. -GENERATE_TESTLIST = YES
  2687. -
  2688. -# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
  2689. -# list. This list is created by putting \bug commands in the documentation.
  2690. -# The default value is: YES.
  2691. -
  2692. -GENERATE_BUGLIST = YES
  2693. -
  2694. -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
  2695. -# the deprecated list. This list is created by putting \deprecated commands in
  2696. -# the documentation.
  2697. -# The default value is: YES.
  2698. -
  2699. -GENERATE_DEPRECATEDLIST= YES
  2700. -
  2701. -# The ENABLED_SECTIONS tag can be used to enable conditional documentation
  2702. -# sections, marked by \if <section_label> ... \endif and \cond <section_label>
  2703. -# ... \endcond blocks.
  2704. -
  2705. -ENABLED_SECTIONS =
  2706. -
  2707. -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
  2708. -# initial value of a variable or macro / define can have for it to appear in the
  2709. -# documentation. If the initializer consists of more lines than specified here
  2710. -# it will be hidden. Use a value of 0 to hide initializers completely. The
  2711. -# appearance of the value of individual variables and macros / defines can be
  2712. -# controlled using \showinitializer or \hideinitializer command in the
  2713. -# documentation regardless of this setting.
  2714. -# Minimum value: 0, maximum value: 10000, default value: 30.
  2715. -
  2716. -MAX_INITIALIZER_LINES = 30
  2717. -
  2718. -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
  2719. -# the bottom of the documentation of classes and structs. If set to YES, the
  2720. -# list will mention the files that were used to generate the documentation.
  2721. -# The default value is: YES.
  2722. -
  2723. -SHOW_USED_FILES = YES
  2724. -
  2725. -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
  2726. -# will remove the Files entry from the Quick Index and from the Folder Tree View
  2727. -# (if specified).
  2728. -# The default value is: YES.
  2729. -
  2730. -SHOW_FILES = YES
  2731. -
  2732. -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
  2733. -# page. This will remove the Namespaces entry from the Quick Index and from the
  2734. -# Folder Tree View (if specified).
  2735. -# The default value is: YES.
  2736. -
  2737. -SHOW_NAMESPACES = YES
  2738. -
  2739. -# The FILE_VERSION_FILTER tag can be used to specify a program or script that
  2740. -# doxygen should invoke to get the current version for each file (typically from
  2741. -# the version control system). Doxygen will invoke the program by executing (via
  2742. -# popen()) the command command input-file, where command is the value of the
  2743. -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
  2744. -# by doxygen. Whatever the program writes to standard output is used as the file
  2745. -# version. For an example see the documentation.
  2746. -
  2747. -FILE_VERSION_FILTER =
  2748. -
  2749. -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
  2750. -# by doxygen. The layout file controls the global structure of the generated
  2751. -# output files in an output format independent way. To create the layout file
  2752. -# that represents doxygen's defaults, run doxygen with the -l option. You can
  2753. -# optionally specify a file name after the option, if omitted DoxygenLayout.xml
  2754. -# will be used as the name of the layout file.
  2755. -#
  2756. -# Note that if you run doxygen from a directory containing a file called
  2757. -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
  2758. -# tag is left empty.
  2759. -
  2760. -LAYOUT_FILE =
  2761. -
  2762. -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
  2763. -# the reference definitions. This must be a list of .bib files. The .bib
  2764. -# extension is automatically appended if omitted. This requires the bibtex tool
  2765. -# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
  2766. -# For LaTeX the style of the bibliography can be controlled using
  2767. -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
  2768. -# search path. See also \cite for info how to create references.
  2769. -
  2770. -CITE_BIB_FILES =
  2771. -
  2772. -#---------------------------------------------------------------------------
  2773. -# Configuration options related to warning and progress messages
  2774. -#---------------------------------------------------------------------------
  2775. -
  2776. -# The QUIET tag can be used to turn on/off the messages that are generated to
  2777. -# standard output by doxygen. If QUIET is set to YES this implies that the
  2778. -# messages are off.
  2779. -# The default value is: NO.
  2780. -
  2781. -QUIET = NO
  2782. -
  2783. -# The WARNINGS tag can be used to turn on/off the warning messages that are
  2784. -# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
  2785. -# this implies that the warnings are on.
  2786. -#
  2787. -# Tip: Turn warnings on while writing the documentation.
  2788. -# The default value is: YES.
  2789. -
  2790. -WARNINGS = YES
  2791. -
  2792. -# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
  2793. -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
  2794. -# will automatically be disabled.
  2795. -# The default value is: YES.
  2796. -
  2797. -WARN_IF_UNDOCUMENTED = YES
  2798. -
  2799. -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
  2800. -# potential errors in the documentation, such as not documenting some parameters
  2801. -# in a documented function, or documenting parameters that don't exist or using
  2802. -# markup commands wrongly.
  2803. -# The default value is: YES.
  2804. -
  2805. -WARN_IF_DOC_ERROR = YES
  2806. -
  2807. -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
  2808. -# are documented, but have no documentation for their parameters or return
  2809. -# value. If set to NO, doxygen will only warn about wrong or incomplete
  2810. -# parameter documentation, but not about the absence of documentation.
  2811. -# The default value is: NO.
  2812. -
  2813. -WARN_NO_PARAMDOC = NO
  2814. -
  2815. -# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
  2816. -# a warning is encountered.
  2817. -# The default value is: NO.
  2818. -
  2819. -WARN_AS_ERROR = NO
  2820. -
  2821. -# The WARN_FORMAT tag determines the format of the warning messages that doxygen
  2822. -# can produce. The string should contain the $file, $line, and $text tags, which
  2823. -# will be replaced by the file and line number from which the warning originated
  2824. -# and the warning text. Optionally the format may contain $version, which will
  2825. -# be replaced by the version of the file (if it could be obtained via
  2826. -# FILE_VERSION_FILTER)
  2827. -# The default value is: $file:$line: $text.
  2828. -
  2829. -WARN_FORMAT = "$file:$line: $text"
  2830. -
  2831. -# The WARN_LOGFILE tag can be used to specify a file to which warning and error
  2832. -# messages should be written. If left blank the output is written to standard
  2833. -# error (stderr).
  2834. -
  2835. -WARN_LOGFILE =
  2836. -
  2837. -#---------------------------------------------------------------------------
  2838. -# Configuration options related to the input files
  2839. -#---------------------------------------------------------------------------
  2840. -
  2841. -# The INPUT tag is used to specify the files and/or directories that contain
  2842. -# documented source files. You may enter file names like myfile.cpp or
  2843. -# directories like /usr/src/myproject. Separate the files or directories with
  2844. -# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
  2845. -# Note: If this tag is empty the current directory is searched.
  2846. -
  2847. -INPUT = D:\OpenARK
  2848. -
  2849. -# This tag can be used to specify the character encoding of the source files
  2850. -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
  2851. -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
  2852. -# documentation (see: http://www.gnu.org/software/libiconv) for the list of
  2853. -# possible encodings.
  2854. -# The default value is: UTF-8.
  2855. -
  2856. -INPUT_ENCODING = UTF-8
  2857. -
  2858. -# If the value of the INPUT tag contains directories, you can use the
  2859. -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
  2860. -# *.h) to filter out the source-files in the directories.
  2861. -#
  2862. -# Note that for custom extensions or not directly supported extensions you also
  2863. -# need to set EXTENSION_MAPPING for the extension otherwise the files are not
  2864. -# read by doxygen.
  2865. -#
  2866. -# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
  2867. -# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
  2868. -# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
  2869. -# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
  2870. -# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
  2871. -
  2872. -FILE_PATTERNS = *.c \
  2873. - *.cc \
  2874. - *.cxx \
  2875. - *.cpp \
  2876. - *.c++ \
  2877. - *.java \
  2878. - *.ii \
  2879. - *.ixx \
  2880. - *.ipp \
  2881. - *.i++ \
  2882. - *.inl \
  2883. - *.idl \
  2884. - *.ddl \
  2885. - *.odl \
  2886. - *.h \
  2887. - *.hh \
  2888. - *.hxx \
  2889. - *.hpp \
  2890. - *.h++ \
  2891. - *.cs \
  2892. - *.d \
  2893. - *.php \
  2894. - *.php4 \
  2895. - *.php5 \
  2896. - *.phtml \
  2897. - *.inc \
  2898. - *.m \
  2899. - *.markdown \
  2900. - *.md \
  2901. - *.mm \
  2902. - *.dox \
  2903. - *.py \
  2904. - *.pyw \
  2905. - *.f90 \
  2906. - *.f95 \
  2907. - *.f03 \
  2908. - *.f08 \
  2909. - *.f \
  2910. - *.for \
  2911. - *.tcl \
  2912. - *.vhd \
  2913. - *.vhdl \
  2914. - *.ucf \
  2915. - *.qsf
  2916. -
  2917. -# The RECURSIVE tag can be used to specify whether or not subdirectories should
  2918. -# be searched for input files as well.
  2919. -# The default value is: NO.
  2920. -
  2921. -RECURSIVE = YES
  2922. -
  2923. -# The EXCLUDE tag can be used to specify files and/or directories that should be
  2924. -# excluded from the INPUT source files. This way you can easily exclude a
  2925. -# subdirectory from a directory tree whose root is specified with the INPUT tag.
  2926. -#
  2927. -# Note that relative paths are relative to the directory from which doxygen is
  2928. -# run.
  2929. -
  2930. -EXCLUDE = D:\OpenARK\SampleCode
  2931. -
  2932. -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
  2933. -# directories that are symbolic links (a Unix file system feature) are excluded
  2934. -# from the input.
  2935. -# The default value is: NO.
  2936. -
  2937. -EXCLUDE_SYMLINKS = NO
  2938. -
  2939. -# If the value of the INPUT tag contains directories, you can use the
  2940. -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
  2941. -# certain files from those directories.
  2942. -#
  2943. -# Note that the wildcards are matched against the file with absolute path, so to
  2944. -# exclude all test directories for example use the pattern */test/*
  2945. -
  2946. -EXCLUDE_PATTERNS =
  2947. -
  2948. -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
  2949. -# (namespaces, classes, functions, etc.) that should be excluded from the
  2950. -# output. The symbol name can be a fully qualified name, a word, or if the
  2951. -# wildcard * is used, a substring. Examples: ANamespace, AClass,
  2952. -# AClass::ANamespace, ANamespace::*Test
  2953. -#
  2954. -# Note that the wildcards are matched against the file with absolute path, so to
  2955. -# exclude all test directories use the pattern */test/*
  2956. -
  2957. -EXCLUDE_SYMBOLS =
  2958. -
  2959. -# The EXAMPLE_PATH tag can be used to specify one or more files or directories
  2960. -# that contain example code fragments that are included (see the \include
  2961. -# command).
  2962. -
  2963. -EXAMPLE_PATH = D:\OpenARK\SampleCode
  2964. -
  2965. -# If the value of the EXAMPLE_PATH tag contains directories, you can use the
  2966. -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
  2967. -# *.h) to filter out the source-files in the directories. If left blank all
  2968. -# files are included.
  2969. -
  2970. -EXAMPLE_PATTERNS = *
  2971. -
  2972. -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
  2973. -# searched for input files to be used with the \include or \dontinclude commands
  2974. -# irrespective of the value of the RECURSIVE tag.
  2975. -# The default value is: NO.
  2976. -
  2977. -EXAMPLE_RECURSIVE = YES
  2978. -
  2979. -# The IMAGE_PATH tag can be used to specify one or more files or directories
  2980. -# that contain images that are to be included in the documentation (see the
  2981. -# \image command).
  2982. -
  2983. -IMAGE_PATH =
  2984. -
  2985. -# The INPUT_FILTER tag can be used to specify a program that doxygen should
  2986. -# invoke to filter for each input file. Doxygen will invoke the filter program
  2987. -# by executing (via popen()) the command:
  2988. -#
  2989. -# <filter> <input-file>
  2990. -#
  2991. -# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
  2992. -# name of an input file. Doxygen will then use the output that the filter
  2993. -# program writes to standard output. If FILTER_PATTERNS is specified, this tag
  2994. -# will be ignored.
  2995. -#
  2996. -# Note that the filter must not add or remove lines; it is applied before the
  2997. -# code is scanned, but not when the output code is generated. If lines are added
  2998. -# or removed, the anchors will not be placed correctly.
  2999. -#
  3000. -# Note that for custom extensions or not directly supported extensions you also
  3001. -# need to set EXTENSION_MAPPING for the extension otherwise the files are not
  3002. -# properly processed by doxygen.
  3003. -
  3004. -INPUT_FILTER =
  3005. -
  3006. -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
  3007. -# basis. Doxygen will compare the file name with each pattern and apply the
  3008. -# filter if there is a match. The filters are a list of the form: pattern=filter
  3009. -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
  3010. -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
  3011. -# patterns match the file name, INPUT_FILTER is applied.
  3012. -#
  3013. -# Note that for custom extensions or not directly supported extensions you also
  3014. -# need to set EXTENSION_MAPPING for the extension otherwise the files are not
  3015. -# properly processed by doxygen.
  3016. -
  3017. -FILTER_PATTERNS =
  3018. -
  3019. -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
  3020. -# INPUT_FILTER) will also be used to filter the input files that are used for
  3021. -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
  3022. -# The default value is: NO.
  3023. -
  3024. -FILTER_SOURCE_FILES = NO
  3025. -
  3026. -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
  3027. -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
  3028. -# it is also possible to disable source filtering for a specific pattern using
  3029. -# *.ext= (so without naming a filter).
  3030. -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
  3031. -
  3032. -FILTER_SOURCE_PATTERNS =
  3033. -
  3034. -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
  3035. -# is part of the input, its contents will be placed on the main page
  3036. -# (index.html). This can be useful if you have a project on for instance GitHub
  3037. -# and want to reuse the introduction page also for the doxygen output.
  3038. -
  3039. -USE_MDFILE_AS_MAINPAGE =
  3040. -
  3041. -#---------------------------------------------------------------------------
  3042. -# Configuration options related to source browsing
  3043. -#---------------------------------------------------------------------------
  3044. -
  3045. -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
  3046. -# generated. Documented entities will be cross-referenced with these sources.
  3047. -#
  3048. -# Note: To get rid of all source code in the generated output, make sure that
  3049. -# also VERBATIM_HEADERS is set to NO.
  3050. -# The default value is: NO.
  3051. -
  3052. -SOURCE_BROWSER = NO
  3053. -
  3054. -# Setting the INLINE_SOURCES tag to YES will include the body of functions,
  3055. -# classes and enums directly into the documentation.
  3056. -# The default value is: NO.
  3057. -
  3058. -INLINE_SOURCES = NO
  3059. -
  3060. -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
  3061. -# special comment blocks from generated source code fragments. Normal C, C++ and
  3062. -# Fortran comments will always remain visible.
  3063. -# The default value is: YES.
  3064. -
  3065. -STRIP_CODE_COMMENTS = YES
  3066. -
  3067. -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
  3068. -# function all documented functions referencing it will be listed.
  3069. -# The default value is: NO.
  3070. -
  3071. -REFERENCED_BY_RELATION = NO
  3072. -
  3073. -# If the REFERENCES_RELATION tag is set to YES then for each documented function
  3074. -# all documented entities called/used by that function will be listed.
  3075. -# The default value is: NO.
  3076. -
  3077. -REFERENCES_RELATION = NO
  3078. -
  3079. -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
  3080. -# to YES then the hyperlinks from functions in REFERENCES_RELATION and
  3081. -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
  3082. -# link to the documentation.
  3083. -# The default value is: YES.
  3084. -
  3085. -REFERENCES_LINK_SOURCE = YES
  3086. -
  3087. -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
  3088. -# source code will show a tooltip with additional information such as prototype,
  3089. -# brief description and links to the definition and documentation. Since this
  3090. -# will make the HTML file larger and loading of large files a bit slower, you
  3091. -# can opt to disable this feature.
  3092. -# The default value is: YES.
  3093. -# This tag requires that the tag SOURCE_BROWSER is set to YES.
  3094. -
  3095. -SOURCE_TOOLTIPS = YES
  3096. -
  3097. -# If the USE_HTAGS tag is set to YES then the references to source code will
  3098. -# point to the HTML generated by the htags(1) tool instead of doxygen built-in
  3099. -# source browser. The htags tool is part of GNU's global source tagging system
  3100. -# (see http://www.gnu.org/software/global/global.html). You will need version
  3101. -# 4.8.6 or higher.
  3102. -#
  3103. -# To use it do the following:
  3104. -# - Install the latest version of global
  3105. -# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
  3106. -# - Make sure the INPUT points to the root of the source tree
  3107. -# - Run doxygen as normal
  3108. -#
  3109. -# Doxygen will invoke htags (and that will in turn invoke gtags), so these
  3110. -# tools must be available from the command line (i.e. in the search path).
  3111. -#
  3112. -# The result: instead of the source browser generated by doxygen, the links to
  3113. -# source code will now point to the output of htags.
  3114. -# The default value is: NO.
  3115. -# This tag requires that the tag SOURCE_BROWSER is set to YES.
  3116. -
  3117. -USE_HTAGS = NO
  3118. -
  3119. -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
  3120. -# verbatim copy of the header file for each class for which an include is
  3121. -# specified. Set to NO to disable this.
  3122. -# See also: Section \class.
  3123. -# The default value is: YES.
  3124. -
  3125. -VERBATIM_HEADERS = YES
  3126. -
  3127. -# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
  3128. -# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
  3129. -# cost of reduced performance. This can be particularly helpful with template
  3130. -# rich C++ code for which doxygen's built-in parser lacks the necessary type
  3131. -# information.
  3132. -# Note: The availability of this option depends on whether or not doxygen was
  3133. -# generated with the -Duse-libclang=ON option for CMake.
  3134. -# The default value is: NO.
  3135. -
  3136. -CLANG_ASSISTED_PARSING = NO
  3137. -
  3138. -# If clang assisted parsing is enabled you can provide the compiler with command
  3139. -# line options that you would normally use when invoking the compiler. Note that
  3140. -# the include paths will already be set by doxygen for the files and directories
  3141. -# specified with INPUT and INCLUDE_PATH.
  3142. -# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
  3143. -
  3144. -CLANG_OPTIONS =
  3145. -
  3146. -#---------------------------------------------------------------------------
  3147. -# Configuration options related to the alphabetical class index
  3148. -#---------------------------------------------------------------------------
  3149. -
  3150. -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
  3151. -# compounds will be generated. Enable this if the project contains a lot of
  3152. -# classes, structs, unions or interfaces.
  3153. -# The default value is: YES.
  3154. -
  3155. -ALPHABETICAL_INDEX = YES
  3156. -
  3157. -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
  3158. -# which the alphabetical index list will be split.
  3159. -# Minimum value: 1, maximum value: 20, default value: 5.
  3160. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
  3161. -
  3162. -COLS_IN_ALPHA_INDEX = 5
  3163. -
  3164. -# In case all classes in a project start with a common prefix, all classes will
  3165. -# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
  3166. -# can be used to specify a prefix (or a list of prefixes) that should be ignored
  3167. -# while generating the index headers.
  3168. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
  3169. -
  3170. -IGNORE_PREFIX =
  3171. -
  3172. -#---------------------------------------------------------------------------
  3173. -# Configuration options related to the HTML output
  3174. -#---------------------------------------------------------------------------
  3175. -
  3176. -# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
  3177. -# The default value is: YES.
  3178. -
  3179. -GENERATE_HTML = YES
  3180. -
  3181. -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
  3182. -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  3183. -# it.
  3184. -# The default directory is: html.
  3185. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3186. -
  3187. -HTML_OUTPUT = html
  3188. -
  3189. -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
  3190. -# generated HTML page (for example: .htm, .php, .asp).
  3191. -# The default value is: .html.
  3192. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3193. -
  3194. -HTML_FILE_EXTENSION = .html
  3195. -
  3196. -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
  3197. -# each generated HTML page. If the tag is left blank doxygen will generate a
  3198. -# standard header.
  3199. -#
  3200. -# To get valid HTML the header file that includes any scripts and style sheets
  3201. -# that doxygen needs, which is dependent on the configuration options used (e.g.
  3202. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
  3203. -# default header using
  3204. -# doxygen -w html new_header.html new_footer.html new_stylesheet.css
  3205. -# YourConfigFile
  3206. -# and then modify the file new_header.html. See also section "Doxygen usage"
  3207. -# for information on how to generate the default header that doxygen normally
  3208. -# uses.
  3209. -# Note: The header is subject to change so you typically have to regenerate the
  3210. -# default header when upgrading to a newer version of doxygen. For a description
  3211. -# of the possible markers and block names see the documentation.
  3212. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3213. -
  3214. -HTML_HEADER =
  3215. -
  3216. -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
  3217. -# generated HTML page. If the tag is left blank doxygen will generate a standard
  3218. -# footer. See HTML_HEADER for more information on how to generate a default
  3219. -# footer and what special commands can be used inside the footer. See also
  3220. -# section "Doxygen usage" for information on how to generate the default footer
  3221. -# that doxygen normally uses.
  3222. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3223. -
  3224. -HTML_FOOTER =
  3225. -
  3226. -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
  3227. -# sheet that is used by each HTML page. It can be used to fine-tune the look of
  3228. -# the HTML output. If left blank doxygen will generate a default style sheet.
  3229. -# See also section "Doxygen usage" for information on how to generate the style
  3230. -# sheet that doxygen normally uses.
  3231. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
  3232. -# it is more robust and this tag (HTML_STYLESHEET) will in the future become
  3233. -# obsolete.
  3234. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3235. -
  3236. -HTML_STYLESHEET =
  3237. -
  3238. -# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
  3239. -# cascading style sheets that are included after the standard style sheets
  3240. -# created by doxygen. Using this option one can overrule certain style aspects.
  3241. -# This is preferred over using HTML_STYLESHEET since it does not replace the
  3242. -# standard style sheet and is therefore more robust against future updates.
  3243. -# Doxygen will copy the style sheet files to the output directory.
  3244. -# Note: The order of the extra style sheet files is of importance (e.g. the last
  3245. -# style sheet in the list overrules the setting of the previous ones in the
  3246. -# list). For an example see the documentation.
  3247. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3248. -
  3249. -HTML_EXTRA_STYLESHEET =
  3250. -
  3251. -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
  3252. -# other source files which should be copied to the HTML output directory. Note
  3253. -# that these files will be copied to the base HTML output directory. Use the
  3254. -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
  3255. -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
  3256. -# files will be copied as-is; there are no commands or markers available.
  3257. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3258. -
  3259. -HTML_EXTRA_FILES =
  3260. -
  3261. -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
  3262. -# will adjust the colors in the style sheet and background images according to
  3263. -# this color. Hue is specified as an angle on a colorwheel, see
  3264. -# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
  3265. -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
  3266. -# purple, and 360 is red again.
  3267. -# Minimum value: 0, maximum value: 359, default value: 220.
  3268. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3269. -
  3270. -HTML_COLORSTYLE_HUE = 220
  3271. -
  3272. -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
  3273. -# in the HTML output. For a value of 0 the output will use grayscales only. A
  3274. -# value of 255 will produce the most vivid colors.
  3275. -# Minimum value: 0, maximum value: 255, default value: 100.
  3276. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3277. -
  3278. -HTML_COLORSTYLE_SAT = 100
  3279. -
  3280. -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
  3281. -# luminance component of the colors in the HTML output. Values below 100
  3282. -# gradually make the output lighter, whereas values above 100 make the output
  3283. -# darker. The value divided by 100 is the actual gamma applied, so 80 represents
  3284. -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
  3285. -# change the gamma.
  3286. -# Minimum value: 40, maximum value: 240, default value: 80.
  3287. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3288. -
  3289. -HTML_COLORSTYLE_GAMMA = 80
  3290. -
  3291. -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
  3292. -# page will contain the date and time when the page was generated. Setting this
  3293. -# to YES can help to show when doxygen was last run and thus if the
  3294. -# documentation is up to date.
  3295. -# The default value is: NO.
  3296. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3297. -
  3298. -HTML_TIMESTAMP = NO
  3299. -
  3300. -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
  3301. -# documentation will contain sections that can be hidden and shown after the
  3302. -# page has loaded.
  3303. -# The default value is: NO.
  3304. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3305. -
  3306. -HTML_DYNAMIC_SECTIONS = NO
  3307. -
  3308. -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
  3309. -# shown in the various tree structured indices initially; the user can expand
  3310. -# and collapse entries dynamically later on. Doxygen will expand the tree to
  3311. -# such a level that at most the specified number of entries are visible (unless
  3312. -# a fully collapsed tree already exceeds this amount). So setting the number of
  3313. -# entries 1 will produce a full collapsed tree by default. 0 is a special value
  3314. -# representing an infinite number of entries and will result in a full expanded
  3315. -# tree by default.
  3316. -# Minimum value: 0, maximum value: 9999, default value: 100.
  3317. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3318. -
  3319. -HTML_INDEX_NUM_ENTRIES = 100
  3320. -
  3321. -# If the GENERATE_DOCSET tag is set to YES, additional index files will be
  3322. -# generated that can be used as input for Apple's Xcode 3 integrated development
  3323. -# environment (see: http://developer.apple.com/tools/xcode/), introduced with
  3324. -# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
  3325. -# Makefile in the HTML output directory. Running make will produce the docset in
  3326. -# that directory and running make install will install the docset in
  3327. -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
  3328. -# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
  3329. -# for more information.
  3330. -# The default value is: NO.
  3331. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3332. -
  3333. -GENERATE_DOCSET = NO
  3334. -
  3335. -# This tag determines the name of the docset feed. A documentation feed provides
  3336. -# an umbrella under which multiple documentation sets from a single provider
  3337. -# (such as a company or product suite) can be grouped.
  3338. -# The default value is: Doxygen generated docs.
  3339. -# This tag requires that the tag GENERATE_DOCSET is set to YES.
  3340. -
  3341. -DOCSET_FEEDNAME = "Doxygen generated docs"
  3342. -
  3343. -# This tag specifies a string that should uniquely identify the documentation
  3344. -# set bundle. This should be a reverse domain-name style string, e.g.
  3345. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
  3346. -# The default value is: org.doxygen.Project.
  3347. -# This tag requires that the tag GENERATE_DOCSET is set to YES.
  3348. -
  3349. -DOCSET_BUNDLE_ID = org.doxygen.Project
  3350. -
  3351. -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
  3352. -# the documentation publisher. This should be a reverse domain-name style
  3353. -# string, e.g. com.mycompany.MyDocSet.documentation.
  3354. -# The default value is: org.doxygen.Publisher.
  3355. -# This tag requires that the tag GENERATE_DOCSET is set to YES.
  3356. -
  3357. -DOCSET_PUBLISHER_ID = org.doxygen.Publisher
  3358. -
  3359. -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
  3360. -# The default value is: Publisher.
  3361. -# This tag requires that the tag GENERATE_DOCSET is set to YES.
  3362. -
  3363. -DOCSET_PUBLISHER_NAME = Publisher
  3364. -
  3365. -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
  3366. -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
  3367. -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
  3368. -# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
  3369. -# Windows.
  3370. -#
  3371. -# The HTML Help Workshop contains a compiler that can convert all HTML output
  3372. -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
  3373. -# files are now used as the Windows 98 help format, and will replace the old
  3374. -# Windows help format (.hlp) on all Windows platforms in the future. Compressed
  3375. -# HTML files also contain an index, a table of contents, and you can search for
  3376. -# words in the documentation. The HTML workshop also contains a viewer for
  3377. -# compressed HTML files.
  3378. -# The default value is: NO.
  3379. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3380. -
  3381. -GENERATE_HTMLHELP = NO
  3382. -
  3383. -# The CHM_FILE tag can be used to specify the file name of the resulting .chm
  3384. -# file. You can add a path in front of the file if the result should not be
  3385. -# written to the html output directory.
  3386. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  3387. -
  3388. -CHM_FILE =
  3389. -
  3390. -# The HHC_LOCATION tag can be used to specify the location (absolute path
  3391. -# including file name) of the HTML help compiler (hhc.exe). If non-empty,
  3392. -# doxygen will try to run the HTML help compiler on the generated index.hhp.
  3393. -# The file has to be specified with full path.
  3394. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  3395. -
  3396. -HHC_LOCATION =
  3397. -
  3398. -# The GENERATE_CHI flag controls if a separate .chi index file is generated
  3399. -# (YES) or that it should be included in the master .chm file (NO).
  3400. -# The default value is: NO.
  3401. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  3402. -
  3403. -GENERATE_CHI = NO
  3404. -
  3405. -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
  3406. -# and project file content.
  3407. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  3408. -
  3409. -CHM_INDEX_ENCODING =
  3410. -
  3411. -# The BINARY_TOC flag controls whether a binary table of contents is generated
  3412. -# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
  3413. -# enables the Previous and Next buttons.
  3414. -# The default value is: NO.
  3415. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  3416. -
  3417. -BINARY_TOC = NO
  3418. -
  3419. -# The TOC_EXPAND flag can be set to YES to add extra items for group members to
  3420. -# the table of contents of the HTML help documentation and to the tree view.
  3421. -# The default value is: NO.
  3422. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  3423. -
  3424. -TOC_EXPAND = NO
  3425. -
  3426. -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
  3427. -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
  3428. -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
  3429. -# (.qch) of the generated HTML documentation.
  3430. -# The default value is: NO.
  3431. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3432. -
  3433. -GENERATE_QHP = NO
  3434. -
  3435. -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
  3436. -# the file name of the resulting .qch file. The path specified is relative to
  3437. -# the HTML output folder.
  3438. -# This tag requires that the tag GENERATE_QHP is set to YES.
  3439. -
  3440. -QCH_FILE =
  3441. -
  3442. -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
  3443. -# Project output. For more information please see Qt Help Project / Namespace
  3444. -# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
  3445. -# The default value is: org.doxygen.Project.
  3446. -# This tag requires that the tag GENERATE_QHP is set to YES.
  3447. -
  3448. -QHP_NAMESPACE = org.doxygen.Project
  3449. -
  3450. -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
  3451. -# Help Project output. For more information please see Qt Help Project / Virtual
  3452. -# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
  3453. -# folders).
  3454. -# The default value is: doc.
  3455. -# This tag requires that the tag GENERATE_QHP is set to YES.
  3456. -
  3457. -QHP_VIRTUAL_FOLDER = doc
  3458. -
  3459. -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
  3460. -# filter to add. For more information please see Qt Help Project / Custom
  3461. -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
  3462. -# filters).
  3463. -# This tag requires that the tag GENERATE_QHP is set to YES.
  3464. -
  3465. -QHP_CUST_FILTER_NAME =
  3466. -
  3467. -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
  3468. -# custom filter to add. For more information please see Qt Help Project / Custom
  3469. -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
  3470. -# filters).
  3471. -# This tag requires that the tag GENERATE_QHP is set to YES.
  3472. -
  3473. -QHP_CUST_FILTER_ATTRS =
  3474. -
  3475. -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
  3476. -# project's filter section matches. Qt Help Project / Filter Attributes (see:
  3477. -# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
  3478. -# This tag requires that the tag GENERATE_QHP is set to YES.
  3479. -
  3480. -QHP_SECT_FILTER_ATTRS =
  3481. -
  3482. -# The QHG_LOCATION tag can be used to specify the location of Qt's
  3483. -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
  3484. -# generated .qhp file.
  3485. -# This tag requires that the tag GENERATE_QHP is set to YES.
  3486. -
  3487. -QHG_LOCATION =
  3488. -
  3489. -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
  3490. -# generated, together with the HTML files, they form an Eclipse help plugin. To
  3491. -# install this plugin and make it available under the help contents menu in
  3492. -# Eclipse, the contents of the directory containing the HTML and XML files needs
  3493. -# to be copied into the plugins directory of eclipse. The name of the directory
  3494. -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
  3495. -# After copying Eclipse needs to be restarted before the help appears.
  3496. -# The default value is: NO.
  3497. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3498. -
  3499. -GENERATE_ECLIPSEHELP = NO
  3500. -
  3501. -# A unique identifier for the Eclipse help plugin. When installing the plugin
  3502. -# the directory name containing the HTML and XML files should also have this
  3503. -# name. Each documentation set should have its own identifier.
  3504. -# The default value is: org.doxygen.Project.
  3505. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
  3506. -
  3507. -ECLIPSE_DOC_ID = org.doxygen.Project
  3508. -
  3509. -# If you want full control over the layout of the generated HTML pages it might
  3510. -# be necessary to disable the index and replace it with your own. The
  3511. -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
  3512. -# of each HTML page. A value of NO enables the index and the value YES disables
  3513. -# it. Since the tabs in the index contain the same information as the navigation
  3514. -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
  3515. -# The default value is: NO.
  3516. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3517. -
  3518. -DISABLE_INDEX = NO
  3519. -
  3520. -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
  3521. -# structure should be generated to display hierarchical information. If the tag
  3522. -# value is set to YES, a side panel will be generated containing a tree-like
  3523. -# index structure (just like the one that is generated for HTML Help). For this
  3524. -# to work a browser that supports JavaScript, DHTML, CSS and frames is required
  3525. -# (i.e. any modern browser). Windows users are probably better off using the
  3526. -# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
  3527. -# further fine-tune the look of the index. As an example, the default style
  3528. -# sheet generated by doxygen has an example that shows how to put an image at
  3529. -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
  3530. -# the same information as the tab index, you could consider setting
  3531. -# DISABLE_INDEX to YES when enabling this option.
  3532. -# The default value is: NO.
  3533. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3534. -
  3535. -GENERATE_TREEVIEW = YES
  3536. -
  3537. -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
  3538. -# doxygen will group on one line in the generated HTML documentation.
  3539. -#
  3540. -# Note that a value of 0 will completely suppress the enum values from appearing
  3541. -# in the overview section.
  3542. -# Minimum value: 0, maximum value: 20, default value: 4.
  3543. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3544. -
  3545. -ENUM_VALUES_PER_LINE = 4
  3546. -
  3547. -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
  3548. -# to set the initial width (in pixels) of the frame in which the tree is shown.
  3549. -# Minimum value: 0, maximum value: 1500, default value: 250.
  3550. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3551. -
  3552. -TREEVIEW_WIDTH = 250
  3553. -
  3554. -# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
  3555. -# external symbols imported via tag files in a separate window.
  3556. -# The default value is: NO.
  3557. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3558. -
  3559. -EXT_LINKS_IN_WINDOW = NO
  3560. -
  3561. -# Use this tag to change the font size of LaTeX formulas included as images in
  3562. -# the HTML documentation. When you change the font size after a successful
  3563. -# doxygen run you need to manually remove any form_*.png images from the HTML
  3564. -# output directory to force them to be regenerated.
  3565. -# Minimum value: 8, maximum value: 50, default value: 10.
  3566. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3567. -
  3568. -FORMULA_FONTSIZE = 10
  3569. -
  3570. -# Use the FORMULA_TRANPARENT tag to determine whether or not the images
  3571. -# generated for formulas are transparent PNGs. Transparent PNGs are not
  3572. -# supported properly for IE 6.0, but are supported on all modern browsers.
  3573. -#
  3574. -# Note that when changing this option you need to delete any form_*.png files in
  3575. -# the HTML output directory before the changes have effect.
  3576. -# The default value is: YES.
  3577. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3578. -
  3579. -FORMULA_TRANSPARENT = YES
  3580. -
  3581. -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
  3582. -# http://www.mathjax.org) which uses client side Javascript for the rendering
  3583. -# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
  3584. -# installed or if you want to formulas look prettier in the HTML output. When
  3585. -# enabled you may also need to install MathJax separately and configure the path
  3586. -# to it using the MATHJAX_RELPATH option.
  3587. -# The default value is: NO.
  3588. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3589. -
  3590. -USE_MATHJAX = NO
  3591. -
  3592. -# When MathJax is enabled you can set the default output format to be used for
  3593. -# the MathJax output. See the MathJax site (see:
  3594. -# http://docs.mathjax.org/en/latest/output.html) for more details.
  3595. -# Possible values are: HTML-CSS (which is slower, but has the best
  3596. -# compatibility), NativeMML (i.e. MathML) and SVG.
  3597. -# The default value is: HTML-CSS.
  3598. -# This tag requires that the tag USE_MATHJAX is set to YES.
  3599. -
  3600. -MATHJAX_FORMAT = HTML-CSS
  3601. -
  3602. -# When MathJax is enabled you need to specify the location relative to the HTML
  3603. -# output directory using the MATHJAX_RELPATH option. The destination directory
  3604. -# should contain the MathJax.js script. For instance, if the mathjax directory
  3605. -# is located at the same level as the HTML output directory, then
  3606. -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
  3607. -# Content Delivery Network so you can quickly see the result without installing
  3608. -# MathJax. However, it is strongly recommended to install a local copy of
  3609. -# MathJax from http://www.mathjax.org before deployment.
  3610. -# The default value is: http://cdn.mathjax.org/mathjax/latest.
  3611. -# This tag requires that the tag USE_MATHJAX is set to YES.
  3612. -
  3613. -MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
  3614. -
  3615. -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
  3616. -# extension names that should be enabled during MathJax rendering. For example
  3617. -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
  3618. -# This tag requires that the tag USE_MATHJAX is set to YES.
  3619. -
  3620. -MATHJAX_EXTENSIONS =
  3621. -
  3622. -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
  3623. -# of code that will be used on startup of the MathJax code. See the MathJax site
  3624. -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
  3625. -# example see the documentation.
  3626. -# This tag requires that the tag USE_MATHJAX is set to YES.
  3627. -
  3628. -MATHJAX_CODEFILE =
  3629. -
  3630. -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
  3631. -# the HTML output. The underlying search engine uses javascript and DHTML and
  3632. -# should work on any modern browser. Note that when using HTML help
  3633. -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
  3634. -# there is already a search function so this one should typically be disabled.
  3635. -# For large projects the javascript based search engine can be slow, then
  3636. -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
  3637. -# search using the keyboard; to jump to the search box use <access key> + S
  3638. -# (what the <access key> is depends on the OS and browser, but it is typically
  3639. -# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
  3640. -# key> to jump into the search results window, the results can be navigated
  3641. -# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
  3642. -# the search. The filter options can be selected when the cursor is inside the
  3643. -# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
  3644. -# to select a filter and <Enter> or <escape> to activate or cancel the filter
  3645. -# option.
  3646. -# The default value is: YES.
  3647. -# This tag requires that the tag GENERATE_HTML is set to YES.
  3648. -
  3649. -SEARCHENGINE = YES
  3650. -
  3651. -# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
  3652. -# implemented using a web server instead of a web client using Javascript. There
  3653. -# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
  3654. -# setting. When disabled, doxygen will generate a PHP script for searching and
  3655. -# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
  3656. -# and searching needs to be provided by external tools. See the section
  3657. -# "External Indexing and Searching" for details.
  3658. -# The default value is: NO.
  3659. -# This tag requires that the tag SEARCHENGINE is set to YES.
  3660. -
  3661. -SERVER_BASED_SEARCH = NO
  3662. -
  3663. -# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
  3664. -# script for searching. Instead the search results are written to an XML file
  3665. -# which needs to be processed by an external indexer. Doxygen will invoke an
  3666. -# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
  3667. -# search results.
  3668. -#
  3669. -# Doxygen ships with an example indexer (doxyindexer) and search engine
  3670. -# (doxysearch.cgi) which are based on the open source search engine library
  3671. -# Xapian (see: http://xapian.org/).
  3672. -#
  3673. -# See the section "External Indexing and Searching" for details.
  3674. -# The default value is: NO.
  3675. -# This tag requires that the tag SEARCHENGINE is set to YES.
  3676. -
  3677. -EXTERNAL_SEARCH = NO
  3678. -
  3679. -# The SEARCHENGINE_URL should point to a search engine hosted by a web server
  3680. -# which will return the search results when EXTERNAL_SEARCH is enabled.
  3681. -#
  3682. -# Doxygen ships with an example indexer (doxyindexer) and search engine
  3683. -# (doxysearch.cgi) which are based on the open source search engine library
  3684. -# Xapian (see: http://xapian.org/). See the section "External Indexing and
  3685. -# Searching" for details.
  3686. -# This tag requires that the tag SEARCHENGINE is set to YES.
  3687. -
  3688. -SEARCHENGINE_URL =
  3689. -
  3690. -# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
  3691. -# search data is written to a file for indexing by an external tool. With the
  3692. -# SEARCHDATA_FILE tag the name of this file can be specified.
  3693. -# The default file is: searchdata.xml.
  3694. -# This tag requires that the tag SEARCHENGINE is set to YES.
  3695. -
  3696. -SEARCHDATA_FILE = searchdata.xml
  3697. -
  3698. -# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
  3699. -# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
  3700. -# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
  3701. -# projects and redirect the results back to the right project.
  3702. -# This tag requires that the tag SEARCHENGINE is set to YES.
  3703. -
  3704. -EXTERNAL_SEARCH_ID =
  3705. -
  3706. -# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
  3707. -# projects other than the one defined by this configuration file, but that are
  3708. -# all added to the same external search index. Each project needs to have a
  3709. -# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
  3710. -# to a relative location where the documentation can be found. The format is:
  3711. -# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
  3712. -# This tag requires that the tag SEARCHENGINE is set to YES.
  3713. -
  3714. -EXTRA_SEARCH_MAPPINGS =
  3715. -
  3716. -#---------------------------------------------------------------------------
  3717. -# Configuration options related to the LaTeX output
  3718. -#---------------------------------------------------------------------------
  3719. -
  3720. -# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
  3721. -# The default value is: YES.
  3722. -
  3723. -GENERATE_LATEX = YES
  3724. -
  3725. -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
  3726. -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  3727. -# it.
  3728. -# The default directory is: latex.
  3729. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3730. -
  3731. -LATEX_OUTPUT = latex
  3732. -
  3733. -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
  3734. -# invoked.
  3735. -#
  3736. -# Note that when enabling USE_PDFLATEX this option is only used for generating
  3737. -# bitmaps for formulas in the HTML output, but not in the Makefile that is
  3738. -# written to the output directory.
  3739. -# The default file is: latex.
  3740. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3741. -
  3742. -LATEX_CMD_NAME = latex
  3743. -
  3744. -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
  3745. -# index for LaTeX.
  3746. -# The default file is: makeindex.
  3747. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3748. -
  3749. -MAKEINDEX_CMD_NAME = makeindex
  3750. -
  3751. -# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
  3752. -# documents. This may be useful for small projects and may help to save some
  3753. -# trees in general.
  3754. -# The default value is: NO.
  3755. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3756. -
  3757. -COMPACT_LATEX = NO
  3758. -
  3759. -# The PAPER_TYPE tag can be used to set the paper type that is used by the
  3760. -# printer.
  3761. -# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
  3762. -# 14 inches) and executive (7.25 x 10.5 inches).
  3763. -# The default value is: a4.
  3764. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3765. -
  3766. -PAPER_TYPE = a4
  3767. -
  3768. -# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
  3769. -# that should be included in the LaTeX output. The package can be specified just
  3770. -# by its name or with the correct syntax as to be used with the LaTeX
  3771. -# \usepackage command. To get the times font for instance you can specify :
  3772. -# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
  3773. -# To use the option intlimits with the amsmath package you can specify:
  3774. -# EXTRA_PACKAGES=[intlimits]{amsmath}
  3775. -# If left blank no extra packages will be included.
  3776. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3777. -
  3778. -EXTRA_PACKAGES =
  3779. -
  3780. -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
  3781. -# generated LaTeX document. The header should contain everything until the first
  3782. -# chapter. If it is left blank doxygen will generate a standard header. See
  3783. -# section "Doxygen usage" for information on how to let doxygen write the
  3784. -# default header to a separate file.
  3785. -#
  3786. -# Note: Only use a user-defined header if you know what you are doing! The
  3787. -# following commands have a special meaning inside the header: $title,
  3788. -# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
  3789. -# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
  3790. -# string, for the replacement values of the other commands the user is referred
  3791. -# to HTML_HEADER.
  3792. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3793. -
  3794. -LATEX_HEADER =
  3795. -
  3796. -# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
  3797. -# generated LaTeX document. The footer should contain everything after the last
  3798. -# chapter. If it is left blank doxygen will generate a standard footer. See
  3799. -# LATEX_HEADER for more information on how to generate a default footer and what
  3800. -# special commands can be used inside the footer.
  3801. -#
  3802. -# Note: Only use a user-defined footer if you know what you are doing!
  3803. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3804. -
  3805. -LATEX_FOOTER =
  3806. -
  3807. -# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
  3808. -# LaTeX style sheets that are included after the standard style sheets created
  3809. -# by doxygen. Using this option one can overrule certain style aspects. Doxygen
  3810. -# will copy the style sheet files to the output directory.
  3811. -# Note: The order of the extra style sheet files is of importance (e.g. the last
  3812. -# style sheet in the list overrules the setting of the previous ones in the
  3813. -# list).
  3814. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3815. -
  3816. -LATEX_EXTRA_STYLESHEET =
  3817. -
  3818. -# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
  3819. -# other source files which should be copied to the LATEX_OUTPUT output
  3820. -# directory. Note that the files will be copied as-is; there are no commands or
  3821. -# markers available.
  3822. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3823. -
  3824. -LATEX_EXTRA_FILES =
  3825. -
  3826. -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
  3827. -# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
  3828. -# contain links (just like the HTML output) instead of page references. This
  3829. -# makes the output suitable for online browsing using a PDF viewer.
  3830. -# The default value is: YES.
  3831. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3832. -
  3833. -PDF_HYPERLINKS = YES
  3834. -
  3835. -# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
  3836. -# the PDF file directly from the LaTeX files. Set this option to YES, to get a
  3837. -# higher quality PDF documentation.
  3838. -# The default value is: YES.
  3839. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3840. -
  3841. -USE_PDFLATEX = YES
  3842. -
  3843. -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
  3844. -# command to the generated LaTeX files. This will instruct LaTeX to keep running
  3845. -# if errors occur, instead of asking the user for help. This option is also used
  3846. -# when generating formulas in HTML.
  3847. -# The default value is: NO.
  3848. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3849. -
  3850. -LATEX_BATCHMODE = NO
  3851. -
  3852. -# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
  3853. -# index chapters (such as File Index, Compound Index, etc.) in the output.
  3854. -# The default value is: NO.
  3855. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3856. -
  3857. -LATEX_HIDE_INDICES = NO
  3858. -
  3859. -# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
  3860. -# code with syntax highlighting in the LaTeX output.
  3861. -#
  3862. -# Note that which sources are shown also depends on other settings such as
  3863. -# SOURCE_BROWSER.
  3864. -# The default value is: NO.
  3865. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3866. -
  3867. -LATEX_SOURCE_CODE = NO
  3868. -
  3869. -# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
  3870. -# bibliography, e.g. plainnat, or ieeetr. See
  3871. -# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
  3872. -# The default value is: plain.
  3873. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3874. -
  3875. -LATEX_BIB_STYLE = plain
  3876. -
  3877. -# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
  3878. -# page will contain the date and time when the page was generated. Setting this
  3879. -# to NO can help when comparing the output of multiple runs.
  3880. -# The default value is: NO.
  3881. -# This tag requires that the tag GENERATE_LATEX is set to YES.
  3882. -
  3883. -LATEX_TIMESTAMP = NO
  3884. -
  3885. -#---------------------------------------------------------------------------
  3886. -# Configuration options related to the RTF output
  3887. -#---------------------------------------------------------------------------
  3888. -
  3889. -# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
  3890. -# RTF output is optimized for Word 97 and may not look too pretty with other RTF
  3891. -# readers/editors.
  3892. -# The default value is: NO.
  3893. -
  3894. -GENERATE_RTF = NO
  3895. -
  3896. -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
  3897. -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  3898. -# it.
  3899. -# The default directory is: rtf.
  3900. -# This tag requires that the tag GENERATE_RTF is set to YES.
  3901. -
  3902. -RTF_OUTPUT = rtf
  3903. -
  3904. -# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
  3905. -# documents. This may be useful for small projects and may help to save some
  3906. -# trees in general.
  3907. -# The default value is: NO.
  3908. -# This tag requires that the tag GENERATE_RTF is set to YES.
  3909. -
  3910. -COMPACT_RTF = NO
  3911. -
  3912. -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
  3913. -# contain hyperlink fields. The RTF file will contain links (just like the HTML
  3914. -# output) instead of page references. This makes the output suitable for online
  3915. -# browsing using Word or some other Word compatible readers that support those
  3916. -# fields.
  3917. -#
  3918. -# Note: WordPad (write) and others do not support links.
  3919. -# The default value is: NO.
  3920. -# This tag requires that the tag GENERATE_RTF is set to YES.
  3921. -
  3922. -RTF_HYPERLINKS = NO
  3923. -
  3924. -# Load stylesheet definitions from file. Syntax is similar to doxygen's config
  3925. -# file, i.e. a series of assignments. You only have to provide replacements,
  3926. -# missing definitions are set to their default value.
  3927. -#
  3928. -# See also section "Doxygen usage" for information on how to generate the
  3929. -# default style sheet that doxygen normally uses.
  3930. -# This tag requires that the tag GENERATE_RTF is set to YES.
  3931. -
  3932. -RTF_STYLESHEET_FILE =
  3933. -
  3934. -# Set optional variables used in the generation of an RTF document. Syntax is
  3935. -# similar to doxygen's config file. A template extensions file can be generated
  3936. -# using doxygen -e rtf extensionFile.
  3937. -# This tag requires that the tag GENERATE_RTF is set to YES.
  3938. -
  3939. -RTF_EXTENSIONS_FILE =
  3940. -
  3941. -# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
  3942. -# with syntax highlighting in the RTF output.
  3943. -#
  3944. -# Note that which sources are shown also depends on other settings such as
  3945. -# SOURCE_BROWSER.
  3946. -# The default value is: NO.
  3947. -# This tag requires that the tag GENERATE_RTF is set to YES.
  3948. -
  3949. -RTF_SOURCE_CODE = NO
  3950. -
  3951. -#---------------------------------------------------------------------------
  3952. -# Configuration options related to the man page output
  3953. -#---------------------------------------------------------------------------
  3954. -
  3955. -# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
  3956. -# classes and files.
  3957. -# The default value is: NO.
  3958. -
  3959. -GENERATE_MAN = NO
  3960. -
  3961. -# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
  3962. -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  3963. -# it. A directory man3 will be created inside the directory specified by
  3964. -# MAN_OUTPUT.
  3965. -# The default directory is: man.
  3966. -# This tag requires that the tag GENERATE_MAN is set to YES.
  3967. -
  3968. -MAN_OUTPUT = man
  3969. -
  3970. -# The MAN_EXTENSION tag determines the extension that is added to the generated
  3971. -# man pages. In case the manual section does not start with a number, the number
  3972. -# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
  3973. -# optional.
  3974. -# The default value is: .3.
  3975. -# This tag requires that the tag GENERATE_MAN is set to YES.
  3976. -
  3977. -MAN_EXTENSION = .3
  3978. -
  3979. -# The MAN_SUBDIR tag determines the name of the directory created within
  3980. -# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
  3981. -# MAN_EXTENSION with the initial . removed.
  3982. -# This tag requires that the tag GENERATE_MAN is set to YES.
  3983. -
  3984. -MAN_SUBDIR =
  3985. -
  3986. -# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
  3987. -# will generate one additional man file for each entity documented in the real
  3988. -# man page(s). These additional files only source the real man page, but without
  3989. -# them the man command would be unable to find the correct page.
  3990. -# The default value is: NO.
  3991. -# This tag requires that the tag GENERATE_MAN is set to YES.
  3992. -
  3993. -MAN_LINKS = NO
  3994. -
  3995. -#---------------------------------------------------------------------------
  3996. -# Configuration options related to the XML output
  3997. -#---------------------------------------------------------------------------
  3998. -
  3999. -# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
  4000. -# captures the structure of the code including all documentation.
  4001. -# The default value is: NO.
  4002. -
  4003. -GENERATE_XML = NO
  4004. -
  4005. -# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
  4006. -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  4007. -# it.
  4008. -# The default directory is: xml.
  4009. -# This tag requires that the tag GENERATE_XML is set to YES.
  4010. -
  4011. -XML_OUTPUT = xml
  4012. -
  4013. -# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
  4014. -# listings (including syntax highlighting and cross-referencing information) to
  4015. -# the XML output. Note that enabling this will significantly increase the size
  4016. -# of the XML output.
  4017. -# The default value is: YES.
  4018. -# This tag requires that the tag GENERATE_XML is set to YES.
  4019. -
  4020. -XML_PROGRAMLISTING = YES
  4021. -
  4022. -#---------------------------------------------------------------------------
  4023. -# Configuration options related to the DOCBOOK output
  4024. -#---------------------------------------------------------------------------
  4025. -
  4026. -# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
  4027. -# that can be used to generate PDF.
  4028. -# The default value is: NO.
  4029. -
  4030. -GENERATE_DOCBOOK = NO
  4031. -
  4032. -# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
  4033. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
  4034. -# front of it.
  4035. -# The default directory is: docbook.
  4036. -# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
  4037. -
  4038. -DOCBOOK_OUTPUT = docbook
  4039. -
  4040. -# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
  4041. -# program listings (including syntax highlighting and cross-referencing
  4042. -# information) to the DOCBOOK output. Note that enabling this will significantly
  4043. -# increase the size of the DOCBOOK output.
  4044. -# The default value is: NO.
  4045. -# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
  4046. -
  4047. -DOCBOOK_PROGRAMLISTING = NO
  4048. -
  4049. -#---------------------------------------------------------------------------
  4050. -# Configuration options for the AutoGen Definitions output
  4051. -#---------------------------------------------------------------------------
  4052. -
  4053. -# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
  4054. -# AutoGen Definitions (see http://autogen.sf.net) file that captures the
  4055. -# structure of the code including all documentation. Note that this feature is
  4056. -# still experimental and incomplete at the moment.
  4057. -# The default value is: NO.
  4058. -
  4059. -GENERATE_AUTOGEN_DEF = NO
  4060. -
  4061. -#---------------------------------------------------------------------------
  4062. -# Configuration options related to the Perl module output
  4063. -#---------------------------------------------------------------------------
  4064. -
  4065. -# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
  4066. -# file that captures the structure of the code including all documentation.
  4067. -#
  4068. -# Note that this feature is still experimental and incomplete at the moment.
  4069. -# The default value is: NO.
  4070. -
  4071. -GENERATE_PERLMOD = NO
  4072. -
  4073. -# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
  4074. -# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
  4075. -# output from the Perl module output.
  4076. -# The default value is: NO.
  4077. -# This tag requires that the tag GENERATE_PERLMOD is set to YES.
  4078. -
  4079. -PERLMOD_LATEX = NO
  4080. -
  4081. -# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
  4082. -# formatted so it can be parsed by a human reader. This is useful if you want to
  4083. -# understand what is going on. On the other hand, if this tag is set to NO, the
  4084. -# size of the Perl module output will be much smaller and Perl will parse it
  4085. -# just the same.
  4086. -# The default value is: YES.
  4087. -# This tag requires that the tag GENERATE_PERLMOD is set to YES.
  4088. -
  4089. -PERLMOD_PRETTY = YES
  4090. -
  4091. -# The names of the make variables in the generated doxyrules.make file are
  4092. -# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
  4093. -# so different doxyrules.make files included by the same Makefile don't
  4094. -# overwrite each other's variables.
  4095. -# This tag requires that the tag GENERATE_PERLMOD is set to YES.
  4096. -
  4097. -PERLMOD_MAKEVAR_PREFIX =
  4098. -
  4099. -#---------------------------------------------------------------------------
  4100. -# Configuration options related to the preprocessor
  4101. -#---------------------------------------------------------------------------
  4102. -
  4103. -# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
  4104. -# C-preprocessor directives found in the sources and include files.
  4105. -# The default value is: YES.
  4106. -
  4107. -ENABLE_PREPROCESSING = YES
  4108. -
  4109. -# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
  4110. -# in the source code. If set to NO, only conditional compilation will be
  4111. -# performed. Macro expansion can be done in a controlled way by setting
  4112. -# EXPAND_ONLY_PREDEF to YES.
  4113. -# The default value is: NO.
  4114. -# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  4115. -
  4116. -MACRO_EXPANSION = NO
  4117. -
  4118. -# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
  4119. -# the macro expansion is limited to the macros specified with the PREDEFINED and
  4120. -# EXPAND_AS_DEFINED tags.
  4121. -# The default value is: NO.
  4122. -# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  4123. -
  4124. -EXPAND_ONLY_PREDEF = NO
  4125. -
  4126. -# If the SEARCH_INCLUDES tag is set to YES, the include files in the
  4127. -# INCLUDE_PATH will be searched if a #include is found.
  4128. -# The default value is: YES.
  4129. -# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  4130. -
  4131. -SEARCH_INCLUDES = YES
  4132. -
  4133. -# The INCLUDE_PATH tag can be used to specify one or more directories that
  4134. -# contain include files that are not input files but should be processed by the
  4135. -# preprocessor.
  4136. -# This tag requires that the tag SEARCH_INCLUDES is set to YES.
  4137. -
  4138. -INCLUDE_PATH =
  4139. -
  4140. -# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
  4141. -# patterns (like *.h and *.hpp) to filter out the header-files in the
  4142. -# directories. If left blank, the patterns specified with FILE_PATTERNS will be
  4143. -# used.
  4144. -# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  4145. -
  4146. -INCLUDE_FILE_PATTERNS =
  4147. -
  4148. -# The PREDEFINED tag can be used to specify one or more macro names that are
  4149. -# defined before the preprocessor is started (similar to the -D option of e.g.
  4150. -# gcc). The argument of the tag is a list of macros of the form: name or
  4151. -# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
  4152. -# is assumed. To prevent a macro definition from being undefined via #undef or
  4153. -# recursively expanded use the := operator instead of the = operator.
  4154. -# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  4155. -
  4156. -PREDEFINED =
  4157. -
  4158. -# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
  4159. -# tag can be used to specify a list of macro names that should be expanded. The
  4160. -# macro definition that is found in the sources will be used. Use the PREDEFINED
  4161. -# tag if you want to use a different macro definition that overrules the
  4162. -# definition found in the source code.
  4163. -# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  4164. -
  4165. -EXPAND_AS_DEFINED =
  4166. -
  4167. -# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
  4168. -# remove all references to function-like macros that are alone on a line, have
  4169. -# an all uppercase name, and do not end with a semicolon. Such function macros
  4170. -# are typically used for boiler-plate code, and will confuse the parser if not
  4171. -# removed.
  4172. -# The default value is: YES.
  4173. -# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  4174. -
  4175. -SKIP_FUNCTION_MACROS = YES
  4176. -
  4177. -#---------------------------------------------------------------------------
  4178. -# Configuration options related to external references
  4179. -#---------------------------------------------------------------------------
  4180. -
  4181. -# The TAGFILES tag can be used to specify one or more tag files. For each tag
  4182. -# file the location of the external documentation should be added. The format of
  4183. -# a tag file without this location is as follows:
  4184. -# TAGFILES = file1 file2 ...
  4185. -# Adding location for the tag files is done as follows:
  4186. -# TAGFILES = file1=loc1 "file2 = loc2" ...
  4187. -# where loc1 and loc2 can be relative or absolute paths or URLs. See the
  4188. -# section "Linking to external documentation" for more information about the use
  4189. -# of tag files.
  4190. -# Note: Each tag file must have a unique name (where the name does NOT include
  4191. -# the path). If a tag file is not located in the directory in which doxygen is
  4192. -# run, you must also specify the path to the tagfile here.
  4193. -
  4194. -TAGFILES =
  4195. -
  4196. -# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
  4197. -# tag file that is based on the input files it reads. See section "Linking to
  4198. -# external documentation" for more information about the usage of tag files.
  4199. -
  4200. -GENERATE_TAGFILE =
  4201. -
  4202. -# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
  4203. -# the class index. If set to NO, only the inherited external classes will be
  4204. -# listed.
  4205. -# The default value is: NO.
  4206. -
  4207. -ALLEXTERNALS = NO
  4208. -
  4209. -# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
  4210. -# in the modules index. If set to NO, only the current project's groups will be
  4211. -# listed.
  4212. -# The default value is: YES.
  4213. -
  4214. -EXTERNAL_GROUPS = YES
  4215. -
  4216. -# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
  4217. -# the related pages index. If set to NO, only the current project's pages will
  4218. -# be listed.
  4219. -# The default value is: YES.
  4220. -
  4221. -EXTERNAL_PAGES = YES
  4222. -
  4223. -# The PERL_PATH should be the absolute path and name of the perl script
  4224. -# interpreter (i.e. the result of 'which perl').
  4225. -# The default file (with absolute path) is: /usr/bin/perl.
  4226. -
  4227. -PERL_PATH = /usr/bin/perl
  4228. -
  4229. -#---------------------------------------------------------------------------
  4230. -# Configuration options related to the dot tool
  4231. -#---------------------------------------------------------------------------
  4232. -
  4233. -# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
  4234. -# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
  4235. -# NO turns the diagrams off. Note that this option also works with HAVE_DOT
  4236. -# disabled, but it is recommended to install and use dot, since it yields more
  4237. -# powerful graphs.
  4238. -# The default value is: YES.
  4239. -
  4240. -CLASS_DIAGRAMS = YES
  4241. -
  4242. -# You can define message sequence charts within doxygen comments using the \msc
  4243. -# command. Doxygen will then run the mscgen tool (see:
  4244. -# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
  4245. -# documentation. The MSCGEN_PATH tag allows you to specify the directory where
  4246. -# the mscgen tool resides. If left empty the tool is assumed to be found in the
  4247. -# default search path.
  4248. -
  4249. -MSCGEN_PATH =
  4250. -
  4251. -# You can include diagrams made with dia in doxygen documentation. Doxygen will
  4252. -# then run dia to produce the diagram and insert it in the documentation. The
  4253. -# DIA_PATH tag allows you to specify the directory where the dia binary resides.
  4254. -# If left empty dia is assumed to be found in the default search path.
  4255. -
  4256. -DIA_PATH =
  4257. -
  4258. -# If set to YES the inheritance and collaboration graphs will hide inheritance
  4259. -# and usage relations if the target is undocumented or is not a class.
  4260. -# The default value is: YES.
  4261. -
  4262. -HIDE_UNDOC_RELATIONS = YES
  4263. -
  4264. -# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
  4265. -# available from the path. This tool is part of Graphviz (see:
  4266. -# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
  4267. -# Bell Labs. The other options in this section have no effect if this option is
  4268. -# set to NO
  4269. -# The default value is: NO.
  4270. -
  4271. -HAVE_DOT = NO
  4272. -
  4273. -# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
  4274. -# to run in parallel. When set to 0 doxygen will base this on the number of
  4275. -# processors available in the system. You can set it explicitly to a value
  4276. -# larger than 0 to get control over the balance between CPU load and processing
  4277. -# speed.
  4278. -# Minimum value: 0, maximum value: 32, default value: 0.
  4279. -# This tag requires that the tag HAVE_DOT is set to YES.
  4280. -
  4281. -DOT_NUM_THREADS = 0
  4282. -
  4283. -# When you want a differently looking font in the dot files that doxygen
  4284. -# generates you can specify the font name using DOT_FONTNAME. You need to make
  4285. -# sure dot is able to find the font, which can be done by putting it in a
  4286. -# standard location or by setting the DOTFONTPATH environment variable or by
  4287. -# setting DOT_FONTPATH to the directory containing the font.
  4288. -# The default value is: Helvetica.
  4289. -# This tag requires that the tag HAVE_DOT is set to YES.
  4290. -
  4291. -DOT_FONTNAME = Helvetica
  4292. -
  4293. -# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
  4294. -# dot graphs.
  4295. -# Minimum value: 4, maximum value: 24, default value: 10.
  4296. -# This tag requires that the tag HAVE_DOT is set to YES.
  4297. -
  4298. -DOT_FONTSIZE = 10
  4299. -
  4300. -# By default doxygen will tell dot to use the default font as specified with
  4301. -# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
  4302. -# the path where dot can find it using this tag.
  4303. -# This tag requires that the tag HAVE_DOT is set to YES.
  4304. -
  4305. -DOT_FONTPATH =
  4306. -
  4307. -# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
  4308. -# each documented class showing the direct and indirect inheritance relations.
  4309. -# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
  4310. -# The default value is: YES.
  4311. -# This tag requires that the tag HAVE_DOT is set to YES.
  4312. -
  4313. -CLASS_GRAPH = YES
  4314. -
  4315. -# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
  4316. -# graph for each documented class showing the direct and indirect implementation
  4317. -# dependencies (inheritance, containment, and class references variables) of the
  4318. -# class with other documented classes.
  4319. -# The default value is: YES.
  4320. -# This tag requires that the tag HAVE_DOT is set to YES.
  4321. -
  4322. -COLLABORATION_GRAPH = YES
  4323. -
  4324. -# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
  4325. -# groups, showing the direct groups dependencies.
  4326. -# The default value is: YES.
  4327. -# This tag requires that the tag HAVE_DOT is set to YES.
  4328. -
  4329. -GROUP_GRAPHS = YES
  4330. -
  4331. -# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
  4332. -# collaboration diagrams in a style similar to the OMG's Unified Modeling
  4333. -# Language.
  4334. -# The default value is: NO.
  4335. -# This tag requires that the tag HAVE_DOT is set to YES.
  4336. -
  4337. -UML_LOOK = NO
  4338. -
  4339. -# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
  4340. -# class node. If there are many fields or methods and many nodes the graph may
  4341. -# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
  4342. -# number of items for each type to make the size more manageable. Set this to 0
  4343. -# for no limit. Note that the threshold may be exceeded by 50% before the limit
  4344. -# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
  4345. -# but if the number exceeds 15, the total amount of fields shown is limited to
  4346. -# 10.
  4347. -# Minimum value: 0, maximum value: 100, default value: 10.
  4348. -# This tag requires that the tag HAVE_DOT is set to YES.
  4349. -
  4350. -UML_LIMIT_NUM_FIELDS = 10
  4351. -
  4352. -# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
  4353. -# collaboration graphs will show the relations between templates and their
  4354. -# instances.
  4355. -# The default value is: NO.
  4356. -# This tag requires that the tag HAVE_DOT is set to YES.
  4357. -
  4358. -TEMPLATE_RELATIONS = NO
  4359. -
  4360. -# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
  4361. -# YES then doxygen will generate a graph for each documented file showing the
  4362. -# direct and indirect include dependencies of the file with other documented
  4363. -# files.
  4364. -# The default value is: YES.
  4365. -# This tag requires that the tag HAVE_DOT is set to YES.
  4366. -
  4367. -INCLUDE_GRAPH = YES
  4368. -
  4369. -# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
  4370. -# set to YES then doxygen will generate a graph for each documented file showing
  4371. -# the direct and indirect include dependencies of the file with other documented
  4372. -# files.
  4373. -# The default value is: YES.
  4374. -# This tag requires that the tag HAVE_DOT is set to YES.
  4375. -
  4376. -INCLUDED_BY_GRAPH = YES
  4377. -
  4378. -# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
  4379. -# dependency graph for every global function or class method.
  4380. -#
  4381. -# Note that enabling this option will significantly increase the time of a run.
  4382. -# So in most cases it will be better to enable call graphs for selected
  4383. -# functions only using the \callgraph command. Disabling a call graph can be
  4384. -# accomplished by means of the command \hidecallgraph.
  4385. -# The default value is: NO.
  4386. -# This tag requires that the tag HAVE_DOT is set to YES.
  4387. -
  4388. -CALL_GRAPH = NO
  4389. -
  4390. -# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
  4391. -# dependency graph for every global function or class method.
  4392. -#
  4393. -# Note that enabling this option will significantly increase the time of a run.
  4394. -# So in most cases it will be better to enable caller graphs for selected
  4395. -# functions only using the \callergraph command. Disabling a caller graph can be
  4396. -# accomplished by means of the command \hidecallergraph.
  4397. -# The default value is: NO.
  4398. -# This tag requires that the tag HAVE_DOT is set to YES.
  4399. -
  4400. -CALLER_GRAPH = NO
  4401. -
  4402. -# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
  4403. -# hierarchy of all classes instead of a textual one.
  4404. -# The default value is: YES.
  4405. -# This tag requires that the tag HAVE_DOT is set to YES.
  4406. -
  4407. -GRAPHICAL_HIERARCHY = YES
  4408. -
  4409. -# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
  4410. -# dependencies a directory has on other directories in a graphical way. The
  4411. -# dependency relations are determined by the #include relations between the
  4412. -# files in the directories.
  4413. -# The default value is: YES.
  4414. -# This tag requires that the tag HAVE_DOT is set to YES.
  4415. -
  4416. -DIRECTORY_GRAPH = YES
  4417. -
  4418. -# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
  4419. -# generated by dot. For an explanation of the image formats see the section
  4420. -# output formats in the documentation of the dot tool (Graphviz (see:
  4421. -# http://www.graphviz.org/)).
  4422. -# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
  4423. -# to make the SVG files visible in IE 9+ (other browsers do not have this
  4424. -# requirement).
  4425. -# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
  4426. -# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
  4427. -# png:gdiplus:gdiplus.
  4428. -# The default value is: png.
  4429. -# This tag requires that the tag HAVE_DOT is set to YES.
  4430. -
  4431. -DOT_IMAGE_FORMAT = png
  4432. -
  4433. -# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
  4434. -# enable generation of interactive SVG images that allow zooming and panning.
  4435. -#
  4436. -# Note that this requires a modern browser other than Internet Explorer. Tested
  4437. -# and working are Firefox, Chrome, Safari, and Opera.
  4438. -# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
  4439. -# the SVG files visible. Older versions of IE do not have SVG support.
  4440. -# The default value is: NO.
  4441. -# This tag requires that the tag HAVE_DOT is set to YES.
  4442. -
  4443. -INTERACTIVE_SVG = NO
  4444. -
  4445. -# The DOT_PATH tag can be used to specify the path where the dot tool can be
  4446. -# found. If left blank, it is assumed the dot tool can be found in the path.
  4447. -# This tag requires that the tag HAVE_DOT is set to YES.
  4448. -
  4449. -DOT_PATH =
  4450. -
  4451. -# The DOTFILE_DIRS tag can be used to specify one or more directories that
  4452. -# contain dot files that are included in the documentation (see the \dotfile
  4453. -# command).
  4454. -# This tag requires that the tag HAVE_DOT is set to YES.
  4455. -
  4456. -DOTFILE_DIRS =
  4457. -
  4458. -# The MSCFILE_DIRS tag can be used to specify one or more directories that
  4459. -# contain msc files that are included in the documentation (see the \mscfile
  4460. -# command).
  4461. -
  4462. -MSCFILE_DIRS =
  4463. -
  4464. -# The DIAFILE_DIRS tag can be used to specify one or more directories that
  4465. -# contain dia files that are included in the documentation (see the \diafile
  4466. -# command).
  4467. -
  4468. -DIAFILE_DIRS =
  4469. -
  4470. -# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
  4471. -# path where java can find the plantuml.jar file. If left blank, it is assumed
  4472. -# PlantUML is not used or called during a preprocessing step. Doxygen will
  4473. -# generate a warning when it encounters a \startuml command in this case and
  4474. -# will not generate output for the diagram.
  4475. -
  4476. -PLANTUML_JAR_PATH =
  4477. -
  4478. -# When using plantuml, the specified paths are searched for files specified by
  4479. -# the !include statement in a plantuml block.
  4480. -
  4481. -PLANTUML_INCLUDE_PATH =
  4482. -
  4483. -# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
  4484. -# that will be shown in the graph. If the number of nodes in a graph becomes
  4485. -# larger than this value, doxygen will truncate the graph, which is visualized
  4486. -# by representing a node as a red box. Note that doxygen if the number of direct
  4487. -# children of the root node in a graph is already larger than
  4488. -# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
  4489. -# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
  4490. -# Minimum value: 0, maximum value: 10000, default value: 50.
  4491. -# This tag requires that the tag HAVE_DOT is set to YES.
  4492. -
  4493. -DOT_GRAPH_MAX_NODES = 50
  4494. -
  4495. -# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
  4496. -# generated by dot. A depth value of 3 means that only nodes reachable from the
  4497. -# root by following a path via at most 3 edges will be shown. Nodes that lay
  4498. -# further from the root node will be omitted. Note that setting this option to 1
  4499. -# or 2 may greatly reduce the computation time needed for large code bases. Also
  4500. -# note that the size of a graph can be further restricted by
  4501. -# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
  4502. -# Minimum value: 0, maximum value: 1000, default value: 0.
  4503. -# This tag requires that the tag HAVE_DOT is set to YES.
  4504. -
  4505. -MAX_DOT_GRAPH_DEPTH = 0
  4506. -
  4507. -# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
  4508. -# background. This is disabled by default, because dot on Windows does not seem
  4509. -# to support this out of the box.
  4510. -#
  4511. -# Warning: Depending on the platform used, enabling this option may lead to
  4512. -# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
  4513. -# read).
  4514. -# The default value is: NO.
  4515. -# This tag requires that the tag HAVE_DOT is set to YES.
  4516. -
  4517. -DOT_TRANSPARENT = NO
  4518. -
  4519. -# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
  4520. -# files in one run (i.e. multiple -o and -T options on the command line). This
  4521. -# makes dot run faster, but since only newer versions of dot (>1.8.10) support
  4522. -# this, this feature is disabled by default.
  4523. -# The default value is: NO.
  4524. -# This tag requires that the tag HAVE_DOT is set to YES.
  4525. -
  4526. -DOT_MULTI_TARGETS = NO
  4527. -
  4528. -# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
  4529. -# explaining the meaning of the various boxes and arrows in the dot generated
  4530. -# graphs.
  4531. -# The default value is: YES.
  4532. -# This tag requires that the tag HAVE_DOT is set to YES.
  4533. -
  4534. -GENERATE_LEGEND = YES
  4535. -
  4536. -# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
  4537. -# files that are used to generate the various graphs.
  4538. -# The default value is: YES.
  4539. -# This tag requires that the tag HAVE_DOT is set to YES.
  4540. -
  4541. -DOT_CLEANUP = YES
  4542. +# Doxyfile 1.8.12
  4543. +
  4544. +# This file describes the settings to be used by the documentation system
  4545. +# doxygen (www.doxygen.org) for a project.
  4546. +#
  4547. +# All text after a double hash (##) is considered a comment and is placed in
  4548. +# front of the TAG it is preceding.
  4549. +#
  4550. +# All text after a single hash (#) is considered a comment and will be ignored.
  4551. +# The format is:
  4552. +# TAG = value [value, ...]
  4553. +# For lists, items can also be appended using:
  4554. +# TAG += value [value, ...]
  4555. +# Values that contain spaces should be placed between quotes (\" \").
  4556. +
  4557. +#---------------------------------------------------------------------------
  4558. +# Project related configuration options
  4559. +#---------------------------------------------------------------------------
  4560. +
  4561. +# This tag specifies the encoding used for all characters in the config file
  4562. +# that follow. The default is UTF-8 which is also the encoding used for all text
  4563. +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
  4564. +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
  4565. +# for the list of possible encodings.
  4566. +# The default value is: UTF-8.
  4567. +
  4568. +DOXYFILE_ENCODING = UTF-8
  4569. +
  4570. +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
  4571. +# double-quotes, unless you are using Doxywizard) that should identify the
  4572. +# project for which the documentation is generated. This name is used in the
  4573. +# title of most generated pages and in a few other places.
  4574. +# The default value is: My Project.
  4575. +
  4576. +PROJECT_NAME = "Open Augmented Reality Kit (OpenARK)"
  4577. +
  4578. +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
  4579. +# could be handy for archiving the generated documentation or if some version
  4580. +# control system is used.
  4581. +
  4582. +PROJECT_NUMBER = 0.8
  4583. +
  4584. +# Using the PROJECT_BRIEF tag one can provide an optional one line description
  4585. +# for a project that appears at the top of each page and should give viewer a
  4586. +# quick idea about the purpose of the project. Keep the description short.
  4587. +
  4588. +PROJECT_BRIEF = "Open-source wearable augmented reality (AR) system founded at UC Berkeley in 2016"
  4589. +
  4590. +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
  4591. +# in the documentation. The maximum height of the logo should not exceed 55
  4592. +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
  4593. +# the logo to the output directory.
  4594. +
  4595. +PROJECT_LOGO =
  4596. +
  4597. +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
  4598. +# into which the generated documentation will be written. If a relative path is
  4599. +# entered, it will be relative to the location where doxygen was started. If
  4600. +# left blank the current directory will be used.
  4601. +
  4602. +OUTPUT_DIRECTORY = D:\OpenARK-Documentation\0.8
  4603. +
  4604. +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
  4605. +# directories (in 2 levels) under the output directory of each output format and
  4606. +# will distribute the generated files over these directories. Enabling this
  4607. +# option can be useful when feeding doxygen a huge amount of source files, where
  4608. +# putting all generated files in the same directory would otherwise causes
  4609. +# performance problems for the file system.
  4610. +# The default value is: NO.
  4611. +
  4612. +CREATE_SUBDIRS = NO
  4613. +
  4614. +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
  4615. +# characters to appear in the names of generated files. If set to NO, non-ASCII
  4616. +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
  4617. +# U+3044.
  4618. +# The default value is: NO.
  4619. +
  4620. +ALLOW_UNICODE_NAMES = NO
  4621. +
  4622. +# The OUTPUT_LANGUAGE tag is used to specify the language in which all
  4623. +# documentation generated by doxygen is written. Doxygen will use this
  4624. +# information to generate all constant output in the proper language.
  4625. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
  4626. +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
  4627. +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
  4628. +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
  4629. +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
  4630. +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
  4631. +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
  4632. +# Ukrainian and Vietnamese.
  4633. +# The default value is: English.
  4634. +
  4635. +OUTPUT_LANGUAGE = English
  4636. +
  4637. +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
  4638. +# descriptions after the members that are listed in the file and class
  4639. +# documentation (similar to Javadoc). Set to NO to disable this.
  4640. +# The default value is: YES.
  4641. +
  4642. +BRIEF_MEMBER_DESC = YES
  4643. +
  4644. +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
  4645. +# description of a member or function before the detailed description
  4646. +#
  4647. +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
  4648. +# brief descriptions will be completely suppressed.
  4649. +# The default value is: YES.
  4650. +
  4651. +REPEAT_BRIEF = YES
  4652. +
  4653. +# This tag implements a quasi-intelligent brief description abbreviator that is
  4654. +# used to form the text in various listings. Each string in this list, if found
  4655. +# as the leading text of the brief description, will be stripped from the text
  4656. +# and the result, after processing the whole list, is used as the annotated
  4657. +# text. Otherwise, the brief description is used as-is. If left blank, the
  4658. +# following values are used ($name is automatically replaced with the name of
  4659. +# the entity):The $name class, The $name widget, The $name file, is, provides,
  4660. +# specifies, contains, represents, a, an and the.
  4661. +
  4662. +ABBREVIATE_BRIEF = "The $name class" \
  4663. + "The $name widget" \
  4664. + "The $name file" \
  4665. + is \
  4666. + provides \
  4667. + specifies \
  4668. + contains \
  4669. + represents \
  4670. + a \
  4671. + an \
  4672. + the
  4673. +
  4674. +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
  4675. +# doxygen will generate a detailed section even if there is only a brief
  4676. +# description.
  4677. +# The default value is: NO.
  4678. +
  4679. +ALWAYS_DETAILED_SEC = NO
  4680. +
  4681. +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
  4682. +# inherited members of a class in the documentation of that class as if those
  4683. +# members were ordinary class members. Constructors, destructors and assignment
  4684. +# operators of the base classes will not be shown.
  4685. +# The default value is: NO.
  4686. +
  4687. +INLINE_INHERITED_MEMB = NO
  4688. +
  4689. +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
  4690. +# before files name in the file list and in the header files. If set to NO the
  4691. +# shortest path that makes the file name unique will be used
  4692. +# The default value is: YES.
  4693. +
  4694. +FULL_PATH_NAMES = NO
  4695. +
  4696. +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
  4697. +# Stripping is only done if one of the specified strings matches the left-hand
  4698. +# part of the path. The tag can be used to show relative paths in the file list.
  4699. +# If left blank the directory from which doxygen is run is used as the path to
  4700. +# strip.
  4701. +#
  4702. +# Note that you can specify absolute paths here, but also relative paths, which
  4703. +# will be relative from the directory where doxygen is started.
  4704. +# This tag requires that the tag FULL_PATH_NAMES is set to YES.
  4705. +
  4706. +STRIP_FROM_PATH =
  4707. +
  4708. +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
  4709. +# path mentioned in the documentation of a class, which tells the reader which
  4710. +# header file to include in order to use a class. If left blank only the name of
  4711. +# the header file containing the class definition is used. Otherwise one should
  4712. +# specify the list of include paths that are normally passed to the compiler
  4713. +# using the -I flag.
  4714. +
  4715. +STRIP_FROM_INC_PATH =
  4716. +
  4717. +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
  4718. +# less readable) file names. This can be useful is your file systems doesn't
  4719. +# support long names like on DOS, Mac, or CD-ROM.
  4720. +# The default value is: NO.
  4721. +
  4722. +SHORT_NAMES = NO
  4723. +
  4724. +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
  4725. +# first line (until the first dot) of a Javadoc-style comment as the brief
  4726. +# description. If set to NO, the Javadoc-style will behave just like regular Qt-
  4727. +# style comments (thus requiring an explicit @brief command for a brief
  4728. +# description.)
  4729. +# The default value is: NO.
  4730. +
  4731. +JAVADOC_AUTOBRIEF = YES
  4732. +
  4733. +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
  4734. +# line (until the first dot) of a Qt-style comment as the brief description. If
  4735. +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
  4736. +# requiring an explicit \brief command for a brief description.)
  4737. +# The default value is: NO.
  4738. +
  4739. +QT_AUTOBRIEF = NO
  4740. +
  4741. +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
  4742. +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
  4743. +# a brief description. This used to be the default behavior. The new default is
  4744. +# to treat a multi-line C++ comment block as a detailed description. Set this
  4745. +# tag to YES if you prefer the old behavior instead.
  4746. +#
  4747. +# Note that setting this tag to YES also means that rational rose comments are
  4748. +# not recognized any more.
  4749. +# The default value is: NO.
  4750. +
  4751. +MULTILINE_CPP_IS_BRIEF = NO
  4752. +
  4753. +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
  4754. +# documentation from any documented member that it re-implements.
  4755. +# The default value is: YES.
  4756. +
  4757. +INHERIT_DOCS = YES
  4758. +
  4759. +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
  4760. +# page for each member. If set to NO, the documentation of a member will be part
  4761. +# of the file/class/namespace that contains it.
  4762. +# The default value is: NO.
  4763. +
  4764. +SEPARATE_MEMBER_PAGES = NO
  4765. +
  4766. +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
  4767. +# uses this value to replace tabs by spaces in code fragments.
  4768. +# Minimum value: 1, maximum value: 16, default value: 4.
  4769. +
  4770. +TAB_SIZE = 4
  4771. +
  4772. +# This tag can be used to specify a number of aliases that act as commands in
  4773. +# the documentation. An alias has the form:
  4774. +# name=value
  4775. +# For example adding
  4776. +# "sideeffect=@par Side Effects:\n"
  4777. +# will allow you to put the command \sideeffect (or @sideeffect) in the
  4778. +# documentation, which will result in a user-defined paragraph with heading
  4779. +# "Side Effects:". You can put \n's in the value part of an alias to insert
  4780. +# newlines.
  4781. +
  4782. +ALIASES =
  4783. +
  4784. +# This tag can be used to specify a number of word-keyword mappings (TCL only).
  4785. +# A mapping has the form "name=value". For example adding "class=itcl::class"
  4786. +# will allow you to use the command class in the itcl::class meaning.
  4787. +
  4788. +TCL_SUBST =
  4789. +
  4790. +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
  4791. +# only. Doxygen will then generate output that is more tailored for C. For
  4792. +# instance, some of the names that are used will be different. The list of all
  4793. +# members will be omitted, etc.
  4794. +# The default value is: NO.
  4795. +
  4796. +OPTIMIZE_OUTPUT_FOR_C = NO
  4797. +
  4798. +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
  4799. +# Python sources only. Doxygen will then generate output that is more tailored
  4800. +# for that language. For instance, namespaces will be presented as packages,
  4801. +# qualified scopes will look different, etc.
  4802. +# The default value is: NO.
  4803. +
  4804. +OPTIMIZE_OUTPUT_JAVA = NO
  4805. +
  4806. +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
  4807. +# sources. Doxygen will then generate output that is tailored for Fortran.
  4808. +# The default value is: NO.
  4809. +
  4810. +OPTIMIZE_FOR_FORTRAN = NO
  4811. +
  4812. +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
  4813. +# sources. Doxygen will then generate output that is tailored for VHDL.
  4814. +# The default value is: NO.
  4815. +
  4816. +OPTIMIZE_OUTPUT_VHDL = NO
  4817. +
  4818. +# Doxygen selects the parser to use depending on the extension of the files it
  4819. +# parses. With this tag you can assign which parser to use for a given
  4820. +# extension. Doxygen has a built-in mapping, but you can override or extend it
  4821. +# using this tag. The format is ext=language, where ext is a file extension, and
  4822. +# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
  4823. +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
  4824. +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
  4825. +# Fortran. In the later case the parser tries to guess whether the code is fixed
  4826. +# or free formatted code, this is the default for Fortran type files), VHDL. For
  4827. +# instance to make doxygen treat .inc files as Fortran files (default is PHP),
  4828. +# and .f files as C (default is Fortran), use: inc=Fortran f=C.
  4829. +#
  4830. +# Note: For files without extension you can use no_extension as a placeholder.
  4831. +#
  4832. +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
  4833. +# the files are not read by doxygen.
  4834. +
  4835. +EXTENSION_MAPPING =
  4836. +
  4837. +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
  4838. +# according to the Markdown format, which allows for more readable
  4839. +# documentation. See http://daringfireball.net/projects/markdown/ for details.
  4840. +# The output of markdown processing is further processed by doxygen, so you can
  4841. +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
  4842. +# case of backward compatibilities issues.
  4843. +# The default value is: YES.
  4844. +
  4845. +MARKDOWN_SUPPORT = YES
  4846. +
  4847. +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
  4848. +# to that level are automatically included in the table of contents, even if
  4849. +# they do not have an id attribute.
  4850. +# Note: This feature currently applies only to Markdown headings.
  4851. +# Minimum value: 0, maximum value: 99, default value: 0.
  4852. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
  4853. +
  4854. +TOC_INCLUDE_HEADINGS = 0
  4855. +
  4856. +# When enabled doxygen tries to link words that correspond to documented
  4857. +# classes, or namespaces to their corresponding documentation. Such a link can
  4858. +# be prevented in individual cases by putting a % sign in front of the word or
  4859. +# globally by setting AUTOLINK_SUPPORT to NO.
  4860. +# The default value is: YES.
  4861. +
  4862. +AUTOLINK_SUPPORT = YES
  4863. +
  4864. +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
  4865. +# to include (a tag file for) the STL sources as input, then you should set this
  4866. +# tag to YES in order to let doxygen match functions declarations and
  4867. +# definitions whose arguments contain STL classes (e.g. func(std::string);
  4868. +# versus func(std::string) {}). This also make the inheritance and collaboration
  4869. +# diagrams that involve STL classes more complete and accurate.
  4870. +# The default value is: NO.
  4871. +
  4872. +BUILTIN_STL_SUPPORT = NO
  4873. +
  4874. +# If you use Microsoft's C++/CLI language, you should set this option to YES to
  4875. +# enable parsing support.
  4876. +# The default value is: NO.
  4877. +
  4878. +CPP_CLI_SUPPORT = NO
  4879. +
  4880. +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
  4881. +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
  4882. +# will parse them like normal C++ but will assume all classes use public instead
  4883. +# of private inheritance when no explicit protection keyword is present.
  4884. +# The default value is: NO.
  4885. +
  4886. +SIP_SUPPORT = NO
  4887. +
  4888. +# For Microsoft's IDL there are propget and propput attributes to indicate
  4889. +# getter and setter methods for a property. Setting this option to YES will make
  4890. +# doxygen to replace the get and set methods by a property in the documentation.
  4891. +# This will only work if the methods are indeed getting or setting a simple
  4892. +# type. If this is not the case, or you want to show the methods anyway, you
  4893. +# should set this option to NO.
  4894. +# The default value is: YES.
  4895. +
  4896. +IDL_PROPERTY_SUPPORT = YES
  4897. +
  4898. +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
  4899. +# tag is set to YES then doxygen will reuse the documentation of the first
  4900. +# member in the group (if any) for the other members of the group. By default
  4901. +# all members of a group must be documented explicitly.
  4902. +# The default value is: NO.
  4903. +
  4904. +DISTRIBUTE_GROUP_DOC = NO
  4905. +
  4906. +# If one adds a struct or class to a group and this option is enabled, then also
  4907. +# any nested class or struct is added to the same group. By default this option
  4908. +# is disabled and one has to add nested compounds explicitly via \ingroup.
  4909. +# The default value is: NO.
  4910. +
  4911. +GROUP_NESTED_COMPOUNDS = NO
  4912. +
  4913. +# Set the SUBGROUPING tag to YES to allow class member groups of the same type
  4914. +# (for instance a group of public functions) to be put as a subgroup of that
  4915. +# type (e.g. under the Public Functions section). Set it to NO to prevent
  4916. +# subgrouping. Alternatively, this can be done per class using the
  4917. +# \nosubgrouping command.
  4918. +# The default value is: YES.
  4919. +
  4920. +SUBGROUPING = YES
  4921. +
  4922. +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
  4923. +# are shown inside the group in which they are included (e.g. using \ingroup)
  4924. +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
  4925. +# and RTF).
  4926. +#
  4927. +# Note that this feature does not work in combination with
  4928. +# SEPARATE_MEMBER_PAGES.
  4929. +# The default value is: NO.
  4930. +
  4931. +INLINE_GROUPED_CLASSES = NO
  4932. +
  4933. +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
  4934. +# with only public data fields or simple typedef fields will be shown inline in
  4935. +# the documentation of the scope in which they are defined (i.e. file,
  4936. +# namespace, or group documentation), provided this scope is documented. If set
  4937. +# to NO, structs, classes, and unions are shown on a separate page (for HTML and
  4938. +# Man pages) or section (for LaTeX and RTF).
  4939. +# The default value is: NO.
  4940. +
  4941. +INLINE_SIMPLE_STRUCTS = NO
  4942. +
  4943. +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
  4944. +# enum is documented as struct, union, or enum with the name of the typedef. So
  4945. +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
  4946. +# with name TypeT. When disabled the typedef will appear as a member of a file,
  4947. +# namespace, or class. And the struct will be named TypeS. This can typically be
  4948. +# useful for C code in case the coding convention dictates that all compound
  4949. +# types are typedef'ed and only the typedef is referenced, never the tag name.
  4950. +# The default value is: NO.
  4951. +
  4952. +TYPEDEF_HIDES_STRUCT = NO
  4953. +
  4954. +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
  4955. +# cache is used to resolve symbols given their name and scope. Since this can be
  4956. +# an expensive process and often the same symbol appears multiple times in the
  4957. +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
  4958. +# doxygen will become slower. If the cache is too large, memory is wasted. The
  4959. +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
  4960. +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
  4961. +# symbols. At the end of a run doxygen will report the cache usage and suggest
  4962. +# the optimal cache size from a speed point of view.
  4963. +# Minimum value: 0, maximum value: 9, default value: 0.
  4964. +
  4965. +LOOKUP_CACHE_SIZE = 0
  4966. +
  4967. +#---------------------------------------------------------------------------
  4968. +# Build related configuration options
  4969. +#---------------------------------------------------------------------------
  4970. +
  4971. +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
  4972. +# documentation are documented, even if no documentation was available. Private
  4973. +# class members and static file members will be hidden unless the
  4974. +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
  4975. +# Note: This will also disable the warnings about undocumented members that are
  4976. +# normally produced when WARNINGS is set to YES.
  4977. +# The default value is: NO.
  4978. +
  4979. +EXTRACT_ALL = YES
  4980. +
  4981. +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
  4982. +# be included in the documentation.
  4983. +# The default value is: NO.
  4984. +
  4985. +EXTRACT_PRIVATE = YES
  4986. +
  4987. +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
  4988. +# scope will be included in the documentation.
  4989. +# The default value is: NO.
  4990. +
  4991. +EXTRACT_PACKAGE = NO
  4992. +
  4993. +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
  4994. +# included in the documentation.
  4995. +# The default value is: NO.
  4996. +
  4997. +EXTRACT_STATIC = YES
  4998. +
  4999. +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
  5000. +# locally in source files will be included in the documentation. If set to NO,
  5001. +# only classes defined in header files are included. Does not have any effect
  5002. +# for Java sources.
  5003. +# The default value is: YES.
  5004. +
  5005. +EXTRACT_LOCAL_CLASSES = YES
  5006. +
  5007. +# This flag is only useful for Objective-C code. If set to YES, local methods,
  5008. +# which are defined in the implementation section but not in the interface are
  5009. +# included in the documentation. If set to NO, only methods in the interface are
  5010. +# included.
  5011. +# The default value is: NO.
  5012. +
  5013. +EXTRACT_LOCAL_METHODS = NO
  5014. +
  5015. +# If this flag is set to YES, the members of anonymous namespaces will be
  5016. +# extracted and appear in the documentation as a namespace called
  5017. +# 'anonymous_namespace{file}', where file will be replaced with the base name of
  5018. +# the file that contains the anonymous namespace. By default anonymous namespace
  5019. +# are hidden.
  5020. +# The default value is: NO.
  5021. +
  5022. +EXTRACT_ANON_NSPACES = NO
  5023. +
  5024. +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
  5025. +# undocumented members inside documented classes or files. If set to NO these
  5026. +# members will be included in the various overviews, but no documentation
  5027. +# section is generated. This option has no effect if EXTRACT_ALL is enabled.
  5028. +# The default value is: NO.
  5029. +
  5030. +HIDE_UNDOC_MEMBERS = NO
  5031. +
  5032. +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
  5033. +# undocumented classes that are normally visible in the class hierarchy. If set
  5034. +# to NO, these classes will be included in the various overviews. This option
  5035. +# has no effect if EXTRACT_ALL is enabled.
  5036. +# The default value is: NO.
  5037. +
  5038. +HIDE_UNDOC_CLASSES = NO
  5039. +
  5040. +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
  5041. +# (class|struct|union) declarations. If set to NO, these declarations will be
  5042. +# included in the documentation.
  5043. +# The default value is: NO.
  5044. +
  5045. +HIDE_FRIEND_COMPOUNDS = NO
  5046. +
  5047. +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
  5048. +# documentation blocks found inside the body of a function. If set to NO, these
  5049. +# blocks will be appended to the function's detailed documentation block.
  5050. +# The default value is: NO.
  5051. +
  5052. +HIDE_IN_BODY_DOCS = NO
  5053. +
  5054. +# The INTERNAL_DOCS tag determines if documentation that is typed after a
  5055. +# \internal command is included. If the tag is set to NO then the documentation
  5056. +# will be excluded. Set it to YES to include the internal documentation.
  5057. +# The default value is: NO.
  5058. +
  5059. +INTERNAL_DOCS = NO
  5060. +
  5061. +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
  5062. +# names in lower-case letters. If set to YES, upper-case letters are also
  5063. +# allowed. This is useful if you have classes or files whose names only differ
  5064. +# in case and if your file system supports case sensitive file names. Windows
  5065. +# and Mac users are advised to set this option to NO.
  5066. +# The default value is: system dependent.
  5067. +
  5068. +CASE_SENSE_NAMES = NO
  5069. +
  5070. +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
  5071. +# their full class and namespace scopes in the documentation. If set to YES, the
  5072. +# scope will be hidden.
  5073. +# The default value is: NO.
  5074. +
  5075. +HIDE_SCOPE_NAMES = NO
  5076. +
  5077. +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
  5078. +# append additional text to a page's title, such as Class Reference. If set to
  5079. +# YES the compound reference will be hidden.
  5080. +# The default value is: NO.
  5081. +
  5082. +HIDE_COMPOUND_REFERENCE= NO
  5083. +
  5084. +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
  5085. +# the files that are included by a file in the documentation of that file.
  5086. +# The default value is: YES.
  5087. +
  5088. +SHOW_INCLUDE_FILES = YES
  5089. +
  5090. +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
  5091. +# grouped member an include statement to the documentation, telling the reader
  5092. +# which file to include in order to use the member.
  5093. +# The default value is: NO.
  5094. +
  5095. +SHOW_GROUPED_MEMB_INC = NO
  5096. +
  5097. +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
  5098. +# files with double quotes in the documentation rather than with sharp brackets.
  5099. +# The default value is: NO.
  5100. +
  5101. +FORCE_LOCAL_INCLUDES = NO
  5102. +
  5103. +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
  5104. +# documentation for inline members.
  5105. +# The default value is: YES.
  5106. +
  5107. +INLINE_INFO = YES
  5108. +
  5109. +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
  5110. +# (detailed) documentation of file and class members alphabetically by member
  5111. +# name. If set to NO, the members will appear in declaration order.
  5112. +# The default value is: YES.
  5113. +
  5114. +SORT_MEMBER_DOCS = YES
  5115. +
  5116. +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
  5117. +# descriptions of file, namespace and class members alphabetically by member
  5118. +# name. If set to NO, the members will appear in declaration order. Note that
  5119. +# this will also influence the order of the classes in the class list.
  5120. +# The default value is: NO.
  5121. +
  5122. +SORT_BRIEF_DOCS = NO
  5123. +
  5124. +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
  5125. +# (brief and detailed) documentation of class members so that constructors and
  5126. +# destructors are listed first. If set to NO the constructors will appear in the
  5127. +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
  5128. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
  5129. +# member documentation.
  5130. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
  5131. +# detailed member documentation.
  5132. +# The default value is: NO.
  5133. +
  5134. +SORT_MEMBERS_CTORS_1ST = NO
  5135. +
  5136. +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
  5137. +# of group names into alphabetical order. If set to NO the group names will
  5138. +# appear in their defined order.
  5139. +# The default value is: NO.
  5140. +
  5141. +SORT_GROUP_NAMES = NO
  5142. +
  5143. +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
  5144. +# fully-qualified names, including namespaces. If set to NO, the class list will
  5145. +# be sorted only by class name, not including the namespace part.
  5146. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
  5147. +# Note: This option applies only to the class list, not to the alphabetical
  5148. +# list.
  5149. +# The default value is: NO.
  5150. +
  5151. +SORT_BY_SCOPE_NAME = NO
  5152. +
  5153. +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
  5154. +# type resolution of all parameters of a function it will reject a match between
  5155. +# the prototype and the implementation of a member function even if there is
  5156. +# only one candidate or it is obvious which candidate to choose by doing a
  5157. +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
  5158. +# accept a match between prototype and implementation in such cases.
  5159. +# The default value is: NO.
  5160. +
  5161. +STRICT_PROTO_MATCHING = NO
  5162. +
  5163. +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
  5164. +# list. This list is created by putting \todo commands in the documentation.
  5165. +# The default value is: YES.
  5166. +
  5167. +GENERATE_TODOLIST = YES
  5168. +
  5169. +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
  5170. +# list. This list is created by putting \test commands in the documentation.
  5171. +# The default value is: YES.
  5172. +
  5173. +GENERATE_TESTLIST = YES
  5174. +
  5175. +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
  5176. +# list. This list is created by putting \bug commands in the documentation.
  5177. +# The default value is: YES.
  5178. +
  5179. +GENERATE_BUGLIST = YES
  5180. +
  5181. +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
  5182. +# the deprecated list. This list is created by putting \deprecated commands in
  5183. +# the documentation.
  5184. +# The default value is: YES.
  5185. +
  5186. +GENERATE_DEPRECATEDLIST= YES
  5187. +
  5188. +# The ENABLED_SECTIONS tag can be used to enable conditional documentation
  5189. +# sections, marked by \if <section_label> ... \endif and \cond <section_label>
  5190. +# ... \endcond blocks.
  5191. +
  5192. +ENABLED_SECTIONS =
  5193. +
  5194. +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
  5195. +# initial value of a variable or macro / define can have for it to appear in the
  5196. +# documentation. If the initializer consists of more lines than specified here
  5197. +# it will be hidden. Use a value of 0 to hide initializers completely. The
  5198. +# appearance of the value of individual variables and macros / defines can be
  5199. +# controlled using \showinitializer or \hideinitializer command in the
  5200. +# documentation regardless of this setting.
  5201. +# Minimum value: 0, maximum value: 10000, default value: 30.
  5202. +
  5203. +MAX_INITIALIZER_LINES = 30
  5204. +
  5205. +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
  5206. +# the bottom of the documentation of classes and structs. If set to YES, the
  5207. +# list will mention the files that were used to generate the documentation.
  5208. +# The default value is: YES.
  5209. +
  5210. +SHOW_USED_FILES = YES
  5211. +
  5212. +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
  5213. +# will remove the Files entry from the Quick Index and from the Folder Tree View
  5214. +# (if specified).
  5215. +# The default value is: YES.
  5216. +
  5217. +SHOW_FILES = YES
  5218. +
  5219. +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
  5220. +# page. This will remove the Namespaces entry from the Quick Index and from the
  5221. +# Folder Tree View (if specified).
  5222. +# The default value is: YES.
  5223. +
  5224. +SHOW_NAMESPACES = YES
  5225. +
  5226. +# The FILE_VERSION_FILTER tag can be used to specify a program or script that
  5227. +# doxygen should invoke to get the current version for each file (typically from
  5228. +# the version control system). Doxygen will invoke the program by executing (via
  5229. +# popen()) the command command input-file, where command is the value of the
  5230. +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
  5231. +# by doxygen. Whatever the program writes to standard output is used as the file
  5232. +# version. For an example see the documentation.
  5233. +
  5234. +FILE_VERSION_FILTER =
  5235. +
  5236. +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
  5237. +# by doxygen. The layout file controls the global structure of the generated
  5238. +# output files in an output format independent way. To create the layout file
  5239. +# that represents doxygen's defaults, run doxygen with the -l option. You can
  5240. +# optionally specify a file name after the option, if omitted DoxygenLayout.xml
  5241. +# will be used as the name of the layout file.
  5242. +#
  5243. +# Note that if you run doxygen from a directory containing a file called
  5244. +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
  5245. +# tag is left empty.
  5246. +
  5247. +LAYOUT_FILE =
  5248. +
  5249. +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
  5250. +# the reference definitions. This must be a list of .bib files. The .bib
  5251. +# extension is automatically appended if omitted. This requires the bibtex tool
  5252. +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
  5253. +# For LaTeX the style of the bibliography can be controlled using
  5254. +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
  5255. +# search path. See also \cite for info how to create references.
  5256. +
  5257. +CITE_BIB_FILES =
  5258. +
  5259. +#---------------------------------------------------------------------------
  5260. +# Configuration options related to warning and progress messages
  5261. +#---------------------------------------------------------------------------
  5262. +
  5263. +# The QUIET tag can be used to turn on/off the messages that are generated to
  5264. +# standard output by doxygen. If QUIET is set to YES this implies that the
  5265. +# messages are off.
  5266. +# The default value is: NO.
  5267. +
  5268. +QUIET = NO
  5269. +
  5270. +# The WARNINGS tag can be used to turn on/off the warning messages that are
  5271. +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
  5272. +# this implies that the warnings are on.
  5273. +#
  5274. +# Tip: Turn warnings on while writing the documentation.
  5275. +# The default value is: YES.
  5276. +
  5277. +WARNINGS = YES
  5278. +
  5279. +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
  5280. +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
  5281. +# will automatically be disabled.
  5282. +# The default value is: YES.
  5283. +
  5284. +WARN_IF_UNDOCUMENTED = YES
  5285. +
  5286. +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
  5287. +# potential errors in the documentation, such as not documenting some parameters
  5288. +# in a documented function, or documenting parameters that don't exist or using
  5289. +# markup commands wrongly.
  5290. +# The default value is: YES.
  5291. +
  5292. +WARN_IF_DOC_ERROR = YES
  5293. +
  5294. +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
  5295. +# are documented, but have no documentation for their parameters or return
  5296. +# value. If set to NO, doxygen will only warn about wrong or incomplete
  5297. +# parameter documentation, but not about the absence of documentation.
  5298. +# The default value is: NO.
  5299. +
  5300. +WARN_NO_PARAMDOC = NO
  5301. +
  5302. +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
  5303. +# a warning is encountered.
  5304. +# The default value is: NO.
  5305. +
  5306. +WARN_AS_ERROR = NO
  5307. +
  5308. +# The WARN_FORMAT tag determines the format of the warning messages that doxygen
  5309. +# can produce. The string should contain the $file, $line, and $text tags, which
  5310. +# will be replaced by the file and line number from which the warning originated
  5311. +# and the warning text. Optionally the format may contain $version, which will
  5312. +# be replaced by the version of the file (if it could be obtained via
  5313. +# FILE_VERSION_FILTER)
  5314. +# The default value is: $file:$line: $text.
  5315. +
  5316. +WARN_FORMAT = "$file:$line: $text"
  5317. +
  5318. +# The WARN_LOGFILE tag can be used to specify a file to which warning and error
  5319. +# messages should be written. If left blank the output is written to standard
  5320. +# error (stderr).
  5321. +
  5322. +WARN_LOGFILE =
  5323. +
  5324. +#---------------------------------------------------------------------------
  5325. +# Configuration options related to the input files
  5326. +#---------------------------------------------------------------------------
  5327. +
  5328. +# The INPUT tag is used to specify the files and/or directories that contain
  5329. +# documented source files. You may enter file names like myfile.cpp or
  5330. +# directories like /usr/src/myproject. Separate the files or directories with
  5331. +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
  5332. +# Note: If this tag is empty the current directory is searched.
  5333. +
  5334. +INPUT = D:\OpenARK
  5335. +
  5336. +# This tag can be used to specify the character encoding of the source files
  5337. +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
  5338. +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
  5339. +# documentation (see: http://www.gnu.org/software/libiconv) for the list of
  5340. +# possible encodings.
  5341. +# The default value is: UTF-8.
  5342. +
  5343. +INPUT_ENCODING = UTF-8
  5344. +
  5345. +# If the value of the INPUT tag contains directories, you can use the
  5346. +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
  5347. +# *.h) to filter out the source-files in the directories.
  5348. +#
  5349. +# Note that for custom extensions or not directly supported extensions you also
  5350. +# need to set EXTENSION_MAPPING for the extension otherwise the files are not
  5351. +# read by doxygen.
  5352. +#
  5353. +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
  5354. +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
  5355. +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
  5356. +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
  5357. +# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
  5358. +
  5359. +FILE_PATTERNS = *.c \
  5360. + *.cc \
  5361. + *.cxx \
  5362. + *.cpp \
  5363. + *.c++ \
  5364. + *.java \
  5365. + *.ii \
  5366. + *.ixx \
  5367. + *.ipp \
  5368. + *.i++ \
  5369. + *.inl \
  5370. + *.idl \
  5371. + *.ddl \
  5372. + *.odl \
  5373. + *.h \
  5374. + *.hh \
  5375. + *.hxx \
  5376. + *.hpp \
  5377. + *.h++ \
  5378. + *.cs \
  5379. + *.d \
  5380. + *.php \
  5381. + *.php4 \
  5382. + *.php5 \
  5383. + *.phtml \
  5384. + *.inc \
  5385. + *.m \
  5386. + *.markdown \
  5387. + *.md \
  5388. + *.mm \
  5389. + *.dox \
  5390. + *.py \
  5391. + *.pyw \
  5392. + *.f90 \
  5393. + *.f95 \
  5394. + *.f03 \
  5395. + *.f08 \
  5396. + *.f \
  5397. + *.for \
  5398. + *.tcl \
  5399. + *.vhd \
  5400. + *.vhdl \
  5401. + *.ucf \
  5402. + *.qsf
  5403. +
  5404. +# The RECURSIVE tag can be used to specify whether or not subdirectories should
  5405. +# be searched for input files as well.
  5406. +# The default value is: NO.
  5407. +
  5408. +RECURSIVE = YES
  5409. +
  5410. +# The EXCLUDE tag can be used to specify files and/or directories that should be
  5411. +# excluded from the INPUT source files. This way you can easily exclude a
  5412. +# subdirectory from a directory tree whose root is specified with the INPUT tag.
  5413. +#
  5414. +# Note that relative paths are relative to the directory from which doxygen is
  5415. +# run.
  5416. +
  5417. +EXCLUDE = D:\OpenARK\SampleCode
  5418. +
  5419. +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
  5420. +# directories that are symbolic links (a Unix file system feature) are excluded
  5421. +# from the input.
  5422. +# The default value is: NO.
  5423. +
  5424. +EXCLUDE_SYMLINKS = NO
  5425. +
  5426. +# If the value of the INPUT tag contains directories, you can use the
  5427. +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
  5428. +# certain files from those directories.
  5429. +#
  5430. +# Note that the wildcards are matched against the file with absolute path, so to
  5431. +# exclude all test directories for example use the pattern */test/*
  5432. +
  5433. +EXCLUDE_PATTERNS =
  5434. +
  5435. +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
  5436. +# (namespaces, classes, functions, etc.) that should be excluded from the
  5437. +# output. The symbol name can be a fully qualified name, a word, or if the
  5438. +# wildcard * is used, a substring. Examples: ANamespace, AClass,
  5439. +# AClass::ANamespace, ANamespace::*Test
  5440. +#
  5441. +# Note that the wildcards are matched against the file with absolute path, so to
  5442. +# exclude all test directories use the pattern */test/*
  5443. +
  5444. +EXCLUDE_SYMBOLS =
  5445. +
  5446. +# The EXAMPLE_PATH tag can be used to specify one or more files or directories
  5447. +# that contain example code fragments that are included (see the \include
  5448. +# command).
  5449. +
  5450. +EXAMPLE_PATH = D:\OpenARK\SampleCode
  5451. +
  5452. +# If the value of the EXAMPLE_PATH tag contains directories, you can use the
  5453. +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
  5454. +# *.h) to filter out the source-files in the directories. If left blank all
  5455. +# files are included.
  5456. +
  5457. +EXAMPLE_PATTERNS = *
  5458. +
  5459. +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
  5460. +# searched for input files to be used with the \include or \dontinclude commands
  5461. +# irrespective of the value of the RECURSIVE tag.
  5462. +# The default value is: NO.
  5463. +
  5464. +EXAMPLE_RECURSIVE = YES
  5465. +
  5466. +# The IMAGE_PATH tag can be used to specify one or more files or directories
  5467. +# that contain images that are to be included in the documentation (see the
  5468. +# \image command).
  5469. +
  5470. +IMAGE_PATH =
  5471. +
  5472. +# The INPUT_FILTER tag can be used to specify a program that doxygen should
  5473. +# invoke to filter for each input file. Doxygen will invoke the filter program
  5474. +# by executing (via popen()) the command:
  5475. +#
  5476. +# <filter> <input-file>
  5477. +#
  5478. +# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
  5479. +# name of an input file. Doxygen will then use the output that the filter
  5480. +# program writes to standard output. If FILTER_PATTERNS is specified, this tag
  5481. +# will be ignored.
  5482. +#
  5483. +# Note that the filter must not add or remove lines; it is applied before the
  5484. +# code is scanned, but not when the output code is generated. If lines are added
  5485. +# or removed, the anchors will not be placed correctly.
  5486. +#
  5487. +# Note that for custom extensions or not directly supported extensions you also
  5488. +# need to set EXTENSION_MAPPING for the extension otherwise the files are not
  5489. +# properly processed by doxygen.
  5490. +
  5491. +INPUT_FILTER =
  5492. +
  5493. +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
  5494. +# basis. Doxygen will compare the file name with each pattern and apply the
  5495. +# filter if there is a match. The filters are a list of the form: pattern=filter
  5496. +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
  5497. +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
  5498. +# patterns match the file name, INPUT_FILTER is applied.
  5499. +#
  5500. +# Note that for custom extensions or not directly supported extensions you also
  5501. +# need to set EXTENSION_MAPPING for the extension otherwise the files are not
  5502. +# properly processed by doxygen.
  5503. +
  5504. +FILTER_PATTERNS =
  5505. +
  5506. +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
  5507. +# INPUT_FILTER) will also be used to filter the input files that are used for
  5508. +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
  5509. +# The default value is: NO.
  5510. +
  5511. +FILTER_SOURCE_FILES = NO
  5512. +
  5513. +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
  5514. +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
  5515. +# it is also possible to disable source filtering for a specific pattern using
  5516. +# *.ext= (so without naming a filter).
  5517. +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
  5518. +
  5519. +FILTER_SOURCE_PATTERNS =
  5520. +
  5521. +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
  5522. +# is part of the input, its contents will be placed on the main page
  5523. +# (index.html). This can be useful if you have a project on for instance GitHub
  5524. +# and want to reuse the introduction page also for the doxygen output.
  5525. +
  5526. +USE_MDFILE_AS_MAINPAGE =
  5527. +
  5528. +#---------------------------------------------------------------------------
  5529. +# Configuration options related to source browsing
  5530. +#---------------------------------------------------------------------------
  5531. +
  5532. +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
  5533. +# generated. Documented entities will be cross-referenced with these sources.
  5534. +#
  5535. +# Note: To get rid of all source code in the generated output, make sure that
  5536. +# also VERBATIM_HEADERS is set to NO.
  5537. +# The default value is: NO.
  5538. +
  5539. +SOURCE_BROWSER = NO
  5540. +
  5541. +# Setting the INLINE_SOURCES tag to YES will include the body of functions,
  5542. +# classes and enums directly into the documentation.
  5543. +# The default value is: NO.
  5544. +
  5545. +INLINE_SOURCES = NO
  5546. +
  5547. +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
  5548. +# special comment blocks from generated source code fragments. Normal C, C++ and
  5549. +# Fortran comments will always remain visible.
  5550. +# The default value is: YES.
  5551. +
  5552. +STRIP_CODE_COMMENTS = YES
  5553. +
  5554. +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
  5555. +# function all documented functions referencing it will be listed.
  5556. +# The default value is: NO.
  5557. +
  5558. +REFERENCED_BY_RELATION = NO
  5559. +
  5560. +# If the REFERENCES_RELATION tag is set to YES then for each documented function
  5561. +# all documented entities called/used by that function will be listed.
  5562. +# The default value is: NO.
  5563. +
  5564. +REFERENCES_RELATION = NO
  5565. +
  5566. +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
  5567. +# to YES then the hyperlinks from functions in REFERENCES_RELATION and
  5568. +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
  5569. +# link to the documentation.
  5570. +# The default value is: YES.
  5571. +
  5572. +REFERENCES_LINK_SOURCE = YES
  5573. +
  5574. +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
  5575. +# source code will show a tooltip with additional information such as prototype,
  5576. +# brief description and links to the definition and documentation. Since this
  5577. +# will make the HTML file larger and loading of large files a bit slower, you
  5578. +# can opt to disable this feature.
  5579. +# The default value is: YES.
  5580. +# This tag requires that the tag SOURCE_BROWSER is set to YES.
  5581. +
  5582. +SOURCE_TOOLTIPS = YES
  5583. +
  5584. +# If the USE_HTAGS tag is set to YES then the references to source code will
  5585. +# point to the HTML generated by the htags(1) tool instead of doxygen built-in
  5586. +# source browser. The htags tool is part of GNU's global source tagging system
  5587. +# (see http://www.gnu.org/software/global/global.html). You will need version
  5588. +# 4.8.6 or higher.
  5589. +#
  5590. +# To use it do the following:
  5591. +# - Install the latest version of global
  5592. +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
  5593. +# - Make sure the INPUT points to the root of the source tree
  5594. +# - Run doxygen as normal
  5595. +#
  5596. +# Doxygen will invoke htags (and that will in turn invoke gtags), so these
  5597. +# tools must be available from the command line (i.e. in the search path).
  5598. +#
  5599. +# The result: instead of the source browser generated by doxygen, the links to
  5600. +# source code will now point to the output of htags.
  5601. +# The default value is: NO.
  5602. +# This tag requires that the tag SOURCE_BROWSER is set to YES.
  5603. +
  5604. +USE_HTAGS = NO
  5605. +
  5606. +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
  5607. +# verbatim copy of the header file for each class for which an include is
  5608. +# specified. Set to NO to disable this.
  5609. +# See also: Section \class.
  5610. +# The default value is: YES.
  5611. +
  5612. +VERBATIM_HEADERS = YES
  5613. +
  5614. +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
  5615. +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
  5616. +# cost of reduced performance. This can be particularly helpful with template
  5617. +# rich C++ code for which doxygen's built-in parser lacks the necessary type
  5618. +# information.
  5619. +# Note: The availability of this option depends on whether or not doxygen was
  5620. +# generated with the -Duse-libclang=ON option for CMake.
  5621. +# The default value is: NO.
  5622. +
  5623. +CLANG_ASSISTED_PARSING = NO
  5624. +
  5625. +# If clang assisted parsing is enabled you can provide the compiler with command
  5626. +# line options that you would normally use when invoking the compiler. Note that
  5627. +# the include paths will already be set by doxygen for the files and directories
  5628. +# specified with INPUT and INCLUDE_PATH.
  5629. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
  5630. +
  5631. +CLANG_OPTIONS =
  5632. +
  5633. +#---------------------------------------------------------------------------
  5634. +# Configuration options related to the alphabetical class index
  5635. +#---------------------------------------------------------------------------
  5636. +
  5637. +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
  5638. +# compounds will be generated. Enable this if the project contains a lot of
  5639. +# classes, structs, unions or interfaces.
  5640. +# The default value is: YES.
  5641. +
  5642. +ALPHABETICAL_INDEX = YES
  5643. +
  5644. +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
  5645. +# which the alphabetical index list will be split.
  5646. +# Minimum value: 1, maximum value: 20, default value: 5.
  5647. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
  5648. +
  5649. +COLS_IN_ALPHA_INDEX = 5
  5650. +
  5651. +# In case all classes in a project start with a common prefix, all classes will
  5652. +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
  5653. +# can be used to specify a prefix (or a list of prefixes) that should be ignored
  5654. +# while generating the index headers.
  5655. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
  5656. +
  5657. +IGNORE_PREFIX =
  5658. +
  5659. +#---------------------------------------------------------------------------
  5660. +# Configuration options related to the HTML output
  5661. +#---------------------------------------------------------------------------
  5662. +
  5663. +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
  5664. +# The default value is: YES.
  5665. +
  5666. +GENERATE_HTML = YES
  5667. +
  5668. +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
  5669. +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  5670. +# it.
  5671. +# The default directory is: html.
  5672. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5673. +
  5674. +HTML_OUTPUT = html
  5675. +
  5676. +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
  5677. +# generated HTML page (for example: .htm, .php, .asp).
  5678. +# The default value is: .html.
  5679. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5680. +
  5681. +HTML_FILE_EXTENSION = .html
  5682. +
  5683. +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
  5684. +# each generated HTML page. If the tag is left blank doxygen will generate a
  5685. +# standard header.
  5686. +#
  5687. +# To get valid HTML the header file that includes any scripts and style sheets
  5688. +# that doxygen needs, which is dependent on the configuration options used (e.g.
  5689. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
  5690. +# default header using
  5691. +# doxygen -w html new_header.html new_footer.html new_stylesheet.css
  5692. +# YourConfigFile
  5693. +# and then modify the file new_header.html. See also section "Doxygen usage"
  5694. +# for information on how to generate the default header that doxygen normally
  5695. +# uses.
  5696. +# Note: The header is subject to change so you typically have to regenerate the
  5697. +# default header when upgrading to a newer version of doxygen. For a description
  5698. +# of the possible markers and block names see the documentation.
  5699. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5700. +
  5701. +HTML_HEADER =
  5702. +
  5703. +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
  5704. +# generated HTML page. If the tag is left blank doxygen will generate a standard
  5705. +# footer. See HTML_HEADER for more information on how to generate a default
  5706. +# footer and what special commands can be used inside the footer. See also
  5707. +# section "Doxygen usage" for information on how to generate the default footer
  5708. +# that doxygen normally uses.
  5709. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5710. +
  5711. +HTML_FOOTER =
  5712. +
  5713. +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
  5714. +# sheet that is used by each HTML page. It can be used to fine-tune the look of
  5715. +# the HTML output. If left blank doxygen will generate a default style sheet.
  5716. +# See also section "Doxygen usage" for information on how to generate the style
  5717. +# sheet that doxygen normally uses.
  5718. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
  5719. +# it is more robust and this tag (HTML_STYLESHEET) will in the future become
  5720. +# obsolete.
  5721. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5722. +
  5723. +HTML_STYLESHEET =
  5724. +
  5725. +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
  5726. +# cascading style sheets that are included after the standard style sheets
  5727. +# created by doxygen. Using this option one can overrule certain style aspects.
  5728. +# This is preferred over using HTML_STYLESHEET since it does not replace the
  5729. +# standard style sheet and is therefore more robust against future updates.
  5730. +# Doxygen will copy the style sheet files to the output directory.
  5731. +# Note: The order of the extra style sheet files is of importance (e.g. the last
  5732. +# style sheet in the list overrules the setting of the previous ones in the
  5733. +# list). For an example see the documentation.
  5734. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5735. +
  5736. +HTML_EXTRA_STYLESHEET =
  5737. +
  5738. +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
  5739. +# other source files which should be copied to the HTML output directory. Note
  5740. +# that these files will be copied to the base HTML output directory. Use the
  5741. +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
  5742. +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
  5743. +# files will be copied as-is; there are no commands or markers available.
  5744. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5745. +
  5746. +HTML_EXTRA_FILES =
  5747. +
  5748. +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
  5749. +# will adjust the colors in the style sheet and background images according to
  5750. +# this color. Hue is specified as an angle on a colorwheel, see
  5751. +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
  5752. +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
  5753. +# purple, and 360 is red again.
  5754. +# Minimum value: 0, maximum value: 359, default value: 220.
  5755. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5756. +
  5757. +HTML_COLORSTYLE_HUE = 220
  5758. +
  5759. +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
  5760. +# in the HTML output. For a value of 0 the output will use grayscales only. A
  5761. +# value of 255 will produce the most vivid colors.
  5762. +# Minimum value: 0, maximum value: 255, default value: 100.
  5763. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5764. +
  5765. +HTML_COLORSTYLE_SAT = 100
  5766. +
  5767. +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
  5768. +# luminance component of the colors in the HTML output. Values below 100
  5769. +# gradually make the output lighter, whereas values above 100 make the output
  5770. +# darker. The value divided by 100 is the actual gamma applied, so 80 represents
  5771. +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
  5772. +# change the gamma.
  5773. +# Minimum value: 40, maximum value: 240, default value: 80.
  5774. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5775. +
  5776. +HTML_COLORSTYLE_GAMMA = 80
  5777. +
  5778. +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
  5779. +# page will contain the date and time when the page was generated. Setting this
  5780. +# to YES can help to show when doxygen was last run and thus if the
  5781. +# documentation is up to date.
  5782. +# The default value is: NO.
  5783. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5784. +
  5785. +HTML_TIMESTAMP = NO
  5786. +
  5787. +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
  5788. +# documentation will contain sections that can be hidden and shown after the
  5789. +# page has loaded.
  5790. +# The default value is: NO.
  5791. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5792. +
  5793. +HTML_DYNAMIC_SECTIONS = NO
  5794. +
  5795. +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
  5796. +# shown in the various tree structured indices initially; the user can expand
  5797. +# and collapse entries dynamically later on. Doxygen will expand the tree to
  5798. +# such a level that at most the specified number of entries are visible (unless
  5799. +# a fully collapsed tree already exceeds this amount). So setting the number of
  5800. +# entries 1 will produce a full collapsed tree by default. 0 is a special value
  5801. +# representing an infinite number of entries and will result in a full expanded
  5802. +# tree by default.
  5803. +# Minimum value: 0, maximum value: 9999, default value: 100.
  5804. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5805. +
  5806. +HTML_INDEX_NUM_ENTRIES = 100
  5807. +
  5808. +# If the GENERATE_DOCSET tag is set to YES, additional index files will be
  5809. +# generated that can be used as input for Apple's Xcode 3 integrated development
  5810. +# environment (see: http://developer.apple.com/tools/xcode/), introduced with
  5811. +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
  5812. +# Makefile in the HTML output directory. Running make will produce the docset in
  5813. +# that directory and running make install will install the docset in
  5814. +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
  5815. +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
  5816. +# for more information.
  5817. +# The default value is: NO.
  5818. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5819. +
  5820. +GENERATE_DOCSET = NO
  5821. +
  5822. +# This tag determines the name of the docset feed. A documentation feed provides
  5823. +# an umbrella under which multiple documentation sets from a single provider
  5824. +# (such as a company or product suite) can be grouped.
  5825. +# The default value is: Doxygen generated docs.
  5826. +# This tag requires that the tag GENERATE_DOCSET is set to YES.
  5827. +
  5828. +DOCSET_FEEDNAME = "Doxygen generated docs"
  5829. +
  5830. +# This tag specifies a string that should uniquely identify the documentation
  5831. +# set bundle. This should be a reverse domain-name style string, e.g.
  5832. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
  5833. +# The default value is: org.doxygen.Project.
  5834. +# This tag requires that the tag GENERATE_DOCSET is set to YES.
  5835. +
  5836. +DOCSET_BUNDLE_ID = org.doxygen.Project
  5837. +
  5838. +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
  5839. +# the documentation publisher. This should be a reverse domain-name style
  5840. +# string, e.g. com.mycompany.MyDocSet.documentation.
  5841. +# The default value is: org.doxygen.Publisher.
  5842. +# This tag requires that the tag GENERATE_DOCSET is set to YES.
  5843. +
  5844. +DOCSET_PUBLISHER_ID = org.doxygen.Publisher
  5845. +
  5846. +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
  5847. +# The default value is: Publisher.
  5848. +# This tag requires that the tag GENERATE_DOCSET is set to YES.
  5849. +
  5850. +DOCSET_PUBLISHER_NAME = Publisher
  5851. +
  5852. +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
  5853. +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
  5854. +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
  5855. +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
  5856. +# Windows.
  5857. +#
  5858. +# The HTML Help Workshop contains a compiler that can convert all HTML output
  5859. +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
  5860. +# files are now used as the Windows 98 help format, and will replace the old
  5861. +# Windows help format (.hlp) on all Windows platforms in the future. Compressed
  5862. +# HTML files also contain an index, a table of contents, and you can search for
  5863. +# words in the documentation. The HTML workshop also contains a viewer for
  5864. +# compressed HTML files.
  5865. +# The default value is: NO.
  5866. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5867. +
  5868. +GENERATE_HTMLHELP = NO
  5869. +
  5870. +# The CHM_FILE tag can be used to specify the file name of the resulting .chm
  5871. +# file. You can add a path in front of the file if the result should not be
  5872. +# written to the html output directory.
  5873. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  5874. +
  5875. +CHM_FILE =
  5876. +
  5877. +# The HHC_LOCATION tag can be used to specify the location (absolute path
  5878. +# including file name) of the HTML help compiler (hhc.exe). If non-empty,
  5879. +# doxygen will try to run the HTML help compiler on the generated index.hhp.
  5880. +# The file has to be specified with full path.
  5881. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  5882. +
  5883. +HHC_LOCATION =
  5884. +
  5885. +# The GENERATE_CHI flag controls if a separate .chi index file is generated
  5886. +# (YES) or that it should be included in the master .chm file (NO).
  5887. +# The default value is: NO.
  5888. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  5889. +
  5890. +GENERATE_CHI = NO
  5891. +
  5892. +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
  5893. +# and project file content.
  5894. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  5895. +
  5896. +CHM_INDEX_ENCODING =
  5897. +
  5898. +# The BINARY_TOC flag controls whether a binary table of contents is generated
  5899. +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
  5900. +# enables the Previous and Next buttons.
  5901. +# The default value is: NO.
  5902. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  5903. +
  5904. +BINARY_TOC = NO
  5905. +
  5906. +# The TOC_EXPAND flag can be set to YES to add extra items for group members to
  5907. +# the table of contents of the HTML help documentation and to the tree view.
  5908. +# The default value is: NO.
  5909. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
  5910. +
  5911. +TOC_EXPAND = NO
  5912. +
  5913. +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
  5914. +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
  5915. +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
  5916. +# (.qch) of the generated HTML documentation.
  5917. +# The default value is: NO.
  5918. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5919. +
  5920. +GENERATE_QHP = NO
  5921. +
  5922. +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
  5923. +# the file name of the resulting .qch file. The path specified is relative to
  5924. +# the HTML output folder.
  5925. +# This tag requires that the tag GENERATE_QHP is set to YES.
  5926. +
  5927. +QCH_FILE =
  5928. +
  5929. +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
  5930. +# Project output. For more information please see Qt Help Project / Namespace
  5931. +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
  5932. +# The default value is: org.doxygen.Project.
  5933. +# This tag requires that the tag GENERATE_QHP is set to YES.
  5934. +
  5935. +QHP_NAMESPACE = org.doxygen.Project
  5936. +
  5937. +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
  5938. +# Help Project output. For more information please see Qt Help Project / Virtual
  5939. +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
  5940. +# folders).
  5941. +# The default value is: doc.
  5942. +# This tag requires that the tag GENERATE_QHP is set to YES.
  5943. +
  5944. +QHP_VIRTUAL_FOLDER = doc
  5945. +
  5946. +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
  5947. +# filter to add. For more information please see Qt Help Project / Custom
  5948. +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
  5949. +# filters).
  5950. +# This tag requires that the tag GENERATE_QHP is set to YES.
  5951. +
  5952. +QHP_CUST_FILTER_NAME =
  5953. +
  5954. +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
  5955. +# custom filter to add. For more information please see Qt Help Project / Custom
  5956. +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
  5957. +# filters).
  5958. +# This tag requires that the tag GENERATE_QHP is set to YES.
  5959. +
  5960. +QHP_CUST_FILTER_ATTRS =
  5961. +
  5962. +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
  5963. +# project's filter section matches. Qt Help Project / Filter Attributes (see:
  5964. +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
  5965. +# This tag requires that the tag GENERATE_QHP is set to YES.
  5966. +
  5967. +QHP_SECT_FILTER_ATTRS =
  5968. +
  5969. +# The QHG_LOCATION tag can be used to specify the location of Qt's
  5970. +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
  5971. +# generated .qhp file.
  5972. +# This tag requires that the tag GENERATE_QHP is set to YES.
  5973. +
  5974. +QHG_LOCATION =
  5975. +
  5976. +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
  5977. +# generated, together with the HTML files, they form an Eclipse help plugin. To
  5978. +# install this plugin and make it available under the help contents menu in
  5979. +# Eclipse, the contents of the directory containing the HTML and XML files needs
  5980. +# to be copied into the plugins directory of eclipse. The name of the directory
  5981. +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
  5982. +# After copying Eclipse needs to be restarted before the help appears.
  5983. +# The default value is: NO.
  5984. +# This tag requires that the tag GENERATE_HTML is set to YES.
  5985. +
  5986. +GENERATE_ECLIPSEHELP = NO
  5987. +
  5988. +# A unique identifier for the Eclipse help plugin. When installing the plugin
  5989. +# the directory name containing the HTML and XML files should also have this
  5990. +# name. Each documentation set should have its own identifier.
  5991. +# The default value is: org.doxygen.Project.
  5992. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
  5993. +
  5994. +ECLIPSE_DOC_ID = org.doxygen.Project
  5995. +
  5996. +# If you want full control over the layout of the generated HTML pages it might
  5997. +# be necessary to disable the index and replace it with your own. The
  5998. +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
  5999. +# of each HTML page. A value of NO enables the index and the value YES disables
  6000. +# it. Since the tabs in the index contain the same information as the navigation
  6001. +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
  6002. +# The default value is: NO.
  6003. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6004. +
  6005. +DISABLE_INDEX = NO
  6006. +
  6007. +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
  6008. +# structure should be generated to display hierarchical information. If the tag
  6009. +# value is set to YES, a side panel will be generated containing a tree-like
  6010. +# index structure (just like the one that is generated for HTML Help). For this
  6011. +# to work a browser that supports JavaScript, DHTML, CSS and frames is required
  6012. +# (i.e. any modern browser). Windows users are probably better off using the
  6013. +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
  6014. +# further fine-tune the look of the index. As an example, the default style
  6015. +# sheet generated by doxygen has an example that shows how to put an image at
  6016. +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
  6017. +# the same information as the tab index, you could consider setting
  6018. +# DISABLE_INDEX to YES when enabling this option.
  6019. +# The default value is: NO.
  6020. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6021. +
  6022. +GENERATE_TREEVIEW = YES
  6023. +
  6024. +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
  6025. +# doxygen will group on one line in the generated HTML documentation.
  6026. +#
  6027. +# Note that a value of 0 will completely suppress the enum values from appearing
  6028. +# in the overview section.
  6029. +# Minimum value: 0, maximum value: 20, default value: 4.
  6030. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6031. +
  6032. +ENUM_VALUES_PER_LINE = 4
  6033. +
  6034. +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
  6035. +# to set the initial width (in pixels) of the frame in which the tree is shown.
  6036. +# Minimum value: 0, maximum value: 1500, default value: 250.
  6037. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6038. +
  6039. +TREEVIEW_WIDTH = 250
  6040. +
  6041. +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
  6042. +# external symbols imported via tag files in a separate window.
  6043. +# The default value is: NO.
  6044. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6045. +
  6046. +EXT_LINKS_IN_WINDOW = NO
  6047. +
  6048. +# Use this tag to change the font size of LaTeX formulas included as images in
  6049. +# the HTML documentation. When you change the font size after a successful
  6050. +# doxygen run you need to manually remove any form_*.png images from the HTML
  6051. +# output directory to force them to be regenerated.
  6052. +# Minimum value: 8, maximum value: 50, default value: 10.
  6053. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6054. +
  6055. +FORMULA_FONTSIZE = 10
  6056. +
  6057. +# Use the FORMULA_TRANPARENT tag to determine whether or not the images
  6058. +# generated for formulas are transparent PNGs. Transparent PNGs are not
  6059. +# supported properly for IE 6.0, but are supported on all modern browsers.
  6060. +#
  6061. +# Note that when changing this option you need to delete any form_*.png files in
  6062. +# the HTML output directory before the changes have effect.
  6063. +# The default value is: YES.
  6064. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6065. +
  6066. +FORMULA_TRANSPARENT = YES
  6067. +
  6068. +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
  6069. +# http://www.mathjax.org) which uses client side Javascript for the rendering
  6070. +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
  6071. +# installed or if you want to formulas look prettier in the HTML output. When
  6072. +# enabled you may also need to install MathJax separately and configure the path
  6073. +# to it using the MATHJAX_RELPATH option.
  6074. +# The default value is: NO.
  6075. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6076. +
  6077. +USE_MATHJAX = NO
  6078. +
  6079. +# When MathJax is enabled you can set the default output format to be used for
  6080. +# the MathJax output. See the MathJax site (see:
  6081. +# http://docs.mathjax.org/en/latest/output.html) for more details.
  6082. +# Possible values are: HTML-CSS (which is slower, but has the best
  6083. +# compatibility), NativeMML (i.e. MathML) and SVG.
  6084. +# The default value is: HTML-CSS.
  6085. +# This tag requires that the tag USE_MATHJAX is set to YES.
  6086. +
  6087. +MATHJAX_FORMAT = HTML-CSS
  6088. +
  6089. +# When MathJax is enabled you need to specify the location relative to the HTML
  6090. +# output directory using the MATHJAX_RELPATH option. The destination directory
  6091. +# should contain the MathJax.js script. For instance, if the mathjax directory
  6092. +# is located at the same level as the HTML output directory, then
  6093. +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
  6094. +# Content Delivery Network so you can quickly see the result without installing
  6095. +# MathJax. However, it is strongly recommended to install a local copy of
  6096. +# MathJax from http://www.mathjax.org before deployment.
  6097. +# The default value is: http://cdn.mathjax.org/mathjax/latest.
  6098. +# This tag requires that the tag USE_MATHJAX is set to YES.
  6099. +
  6100. +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
  6101. +
  6102. +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
  6103. +# extension names that should be enabled during MathJax rendering. For example
  6104. +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
  6105. +# This tag requires that the tag USE_MATHJAX is set to YES.
  6106. +
  6107. +MATHJAX_EXTENSIONS =
  6108. +
  6109. +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
  6110. +# of code that will be used on startup of the MathJax code. See the MathJax site
  6111. +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
  6112. +# example see the documentation.
  6113. +# This tag requires that the tag USE_MATHJAX is set to YES.
  6114. +
  6115. +MATHJAX_CODEFILE =
  6116. +
  6117. +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
  6118. +# the HTML output. The underlying search engine uses javascript and DHTML and
  6119. +# should work on any modern browser. Note that when using HTML help
  6120. +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
  6121. +# there is already a search function so this one should typically be disabled.
  6122. +# For large projects the javascript based search engine can be slow, then
  6123. +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
  6124. +# search using the keyboard; to jump to the search box use <access key> + S
  6125. +# (what the <access key> is depends on the OS and browser, but it is typically
  6126. +# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
  6127. +# key> to jump into the search results window, the results can be navigated
  6128. +# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
  6129. +# the search. The filter options can be selected when the cursor is inside the
  6130. +# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
  6131. +# to select a filter and <Enter> or <escape> to activate or cancel the filter
  6132. +# option.
  6133. +# The default value is: YES.
  6134. +# This tag requires that the tag GENERATE_HTML is set to YES.
  6135. +
  6136. +SEARCHENGINE = YES
  6137. +
  6138. +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
  6139. +# implemented using a web server instead of a web client using Javascript. There
  6140. +# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
  6141. +# setting. When disabled, doxygen will generate a PHP script for searching and
  6142. +# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
  6143. +# and searching needs to be provided by external tools. See the section
  6144. +# "External Indexing and Searching" for details.
  6145. +# The default value is: NO.
  6146. +# This tag requires that the tag SEARCHENGINE is set to YES.
  6147. +
  6148. +SERVER_BASED_SEARCH = NO
  6149. +
  6150. +# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
  6151. +# script for searching. Instead the search results are written to an XML file
  6152. +# which needs to be processed by an external indexer. Doxygen will invoke an
  6153. +# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
  6154. +# search results.
  6155. +#
  6156. +# Doxygen ships with an example indexer (doxyindexer) and search engine
  6157. +# (doxysearch.cgi) which are based on the open source search engine library
  6158. +# Xapian (see: http://xapian.org/).
  6159. +#
  6160. +# See the section "External Indexing and Searching" for details.
  6161. +# The default value is: NO.
  6162. +# This tag requires that the tag SEARCHENGINE is set to YES.
  6163. +
  6164. +EXTERNAL_SEARCH = NO
  6165. +
  6166. +# The SEARCHENGINE_URL should point to a search engine hosted by a web server
  6167. +# which will return the search results when EXTERNAL_SEARCH is enabled.
  6168. +#
  6169. +# Doxygen ships with an example indexer (doxyindexer) and search engine
  6170. +# (doxysearch.cgi) which are based on the open source search engine library
  6171. +# Xapian (see: http://xapian.org/). See the section "External Indexing and
  6172. +# Searching" for details.
  6173. +# This tag requires that the tag SEARCHENGINE is set to YES.
  6174. +
  6175. +SEARCHENGINE_URL =
  6176. +
  6177. +# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
  6178. +# search data is written to a file for indexing by an external tool. With the
  6179. +# SEARCHDATA_FILE tag the name of this file can be specified.
  6180. +# The default file is: searchdata.xml.
  6181. +# This tag requires that the tag SEARCHENGINE is set to YES.
  6182. +
  6183. +SEARCHDATA_FILE = searchdata.xml
  6184. +
  6185. +# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
  6186. +# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
  6187. +# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
  6188. +# projects and redirect the results back to the right project.
  6189. +# This tag requires that the tag SEARCHENGINE is set to YES.
  6190. +
  6191. +EXTERNAL_SEARCH_ID =
  6192. +
  6193. +# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
  6194. +# projects other than the one defined by this configuration file, but that are
  6195. +# all added to the same external search index. Each project needs to have a
  6196. +# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
  6197. +# to a relative location where the documentation can be found. The format is:
  6198. +# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
  6199. +# This tag requires that the tag SEARCHENGINE is set to YES.
  6200. +
  6201. +EXTRA_SEARCH_MAPPINGS =
  6202. +
  6203. +#---------------------------------------------------------------------------
  6204. +# Configuration options related to the LaTeX output
  6205. +#---------------------------------------------------------------------------
  6206. +
  6207. +# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
  6208. +# The default value is: YES.
  6209. +
  6210. +GENERATE_LATEX = YES
  6211. +
  6212. +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
  6213. +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  6214. +# it.
  6215. +# The default directory is: latex.
  6216. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6217. +
  6218. +LATEX_OUTPUT = latex
  6219. +
  6220. +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
  6221. +# invoked.
  6222. +#
  6223. +# Note that when enabling USE_PDFLATEX this option is only used for generating
  6224. +# bitmaps for formulas in the HTML output, but not in the Makefile that is
  6225. +# written to the output directory.
  6226. +# The default file is: latex.
  6227. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6228. +
  6229. +LATEX_CMD_NAME = latex
  6230. +
  6231. +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
  6232. +# index for LaTeX.
  6233. +# The default file is: makeindex.
  6234. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6235. +
  6236. +MAKEINDEX_CMD_NAME = makeindex
  6237. +
  6238. +# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
  6239. +# documents. This may be useful for small projects and may help to save some
  6240. +# trees in general.
  6241. +# The default value is: NO.
  6242. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6243. +
  6244. +COMPACT_LATEX = NO
  6245. +
  6246. +# The PAPER_TYPE tag can be used to set the paper type that is used by the
  6247. +# printer.
  6248. +# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
  6249. +# 14 inches) and executive (7.25 x 10.5 inches).
  6250. +# The default value is: a4.
  6251. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6252. +
  6253. +PAPER_TYPE = a4
  6254. +
  6255. +# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
  6256. +# that should be included in the LaTeX output. The package can be specified just
  6257. +# by its name or with the correct syntax as to be used with the LaTeX
  6258. +# \usepackage command. To get the times font for instance you can specify :
  6259. +# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
  6260. +# To use the option intlimits with the amsmath package you can specify:
  6261. +# EXTRA_PACKAGES=[intlimits]{amsmath}
  6262. +# If left blank no extra packages will be included.
  6263. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6264. +
  6265. +EXTRA_PACKAGES =
  6266. +
  6267. +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
  6268. +# generated LaTeX document. The header should contain everything until the first
  6269. +# chapter. If it is left blank doxygen will generate a standard header. See
  6270. +# section "Doxygen usage" for information on how to let doxygen write the
  6271. +# default header to a separate file.
  6272. +#
  6273. +# Note: Only use a user-defined header if you know what you are doing! The
  6274. +# following commands have a special meaning inside the header: $title,
  6275. +# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
  6276. +# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
  6277. +# string, for the replacement values of the other commands the user is referred
  6278. +# to HTML_HEADER.
  6279. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6280. +
  6281. +LATEX_HEADER =
  6282. +
  6283. +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
  6284. +# generated LaTeX document. The footer should contain everything after the last
  6285. +# chapter. If it is left blank doxygen will generate a standard footer. See
  6286. +# LATEX_HEADER for more information on how to generate a default footer and what
  6287. +# special commands can be used inside the footer.
  6288. +#
  6289. +# Note: Only use a user-defined footer if you know what you are doing!
  6290. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6291. +
  6292. +LATEX_FOOTER =
  6293. +
  6294. +# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
  6295. +# LaTeX style sheets that are included after the standard style sheets created
  6296. +# by doxygen. Using this option one can overrule certain style aspects. Doxygen
  6297. +# will copy the style sheet files to the output directory.
  6298. +# Note: The order of the extra style sheet files is of importance (e.g. the last
  6299. +# style sheet in the list overrules the setting of the previous ones in the
  6300. +# list).
  6301. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6302. +
  6303. +LATEX_EXTRA_STYLESHEET =
  6304. +
  6305. +# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
  6306. +# other source files which should be copied to the LATEX_OUTPUT output
  6307. +# directory. Note that the files will be copied as-is; there are no commands or
  6308. +# markers available.
  6309. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6310. +
  6311. +LATEX_EXTRA_FILES =
  6312. +
  6313. +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
  6314. +# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
  6315. +# contain links (just like the HTML output) instead of page references. This
  6316. +# makes the output suitable for online browsing using a PDF viewer.
  6317. +# The default value is: YES.
  6318. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6319. +
  6320. +PDF_HYPERLINKS = YES
  6321. +
  6322. +# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
  6323. +# the PDF file directly from the LaTeX files. Set this option to YES, to get a
  6324. +# higher quality PDF documentation.
  6325. +# The default value is: YES.
  6326. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6327. +
  6328. +USE_PDFLATEX = YES
  6329. +
  6330. +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
  6331. +# command to the generated LaTeX files. This will instruct LaTeX to keep running
  6332. +# if errors occur, instead of asking the user for help. This option is also used
  6333. +# when generating formulas in HTML.
  6334. +# The default value is: NO.
  6335. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6336. +
  6337. +LATEX_BATCHMODE = NO
  6338. +
  6339. +# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
  6340. +# index chapters (such as File Index, Compound Index, etc.) in the output.
  6341. +# The default value is: NO.
  6342. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6343. +
  6344. +LATEX_HIDE_INDICES = NO
  6345. +
  6346. +# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
  6347. +# code with syntax highlighting in the LaTeX output.
  6348. +#
  6349. +# Note that which sources are shown also depends on other settings such as
  6350. +# SOURCE_BROWSER.
  6351. +# The default value is: NO.
  6352. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6353. +
  6354. +LATEX_SOURCE_CODE = NO
  6355. +
  6356. +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
  6357. +# bibliography, e.g. plainnat, or ieeetr. See
  6358. +# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
  6359. +# The default value is: plain.
  6360. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6361. +
  6362. +LATEX_BIB_STYLE = plain
  6363. +
  6364. +# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
  6365. +# page will contain the date and time when the page was generated. Setting this
  6366. +# to NO can help when comparing the output of multiple runs.
  6367. +# The default value is: NO.
  6368. +# This tag requires that the tag GENERATE_LATEX is set to YES.
  6369. +
  6370. +LATEX_TIMESTAMP = NO
  6371. +
  6372. +#---------------------------------------------------------------------------
  6373. +# Configuration options related to the RTF output
  6374. +#---------------------------------------------------------------------------
  6375. +
  6376. +# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
  6377. +# RTF output is optimized for Word 97 and may not look too pretty with other RTF
  6378. +# readers/editors.
  6379. +# The default value is: NO.
  6380. +
  6381. +GENERATE_RTF = NO
  6382. +
  6383. +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
  6384. +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  6385. +# it.
  6386. +# The default directory is: rtf.
  6387. +# This tag requires that the tag GENERATE_RTF is set to YES.
  6388. +
  6389. +RTF_OUTPUT = rtf
  6390. +
  6391. +# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
  6392. +# documents. This may be useful for small projects and may help to save some
  6393. +# trees in general.
  6394. +# The default value is: NO.
  6395. +# This tag requires that the tag GENERATE_RTF is set to YES.
  6396. +
  6397. +COMPACT_RTF = NO
  6398. +
  6399. +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
  6400. +# contain hyperlink fields. The RTF file will contain links (just like the HTML
  6401. +# output) instead of page references. This makes the output suitable for online
  6402. +# browsing using Word or some other Word compatible readers that support those
  6403. +# fields.
  6404. +#
  6405. +# Note: WordPad (write) and others do not support links.
  6406. +# The default value is: NO.
  6407. +# This tag requires that the tag GENERATE_RTF is set to YES.
  6408. +
  6409. +RTF_HYPERLINKS = NO
  6410. +
  6411. +# Load stylesheet definitions from file. Syntax is similar to doxygen's config
  6412. +# file, i.e. a series of assignments. You only have to provide replacements,
  6413. +# missing definitions are set to their default value.
  6414. +#
  6415. +# See also section "Doxygen usage" for information on how to generate the
  6416. +# default style sheet that doxygen normally uses.
  6417. +# This tag requires that the tag GENERATE_RTF is set to YES.
  6418. +
  6419. +RTF_STYLESHEET_FILE =
  6420. +
  6421. +# Set optional variables used in the generation of an RTF document. Syntax is
  6422. +# similar to doxygen's config file. A template extensions file can be generated
  6423. +# using doxygen -e rtf extensionFile.
  6424. +# This tag requires that the tag GENERATE_RTF is set to YES.
  6425. +
  6426. +RTF_EXTENSIONS_FILE =
  6427. +
  6428. +# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
  6429. +# with syntax highlighting in the RTF output.
  6430. +#
  6431. +# Note that which sources are shown also depends on other settings such as
  6432. +# SOURCE_BROWSER.
  6433. +# The default value is: NO.
  6434. +# This tag requires that the tag GENERATE_RTF is set to YES.
  6435. +
  6436. +RTF_SOURCE_CODE = NO
  6437. +
  6438. +#---------------------------------------------------------------------------
  6439. +# Configuration options related to the man page output
  6440. +#---------------------------------------------------------------------------
  6441. +
  6442. +# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
  6443. +# classes and files.
  6444. +# The default value is: NO.
  6445. +
  6446. +GENERATE_MAN = NO
  6447. +
  6448. +# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
  6449. +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  6450. +# it. A directory man3 will be created inside the directory specified by
  6451. +# MAN_OUTPUT.
  6452. +# The default directory is: man.
  6453. +# This tag requires that the tag GENERATE_MAN is set to YES.
  6454. +
  6455. +MAN_OUTPUT = man
  6456. +
  6457. +# The MAN_EXTENSION tag determines the extension that is added to the generated
  6458. +# man pages. In case the manual section does not start with a number, the number
  6459. +# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
  6460. +# optional.
  6461. +# The default value is: .3.
  6462. +# This tag requires that the tag GENERATE_MAN is set to YES.
  6463. +
  6464. +MAN_EXTENSION = .3
  6465. +
  6466. +# The MAN_SUBDIR tag determines the name of the directory created within
  6467. +# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
  6468. +# MAN_EXTENSION with the initial . removed.
  6469. +# This tag requires that the tag GENERATE_MAN is set to YES.
  6470. +
  6471. +MAN_SUBDIR =
  6472. +
  6473. +# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
  6474. +# will generate one additional man file for each entity documented in the real
  6475. +# man page(s). These additional files only source the real man page, but without
  6476. +# them the man command would be unable to find the correct page.
  6477. +# The default value is: NO.
  6478. +# This tag requires that the tag GENERATE_MAN is set to YES.
  6479. +
  6480. +MAN_LINKS = NO
  6481. +
  6482. +#---------------------------------------------------------------------------
  6483. +# Configuration options related to the XML output
  6484. +#---------------------------------------------------------------------------
  6485. +
  6486. +# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
  6487. +# captures the structure of the code including all documentation.
  6488. +# The default value is: NO.
  6489. +
  6490. +GENERATE_XML = NO
  6491. +
  6492. +# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
  6493. +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
  6494. +# it.
  6495. +# The default directory is: xml.
  6496. +# This tag requires that the tag GENERATE_XML is set to YES.
  6497. +
  6498. +XML_OUTPUT = xml
  6499. +
  6500. +# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
  6501. +# listings (including syntax highlighting and cross-referencing information) to
  6502. +# the XML output. Note that enabling this will significantly increase the size
  6503. +# of the XML output.
  6504. +# The default value is: YES.
  6505. +# This tag requires that the tag GENERATE_XML is set to YES.
  6506. +
  6507. +XML_PROGRAMLISTING = YES
  6508. +
  6509. +#---------------------------------------------------------------------------
  6510. +# Configuration options related to the DOCBOOK output
  6511. +#---------------------------------------------------------------------------
  6512. +
  6513. +# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
  6514. +# that can be used to generate PDF.
  6515. +# The default value is: NO.
  6516. +
  6517. +GENERATE_DOCBOOK = NO
  6518. +
  6519. +# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
  6520. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
  6521. +# front of it.
  6522. +# The default directory is: docbook.
  6523. +# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
  6524. +
  6525. +DOCBOOK_OUTPUT = docbook
  6526. +
  6527. +# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
  6528. +# program listings (including syntax highlighting and cross-referencing
  6529. +# information) to the DOCBOOK output. Note that enabling this will significantly
  6530. +# increase the size of the DOCBOOK output.
  6531. +# The default value is: NO.
  6532. +# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
  6533. +
  6534. +DOCBOOK_PROGRAMLISTING = NO
  6535. +
  6536. +#---------------------------------------------------------------------------
  6537. +# Configuration options for the AutoGen Definitions output
  6538. +#---------------------------------------------------------------------------
  6539. +
  6540. +# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
  6541. +# AutoGen Definitions (see http://autogen.sf.net) file that captures the
  6542. +# structure of the code including all documentation. Note that this feature is
  6543. +# still experimental and incomplete at the moment.
  6544. +# The default value is: NO.
  6545. +
  6546. +GENERATE_AUTOGEN_DEF = NO
  6547. +
  6548. +#---------------------------------------------------------------------------
  6549. +# Configuration options related to the Perl module output
  6550. +#---------------------------------------------------------------------------
  6551. +
  6552. +# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
  6553. +# file that captures the structure of the code including all documentation.
  6554. +#
  6555. +# Note that this feature is still experimental and incomplete at the moment.
  6556. +# The default value is: NO.
  6557. +
  6558. +GENERATE_PERLMOD = NO
  6559. +
  6560. +# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
  6561. +# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
  6562. +# output from the Perl module output.
  6563. +# The default value is: NO.
  6564. +# This tag requires that the tag GENERATE_PERLMOD is set to YES.
  6565. +
  6566. +PERLMOD_LATEX = NO
  6567. +
  6568. +# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
  6569. +# formatted so it can be parsed by a human reader. This is useful if you want to
  6570. +# understand what is going on. On the other hand, if this tag is set to NO, the
  6571. +# size of the Perl module output will be much smaller and Perl will parse it
  6572. +# just the same.
  6573. +# The default value is: YES.
  6574. +# This tag requires that the tag GENERATE_PERLMOD is set to YES.
  6575. +
  6576. +PERLMOD_PRETTY = YES
  6577. +
  6578. +# The names of the make variables in the generated doxyrules.make file are
  6579. +# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
  6580. +# so different doxyrules.make files included by the same Makefile don't
  6581. +# overwrite each other's variables.
  6582. +# This tag requires that the tag GENERATE_PERLMOD is set to YES.
  6583. +
  6584. +PERLMOD_MAKEVAR_PREFIX =
  6585. +
  6586. +#---------------------------------------------------------------------------
  6587. +# Configuration options related to the preprocessor
  6588. +#---------------------------------------------------------------------------
  6589. +
  6590. +# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
  6591. +# C-preprocessor directives found in the sources and include files.
  6592. +# The default value is: YES.
  6593. +
  6594. +ENABLE_PREPROCESSING = YES
  6595. +
  6596. +# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
  6597. +# in the source code. If set to NO, only conditional compilation will be
  6598. +# performed. Macro expansion can be done in a controlled way by setting
  6599. +# EXPAND_ONLY_PREDEF to YES.
  6600. +# The default value is: NO.
  6601. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  6602. +
  6603. +MACRO_EXPANSION = NO
  6604. +
  6605. +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
  6606. +# the macro expansion is limited to the macros specified with the PREDEFINED and
  6607. +# EXPAND_AS_DEFINED tags.
  6608. +# The default value is: NO.
  6609. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  6610. +
  6611. +EXPAND_ONLY_PREDEF = NO
  6612. +
  6613. +# If the SEARCH_INCLUDES tag is set to YES, the include files in the
  6614. +# INCLUDE_PATH will be searched if a #include is found.
  6615. +# The default value is: YES.
  6616. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  6617. +
  6618. +SEARCH_INCLUDES = YES
  6619. +
  6620. +# The INCLUDE_PATH tag can be used to specify one or more directories that
  6621. +# contain include files that are not input files but should be processed by the
  6622. +# preprocessor.
  6623. +# This tag requires that the tag SEARCH_INCLUDES is set to YES.
  6624. +
  6625. +INCLUDE_PATH =
  6626. +
  6627. +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
  6628. +# patterns (like *.h and *.hpp) to filter out the header-files in the
  6629. +# directories. If left blank, the patterns specified with FILE_PATTERNS will be
  6630. +# used.
  6631. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  6632. +
  6633. +INCLUDE_FILE_PATTERNS =
  6634. +
  6635. +# The PREDEFINED tag can be used to specify one or more macro names that are
  6636. +# defined before the preprocessor is started (similar to the -D option of e.g.
  6637. +# gcc). The argument of the tag is a list of macros of the form: name or
  6638. +# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
  6639. +# is assumed. To prevent a macro definition from being undefined via #undef or
  6640. +# recursively expanded use the := operator instead of the = operator.
  6641. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  6642. +
  6643. +PREDEFINED =
  6644. +
  6645. +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
  6646. +# tag can be used to specify a list of macro names that should be expanded. The
  6647. +# macro definition that is found in the sources will be used. Use the PREDEFINED
  6648. +# tag if you want to use a different macro definition that overrules the
  6649. +# definition found in the source code.
  6650. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  6651. +
  6652. +EXPAND_AS_DEFINED =
  6653. +
  6654. +# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
  6655. +# remove all references to function-like macros that are alone on a line, have
  6656. +# an all uppercase name, and do not end with a semicolon. Such function macros
  6657. +# are typically used for boiler-plate code, and will confuse the parser if not
  6658. +# removed.
  6659. +# The default value is: YES.
  6660. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
  6661. +
  6662. +SKIP_FUNCTION_MACROS = YES
  6663. +
  6664. +#---------------------------------------------------------------------------
  6665. +# Configuration options related to external references
  6666. +#---------------------------------------------------------------------------
  6667. +
  6668. +# The TAGFILES tag can be used to specify one or more tag files. For each tag
  6669. +# file the location of the external documentation should be added. The format of
  6670. +# a tag file without this location is as follows:
  6671. +# TAGFILES = file1 file2 ...
  6672. +# Adding location for the tag files is done as follows:
  6673. +# TAGFILES = file1=loc1 "file2 = loc2" ...
  6674. +# where loc1 and loc2 can be relative or absolute paths or URLs. See the
  6675. +# section "Linking to external documentation" for more information about the use
  6676. +# of tag files.
  6677. +# Note: Each tag file must have a unique name (where the name does NOT include
  6678. +# the path). If a tag file is not located in the directory in which doxygen is
  6679. +# run, you must also specify the path to the tagfile here.
  6680. +
  6681. +TAGFILES =
  6682. +
  6683. +# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
  6684. +# tag file that is based on the input files it reads. See section "Linking to
  6685. +# external documentation" for more information about the usage of tag files.
  6686. +
  6687. +GENERATE_TAGFILE =
  6688. +
  6689. +# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
  6690. +# the class index. If set to NO, only the inherited external classes will be
  6691. +# listed.
  6692. +# The default value is: NO.
  6693. +
  6694. +ALLEXTERNALS = NO
  6695. +
  6696. +# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
  6697. +# in the modules index. If set to NO, only the current project's groups will be
  6698. +# listed.
  6699. +# The default value is: YES.
  6700. +
  6701. +EXTERNAL_GROUPS = YES
  6702. +
  6703. +# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
  6704. +# the related pages index. If set to NO, only the current project's pages will
  6705. +# be listed.
  6706. +# The default value is: YES.
  6707. +
  6708. +EXTERNAL_PAGES = YES
  6709. +
  6710. +# The PERL_PATH should be the absolute path and name of the perl script
  6711. +# interpreter (i.e. the result of 'which perl').
  6712. +# The default file (with absolute path) is: /usr/bin/perl.
  6713. +
  6714. +PERL_PATH = /usr/bin/perl
  6715. +
  6716. +#---------------------------------------------------------------------------
  6717. +# Configuration options related to the dot tool
  6718. +#---------------------------------------------------------------------------
  6719. +
  6720. +# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
  6721. +# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
  6722. +# NO turns the diagrams off. Note that this option also works with HAVE_DOT
  6723. +# disabled, but it is recommended to install and use dot, since it yields more
  6724. +# powerful graphs.
  6725. +# The default value is: YES.
  6726. +
  6727. +CLASS_DIAGRAMS = YES
  6728. +
  6729. +# You can define message sequence charts within doxygen comments using the \msc
  6730. +# command. Doxygen will then run the mscgen tool (see:
  6731. +# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
  6732. +# documentation. The MSCGEN_PATH tag allows you to specify the directory where
  6733. +# the mscgen tool resides. If left empty the tool is assumed to be found in the
  6734. +# default search path.
  6735. +
  6736. +MSCGEN_PATH =
  6737. +
  6738. +# You can include diagrams made with dia in doxygen documentation. Doxygen will
  6739. +# then run dia to produce the diagram and insert it in the documentation. The
  6740. +# DIA_PATH tag allows you to specify the directory where the dia binary resides.
  6741. +# If left empty dia is assumed to be found in the default search path.
  6742. +
  6743. +DIA_PATH =
  6744. +
  6745. +# If set to YES the inheritance and collaboration graphs will hide inheritance
  6746. +# and usage relations if the target is undocumented or is not a class.
  6747. +# The default value is: YES.
  6748. +
  6749. +HIDE_UNDOC_RELATIONS = YES
  6750. +
  6751. +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
  6752. +# available from the path. This tool is part of Graphviz (see:
  6753. +# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
  6754. +# Bell Labs. The other options in this section have no effect if this option is
  6755. +# set to NO
  6756. +# The default value is: NO.
  6757. +
  6758. +HAVE_DOT = NO
  6759. +
  6760. +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
  6761. +# to run in parallel. When set to 0 doxygen will base this on the number of
  6762. +# processors available in the system. You can set it explicitly to a value
  6763. +# larger than 0 to get control over the balance between CPU load and processing
  6764. +# speed.
  6765. +# Minimum value: 0, maximum value: 32, default value: 0.
  6766. +# This tag requires that the tag HAVE_DOT is set to YES.
  6767. +
  6768. +DOT_NUM_THREADS = 0
  6769. +
  6770. +# When you want a differently looking font in the dot files that doxygen
  6771. +# generates you can specify the font name using DOT_FONTNAME. You need to make
  6772. +# sure dot is able to find the font, which can be done by putting it in a
  6773. +# standard location or by setting the DOTFONTPATH environment variable or by
  6774. +# setting DOT_FONTPATH to the directory containing the font.
  6775. +# The default value is: Helvetica.
  6776. +# This tag requires that the tag HAVE_DOT is set to YES.
  6777. +
  6778. +DOT_FONTNAME = Helvetica
  6779. +
  6780. +# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
  6781. +# dot graphs.
  6782. +# Minimum value: 4, maximum value: 24, default value: 10.
  6783. +# This tag requires that the tag HAVE_DOT is set to YES.
  6784. +
  6785. +DOT_FONTSIZE = 10
  6786. +
  6787. +# By default doxygen will tell dot to use the default font as specified with
  6788. +# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
  6789. +# the path where dot can find it using this tag.
  6790. +# This tag requires that the tag HAVE_DOT is set to YES.
  6791. +
  6792. +DOT_FONTPATH =
  6793. +
  6794. +# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
  6795. +# each documented class showing the direct and indirect inheritance relations.
  6796. +# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
  6797. +# The default value is: YES.
  6798. +# This tag requires that the tag HAVE_DOT is set to YES.
  6799. +
  6800. +CLASS_GRAPH = YES
  6801. +
  6802. +# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
  6803. +# graph for each documented class showing the direct and indirect implementation
  6804. +# dependencies (inheritance, containment, and class references variables) of the
  6805. +# class with other documented classes.
  6806. +# The default value is: YES.
  6807. +# This tag requires that the tag HAVE_DOT is set to YES.
  6808. +
  6809. +COLLABORATION_GRAPH = YES
  6810. +
  6811. +# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
  6812. +# groups, showing the direct groups dependencies.
  6813. +# The default value is: YES.
  6814. +# This tag requires that the tag HAVE_DOT is set to YES.
  6815. +
  6816. +GROUP_GRAPHS = YES
  6817. +
  6818. +# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
  6819. +# collaboration diagrams in a style similar to the OMG's Unified Modeling
  6820. +# Language.
  6821. +# The default value is: NO.
  6822. +# This tag requires that the tag HAVE_DOT is set to YES.
  6823. +
  6824. +UML_LOOK = NO
  6825. +
  6826. +# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
  6827. +# class node. If there are many fields or methods and many nodes the graph may
  6828. +# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
  6829. +# number of items for each type to make the size more manageable. Set this to 0
  6830. +# for no limit. Note that the threshold may be exceeded by 50% before the limit
  6831. +# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
  6832. +# but if the number exceeds 15, the total amount of fields shown is limited to
  6833. +# 10.
  6834. +# Minimum value: 0, maximum value: 100, default value: 10.
  6835. +# This tag requires that the tag HAVE_DOT is set to YES.
  6836. +
  6837. +UML_LIMIT_NUM_FIELDS = 10
  6838. +
  6839. +# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
  6840. +# collaboration graphs will show the relations between templates and their
  6841. +# instances.
  6842. +# The default value is: NO.
  6843. +# This tag requires that the tag HAVE_DOT is set to YES.
  6844. +
  6845. +TEMPLATE_RELATIONS = NO
  6846. +
  6847. +# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
  6848. +# YES then doxygen will generate a graph for each documented file showing the
  6849. +# direct and indirect include dependencies of the file with other documented
  6850. +# files.
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  7024. +# files that are used to generate the various graphs.
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  7028. +DOT_CLEANUP = YES
  7029. diff --git a/Hand.cpp b/Hand.cpp
  7030. index 214c78a..732a664 100644
  7031. --- a/Hand.cpp
  7032. +++ b/Hand.cpp
  7033. @@ -1,299 +1,289 @@
  7034. -#include "Hand.h"
  7035. -#include "Util.h"
  7036. -#include "Visualizer.h"
  7037. -#include "global.h"
  7038. -
  7039. -Hand::Hand()
  7040. -{
  7041. -
  7042. -}
  7043. -
  7044. -Hand::Hand(cv::Mat xyzMap, float angle_threshhold, int cluster_thresh)
  7045. -{
  7046. - CLUSTER_THRESHOLD = cluster_thresh;
  7047. - ANGLE_THRESHHOLD = angle_threshhold;
  7048. - analyzeHand(xyzMap);
  7049. -}
  7050. -
  7051. -Hand::~Hand()
  7052. -{
  7053. -
  7054. -}
  7055. -
  7056. -void Hand::analyzeHand(cv::Mat xyzMap)
  7057. -{
  7058. -
  7059. - cv::Mat normalizedDepthMap;
  7060. - cv::Mat channel[3];
  7061. - cv::split(xyzMap, channel);
  7062. - cv::normalize(channel[2], normalizedDepthMap, 0, 255, cv::NORM_MINMAX, CV_8UC1);
  7063. -
  7064. - // Resize input
  7065. - cv::Mat input;
  7066. - cv::pyrUp(normalizedDepthMap, input, cv::Size(normalizedDepthMap.cols * 2, normalizedDepthMap.rows * 2));
  7067. -
  7068. - cv::pyrUp(input, input, cv::Size(input.cols * 2, input.rows * 2));
  7069. - cv::Mat threshold_output;
  7070. - std::vector< std::vector<cv::Point> > contours;
  7071. - std::vector<cv::Vec4i> hierarchy;
  7072. -
  7073. - // Find contours
  7074. -
  7075. - cv::threshold(input, threshold_output, 100, 255, cv::THRESH_BINARY);
  7076. - cv::findContours(threshold_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
  7077. -
  7078. - // Find contour polygon
  7079. -
  7080. - std::vector< std::vector< cv::Point> > contours_poly(contours.size());
  7081. - for (int i = 0; i < contours.size(); i++) {
  7082. - cv::approxPolyDP(cv::Mat(contours[i]), contours_poly[i], 3, true);
  7083. - }
  7084. -
  7085. - // Find largest contour
  7086. - std::vector<cv::Point> contour = Hand::findComplexContour(contours);
  7087. -
  7088. - // Find approximated convex hull
  7089. -
  7090. - std::vector<cv::Point> hull;
  7091. - std::vector<cv::Point> completeHull;
  7092. - std::vector<int> indexHull;
  7093. - if (contour.size() > 1) {
  7094. - cv::convexHull(contour, completeHull, 0, 1);
  7095. - cv::convexHull(contour, indexHull, 0, 0);
  7096. - hull = Hand::clusterConvexHull(completeHull, Hand::CLUSTER_THRESHOLD);
  7097. - }
  7098. -
  7099. - // Find convexityDefects
  7100. -
  7101. - std::vector<cv::Vec4i> defects;
  7102. - if (indexHull.size() > 3) {
  7103. - cv::convexityDefects(contour, indexHull, defects);
  7104. - }
  7105. -
  7106. - // Find max and min distances
  7107. - double minVal, maxVal;
  7108. - cv::Point minLoc, maxLoc;
  7109. - cv::minMaxLoc(channel[2], &minVal, &maxVal, &minLoc, &maxLoc);
  7110. -
  7111. - // Find center of contour
  7112. -
  7113. - cv::Point center = Hand::findCenter(contour);
  7114. - centroid_xyz = xyzMap.at<cv::Vec3f>(center.y / 4, center.x / 4);
  7115. - centroid_ij = cv::Point2i(center.x, center.y); // SCALING
  7116. -
  7117. - // Generate visual
  7118. - cv::Mat img = cv::Mat::zeros(input.rows, input.cols, CV_8UC3);
  7119. - cv::Scalar color = cv::Scalar(0, 255, 0);
  7120. -
  7121. - // Draw contours
  7122. - cv::circle(img, center, 5, cv::Scalar(255, 0, 0), 2);
  7123. -
  7124. - for (int i = 0; i < contours.size(); i++) {
  7125. - cv::drawContours(img, contours_poly, i, color, 1, 8, std::vector<cv::Vec4i>(), 0, cv::Point());
  7126. - }
  7127. -
  7128. - // Draw hull
  7129. -
  7130. - cv::Point index;
  7131. - cv::Point index_right;
  7132. - cv::Point index_left;
  7133. - double farthest = 0;
  7134. -
  7135. - if (hull.size() > 1) {
  7136. - for (int i = 0; i < hull.size(); i++) {
  7137. - cv::Point p1 = hull[i];
  7138. - cv::Point p2 = hull[(i + 1) % hull.size()];
  7139. - //cv::line(img, p1, p2, cv::Scalar(255, 0, 0), 1);
  7140. -
  7141. - if (p1.y < centroid_ij.y && Util::euclideanDistance2D(p1, centroid_ij) > farthest) {
  7142. - farthest = Util::euclideanDistance2D(p1, centroid_ij);
  7143. - index = p1;
  7144. - index_right = hull[(i + 1) % hull.size()];
  7145. - index_left = hull[(i - 1) % hull.size()];
  7146. - }
  7147. - }
  7148. - }
  7149. -
  7150. - // Draw defects (filter)
  7151. -
  7152. - std::vector<cv::Point> endpoints;
  7153. - std::vector<cv::Point> fingerDefects;
  7154. - cv::Point lastStart;
  7155. - int found = -1;
  7156. - for (int i = 0; i < defects.size(); i++) {
  7157. - cv::Vec4i defect = defects[i];
  7158. - cv::Point start = contour[defect[0]];
  7159. - cv::Point end = contour[defect[1]];
  7160. - cv::Point farPt = contour[defect[2]];
  7161. - // Depth from edge of contour
  7162. - // std::cout << "Depth: " << depth << "\tThreshold: " << cv::norm(maxLoc - center) << "\t";
  7163. - // Defect conditions: depth is sufficient, inside contour, y value is above center
  7164. - int depth = defect[3];
  7165. -
  7166. - // maxLoc largest depth
  7167. - // first condition replace with meters distance from the edge
  7168. - // second test if inside the hull (no change)
  7169. - // above the center (no change)
  7170. - if (cv::norm(maxLoc - center) * 15 < depth && cv::pointPolygonTest(hull, farPt, false) > 0 && farPt.y < center.y) {
  7171. - cv::Vec3f pt1 = xyzMap.at<cv::Vec3f>(farPt.y / 4, farPt.x / 4);
  7172. - if (Util::euclidianDistance3D(pt1, centroid_xyz) > 0.05) {
  7173. - endpoints.push_back(start);
  7174. - endpoints.push_back(end);
  7175. - fingerDefects.push_back(farPt);
  7176. - }
  7177. - }
  7178. - }
  7179. -
  7180. - // Cluster fingertip locations
  7181. -
  7182. - endpoints = Hand::clusterConvexHull(endpoints, Hand::CLUSTER_THRESHOLD);
  7183. - for (int i = 0; i < endpoints.size(); i++) {
  7184. - cv::Point endpoint = endpoints[i];
  7185. -
  7186. - cv::Point closestDefect;
  7187. - int minDefectDistance = 1 << 29;
  7188. - for (int i = 0; i < fingerDefects.size(); i++) {
  7189. - if (cv::norm(endpoint - fingerDefects[i]) < minDefectDistance) {
  7190. - minDefectDistance = cv::norm(endpoint - fingerDefects[i]);
  7191. - closestDefect = fingerDefects[i];
  7192. - }
  7193. - }
  7194. - cv::Vec3f endPoint_xyz = Util::averageAroundPoint(xyzMap, cv::Point2i(endpoint.x / 4, endpoint.y / 4), 10);
  7195. - cv::Vec3f closestDefect_xyz = Util::averageAroundPoint(xyzMap, cv::Point2i(closestDefect.x / 4, closestDefect.y / 4), 10);
  7196. - double finger_length = Util::euclidianDistance3D(endPoint_xyz, closestDefect_xyz);
  7197. - if (finger_length < 0.08 && finger_length > 0.025 && endpoint.y < closestDefect.y) {
  7198. - fingers_xyz.push_back(endPoint_xyz);
  7199. - fingers_ij.push_back(cv::Point2i(endpoint.x, endpoint.y)); // SCALING
  7200. -
  7201. - defects_xyz.push_back(Util::averageAroundPoint(xyzMap, cv::Point2i(closestDefect.x / 4, closestDefect.y / 4), 5));
  7202. - defects_ij.push_back(cv::Point2i(closestDefect.x, closestDefect.y)); // SCALING
  7203. - }
  7204. - }
  7205. - if ((float)cv::countNonZero(channel[2]) / (xyzMap.rows*xyzMap.cols) > 0.3) {
  7206. - return;
  7207. - }
  7208. -
  7209. - // If there is one or less visible fingers
  7210. - if (fingers_xyz.size() <= 1)
  7211. - {
  7212. - fingers_xyz.clear();
  7213. - fingers_ij.clear();
  7214. -
  7215. - cv::Vec3f indexFinger = Util::averageAroundPoint(xyzMap, cv::Point2i(index.x / 4, index.y / 4), 10);
  7216. - fingers_xyz.push_back(indexFinger);
  7217. - fingers_ij.push_back(cv::Point2i(index.x, index.y)); // SCALING
  7218. -
  7219. - double angle = Util::TriangleAngleCalculation(index_left.x, index_left.y, index.x, index.y, index_right.x, index_right.y);
  7220. - if (defects_ij.size() != 0) {
  7221. - for (int i = 0; i < fingers_xyz.size(); i++) {
  7222. - cv::circle(img, fingers_ij[i], 5, cv::Scalar(0, 0, 255), 3);
  7223. - cv::line(img, defects_ij[i], fingers_ij[i], cv::Scalar(255, 0, 255), 2);
  7224. - cv::circle(img, defects_ij[i], 5, cv::Scalar(0, 255, 255), 2);
  7225. - cv::line(img, defects_ij[i], centroid_ij, cv::Scalar(255, 0, 255), 2);
  7226. - }
  7227. - }
  7228. - else if (angle > ANGLE_THRESHHOLD) {
  7229. - cv::circle(img, fingers_ij[0], 5, cv::Scalar(0, 0, 255), 3);
  7230. - cv::line(img, fingers_ij[0], centroid_ij, cv::Scalar(255, 0, 255), 2);
  7231. - }
  7232. -
  7233. - }
  7234. - else {
  7235. - for (int i = 0; i < fingers_xyz.size(); i++) {
  7236. - cv::circle(img, fingers_ij[i], 5, cv::Scalar(0, 0, 255), 3);
  7237. - cv::line(img, defects_ij[i], fingers_ij[i], cv::Scalar(255, 0, 255), 2);
  7238. - cv::circle(img, defects_ij[i], 3, cv::Scalar(0, 255, 255), 2);
  7239. - cv::line(img, defects_ij[i], centroid_ij, cv::Scalar(255, 0, 255), 2);
  7240. - }
  7241. - }
  7242. -
  7243. - if (camera_name == "sr300") {
  7244. - cv::Mat img_dst;
  7245. - cv::resize(img, img_dst, cv::Size(640, 489), 0, 0, cv::INTER_AREA);
  7246. - cv::namedWindow("Contours", CV_WINDOW_AUTOSIZE);
  7247. - cv::imshow("Contours", img_dst);
  7248. - }
  7249. - else {
  7250. - cv::namedWindow("Contours", CV_WINDOW_AUTOSIZE);
  7251. - cv::imshow("Contours", img);
  7252. - }
  7253. -
  7254. -}
  7255. -
  7256. -std::vector<cv::Point> Hand::findComplexContour(std::vector< std::vector<cv::Point> > contours) {
  7257. - std::vector<cv::Point> contour;
  7258. - int maxPoints = 0;
  7259. - for (int i = 0; i < contours.size(); i++) {
  7260. - if (contours[i].size() > maxPoints) {
  7261. - maxPoints = contours[i].size();
  7262. - contour = contours[i];
  7263. - }
  7264. - }
  7265. - return contour;
  7266. -}
  7267. -
  7268. -std::vector<cv::Point> Hand::clusterConvexHull(std::vector<cv::Point> convexHull, int threshold) {
  7269. - std::vector<cv::Point> clusterHull;
  7270. - int i = 0;
  7271. - while (i < convexHull.size()) {
  7272. - // Select a point from cluster
  7273. - std::vector<cv::Point> cluster;
  7274. - cv::Point hullPoint = convexHull[i];
  7275. - cluster.push_back(hullPoint);
  7276. - i++;
  7277. - while (i < convexHull.size()) {
  7278. - cv::Point clusterPoint = convexHull[i];
  7279. - double distance = cv::norm(hullPoint - clusterPoint);
  7280. - if (distance < threshold) {
  7281. - cluster.push_back(clusterPoint);
  7282. - i++;
  7283. - }
  7284. - else {
  7285. - break;
  7286. - }
  7287. - }
  7288. - hullPoint = cluster[cluster.size() / 2];
  7289. - cv::Point center = findCenter(convexHull);
  7290. - int maxDist = cv::norm(hullPoint - center);
  7291. - for (int i = 0; i < cluster.size(); i++) {
  7292. - if (cv::norm(cluster[i] - center) > maxDist) {
  7293. - maxDist = cv::norm(cluster[i] - center);
  7294. - hullPoint = cluster[i];
  7295. - }
  7296. - }
  7297. - clusterHull.push_back(hullPoint);
  7298. - }
  7299. - return clusterHull;
  7300. -}
  7301. -
  7302. -cv::Point Hand::findCenter(std::vector<cv::Point> contour) {
  7303. - cv::Point center;
  7304. - cv::Moments M = cv::moments(contour, false);
  7305. - center = cv::Point((int)M.m10 / M.m00, (int)M.m01 / M.m00);
  7306. - return center;
  7307. -}
  7308. -
  7309. -bool Hand::touchObject(std::vector<double> &equation, const double threshold)
  7310. -{
  7311. - if (equation.size() == 0) {
  7312. - return false;
  7313. - }
  7314. -
  7315. - for (int i = 0; i < fingers_xyz.size(); i++) {
  7316. - double x = fingers_xyz[i][0];
  7317. - double y = fingers_xyz[i][1];
  7318. - double z = fingers_xyz[i][2];
  7319. - if (z == 0) {
  7320. - return false;
  7321. - }
  7322. -
  7323. - double z_hat = equation[0] * x + equation[1] * y + equation[2];
  7324. - double r_squared = (z - z_hat) * (z - z_hat);
  7325. -
  7326. - if (r_squared < threshold) {
  7327. - return true;
  7328. - }
  7329. - }
  7330. -
  7331. - return false;
  7332. +#include "Hand.h"
  7333. +#include "Util.h"
  7334. +#include "Visualizer.h"
  7335. +
  7336. +Hand::Hand()
  7337. +{
  7338. +
  7339. +}
  7340. +
  7341. +Hand::Hand(cv::Mat xyzMap, float angle_threshhold, int cluster_thresh)
  7342. +{
  7343. + CLUSTER_THRESHOLD = cluster_thresh;
  7344. + ANGLE_THRESHHOLD = angle_threshhold;
  7345. + analyzeHand(xyzMap);
  7346. +}
  7347. +
  7348. +Hand::~Hand()
  7349. +{
  7350. +
  7351. +}
  7352. +
  7353. +void Hand::analyzeHand(cv::Mat xyzMap)
  7354. +{
  7355. +
  7356. + cv::Mat normalizedDepthMap;
  7357. + cv::Mat channel[3];
  7358. + cv::split(xyzMap, channel);
  7359. + cv::normalize(channel[2], normalizedDepthMap, 0, 255, cv::NORM_MINMAX, CV_8UC1);
  7360. +
  7361. + // Resize input
  7362. + cv::Mat input;
  7363. + cv::pyrUp(normalizedDepthMap, input, cv::Size(normalizedDepthMap.cols * 2, normalizedDepthMap.rows * 2));
  7364. + cv::pyrUp(input, input, cv::Size(input.cols * 2, input.rows * 2));
  7365. +
  7366. + cv::Mat threshold_output;
  7367. + std::vector< std::vector<cv::Point> > contours;
  7368. + std::vector<cv::Vec4i> hierarchy;
  7369. +
  7370. + // Find contours
  7371. +
  7372. + cv::threshold(input, threshold_output, 100, 255, cv::THRESH_BINARY);
  7373. + cv::findContours(threshold_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
  7374. +
  7375. + // Find contour polygon
  7376. +
  7377. + std::vector< std::vector< cv::Point> > contours_poly(contours.size());
  7378. + for (int i = 0; i < contours.size(); i++) {
  7379. + cv::approxPolyDP(cv::Mat(contours[i]), contours_poly[i], 3, true);
  7380. + }
  7381. +
  7382. + // Find largest contour
  7383. + std::vector<cv::Point> contour = Hand::findComplexContour(contours);
  7384. +
  7385. + // Find approximated convex hull
  7386. +
  7387. + std::vector<cv::Point> hull;
  7388. + std::vector<cv::Point> completeHull;
  7389. + std::vector<int> indexHull;
  7390. + if (contour.size() > 1) {
  7391. + cv::convexHull(contour, completeHull, 0, 1);
  7392. + cv::convexHull(contour, indexHull, 0, 0);
  7393. + hull = Hand::clusterConvexHull(completeHull, Hand::CLUSTER_THRESHOLD);
  7394. + }
  7395. +
  7396. + // Find convexityDefects
  7397. +
  7398. + std::vector<cv::Vec4i> defects;
  7399. + if (indexHull.size() > 3) {
  7400. + cv::convexityDefects(contour, indexHull, defects);
  7401. + }
  7402. +
  7403. + // Find max and min distances
  7404. + double minVal, maxVal;
  7405. + cv::Point minLoc, maxLoc;
  7406. + cv::minMaxLoc(channel[2], &minVal, &maxVal, &minLoc, &maxLoc);
  7407. +
  7408. + // Find center of contour
  7409. +
  7410. + cv::Point center = Hand::findCenter(contour);
  7411. + centroid_xyz = xyzMap.at<cv::Vec3f>(center.y / 4, center.x / 4);
  7412. + centroid_ij = cv::Point2i(center.x, center.y); // SCALING
  7413. +
  7414. + // Generate visual
  7415. + cv::Mat img = cv::Mat::zeros(input.rows, input.cols, CV_8UC3);
  7416. + cv::Scalar color = cv::Scalar(0, 255, 0);
  7417. +
  7418. + // Draw contours
  7419. + cv::circle(img, center, 5, cv::Scalar(255, 0, 0), 2);
  7420. +
  7421. + for (int i = 0; i < contours.size(); i++) {
  7422. + cv::drawContours(img, contours_poly, i, color, 1, 8, std::vector<cv::Vec4i>(), 0, cv::Point());
  7423. + }
  7424. +
  7425. + // Draw hull
  7426. +
  7427. + cv::Point index;
  7428. + cv::Point index_right;
  7429. + cv::Point index_left;
  7430. + double farthest = 0;
  7431. +
  7432. + if (hull.size() > 1) {
  7433. + for (int i = 0; i < hull.size(); i++) {
  7434. + cv::Point p1 = hull[i];
  7435. + cv::Point p2 = hull[(i + 1) % hull.size()];
  7436. + //cv::line(img, p1, p2, cv::Scalar(255, 0, 0), 1);
  7437. +
  7438. + if (p1.y < centroid_ij.y && Util::euclideanDistance2D(p1, centroid_ij) > farthest) {
  7439. + farthest = Util::euclideanDistance2D(p1, centroid_ij);
  7440. + index = p1;
  7441. + index_right = hull[(i + 1) % hull.size()];
  7442. + index_left = hull[(i - 1) % hull.size()];
  7443. + }
  7444. + }
  7445. + }
  7446. +
  7447. + // Draw defects (filter)
  7448. +
  7449. + std::vector<cv::Point> endpoints;
  7450. + std::vector<cv::Point> fingerDefects;
  7451. + cv::Point lastStart;
  7452. + int found = -1;
  7453. + for (int i = 0; i < defects.size(); i++) {
  7454. + cv::Vec4i defect = defects[i];
  7455. + cv::Point start = contour[defect[0]];
  7456. + cv::Point end = contour[defect[1]];
  7457. + cv::Point farPt = contour[defect[2]];
  7458. + // Depth from edge of contour
  7459. + // std::cout << "Depth: " << depth << "\tThreshold: " << cv::norm(maxLoc - center) << "\t";
  7460. + // Defect conditions: depth is sufficient, inside contour, y value is above center
  7461. + int depth = defect[3];
  7462. +
  7463. + // maxLoc largest depth
  7464. + // first condition replace with meters distance from the edge
  7465. + // second test if inside the hull (no change)
  7466. + // above the center (no change)
  7467. + if (cv::norm(maxLoc - center) * 15 < depth && cv::pointPolygonTest(hull, farPt, false) > 0 && farPt.y < center.y) {
  7468. + cv::Vec3f pt1 = xyzMap.at<cv::Vec3f>(farPt.y / 4, farPt.x / 4);
  7469. + if (Util::euclidianDistance3D(pt1, centroid_xyz) > 0.05) {
  7470. + endpoints.push_back(start);
  7471. + endpoints.push_back(end);
  7472. + fingerDefects.push_back(farPt);
  7473. + }
  7474. + }
  7475. + }
  7476. +
  7477. + // Cluster fingertip locations
  7478. +
  7479. + endpoints = Hand::clusterConvexHull(endpoints, Hand::CLUSTER_THRESHOLD);
  7480. + for (int i = 0; i < endpoints.size(); i++) {
  7481. + cv::Point endpoint = endpoints[i];
  7482. +
  7483. + cv::Point closestDefect;
  7484. + int minDefectDistance = 1 << 29;
  7485. + for (int i = 0; i < fingerDefects.size(); i++) {
  7486. + if (cv::norm(endpoint - fingerDefects[i]) < minDefectDistance) {
  7487. + minDefectDistance = cv::norm(endpoint - fingerDefects[i]);
  7488. + closestDefect = fingerDefects[i];
  7489. + }
  7490. + }
  7491. + cv::Vec3f endPoint_xyz = Util::averageAroundPoint(xyzMap, cv::Point2i(endpoint.x / 4, endpoint.y / 4), 10);
  7492. + cv::Vec3f closestDefect_xyz = Util::averageAroundPoint(xyzMap, cv::Point2i(closestDefect.x / 4, closestDefect.y / 4), 10);
  7493. + double finger_length = Util::euclidianDistance3D(endPoint_xyz, closestDefect_xyz);
  7494. + if (finger_length < 0.08 && finger_length > 0.025 && endpoint.y < closestDefect.y) {
  7495. + fingers_xyz.push_back(endPoint_xyz);
  7496. + fingers_ij.push_back(cv::Point2i(endpoint.x, endpoint.y)); // SCALING
  7497. +
  7498. + defects_xyz.push_back(Util::averageAroundPoint(xyzMap, cv::Point2i(closestDefect.x / 4, closestDefect.y / 4), 5));
  7499. + defects_ij.push_back(cv::Point2i(closestDefect.x, closestDefect.y)); // SCALING
  7500. + }
  7501. + }
  7502. + if ((float)cv::countNonZero(channel[2]) / (xyzMap.rows*xyzMap.cols) > 0.3) {
  7503. + return;
  7504. + }
  7505. +
  7506. + // If there is one or less visible fingers
  7507. + if (fingers_xyz.size() <= 1)
  7508. + {
  7509. + fingers_xyz.clear();
  7510. + fingers_ij.clear();
  7511. +
  7512. + cv::Vec3f indexFinger = Util::averageAroundPoint(xyzMap, cv::Point2i(index.x / 4, index.y / 4), 10);
  7513. + fingers_xyz.push_back(indexFinger);
  7514. + fingers_ij.push_back(cv::Point2i(index.x, index.y)); // SCALING
  7515. +
  7516. + double angle = Util::TriangleAngleCalculation(index_left.x, index_left.y, index.x, index.y, index_right.x, index_right.y);
  7517. + if (defects_ij.size() != 0) {
  7518. + for (int i = 0; i < fingers_xyz.size(); i++) {
  7519. + cv::circle(img, fingers_ij[i], 5, cv::Scalar(0, 0, 255), 3);
  7520. + cv::line(img, defects_ij[i], fingers_ij[i], cv::Scalar(255, 0, 255), 2);
  7521. + cv::circle(img, defects_ij[i], 5, cv::Scalar(0, 255, 255), 2);
  7522. + cv::line(img, defects_ij[i], centroid_ij, cv::Scalar(255, 0, 255), 2);
  7523. + }
  7524. + }
  7525. + else if (angle > ANGLE_THRESHHOLD) {
  7526. + cv::circle(img, fingers_ij[0], 5, cv::Scalar(0, 0, 255), 3);
  7527. + cv::line(img, fingers_ij[0], centroid_ij, cv::Scalar(255, 0, 255), 2);
  7528. + }
  7529. +
  7530. + }
  7531. + else {
  7532. + for (int i = 0; i < fingers_xyz.size(); i++) {
  7533. + cv::circle(img, fingers_ij[i], 5, cv::Scalar(0, 0, 255), 3);
  7534. + cv::line(img, defects_ij[i], fingers_ij[i], cv::Scalar(255, 0, 255), 2);
  7535. + cv::circle(img, defects_ij[i], 3, cv::Scalar(0, 255, 255), 2);
  7536. + cv::line(img, defects_ij[i], centroid_ij, cv::Scalar(255, 0, 255), 2);
  7537. + }
  7538. + }
  7539. + cv::imshow("Contours", img);
  7540. +
  7541. +
  7542. +}
  7543. +
  7544. +std::vector<cv::Point> Hand::findComplexContour(std::vector< std::vector<cv::Point> > contours) {
  7545. + std::vector<cv::Point> contour;
  7546. + int maxPoints = 0;
  7547. + for (int i = 0; i < contours.size(); i++) {
  7548. + if (contours[i].size() > maxPoints) {
  7549. + maxPoints = contours[i].size();
  7550. + contour = contours[i];
  7551. + }
  7552. + }
  7553. + return contour;
  7554. +}
  7555. +
  7556. +std::vector<cv::Point> Hand::clusterConvexHull(std::vector<cv::Point> convexHull, int threshold) {
  7557. + std::vector<cv::Point> clusterHull;
  7558. + int i = 0;
  7559. + while (i < convexHull.size()) {
  7560. + // Select a point from cluster
  7561. + std::vector<cv::Point> cluster;
  7562. + cv::Point hullPoint = convexHull[i];
  7563. + cluster.push_back(hullPoint);
  7564. + i++;
  7565. + while (i < convexHull.size()) {
  7566. + cv::Point clusterPoint = convexHull[i];
  7567. + double distance = cv::norm(hullPoint - clusterPoint);
  7568. + if (distance < threshold) {
  7569. + cluster.push_back(clusterPoint);
  7570. + i++;
  7571. + }
  7572. + else {
  7573. + break;
  7574. + }
  7575. + }
  7576. + hullPoint = cluster[cluster.size() / 2];
  7577. + cv::Point center = findCenter(convexHull);
  7578. + int maxDist = cv::norm(hullPoint - center);
  7579. + for (int i = 0; i < cluster.size(); i++) {
  7580. + if (cv::norm(cluster[i] - center) > maxDist) {
  7581. + maxDist = cv::norm(cluster[i] - center);
  7582. + hullPoint = cluster[i];
  7583. + }
  7584. + }
  7585. + clusterHull.push_back(hullPoint);
  7586. + }
  7587. + return clusterHull;
  7588. +}
  7589. +
  7590. +cv::Point Hand::findCenter(std::vector<cv::Point> contour) {
  7591. + cv::Point center;
  7592. + cv::Moments M = cv::moments(contour, false);
  7593. + center = cv::Point((int)M.m10 / M.m00, (int)M.m01 / M.m00);
  7594. + return center;
  7595. +}
  7596. +
  7597. +bool Hand::touchObject(std::vector<double> &equation, const double threshold)
  7598. +{
  7599. + if (equation.size() == 0) {
  7600. + return false;
  7601. + }
  7602. +
  7603. + for (int i = 0; i < fingers_xyz.size(); i++) {
  7604. + double x = fingers_xyz[i][0];
  7605. + double y = fingers_xyz[i][1];
  7606. + double z = fingers_xyz[i][2];
  7607. + if (z == 0) {
  7608. + return false;
  7609. + }
  7610. +
  7611. + double z_hat = equation[0] * x + equation[1] * y + equation[2];
  7612. + double r_squared = (z - z_hat) * (z - z_hat);
  7613. +
  7614. + if (r_squared < threshold) {
  7615. + return true;
  7616. + }
  7617. + }
  7618. +
  7619. + return false;
  7620. }
  7621. \ No newline at end of file
  7622. diff --git a/Hand.h b/Hand.h
  7623. index 345bf47..62e57d7 100644
  7624. --- a/Hand.h
  7625. +++ b/Hand.h
  7626. @@ -1,107 +1,105 @@
  7627. -#pragma once
  7628. -// C++ Libraries
  7629. -#include <iostream>
  7630. -#include <vector>
  7631. -#include <cmath>
  7632. -
  7633. -// OpenCV Libraries
  7634. -#include <opencv2/core/core.hpp>
  7635. -#include <opencv2/core.hpp>
  7636. -#include <opencv2/highgui/highgui.hpp>
  7637. -#include <opencv2/highgui.hpp>
  7638. -#include <opencv2/imgproc.hpp>
  7639. -#include <opencv2/imgcodecs.hpp>
  7640. -
  7641. -class Hand {
  7642. -public:
  7643. -
  7644. -
  7645. - // Public constructors
  7646. - /**
  7647. - * Default constructor for a hand object
  7648. - */
  7649. - Hand();
  7650. -
  7651. - /**
  7652. - * Constructs a hand object based on point cloud and constraints.
  7653. - * @param xyzMap Input point cloud containing only the hand (nothing else can be in this point cluod)
  7654. - * @param angle_treshhold Sharpest allowable angle formed by finger tip and neighboring defects
  7655. - * @param cluster_thresh Maximum allowable distance between two finger tips
  7656. - */
  7657. - Hand(cv::Mat xyzMap, float angle_treshhold, int cluster_thresh = 30);
  7658. -
  7659. - /**
  7660. - * Deconstructor for the hand object
  7661. - */
  7662. - ~Hand();
  7663. -
  7664. - // Public variables
  7665. -
  7666. - /**
  7667. - * Maximum allowable distance between adjacent finger tips
  7668. - */
  7669. - int CLUSTER_THRESHOLD;
  7670. -
  7671. - /**
  7672. - * (x,y,z) position of all detected finger tips
  7673. - */
  7674. - std::vector<cv::Vec3f> fingers_xyz;
  7675. -
  7676. - /**
  7677. - * (i,j) coordinates of all detected finger tips
  7678. - */
  7679. - std::vector<cv::Point2i> fingers_ij;
  7680. -
  7681. - /**
  7682. - * (x,y,z) position of hand centroid
  7683. - */
  7684. - cv::Vec3f centroid_xyz;
  7685. -
  7686. - /**
  7687. - * (i,j) coordinates of hand centroid
  7688. - */
  7689. - cv::Point2i centroid_ij;
  7690. -
  7691. - /**
  7692. - * (x,y,z) position of detected defects
  7693. - */
  7694. - std::vector<cv::Vec3f> defects_xyz;
  7695. -
  7696. - /**
  7697. - * (i,j) position of detected defects
  7698. - */
  7699. - std::vector<cv::Point2i> defects_ij;
  7700. -
  7701. - // Public functions
  7702. -
  7703. - /**
  7704. - * Determine whether one of the fingers is in contact with a tracked object.
  7705. - * @param equation Regression equation of the object
  7706. - * @param threshold Thickness of the plane modeled by the regression equation
  7707. - * @return TRUE if hand is contacting a tracked object. FALSE otherwise
  7708. - */
  7709. - bool touchObject(std::vector<double> &equation, const double threshold);
  7710. -
  7711. -private:
  7712. - // Private constructors
  7713. - /**
  7714. - * Find the contour with max number of vertices.
  7715. - **/
  7716. - std::vector<cv::Point> findComplexContour(std::vector< std::vector<cv::Point> > contours);
  7717. -
  7718. - /**
  7719. - * Groups vertices within a threshold and selects the median of each group.
  7720. - **/
  7721. - std::vector<cv::Point> clusterConvexHull(std::vector<cv::Point> convexHull, int threshold);
  7722. -
  7723. - /**
  7724. - * Find the centroid of contour using 0th and 1st degree moments
  7725. - **/
  7726. - cv::Point findCenter(std::vector<cv::Point> contour);
  7727. -
  7728. - // Private variables
  7729. - float ANGLE_THRESHHOLD;
  7730. -
  7731. - // Private functions
  7732. - void analyzeHand(cv::Mat xyzMap);
  7733. -};
  7734. +#pragma once
  7735. +// C++ Libraries
  7736. +#include <iostream>
  7737. +#include <vector>
  7738. +#include <cmath>
  7739. +
  7740. +// OpenCV Libraries
  7741. +#include <opencv2/core/core.hpp>
  7742. +#include <opencv2/core.hpp>
  7743. +#include <opencv2/highgui/highgui.hpp>
  7744. +#include <opencv2/highgui.hpp>
  7745. +#include <opencv2/imgproc.hpp>
  7746. +#include <opencv2/imgcodecs.hpp>
  7747. +
  7748. +class Hand {
  7749. +public:
  7750. + // Public constructors
  7751. + /**
  7752. + * Default constructor for a hand object
  7753. + */
  7754. + Hand();
  7755. +
  7756. + /**
  7757. + * Constructs a hand object based on point cloud and constraints.
  7758. + * @param xyzMap Input point cloud containing only the hand (nothing else can be in this point cluod)
  7759. + * @param angle_treshhold Sharpest allowable angle formed by finger tip and neighboring defects
  7760. + * @param cluster_thresh Maximum allowable distance between two finger tips
  7761. + */
  7762. + Hand(cv::Mat xyzMap, float angle_treshhold, int cluster_thresh = 30);
  7763. +
  7764. + /**
  7765. + * Deconstructor for the hand object
  7766. + */
  7767. + ~Hand();
  7768. +
  7769. + // Public variables
  7770. +
  7771. + /**
  7772. + * Maximum allowable distance between adjacent finger tips
  7773. + */
  7774. + int CLUSTER_THRESHOLD;
  7775. +
  7776. + /**
  7777. + * (x,y,z) position of all detected finger tips
  7778. + */
  7779. + std::vector<cv::Vec3f> fingers_xyz;
  7780. +
  7781. + /**
  7782. + * (i,j) coordinates of all detected finger tips
  7783. + */
  7784. + std::vector<cv::Point2i> fingers_ij;
  7785. +
  7786. + /**
  7787. + * (x,y,z) position of hand centroid
  7788. + */
  7789. + cv::Vec3f centroid_xyz;
  7790. +
  7791. + /**
  7792. + * (i,j) coordinates of hand centroid
  7793. + */
  7794. + cv::Point2i centroid_ij;
  7795. +
  7796. + /**
  7797. + * (x,y,z) position of detected defects
  7798. + */
  7799. + std::vector<cv::Vec3f> defects_xyz;
  7800. +
  7801. + /**
  7802. + * (i,j) position of detected defects
  7803. + */
  7804. + std::vector<cv::Point2i> defects_ij;
  7805. +
  7806. + // Public functions
  7807. +
  7808. + /**
  7809. + * Determine whether one of the fingers is in contact with a tracked object.
  7810. + * @param equation Regression equation of the object
  7811. + * @param threshold Thickness of the plane modeled by the regression equation
  7812. + * @return TRUE if hand is contacting a tracked object. FALSE otherwise
  7813. + */
  7814. + bool touchObject(std::vector<double> &equation, const double threshold);
  7815. +
  7816. +private:
  7817. + // Private constructors
  7818. + /**
  7819. + * Find the contour with max number of vertices.
  7820. + **/
  7821. + std::vector<cv::Point> findComplexContour(std::vector< std::vector<cv::Point> > contours);
  7822. +
  7823. + /**
  7824. + * Groups vertices within a threshold and selects the median of each group.
  7825. + **/
  7826. + std::vector<cv::Point> clusterConvexHull(std::vector<cv::Point> convexHull, int threshold);
  7827. +
  7828. + /**
  7829. + * Find the centroid of contour using 0th and 1st degree moments
  7830. + **/
  7831. + cv::Point findCenter(std::vector<cv::Point> contour);
  7832. +
  7833. + // Private variables
  7834. + float ANGLE_THRESHHOLD;
  7835. +
  7836. + // Private functions
  7837. + void analyzeHand(cv::Mat xyzMap);
  7838. +};
  7839. diff --git a/LICENSE.md b/LICENSE.md
  7840. index e787980..4053413 100644
  7841. --- a/LICENSE.md
  7842. +++ b/LICENSE.md
  7843. @@ -1,201 +1,201 @@
  7844. - Apache License
  7845. - Version 2.0, January 2004
  7846. - http://www.apache.org/licenses/
  7847. -
  7848. - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
  7849. -
  7850. - 1. Definitions.
  7851. -
  7852. - "License" shall mean the terms and conditions for use, reproduction,
  7853. - and distribution as defined by Sections 1 through 9 of this document.
  7854. -
  7855. - "Licensor" shall mean the copyright owner or entity authorized by
  7856. - the copyright owner that is granting the License.
  7857. -
  7858. - "Legal Entity" shall mean the union of the acting entity and all
  7859. - other entities that control, are controlled by, or are under common
  7860. - control with that entity. For the purposes of this definition,
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  7862. - direction or management of such entity, whether by contract or
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  7864. - outstanding shares, or (iii) beneficial ownership of such entity.
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  7867. - exercising permissions granted by this License.
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  7875. - not limited to compiled object code, generated documentation,
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  7878. - "Work" shall mean the work of authorship, whether in Source or
  7879. - Object form, made available under the License, as indicated by a
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  7883. - "Derivative Works" shall mean any work, whether in Source or Object
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  7885. - editorial revisions, annotations, elaborations, or other modifications
  7886. - represent, as a whole, an original work of authorship. For the purposes
  7887. - of this License, Derivative Works shall not include works that remain
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  7889. - the Work and Derivative Works thereof.
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  7891. - "Contribution" shall mean any work of authorship, including
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  7893. - to that Work or Derivative Works thereof, that is intentionally
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  7901. - Licensor for the purpose of discussing and improving the Work, but
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  7920. - use, offer to sell, sell, import, and otherwise transfer the Work,
  7921. - where such license applies only to those patent claims licensable
  7922. - by such Contributor that are necessarily infringed by their
  7923. - Contribution(s) alone or by combination of their Contribution(s)
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  7927. - or a Contribution incorporated within the Work constitutes direct
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  7929. - granted to You under this License for that Work shall terminate
  7930. - as of the date such litigation is filed.
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  7932. - 4. Redistribution. You may reproduce and distribute copies of the
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  7935. - meet the following conditions:
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  7938. - Derivative Works a copy of this License; and
  7939. -
  7940. - (b) You must cause any modified files to carry prominent notices
  7941. - stating that You changed the files; and
  7942. -
  7943. - (c) You must retain, in the Source form of any Derivative Works
  7944. - that You distribute, all copyright, patent, trademark, and
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  7949. - (d) If the Work includes a "NOTICE" text file as part of its
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  7958. - wherever such third-party notices normally appear. The contents
  7959. - of the NOTICE file are for informational purposes only and
  7960. - do not modify the License. You may add Your own attribution
  7961. - notices within Derivative Works that You distribute, alongside
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  7963. - that such additional attribution notices cannot be construed
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  7965. -
  7966. - You may add Your own copyright statement to Your modifications and
  7967. - may provide additional or different license terms and conditions
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  7969. - for any such Derivative Works as a whole, provided Your use,
  7970. - reproduction, and distribution of the Work otherwise complies with
  7971. - the conditions stated in this License.
  7972. -
  7973. - 5. Submission of Contributions. Unless You explicitly state otherwise,
  7974. - any Contribution intentionally submitted for inclusion in the Work
  7975. - by You to the Licensor shall be under the terms and conditions of
  7976. - this License, without any additional terms or conditions.
  7977. - Notwithstanding the above, nothing herein shall supersede or modify
  7978. - the terms of any separate license agreement you may have executed
  7979. - with Licensor regarding such Contributions.
  7980. -
  7981. - 6. Trademarks. This License does not grant permission to use the trade
  7982. - names, trademarks, service marks, or product names of the Licensor,
  7983. - except as required for reasonable and customary use in describing the
  7984. - origin of the Work and reproducing the content of the NOTICE file.
  7985. -
  7986. - 7. Disclaimer of Warranty. Unless required by applicable law or
  7987. - agreed to in writing, Licensor provides the Work (and each
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  7990. - implied, including, without limitation, any warranties or conditions
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  7994. - risks associated with Your exercise of permissions under this License.
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  7996. - 8. Limitation of Liability. In no event and under no legal theory,
  7997. - whether in tort (including negligence), contract, or otherwise,
  7998. - unless required by applicable law (such as deliberate and grossly
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  8000. - liable to You for damages, including any direct, indirect, special,
  8001. - incidental, or consequential damages of any character arising as a
  8002. - result of this License or out of the use or inability to use the
  8003. - Work (including but not limited to damages for loss of goodwill,
  8004. - work stoppage, computer failure or malfunction, or any and all
  8005. - other commercial damages or losses), even if such Contributor
  8006. - has been advised of the possibility of such damages.
  8007. -
  8008. - 9. Accepting Warranty or Additional Liability. While redistributing
  8009. - the Work or Derivative Works thereof, You may choose to offer,
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  8011. - or other liability obligations and/or rights consistent with this
  8012. - License. However, in accepting such obligations, You may act only
  8013. - on Your own behalf and on Your sole responsibility, not on behalf
  8014. - of any other Contributor, and only if You agree to indemnify,
  8015. - defend, and hold each Contributor harmless for any liability
  8016. - incurred by, or claims asserted against, such Contributor by reason
  8017. - of your accepting any such warranty or additional liability.
  8018. -
  8019. - END OF TERMS AND CONDITIONS
  8020. -
  8021. - APPENDIX: How to apply the Apache License to your work.
  8022. -
  8023. - To apply the Apache License to your work, attach the following
  8024. - boilerplate notice, with the fields enclosed by brackets "{}"
  8025. - replaced with your own identifying information. (Don't include
  8026. - the brackets!) The text should be enclosed in the appropriate
  8027. - comment syntax for the file format. We also recommend that a
  8028. - file or class name and description of purpose be included on the
  8029. - same "printed page" as the copyright notice for easier
  8030. - identification within third-party archives.
  8031. -
  8032. - Copyright {2017} {UC Berkeley}
  8033. -
  8034. - Licensed under the Apache License, Version 2.0 (the "License");
  8035. - you may not use this file except in compliance with the License.
  8036. - You may obtain a copy of the License at
  8037. -
  8038. - http://www.apache.org/licenses/LICENSE-2.0
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  8040. - Unless required by applicable law or agreed to in writing, software
  8041. - distributed under the License is distributed on an "AS IS" BASIS,
  8042. - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  8043. - See the License for the specific language governing permissions and
  8044. - limitations under the License.
  8045. + Apache License
  8046. + Version 2.0, January 2004
  8047. + http://www.apache.org/licenses/
  8048. +
  8049. + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
  8050. +
  8051. + 1. Definitions.
  8052. +
  8053. + "License" shall mean the terms and conditions for use, reproduction,
  8054. + and distribution as defined by Sections 1 through 9 of this document.
  8055. +
  8056. + "Licensor" shall mean the copyright owner or entity authorized by
  8057. + the copyright owner that is granting the License.
  8058. +
  8059. + "Legal Entity" shall mean the union of the acting entity and all
  8060. + other entities that control, are controlled by, or are under common
  8061. + control with that entity. For the purposes of this definition,
  8062. + "control" means (i) the power, direct or indirect, to cause the
  8063. + direction or management of such entity, whether by contract or
  8064. + otherwise, or (ii) ownership of fifty percent (50%) or more of the
  8065. + outstanding shares, or (iii) beneficial ownership of such entity.
  8066. +
  8067. + "You" (or "Your") shall mean an individual or Legal Entity
  8068. + exercising permissions granted by this License.
  8069. +
  8070. + "Source" form shall mean the preferred form for making modifications,
  8071. + including but not limited to software source code, documentation
  8072. + source, and configuration files.
  8073. +
  8074. + "Object" form shall mean any form resulting from mechanical
  8075. + transformation or translation of a Source form, including but
  8076. + not limited to compiled object code, generated documentation,
  8077. + and conversions to other media types.
  8078. +
  8079. + "Work" shall mean the work of authorship, whether in Source or
  8080. + Object form, made available under the License, as indicated by a
  8081. + copyright notice that is included in or attached to the work
  8082. + (an example is provided in the Appendix below).
  8083. +
  8084. + "Derivative Works" shall mean any work, whether in Source or Object
  8085. + form, that is based on (or derived from) the Work and for which the
  8086. + editorial revisions, annotations, elaborations, or other modifications
  8087. + represent, as a whole, an original work of authorship. For the purposes
  8088. + of this License, Derivative Works shall not include works that remain
  8089. + separable from, or merely link (or bind by name) to the interfaces of,
  8090. + the Work and Derivative Works thereof.
  8091. +
  8092. + "Contribution" shall mean any work of authorship, including
  8093. + the original version of the Work and any modifications or additions
  8094. + to that Work or Derivative Works thereof, that is intentionally
  8095. + submitted to Licensor for inclusion in the Work by the copyright owner
  8096. + or by an individual or Legal Entity authorized to submit on behalf of
  8097. + the copyright owner. For the purposes of this definition, "submitted"
  8098. + means any form of electronic, verbal, or written communication sent
  8099. + to the Licensor or its representatives, including but not limited to
  8100. + communication on electronic mailing lists, source code control systems,
  8101. + and issue tracking systems that are managed by, or on behalf of, the
  8102. + Licensor for the purpose of discussing and improving the Work, but
  8103. + excluding communication that is conspicuously marked or otherwise
  8104. + designated in writing by the copyright owner as "Not a Contribution."
  8105. +
  8106. + "Contributor" shall mean Licensor and any individual or Legal Entity
  8107. + on behalf of whom a Contribution has been received by Licensor and
  8108. + subsequently incorporated within the Work.
  8109. +
  8110. + 2. Grant of Copyright License. Subject to the terms and conditions of
  8111. + this License, each Contributor hereby grants to You a perpetual,
  8112. + worldwide, non-exclusive, no-charge, royalty-free, irrevocable
  8113. + copyright license to reproduce, prepare Derivative Works of,
  8114. + publicly display, publicly perform, sublicense, and distribute the
  8115. + Work and such Derivative Works in Source or Object form.
  8116. +
  8117. + 3. Grant of Patent License. Subject to the terms and conditions of
  8118. + this License, each Contributor hereby grants to You a perpetual,
  8119. + worldwide, non-exclusive, no-charge, royalty-free, irrevocable
  8120. + (except as stated in this section) patent license to make, have made,
  8121. + use, offer to sell, sell, import, and otherwise transfer the Work,
  8122. + where such license applies only to those patent claims licensable
  8123. + by such Contributor that are necessarily infringed by their
  8124. + Contribution(s) alone or by combination of their Contribution(s)
  8125. + with the Work to which such Contribution(s) was submitted. If You
  8126. + institute patent litigation against any entity (including a
  8127. + cross-claim or counterclaim in a lawsuit) alleging that the Work
  8128. + or a Contribution incorporated within the Work constitutes direct
  8129. + or contributory patent infringement, then any patent licenses
  8130. + granted to You under this License for that Work shall terminate
  8131. + as of the date such litigation is filed.
  8132. +
  8133. + 4. Redistribution. You may reproduce and distribute copies of the
  8134. + Work or Derivative Works thereof in any medium, with or without
  8135. + modifications, and in Source or Object form, provided that You
  8136. + meet the following conditions:
  8137. +
  8138. + (a) You must give any other recipients of the Work or
  8139. + Derivative Works a copy of this License; and
  8140. +
  8141. + (b) You must cause any modified files to carry prominent notices
  8142. + stating that You changed the files; and
  8143. +
  8144. + (c) You must retain, in the Source form of any Derivative Works
  8145. + that You distribute, all copyright, patent, trademark, and
  8146. + attribution notices from the Source form of the Work,
  8147. + excluding those notices that do not pertain to any part of
  8148. + the Derivative Works; and
  8149. +
  8150. + (d) If the Work includes a "NOTICE" text file as part of its
  8151. + distribution, then any Derivative Works that You distribute must
  8152. + include a readable copy of the attribution notices contained
  8153. + within such NOTICE file, excluding those notices that do not
  8154. + pertain to any part of the Derivative Works, in at least one
  8155. + of the following places: within a NOTICE text file distributed
  8156. + as part of the Derivative Works; within the Source form or
  8157. + documentation, if provided along with the Derivative Works; or,
  8158. + within a display generated by the Derivative Works, if and
  8159. + wherever such third-party notices normally appear. The contents
  8160. + of the NOTICE file are for informational purposes only and
  8161. + do not modify the License. You may add Your own attribution
  8162. + notices within Derivative Works that You distribute, alongside
  8163. + or as an addendum to the NOTICE text from the Work, provided
  8164. + that such additional attribution notices cannot be construed
  8165. + as modifying the License.
  8166. +
  8167. + You may add Your own copyright statement to Your modifications and
  8168. + may provide additional or different license terms and conditions
  8169. + for use, reproduction, or distribution of Your modifications, or
  8170. + for any such Derivative Works as a whole, provided Your use,
  8171. + reproduction, and distribution of the Work otherwise complies with
  8172. + the conditions stated in this License.
  8173. +
  8174. + 5. Submission of Contributions. Unless You explicitly state otherwise,
  8175. + any Contribution intentionally submitted for inclusion in the Work
  8176. + by You to the Licensor shall be under the terms and conditions of
  8177. + this License, without any additional terms or conditions.
  8178. + Notwithstanding the above, nothing herein shall supersede or modify
  8179. + the terms of any separate license agreement you may have executed
  8180. + with Licensor regarding such Contributions.
  8181. +
  8182. + 6. Trademarks. This License does not grant permission to use the trade
  8183. + names, trademarks, service marks, or product names of the Licensor,
  8184. + except as required for reasonable and customary use in describing the
  8185. + origin of the Work and reproducing the content of the NOTICE file.
  8186. +
  8187. + 7. Disclaimer of Warranty. Unless required by applicable law or
  8188. + agreed to in writing, Licensor provides the Work (and each
  8189. + Contributor provides its Contributions) on an "AS IS" BASIS,
  8190. + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
  8191. + implied, including, without limitation, any warranties or conditions
  8192. + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
  8193. + PARTICULAR PURPOSE. You are solely responsible for determining the
  8194. + appropriateness of using or redistributing the Work and assume any
  8195. + risks associated with Your exercise of permissions under this License.
  8196. +
  8197. + 8. Limitation of Liability. In no event and under no legal theory,
  8198. + whether in tort (including negligence), contract, or otherwise,
  8199. + unless required by applicable law (such as deliberate and grossly
  8200. + negligent acts) or agreed to in writing, shall any Contributor be
  8201. + liable to You for damages, including any direct, indirect, special,
  8202. + incidental, or consequential damages of any character arising as a
  8203. + result of this License or out of the use or inability to use the
  8204. + Work (including but not limited to damages for loss of goodwill,
  8205. + work stoppage, computer failure or malfunction, or any and all
  8206. + other commercial damages or losses), even if such Contributor
  8207. + has been advised of the possibility of such damages.
  8208. +
  8209. + 9. Accepting Warranty or Additional Liability. While redistributing
  8210. + the Work or Derivative Works thereof, You may choose to offer,
  8211. + and charge a fee for, acceptance of support, warranty, indemnity,
  8212. + or other liability obligations and/or rights consistent with this
  8213. + License. However, in accepting such obligations, You may act only
  8214. + on Your own behalf and on Your sole responsibility, not on behalf
  8215. + of any other Contributor, and only if You agree to indemnify,
  8216. + defend, and hold each Contributor harmless for any liability
  8217. + incurred by, or claims asserted against, such Contributor by reason
  8218. + of your accepting any such warranty or additional liability.
  8219. +
  8220. + END OF TERMS AND CONDITIONS
  8221. +
  8222. + APPENDIX: How to apply the Apache License to your work.
  8223. +
  8224. + To apply the Apache License to your work, attach the following
  8225. + boilerplate notice, with the fields enclosed by brackets "{}"
  8226. + replaced with your own identifying information. (Don't include
  8227. + the brackets!) The text should be enclosed in the appropriate
  8228. + comment syntax for the file format. We also recommend that a
  8229. + file or class name and description of purpose be included on the
  8230. + same "printed page" as the copyright notice for easier
  8231. + identification within third-party archives.
  8232. +
  8233. + Copyright {2017} {UC Berkeley}
  8234. +
  8235. + Licensed under the Apache License, Version 2.0 (the "License");
  8236. + you may not use this file except in compliance with the License.
  8237. + You may obtain a copy of the License at
  8238. +
  8239. + http://www.apache.org/licenses/LICENSE-2.0
  8240. +
  8241. + Unless required by applicable law or agreed to in writing, software
  8242. + distributed under the License is distributed on an "AS IS" BASIS,
  8243. + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  8244. + See the License for the specific language governing permissions and
  8245. + limitations under the License.
  8246. diff --git a/LightVis - Shortcut.lnk b/LightVis - Shortcut.lnk
  8247. deleted file mode 100644
  8248. index 049ee43..0000000
  8249. Binary files a/LightVis - Shortcut.lnk and /dev/null differ
  8250. diff --git a/Object3D.cpp b/Object3D.cpp
  8251. index e87caba..99fcbb3 100644
  8252. --- a/Object3D.cpp
  8253. +++ b/Object3D.cpp
  8254. @@ -1,174 +1,174 @@
  8255. -#include "Object3D.h"
  8256. -#include "Visualizer.h"
  8257. -#include "Util.h"
  8258. -
  8259. -Object3D::Object3D()
  8260. -{
  8261. -
  8262. -}
  8263. -
  8264. -Object3D::Object3D(cv::Mat cluster) {
  8265. - // Step 1: Initialize variables
  8266. - rightEdgeConnected = false;
  8267. - leftEdgeConnected = false;
  8268. - hasHand = false;
  8269. - hasPlane = false;
  8270. - hasShape = false;
  8271. -
  8272. - // Step 1: determine whether cluster is hand
  8273. -
  8274. - if (checkForHand(cluster, 0.005, 0.25)) {
  8275. - hand = Hand(cluster, 50);
  8276. - hasHand = true;
  8277. - return;
  8278. - }
  8279. -
  8280. -
  8281. - // Step 2: determine whether there is a plane
  8282. -
  8283. - plane = new Plane(cluster);
  8284. - // Step 2.1 If there is plane, remove plane and look for hand
  8285. - std::vector<cv::Point2i> points = plane->getPlaneIndicies();
  8286. - if (points.size() != 0) {
  8287. - hasPlane = true;
  8288. - for (int i = 0; i < points.size();i++) {
  8289. - int x = points[i].x;
  8290. - int y = points[i].y;
  8291. - cluster.at<cv::Vec3f>(y, x)[0] = 0;
  8292. - cluster.at<cv::Vec3f>(y, x)[1] = 0;
  8293. - cluster.at<cv::Vec3f>(y, x)[2] = 0;
  8294. - }
  8295. -
  8296. - cv::Point center = Util::findCentroid(cluster);
  8297. -
  8298. - cv::Mat hand_cluster = cv::Mat::zeros(cluster.rows, cluster.cols, cluster.type());
  8299. - Util::floodFill(center.x, center.y, cluster, hand_cluster, 0.02);
  8300. -
  8301. - if (checkForHand(hand_cluster, -0.99, 0.2)) {
  8302. - hand = Hand(hand_cluster, 30);
  8303. - double finger_length = Util::euclidianDistance3D(hand.fingers_xyz[0], hand.centroid_xyz);
  8304. - if (finger_length > 0.03 && finger_length < 0.2) {
  8305. - hasHand = true;
  8306. - return;
  8307. - }
  8308. - }
  8309. - }
  8310. -
  8311. -
  8312. - // Step 2.1.1 If there is plane, no hand, then the rest of points are shape
  8313. - shape = cluster;
  8314. - hasShape = true;
  8315. -}
  8316. -
  8317. -Hand Object3D::getHand() {
  8318. - return hand;
  8319. -}
  8320. -
  8321. -Plane Object3D::getPlane() {
  8322. - return *plane;
  8323. -}
  8324. -
  8325. -cv::Mat Object3D::getShape() {
  8326. - return shape;
  8327. -}
  8328. -
  8329. -double Object3D::centroidCircleSweep(cv::Mat cluster, double distance)
  8330. -{
  8331. - cv::Mat channels[3];
  8332. - cv::split(cluster, channels);
  8333. - cv::Mat show_img = Visualizer::visualizeXYZMap(cluster);
  8334. -
  8335. - // Step 1: Find the center
  8336. - cv::Moments m = cv::moments(channels[2], false);
  8337. - cv::Point center(m.m10 / m.m00, m.m01 / m.m00);
  8338. - cv::circle(show_img, center, 2, cv::Scalar(255, 0, 0),2);
  8339. -
  8340. - // Step 2: Find the radius (pixels) that correspond to distance (meters)
  8341. - double distancePerPixel = Util::euclideanDistancePerPixel(cluster, center, 5);
  8342. - int radius = distance / distancePerPixel;
  8343. - if (radius <= 0 || radius > cluster.cols / 4) {
  8344. - return -1;
  8345. - }
  8346. -
  8347. - // Step 3: Extract all pixels within distance
  8348. - cv::Mat binary_img;
  8349. - cv::normalize(channels[2], binary_img, 0, 255, cv::NORM_MINMAX, CV_8UC1);
  8350. - cv::Mat mask = cv::Mat::zeros(binary_img.size(), binary_img.type());
  8351. - cv::Mat dstImg = cv::Mat::zeros(binary_img.size(), binary_img.type());
  8352. - cv::circle(mask, center, radius, cv::Scalar(255, 255, 255));
  8353. - binary_img.copyTo(dstImg, mask);
  8354. -
  8355. -
  8356. - int covered = 0;
  8357. - for (int r = center.y; r > 0; r--) {
  8358. - for (int c = 0; c < dstImg.cols; c++) {
  8359. - if (dstImg.at<uchar>(r, c) != 0) {
  8360. - covered++;
  8361. - }
  8362. - }
  8363. - }
  8364. -
  8365. - double coverage = (double) covered / cv::countNonZero(mask);
  8366. - return coverage;
  8367. -}
  8368. -
  8369. -bool Object3D::checkForHand(cv::Mat cluster, double min_coverage, double max_coverage, double pointer_finger_distance)
  8370. -{
  8371. - checkEdgeConnected(cluster);
  8372. - if ((rightEdgeConnected && !leftEdgeConnected) || (leftEdgeConnected && rightEdgeConnected)) {
  8373. - double coverage = centroidCircleSweep(cluster, pointer_finger_distance);
  8374. - if (coverage < max_coverage && coverage > min_coverage) {
  8375. - return true;
  8376. - }
  8377. - }
  8378. -
  8379. - return false;
  8380. -}
  8381. -
  8382. -void Object3D::checkEdgeConnected(cv::Mat cluster) {
  8383. - int cols = cluster.cols;
  8384. - int rows = cluster.rows;
  8385. -
  8386. - // Bottom Sweep
  8387. - int r = (int)(rows * 0.9);
  8388. - for (int c = 0; c < cols / 4 ; c++) {
  8389. - if (cluster.at<cv::Vec3f>(r, c)[2] != 0) {
  8390. - leftEdgeConnected = true;
  8391. - break;
  8392. - }
  8393. - }
  8394. -
  8395. - // Left Side Sweep
  8396. - int c = (int)(cols * 0.2);
  8397. - for (int r = 0; r < rows; r++) {
  8398. - if (cluster.at<cv::Vec3f>(r, c)[2] != 0) {
  8399. - leftEdgeConnected = true;
  8400. - break;
  8401. - }
  8402. - }
  8403. -
  8404. - // Bottom Sweep
  8405. - r = (int)(rows * 0.9);
  8406. - for (int c = cols / 4; c < cols; c++) {
  8407. - if (cluster.at<cv::Vec3f>(r, c)[2] != 0) {
  8408. - rightEdgeConnected = true;
  8409. - break;
  8410. - }
  8411. - }
  8412. -
  8413. - // Right Side Sweep
  8414. - c = (int)(cols * 0.8);
  8415. - for (int r = rows / 2; r < rows; r++) {
  8416. - if (cluster.at<cv::Vec3f>(r, c)[2] != 0) {
  8417. - rightEdgeConnected = true;
  8418. - break;
  8419. - }
  8420. - }
  8421. -
  8422. -}
  8423. -
  8424. -
  8425. -Object3D::~Object3D()
  8426. -{
  8427. -
  8428. +#include "Object3D.h"
  8429. +#include "Visualizer.h"
  8430. +#include "Util.h"
  8431. +
  8432. +Object3D::Object3D()
  8433. +{
  8434. +
  8435. +}
  8436. +
  8437. +Object3D::Object3D(cv::Mat cluster) {
  8438. + // Step 1: Initialize variables
  8439. + rightEdgeConnected = false;
  8440. + leftEdgeConnected = false;
  8441. + hasHand = false;
  8442. + hasPlane = false;
  8443. + hasShape = false;
  8444. +
  8445. + // Step 1: determine whether cluster is hand
  8446. +
  8447. + if (checkForHand(cluster, 0.005, 0.25)) {
  8448. + hand = Hand(cluster, 50);
  8449. + hasHand = true;
  8450. + return;
  8451. + }
  8452. +
  8453. +
  8454. + // Step 2: determine whether there is a plane
  8455. +
  8456. + plane = new Plane(cluster);
  8457. + // Step 2.1 If there is plane, remove plane and look for hand
  8458. + std::vector<cv::Point2i> points = plane->getPlaneIndicies();
  8459. + if (points.size() != 0) {
  8460. + hasPlane = true;
  8461. + for (int i = 0; i < points.size();i++) {
  8462. + int x = points[i].x;
  8463. + int y = points[i].y;
  8464. + cluster.at<cv::Vec3f>(y, x)[0] = 0;
  8465. + cluster.at<cv::Vec3f>(y, x)[1] = 0;
  8466. + cluster.at<cv::Vec3f>(y, x)[2] = 0;
  8467. + }
  8468. +
  8469. + cv::Point center = Util::findCentroid(cluster);
  8470. +
  8471. + cv::Mat hand_cluster = cv::Mat::zeros(cluster.rows, cluster.cols, cluster.type());
  8472. + Util::floodFill(center.x, center.y, cluster, hand_cluster, 0.02);
  8473. +
  8474. + if (checkForHand(hand_cluster, -0.99, 0.2)) {
  8475. + hand = Hand(hand_cluster, 30);
  8476. + double finger_length = Util::euclidianDistance3D(hand.fingers_xyz[0], hand.centroid_xyz);
  8477. + if (finger_length > 0.03 && finger_length < 0.2) {
  8478. + hasHand = true;
  8479. + return;
  8480. + }
  8481. + }
  8482. + }
  8483. +
  8484. +
  8485. + // Step 2.1.1 If there is plane, no hand, then the rest of points are shape
  8486. + shape = cluster;
  8487. + hasShape = true;
  8488. +}
  8489. +
  8490. +Hand Object3D::getHand() {
  8491. + return hand;
  8492. +}
  8493. +
  8494. +Plane Object3D::getPlane() {
  8495. + return *plane;
  8496. +}
  8497. +
  8498. +cv::Mat Object3D::getShape() {
  8499. + return shape;
  8500. +}
  8501. +
  8502. +double Object3D::centroidCircleSweep(cv::Mat cluster, double distance)
  8503. +{
  8504. + cv::Mat channels[3];
  8505. + cv::split(cluster, channels);
  8506. + cv::Mat show_img = Visualizer::visualizeXYZMap(cluster);
  8507. +
  8508. + // Step 1: Find the center
  8509. + cv::Moments m = cv::moments(channels[2], false);
  8510. + cv::Point center(m.m10 / m.m00, m.m01 / m.m00);
  8511. + cv::circle(show_img, center, 2, cv::Scalar(255, 0, 0),2);
  8512. +
  8513. + // Step 2: Find the radius (pixels) that correspond to distance (meters)
  8514. + double distancePerPixel = Util::euclideanDistancePerPixel(cluster, center, 5);
  8515. + int radius = distance / distancePerPixel;
  8516. + if (radius <= 0 || radius > cluster.cols / 4) {
  8517. + return -1;
  8518. + }
  8519. +
  8520. + // Step 3: Extract all pixels within distance
  8521. + cv::Mat binary_img;
  8522. + cv::normalize(channels[2], binary_img, 0, 255, cv::NORM_MINMAX, CV_8UC1);
  8523. + cv::Mat mask = cv::Mat::zeros(binary_img.size(), binary_img.type());
  8524. + cv::Mat dstImg = cv::Mat::zeros(binary_img.size(), binary_img.type());
  8525. + cv::circle(mask, center, radius, cv::Scalar(255, 255, 255));
  8526. + binary_img.copyTo(dstImg, mask);
  8527. +
  8528. +
  8529. + int covered = 0;
  8530. + for (int r = center.y; r > 0; r--) {
  8531. + for (int c = 0; c < dstImg.cols; c++) {
  8532. + if (dstImg.at<uchar>(r, c) != 0) {
  8533. + covered++;
  8534. + }
  8535. + }
  8536. + }
  8537. +
  8538. + double coverage = (double) covered / cv::countNonZero(mask);
  8539. + return coverage;
  8540. +}
  8541. +
  8542. +bool Object3D::checkForHand(cv::Mat cluster, double min_coverage, double max_coverage, double pointer_finger_distance)
  8543. +{
  8544. + checkEdgeConnected(cluster);
  8545. + if ((rightEdgeConnected && !leftEdgeConnected) || (leftEdgeConnected && rightEdgeConnected)) {
  8546. + double coverage = centroidCircleSweep(cluster, pointer_finger_distance);
  8547. + if (coverage < max_coverage && coverage > min_coverage) {
  8548. + return true;
  8549. + }
  8550. + }
  8551. +
  8552. + return false;
  8553. +}
  8554. +
  8555. +void Object3D::checkEdgeConnected(cv::Mat cluster) {
  8556. + int cols = cluster.cols;
  8557. + int rows = cluster.rows;
  8558. +
  8559. + // Bottom Sweep
  8560. + int r = (int)(rows * 0.9);
  8561. + for (int c = 0; c < cols / 4 ; c++) {
  8562. + if (cluster.at<cv::Vec3f>(r, c)[2] != 0) {
  8563. + leftEdgeConnected = true;
  8564. + break;
  8565. + }
  8566. + }
  8567. +
  8568. + // Left Side Sweep
  8569. + int c = (int)(cols * 0.2);
  8570. + for (int r = 0; r < rows; r++) {
  8571. + if (cluster.at<cv::Vec3f>(r, c)[2] != 0) {
  8572. + leftEdgeConnected = true;
  8573. + break;
  8574. + }
  8575. + }
  8576. +
  8577. + // Bottom Sweep
  8578. + r = (int)(rows * 0.9);
  8579. + for (int c = cols / 4; c < cols; c++) {
  8580. + if (cluster.at<cv::Vec3f>(r, c)[2] != 0) {
  8581. + rightEdgeConnected = true;
  8582. + break;
  8583. + }
  8584. + }
  8585. +
  8586. + // Right Side Sweep
  8587. + c = (int)(cols * 0.8);
  8588. + for (int r = rows / 2; r < rows; r++) {
  8589. + if (cluster.at<cv::Vec3f>(r, c)[2] != 0) {
  8590. + rightEdgeConnected = true;
  8591. + break;
  8592. + }
  8593. + }
  8594. +
  8595. +}
  8596. +
  8597. +
  8598. +Object3D::~Object3D()
  8599. +{
  8600. +
  8601. }
  8602. \ No newline at end of file
  8603. diff --git a/Object3D.h b/Object3D.h
  8604. index 115e91b..cf3f61b 100644
  8605. --- a/Object3D.h
  8606. +++ b/Object3D.h
  8607. @@ -1,110 +1,111 @@
  8608. -#pragma once
  8609. -// OpenARK Libraries
  8610. -#include "Hand.h"
  8611. -#include "Plane.h"
  8612. -
  8613. -class Object3D
  8614. -{
  8615. -public:
  8616. - /**
  8617. - * Whether the object is attached to the right edge of the frame.
  8618. - * Edge connected implies that object is likely connected to the user's body (hand, arm, etc)
  8619. - */
  8620. - bool rightEdgeConnected;
  8621. -
  8622. - /**
  8623. - * Whether the object is attached to the left edge of the frame.
  8624. - * Edge connected implies that object is likely connected to the user's body (hand, arm, etc)
  8625. - */
  8626. - bool leftEdgeConnected;
  8627. -
  8628. - /**
  8629. - * Constructs a empty instance of a Object3D.
  8630. - */
  8631. - Object3D();
  8632. -
  8633. - /**
  8634. - * Constructs a instance of Object3D based on a point cloud.
  8635. - * @param cluster point cloud representatino of the object
  8636. - */
  8637. - Object3D(cv::Mat cluster);
  8638. -
  8639. - /**
  8640. - * Deconstructs a Object3D instance.
  8641. - */
  8642. - ~Object3D();
  8643. -
  8644. - /**
  8645. - * Whether the object contains a hand.
  8646. - */
  8647. - bool hasHand;
  8648. -
  8649. - /**
  8650. - * Whether the object contains a plane.
  8651. - */
  8652. - bool hasPlane;
  8653. -
  8654. - /**
  8655. - * Whether the object contains a shape.
  8656. - * A shape is defined by anything that is not a plane or a hand
  8657. - */
  8658. - bool hasShape;
  8659. -
  8660. - /**
  8661. - * Gets instance of hand object if a hand is found.
  8662. - * @return instance of hand object
  8663. - */
  8664. - Hand getHand();
  8665. -
  8666. - /**
  8667. - * Gets instance of plane object is plane is found.
  8668. - * @return instance of plane object
  8669. - */
  8670. - Plane getPlane();
  8671. -
  8672. - /**
  8673. - * Gets instance of shape object.
  8674. - * @return instance of shape object
  8675. - */
  8676. - cv::Mat getShape();
  8677. -
  8678. -private:
  8679. - /**
  8680. - * Reference to the hand instance.
  8681. - */
  8682. - Hand hand;
  8683. -
  8684. - /**
  8685. - * Reference to the plane instance.
  8686. - */
  8687. - Plane *plane;
  8688. -
  8689. - /**
  8690. - * Reference to the shape instance.
  8691. - */
  8692. - cv::Mat shape;
  8693. -
  8694. - /**
  8695. - * Determine whether the object is connected to an edge.
  8696. - * @param cluster point cloud of the object
  8697. - */
  8698. - void checkEdgeConnected(cv::Mat cluster);
  8699. -
  8700. - /**
  8701. - * Check whether the object is a hand
  8702. - * @param cluster the input point cloud
  8703. - * @param min_coverage the smallest allowable coverage for the index finger
  8704. - * @param max_coverage the maximum allowable coverage for the index finger
  8705. - * @param pointer_finger_distance the length of the pointer finger (meters)
  8706. - * @return whether the cluster is a hand
  8707. - */
  8708. - bool checkForHand(cv::Mat cluster, double min_coverage, double max_coverage, double pointer_finger_distance = 0.08);
  8709. -
  8710. - /**
  8711. - * Returns all points within a radius of a centroid
  8712. - * @param cluster the input point cloud
  8713. - * @param distance the radius (meters)
  8714. - * @return the percentage of points in the cluster that is "distance" away from the centroid
  8715. - */
  8716. - double centroidCircleSweep(cv::Mat cluster, double distance);
  8717. +#pragma once
  8718. +
  8719. +// OpenARK Libraries
  8720. +#include "Hand.h"
  8721. +#include "Plane.h"
  8722. +
  8723. +class Object3D
  8724. +{
  8725. +public:
  8726. + /**
  8727. + * Whether the object is attached to the right edge of the frame.
  8728. + * Edge connected implies that object is likely connected to the user's body (hand, arm, etc)
  8729. + */
  8730. + bool rightEdgeConnected;
  8731. +
  8732. + /**
  8733. + * Whether the object is attached to the left edge of the frame.
  8734. + * Edge connected implies that object is likely connected to the user's body (hand, arm, etc)
  8735. + */
  8736. + bool leftEdgeConnected;
  8737. +
  8738. + /**
  8739. + * Constructs a empty instance of a Object3D.
  8740. + */
  8741. + Object3D();
  8742. +
  8743. + /**
  8744. + * Constructs a instance of Object3D based on a point cloud.
  8745. + * @param cluster point cloud representatino of the object
  8746. + */
  8747. + Object3D(cv::Mat cluster);
  8748. +
  8749. + /**
  8750. + * Deconstructs a Object3D instance.
  8751. + */
  8752. + ~Object3D();
  8753. +
  8754. + /**
  8755. + * Whether the object contains a hand.
  8756. + */
  8757. + bool hasHand;
  8758. +
  8759. + /**
  8760. + * Whether the object contains a plane.
  8761. + */
  8762. + bool hasPlane;
  8763. +
  8764. + /**
  8765. + * Whether the object contains a shape.
  8766. + * A shape is defined by anything that is not a plane or a hand
  8767. + */
  8768. + bool hasShape;
  8769. +
  8770. + /**
  8771. + * Gets instance of hand object if a hand is found.
  8772. + * @return instance of hand object
  8773. + */
  8774. + Hand getHand();
  8775. +
  8776. + /**
  8777. + * Gets instance of plane object is plane is found.
  8778. + * @return instance of plane object
  8779. + */
  8780. + Plane getPlane();
  8781. +
  8782. + /**
  8783. + * Gets instance of shape object.
  8784. + * @return instance of shape object
  8785. + */
  8786. + cv::Mat getShape();
  8787. +
  8788. +private:
  8789. + /**
  8790. + * Reference to the hand instance.
  8791. + */
  8792. + Hand hand;
  8793. +
  8794. + /**
  8795. + * Reference to the plane instance.
  8796. + */
  8797. + Plane *plane;
  8798. +
  8799. + /**
  8800. + * Reference to the shape instance.
  8801. + */
  8802. + cv::Mat shape;
  8803. +
  8804. + /**
  8805. + * Determine whether the object is connected to an edge.
  8806. + * @param cluster point cloud of the object
  8807. + */
  8808. + void checkEdgeConnected(cv::Mat cluster);
  8809. +
  8810. + /**
  8811. + * Check whether the object is a hand
  8812. + * @param cluster the input point cloud
  8813. + * @param min_coverage the smallest allowable coverage for the index finger
  8814. + * @param max_coverage the maximum allowable coverage for the index finger
  8815. + * @param pointer_finger_distance the length of the pointer finger (meters)
  8816. + * @return whether the cluster is a hand
  8817. + */
  8818. + bool checkForHand(cv::Mat cluster, double min_coverage, double max_coverage, double pointer_finger_distance = 0.08);
  8819. +
  8820. + /**
  8821. + * Returns all points within a radius of a centroid
  8822. + * @param cluster the input point cloud
  8823. + * @param distance the radius (meters)
  8824. + * @return the percentage of points in the cluster that is "distance" away from the centroid
  8825. + */
  8826. + double centroidCircleSweep(cv::Mat cluster, double distance);
  8827. };
  8828. \ No newline at end of file
  8829. diff --git a/OpenARK-SDK.sln b/OpenARK-SDK.sln
  8830. index c7657ec..9a96a38 100644
  8831. --- a/OpenARK-SDK.sln
  8832. +++ b/OpenARK-SDK.sln
  8833. @@ -1,28 +1,28 @@
  8834. -
  8835. -Microsoft Visual Studio Solution File, Format Version 12.00
  8836. -# Visual Studio 14
  8837. -VisualStudioVersion = 14.0.25123.0
  8838. -MinimumVisualStudioVersion = 10.0.40219.1
  8839. -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OpenARK-SDK", "OpenARK-SDK\OpenARK-SDK.vcxproj", "{3625C413-17C5-47C4-8878-B43FADFD79E2}"
  8840. -EndProject
  8841. -Global
  8842. - GlobalSection(SolutionConfigurationPlatforms) = preSolution
  8843. - Debug|x64 = Debug|x64
  8844. - Debug|x86 = Debug|x86
  8845. - Release|x64 = Release|x64
  8846. - Release|x86 = Release|x86
  8847. - EndGlobalSection
  8848. - GlobalSection(ProjectConfigurationPlatforms) = postSolution
  8849. - {3625C413-17C5-47C4-8878-B43FADFD79E2}.Debug|x64.ActiveCfg = Debug|x64
  8850. - {3625C413-17C5-47C4-8878-B43FADFD79E2}.Debug|x64.Build.0 = Debug|x64
  8851. - {3625C413-17C5-47C4-8878-B43FADFD79E2}.Debug|x86.ActiveCfg = Debug|Win32
  8852. - {3625C413-17C5-47C4-8878-B43FADFD79E2}.Debug|x86.Build.0 = Debug|Win32
  8853. - {3625C413-17C5-47C4-8878-B43FADFD79E2}.Release|x64.ActiveCfg = Release|x64
  8854. - {3625C413-17C5-47C4-8878-B43FADFD79E2}.Release|x64.Build.0 = Release|x64
  8855. - {3625C413-17C5-47C4-8878-B43FADFD79E2}.Release|x86.ActiveCfg = Release|Win32
  8856. - {3625C413-17C5-47C4-8878-B43FADFD79E2}.Release|x86.Build.0 = Release|Win32
  8857. - EndGlobalSection
  8858. - GlobalSection(SolutionProperties) = preSolution
  8859. - HideSolutionNode = FALSE
  8860. - EndGlobalSection
  8861. -EndGlobal
  8862. +
  8863. +Microsoft Visual Studio Solution File, Format Version 12.00
  8864. +# Visual Studio 14
  8865. +VisualStudioVersion = 14.0.25123.0
  8866. +MinimumVisualStudioVersion = 10.0.40219.1
  8867. +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OpenARK-SDK", "OpenARK-SDK\OpenARK-SDK.vcxproj", "{3625C413-17C5-47C4-8878-B43FADFD79E2}"
  8868. +EndProject
  8869. +Global
  8870. + GlobalSection(SolutionConfigurationPlatforms) = preSolution
  8871. + Debug|x64 = Debug|x64
  8872. + Debug|x86 = Debug|x86
  8873. + Release|x64 = Release|x64
  8874. + Release|x86 = Release|x86
  8875. + EndGlobalSection
  8876. + GlobalSection(ProjectConfigurationPlatforms) = postSolution
  8877. + {3625C413-17C5-47C4-8878-B43FADFD79E2}.Debug|x64.ActiveCfg = Debug|x64
  8878. + {3625C413-17C5-47C4-8878-B43FADFD79E2}.Debug|x64.Build.0 = Debug|x64
  8879. + {3625C413-17C5-47C4-8878-B43FADFD79E2}.Debug|x86.ActiveCfg = Debug|Win32
  8880. + {3625C413-17C5-47C4-8878-B43FADFD79E2}.Debug|x86.Build.0 = Debug|Win32
  8881. + {3625C413-17C5-47C4-8878-B43FADFD79E2}.Release|x64.ActiveCfg = Release|x64
  8882. + {3625C413-17C5-47C4-8878-B43FADFD79E2}.Release|x64.Build.0 = Release|x64
  8883. + {3625C413-17C5-47C4-8878-B43FADFD79E2}.Release|x86.ActiveCfg = Release|Win32
  8884. + {3625C413-17C5-47C4-8878-B43FADFD79E2}.Release|x86.Build.0 = Release|Win32
  8885. + EndGlobalSection
  8886. + GlobalSection(SolutionProperties) = preSolution
  8887. + HideSolutionNode = FALSE
  8888. + EndGlobalSection
  8889. +EndGlobal
  8890. diff --git a/OpenARK-SDK/CMakeFindPackage.tx b/OpenARK-SDK/CMakeFindPackage.tx
  8891. index 316e9bc..1d69a0a 100644
  8892. --- a/OpenARK-SDK/CMakeFindPackage.tx
  8893. +++ b/OpenARK-SDK/CMakeFindPackage.tx
  8894. @@ -1,6 +1,6 @@
  8895. -FIND_PACKAGE([%package%] REQUIRED)
  8896. -IF ([%package%]_FOUND)
  8897. - INCLUDE_DIRECTORIES(${[%package%]_INCLUDE_DIR})
  8898. - ADD_DEFINITIONS( "-DHAS_[%package_upcase%]" )
  8899. -ENDIF()
  8900. +FIND_PACKAGE([%package%] REQUIRED)
  8901. +IF ([%package%]_FOUND)
  8902. + INCLUDE_DIRECTORIES(${[%package%]_INCLUDE_DIR})
  8903. + ADD_DEFINITIONS( "-DHAS_[%package_upcase%]" )
  8904. +ENDIF()
  8905.  
  8906. \ No newline at end of file
  8907. diff --git a/OpenARK-SDK/CMakeLists.tx b/OpenARK-SDK/CMakeLists.tx
  8908. index 2ca3e1e..12eacbd 100644
  8909. --- a/OpenARK-SDK/CMakeLists.tx
  8910. +++ b/OpenARK-SDK/CMakeLists.tx
  8911. @@ -1,88 +1,88 @@
  8912. -cmake_minimum_required(VERSION 2.8)
  8913. -
  8914. -## section: Macro
  8915. -MACRO(ADD_MSVC_PRECOMPILED_HEADER PrecompiledHeader PrecompiledSource SourcesVar)
  8916. - IF(MSVC)
  8917. - GET_FILENAME_COMPONENT(PrecompiledBasename ${PrecompiledHeader} NAME_WE)
  8918. - SET(PrecompiledBinary "${CMAKE_CURRENT_BINARY_DIR}/${PrecompiledBasename}.pch")
  8919. - SET(Sources ${${SourcesVar}})
  8920. -
  8921. - SET_SOURCE_FILES_PROPERTIES(${PrecompiledSource}
  8922. - PROPERTIES COMPILE_FLAGS "/Yc\"${PrecompiledHeader}\" /Fp\"${PrecompiledBinary}\""
  8923. - OBJECT_OUTPUTS "${PrecompiledBinary}")
  8924. - SET_SOURCE_FILES_PROPERTIES(${Sources}
  8925. - PROPERTIES COMPILE_FLAGS "/Yu\"${PrecompiledBinary}\" /FI\"${PrecompiledBinary}\" /Fp\"${PrecompiledBinary}\""
  8926. - OBJECT_DEPENDS "${PrecompiledBinary}")
  8927. - # Add precompiled header to SourcesVar
  8928. - LIST(APPEND ${SourcesVar} ${PrecompiledSource})
  8929. - ENDIF(MSVC)
  8930. -ENDMACRO(ADD_MSVC_PRECOMPILED_HEADER)
  8931. -
  8932. -## start setting
  8933. -SET (this_target [% $target %])
  8934. -PROJECT(${this_target})
  8935. -
  8936. -[% IF charset == 'Unicode' %]
  8937. -add_definitions(-DUNICODE -D_UNICODE)
  8938. -[% END %]
  8939. -
  8940. -## section: include directory
  8941. -INCLUDE_DIRECTORIES(
  8942. - [% $include %]
  8943. - )
  8944. -
  8945. -## section: source files
  8946. -# Add your source files here (one file per line), please SORT in alphabetical order for future maintenance
  8947. -SET (${this_target}_SOURCE_FILES
  8948. - [% $src %]
  8949. - )
  8950. -
  8951. -## section: header files
  8952. -# Add your header files here(one file per line), please SORT in alphabetical order for future maintenance!
  8953. -SET(${this_target}_HEADER_FILES
  8954. - [% $header %]
  8955. - )
  8956. -
  8957. -[% source_groups %]
  8958. -
  8959. -## section: precompiled header
  8960. -#ADD_MSVC_PRECOMPILED_HEADER("precompiled.h" "precompiled.cpp" MySources)
  8961. -#ADD_LIBRARY(MyLibrary ${MySources})
  8962. -
  8963. -SET_SOURCE_FILES_PROPERTIES(${this_target}_HEADER_FILES
  8964. - PROPERTIES HEADER_FILE_ONLY TRUE)
  8965. -LIST(APPEND ${this_target}_SOURCE_FILES ${${this_target}_HEADER_FILES})
  8966. -
  8967. -## section: add definitions
  8968. -# add prefix -D. example> -DSHP
  8969. -# - DO NOT add the following definitions(already defined in ${OSP_DEFINITIONS}:
  8970. -# -DSHP, -DWIN32, -D_WINDOWS, -D_DEBUG, -D_USRDLL, -D_CRT_SECURE_NO_DEPRECATE
  8971. -ADD_DEFINITIONS(
  8972. - [% $def %]
  8973. - )
  8974. -
  8975. -## section: add target
  8976. -[% SWITCH type %]
  8977. -[% CASE 'Application' %]
  8978. -ADD_EXECUTABLE(${this_target} ${${this_target}_SOURCE_FILES})
  8979. -[% CASE 'DynamicLibrary' %]
  8980. -ADD_LIBRARY(${this_target} SHARED ${${this_target}_SOURCE_FILES} )
  8981. -[% CASE 'StaticLibrary' %]
  8982. -ADD_LIBRARY(${this_target} STATIC ${${this_target}_SOURCE_FILES} )
  8983. -[% CASE 'Module' %]
  8984. -ADD_LIBRARY(${this_target} MODULE ${${this_target}_SOURCE_FILES} )
  8985. -[% END %]
  8986. -
  8987. -[%- IF lib -%]
  8988. -## section: add dependency
  8989. -# dependency determines overall build order.
  8990. -ADD_DEPENDENCIES(${this_target}
  8991. - [% $lib %]
  8992. - )
  8993. -
  8994. -## section: set link libraries
  8995. -TARGET_LINK_LIBRARIES( ${this_target}
  8996. - [% $lib %]
  8997. - )
  8998. -[%- END -%]
  8999. -
  9000. +cmake_minimum_required(VERSION 2.8)
  9001. +
  9002. +## section: Macro
  9003. +MACRO(ADD_MSVC_PRECOMPILED_HEADER PrecompiledHeader PrecompiledSource SourcesVar)
  9004. + IF(MSVC)
  9005. + GET_FILENAME_COMPONENT(PrecompiledBasename ${PrecompiledHeader} NAME_WE)
  9006. + SET(PrecompiledBinary "${CMAKE_CURRENT_BINARY_DIR}/${PrecompiledBasename}.pch")
  9007. + SET(Sources ${${SourcesVar}})
  9008. +
  9009. + SET_SOURCE_FILES_PROPERTIES(${PrecompiledSource}
  9010. + PROPERTIES COMPILE_FLAGS "/Yc\"${PrecompiledHeader}\" /Fp\"${PrecompiledBinary}\""
  9011. + OBJECT_OUTPUTS "${PrecompiledBinary}")
  9012. + SET_SOURCE_FILES_PROPERTIES(${Sources}
  9013. + PROPERTIES COMPILE_FLAGS "/Yu\"${PrecompiledBinary}\" /FI\"${PrecompiledBinary}\" /Fp\"${PrecompiledBinary}\""
  9014. + OBJECT_DEPENDS "${PrecompiledBinary}")
  9015. + # Add precompiled header to SourcesVar
  9016. + LIST(APPEND ${SourcesVar} ${PrecompiledSource})
  9017. + ENDIF(MSVC)
  9018. +ENDMACRO(ADD_MSVC_PRECOMPILED_HEADER)
  9019. +
  9020. +## start setting
  9021. +SET (this_target [% $target %])
  9022. +PROJECT(${this_target})
  9023. +
  9024. +[% IF charset == 'Unicode' %]
  9025. +add_definitions(-DUNICODE -D_UNICODE)
  9026. +[% END %]
  9027. +
  9028. +## section: include directory
  9029. +INCLUDE_DIRECTORIES(
  9030. + [% $include %]
  9031. + )
  9032. +
  9033. +## section: source files
  9034. +# Add your source files here (one file per line), please SORT in alphabetical order for future maintenance
  9035. +SET (${this_target}_SOURCE_FILES
  9036. + [% $src %]
  9037. + )
  9038. +
  9039. +## section: header files
  9040. +# Add your header files here(one file per line), please SORT in alphabetical order for future maintenance!
  9041. +SET(${this_target}_HEADER_FILES
  9042. + [% $header %]
  9043. + )
  9044. +
  9045. +[% source_groups %]
  9046. +
  9047. +## section: precompiled header
  9048. +#ADD_MSVC_PRECOMPILED_HEADER("precompiled.h" "precompiled.cpp" MySources)
  9049. +#ADD_LIBRARY(MyLibrary ${MySources})
  9050. +
  9051. +SET_SOURCE_FILES_PROPERTIES(${this_target}_HEADER_FILES
  9052. + PROPERTIES HEADER_FILE_ONLY TRUE)
  9053. +LIST(APPEND ${this_target}_SOURCE_FILES ${${this_target}_HEADER_FILES})
  9054. +
  9055. +## section: add definitions
  9056. +# add prefix -D. example> -DSHP
  9057. +# - DO NOT add the following definitions(already defined in ${OSP_DEFINITIONS}:
  9058. +# -DSHP, -DWIN32, -D_WINDOWS, -D_DEBUG, -D_USRDLL, -D_CRT_SECURE_NO_DEPRECATE
  9059. +ADD_DEFINITIONS(
  9060. + [% $def %]
  9061. + )
  9062. +
  9063. +## section: add target
  9064. +[% SWITCH type %]
  9065. +[% CASE 'Application' %]
  9066. +ADD_EXECUTABLE(${this_target} ${${this_target}_SOURCE_FILES})
  9067. +[% CASE 'DynamicLibrary' %]
  9068. +ADD_LIBRARY(${this_target} SHARED ${${this_target}_SOURCE_FILES} )
  9069. +[% CASE 'StaticLibrary' %]
  9070. +ADD_LIBRARY(${this_target} STATIC ${${this_target}_SOURCE_FILES} )
  9071. +[% CASE 'Module' %]
  9072. +ADD_LIBRARY(${this_target} MODULE ${${this_target}_SOURCE_FILES} )
  9073. +[% END %]
  9074. +
  9075. +[%- IF lib -%]
  9076. +## section: add dependency
  9077. +# dependency determines overall build order.
  9078. +ADD_DEPENDENCIES(${this_target}
  9079. + [% $lib %]
  9080. + )
  9081. +
  9082. +## section: set link libraries
  9083. +TARGET_LINK_LIBRARIES( ${this_target}
  9084. + [% $lib %]
  9085. + )
  9086. +[%- END -%]
  9087. +
  9088. diff --git a/OpenARK-SDK/CMakeLists.txt b/OpenARK-SDK/CMakeLists.txt
  9089. index ec076ba..0fe91e2 100644
  9090. --- a/OpenARK-SDK/CMakeLists.txt
  9091. +++ b/OpenARK-SDK/CMakeLists.txt
  9092. @@ -1,101 +1,101 @@
  9093. -cmake_minimum_required(VERSION 2.8)
  9094. -
  9095. -## section: Macro
  9096. -MACRO(ADD_MSVC_PRECOMPILED_HEADER PrecompiledHeader PrecompiledSource SourcesVar)
  9097. - IF(MSVC)
  9098. - GET_FILENAME_COMPONENT(PrecompiledBasename ${PrecompiledHeader} NAME_WE)
  9099. - SET(PrecompiledBinary "${CMAKE_CURRENT_BINARY_DIR}/${PrecompiledBasename}.pch")
  9100. - SET(Sources ${${SourcesVar}})
  9101. -
  9102. - SET_SOURCE_FILES_PROPERTIES(${PrecompiledSource}
  9103. - PROPERTIES COMPILE_FLAGS "/Yc\"${PrecompiledHeader}\" /Fp\"${PrecompiledBinary}\""
  9104. - OBJECT_OUTPUTS "${PrecompiledBinary}")
  9105. - SET_SOURCE_FILES_PROPERTIES(${Sources}
  9106. - PROPERTIES COMPILE_FLAGS "/Yu\"${PrecompiledBinary}\" /FI\"${PrecompiledBinary}\" /Fp\"${PrecompiledBinary}\""
  9107. - OBJECT_DEPENDS "${PrecompiledBinary}")
  9108. - # Add precompiled header to SourcesVar
  9109. - LIST(APPEND ${SourcesVar} ${PrecompiledSource})
  9110. - ENDIF(MSVC)
  9111. -ENDMACRO(ADD_MSVC_PRECOMPILED_HEADER)
  9112. -
  9113. -## start setting
  9114. -SET (this_target OpenARKSDK)
  9115. -PROJECT(${this_target})
  9116. -
  9117. -
  9118. -
  9119. -## section: include directory
  9120. -INCLUDE_DIRECTORIES(
  9121. -
  9122. - )
  9123. -
  9124. -## section: source files
  9125. -# Add your source files here (one file per line), please SORT in alphabetical order for future maintenance
  9126. -SET (${this_target}_SOURCE_FILES
  9127. - ..\Clustering.cpp
  9128. - ..\DepthSensor.cpp
  9129. - ..\main.cpp
  9130. - ..\PMDSensor.cpp
  9131. - ..\RGBSensor.cpp
  9132. - ..\Visualizer.cpp
  9133. - ..\Sensor.cpp
  9134. - ..\Webcam.cpp
  9135. - )
  9136. -
  9137. -## section: header files
  9138. -# Add your header files here(one file per line), please SORT in alphabetical order for future maintenance!
  9139. -SET(${this_target}_HEADER_FILES
  9140. - ..\Clustering.h
  9141. - ..\DepthSensor.h
  9142. - ..\Hand.h
  9143. - ..\PMDSensor.h
  9144. - ..\RGBSensor.h
  9145. - ..\Sensor.h
  9146. - ..\Visualizer.h
  9147. - ..\Webcam.h
  9148. - )
  9149. -
  9150. -SOURCE_GROUP("Source Files" FILES
  9151. - ..\main.cpp
  9152. - ..\Sensor.cpp
  9153. - ..\DepthSensor.cpp
  9154. - ..\PMDSensor.cpp
  9155. - ..\Visualizer.cpp
  9156. - ..\RGBSensor.cpp
  9157. - ..\Webcam.cpp
  9158. - ..\Clustering.cpp
  9159. - )
  9160. -SOURCE_GROUP("Header Files" FILES
  9161. - ..\Sensor.h
  9162. - ..\DepthSensor.h
  9163. - ..\PMDSensor.h
  9164. - ..\Visualizer.h
  9165. - ..\RGBSensor.h
  9166. - ..\Webcam.h
  9167. - ..\Clustering.h
  9168. - ..\Hand.h
  9169. - )
  9170. -SOURCE_GROUP("Resource Files" FILES
  9171. -
  9172. - )
  9173. -
  9174. -
  9175. -## section: precompiled header
  9176. -#ADD_MSVC_PRECOMPILED_HEADER("precompiled.h" "precompiled.cpp" MySources)
  9177. -#ADD_LIBRARY(MyLibrary ${MySources})
  9178. -
  9179. -SET_SOURCE_FILES_PROPERTIES(${this_target}_HEADER_FILES
  9180. - PROPERTIES HEADER_FILE_ONLY TRUE)
  9181. -LIST(APPEND ${this_target}_SOURCE_FILES ${${this_target}_HEADER_FILES})
  9182. -
  9183. -## section: add definitions
  9184. -# add prefix -D. example> -DSHP
  9185. -# - DO NOT add the following definitions(already defined in ${OSP_DEFINITIONS}:
  9186. -# -DSHP, -DWIN32, -D_WINDOWS, -D_DEBUG, -D_USRDLL, -D_CRT_SECURE_NO_DEPRECATE
  9187. -ADD_DEFINITIONS(
  9188. -
  9189. - )
  9190. -
  9191. -## section: add target
  9192. -
  9193. -
  9194. +cmake_minimum_required(VERSION 2.8)
  9195. +
  9196. +## section: Macro
  9197. +MACRO(ADD_MSVC_PRECOMPILED_HEADER PrecompiledHeader PrecompiledSource SourcesVar)
  9198. + IF(MSVC)
  9199. + GET_FILENAME_COMPONENT(PrecompiledBasename ${PrecompiledHeader} NAME_WE)
  9200. + SET(PrecompiledBinary "${CMAKE_CURRENT_BINARY_DIR}/${PrecompiledBasename}.pch")
  9201. + SET(Sources ${${SourcesVar}})
  9202. +
  9203. + SET_SOURCE_FILES_PROPERTIES(${PrecompiledSource}
  9204. + PROPERTIES COMPILE_FLAGS "/Yc\"${PrecompiledHeader}\" /Fp\"${PrecompiledBinary}\""
  9205. + OBJECT_OUTPUTS "${PrecompiledBinary}")
  9206. + SET_SOURCE_FILES_PROPERTIES(${Sources}
  9207. + PROPERTIES COMPILE_FLAGS "/Yu\"${PrecompiledBinary}\" /FI\"${PrecompiledBinary}\" /Fp\"${PrecompiledBinary}\""
  9208. + OBJECT_DEPENDS "${PrecompiledBinary}")
  9209. + # Add precompiled header to SourcesVar
  9210. + LIST(APPEND ${SourcesVar} ${PrecompiledSource})
  9211. + ENDIF(MSVC)
  9212. +ENDMACRO(ADD_MSVC_PRECOMPILED_HEADER)
  9213. +
  9214. +## start setting
  9215. +SET (this_target OpenARKSDK)
  9216. +PROJECT(${this_target})
  9217. +
  9218. +
  9219. +
  9220. +## section: include directory
  9221. +INCLUDE_DIRECTORIES(
  9222. +
  9223. + )
  9224. +
  9225. +## section: source files
  9226. +# Add your source files here (one file per line), please SORT in alphabetical order for future maintenance
  9227. +SET (${this_target}_SOURCE_FILES
  9228. + ..\Clustering.cpp
  9229. + ..\DepthSensor.cpp
  9230. + ..\main.cpp
  9231. + ..\PMDSensor.cpp
  9232. + ..\RGBSensor.cpp
  9233. + ..\Visualizer.cpp
  9234. + ..\Sensor.cpp
  9235. + ..\Webcam.cpp
  9236. + )
  9237. +
  9238. +## section: header files
  9239. +# Add your header files here(one file per line), please SORT in alphabetical order for future maintenance!
  9240. +SET(${this_target}_HEADER_FILES
  9241. + ..\Clustering.h
  9242. + ..\DepthSensor.h
  9243. + ..\Hand.h
  9244. + ..\PMDSensor.h
  9245. + ..\RGBSensor.h
  9246. + ..\Sensor.h
  9247. + ..\Visualizer.h
  9248. + ..\Webcam.h
  9249. + )
  9250. +
  9251. +SOURCE_GROUP("Source Files" FILES
  9252. + ..\main.cpp
  9253. + ..\Sensor.cpp
  9254. + ..\DepthSensor.cpp
  9255. + ..\PMDSensor.cpp
  9256. + ..\Visualizer.cpp
  9257. + ..\RGBSensor.cpp
  9258. + ..\Webcam.cpp
  9259. + ..\Clustering.cpp
  9260. + )
  9261. +SOURCE_GROUP("Header Files" FILES
  9262. + ..\Sensor.h
  9263. + ..\DepthSensor.h
  9264. + ..\PMDSensor.h
  9265. + ..\Visualizer.h
  9266. + ..\RGBSensor.h
  9267. + ..\Webcam.h
  9268. + ..\Clustering.h
  9269. + ..\Hand.h
  9270. + )
  9271. +SOURCE_GROUP("Resource Files" FILES
  9272. +
  9273. + )
  9274. +
  9275. +
  9276. +## section: precompiled header
  9277. +#ADD_MSVC_PRECOMPILED_HEADER("precompiled.h" "precompiled.cpp" MySources)
  9278. +#ADD_LIBRARY(MyLibrary ${MySources})
  9279. +
  9280. +SET_SOURCE_FILES_PROPERTIES(${this_target}_HEADER_FILES
  9281. + PROPERTIES HEADER_FILE_ONLY TRUE)
  9282. +LIST(APPEND ${this_target}_SOURCE_FILES ${${this_target}_HEADER_FILES})
  9283. +
  9284. +## section: add definitions
  9285. +# add prefix -D. example> -DSHP
  9286. +# - DO NOT add the following definitions(already defined in ${OSP_DEFINITIONS}:
  9287. +# -DSHP, -DWIN32, -D_WINDOWS, -D_DEBUG, -D_USRDLL, -D_CRT_SECURE_NO_DEPRECATE
  9288. +ADD_DEFINITIONS(
  9289. +
  9290. + )
  9291. +
  9292. +## section: add target
  9293. +
  9294. +
  9295. diff --git a/OpenARK-SDK/CMakeSourceGroup.tx b/OpenARK-SDK/CMakeSourceGroup.tx
  9296. index 599285d..935387d 100644
  9297. --- a/OpenARK-SDK/CMakeSourceGroup.tx
  9298. +++ b/OpenARK-SDK/CMakeSourceGroup.tx
  9299. @@ -1,3 +1,3 @@
  9300. -SOURCE_GROUP("[% flter %]" FILES
  9301. - [% files %]
  9302. - )
  9303. +SOURCE_GROUP("[% flter %]" FILES
  9304. + [% files %]
  9305. + )
  9306. diff --git a/OpenARK-SDK/OpenARK-SDK.vcxproj b/OpenARK-SDK/OpenARK-SDK.vcxproj
  9307. index 2f48d4c..8124c1c 100644
  9308. --- a/OpenARK-SDK/OpenARK-SDK.vcxproj
  9309. +++ b/OpenARK-SDK/OpenARK-SDK.vcxproj
  9310. @@ -1,160 +1,148 @@
  9311. -<?xml version="1.0" encoding="utf-8"?>
  9312. -<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
  9313. - <ItemGroup Label="ProjectConfigurations">
  9314. - <ProjectConfiguration Include="Debug|Win32">
  9315. - <Configuration>Debug</Configuration>
  9316. - <Platform>Win32</Platform>
  9317. - </ProjectConfiguration>
  9318. - <ProjectConfiguration Include="Release|Win32">
  9319. - <Configuration>Release</Configuration>
  9320. - <Platform>Win32</Platform>
  9321. - </ProjectConfiguration>
  9322. - <ProjectConfiguration Include="Debug|x64">
  9323. - <Configuration>Debug</Configuration>
  9324. - <Platform>x64</Platform>
  9325. - </ProjectConfiguration>
  9326. - <ProjectConfiguration Include="Release|x64">
  9327. - <Configuration>Release</Configuration>
  9328. - <Platform>x64</Platform>
  9329. - </ProjectConfiguration>
  9330. - </ItemGroup>
  9331. - <PropertyGroup Label="Globals">
  9332. - <ProjectGuid>{3625C413-17C5-47C4-8878-B43FADFD79E2}</ProjectGuid>
  9333. - <RootNamespace>OpenARKSDK</RootNamespace>
  9334. - <WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
  9335. - </PropertyGroup>
  9336. - <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
  9337. - <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
  9338. - <ConfigurationType>Application</ConfigurationType>
  9339. - <UseDebugLibraries>true</UseDebugLibraries>
  9340. - <PlatformToolset>v140</PlatformToolset>
  9341. - <CharacterSet>MultiByte</CharacterSet>
  9342. - </PropertyGroup>
  9343. - <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
  9344. - <ConfigurationType>Application</ConfigurationType>
  9345. - <UseDebugLibraries>false</UseDebugLibraries>
  9346. - <PlatformToolset>v140</PlatformToolset>
  9347. - <WholeProgramOptimization>true</WholeProgramOptimization>
  9348. - <CharacterSet>MultiByte</CharacterSet>
  9349. - </PropertyGroup>
  9350. - <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
  9351. - <ConfigurationType>Application</ConfigurationType>
  9352. - <UseDebugLibraries>true</UseDebugLibraries>
  9353. - <PlatformToolset>v140</PlatformToolset>
  9354. - <CharacterSet>MultiByte</CharacterSet>
  9355. - </PropertyGroup>
  9356. - <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
  9357. - <ConfigurationType>Application</ConfigurationType>
  9358. - <UseDebugLibraries>false</UseDebugLibraries>
  9359. - <PlatformToolset>v140</PlatformToolset>
  9360. - <WholeProgramOptimization>true</WholeProgramOptimization>
  9361. - <CharacterSet>MultiByte</CharacterSet>
  9362. - </PropertyGroup>
  9363. - <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
  9364. - <ImportGroup Label="ExtensionSettings">
  9365. - </ImportGroup>
  9366. - <ImportGroup Label="Shared">
  9367. - </ImportGroup>
  9368. - <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
  9369. - <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
  9370. - <Import Project="..\..\Program Files (x86)\Intel\RSSDK\props\VS2012-15.Integration.MD.props" />
  9371. - </ImportGroup>
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  9711. - </ClInclude>
  9712. - <ClInclude Include="..\Plane.h">
  9713. - <Filter>Header Files</Filter>
  9714. - </ClInclude>
  9715. - <ClInclude Include="..\Calibration.h">
  9716. - <Filter>Header Files</Filter>
  9717. - </ClInclude>
  9718. - <ClInclude Include="..\UDPSender.h">
  9719. - <Filter>Header Files</Filter>
  9720. - </ClInclude>
  9721. - <ClInclude Include="..\Object3D.h">
  9722. - <Filter>Header Files</Filter>
  9723. - </ClInclude>
  9724. - <ClInclude Include="..\StreamingAverager.h">
  9725. - <Filter>Header Files</Filter>
  9726. - </ClInclude>
  9727. - <ClInclude Include="..\Converter.h">
  9728. - <Filter>Header Files</Filter>
  9729. - </ClInclude>
  9730. - <ClInclude Include="..\SR300Camera.h">
  9731. - <Filter>Header Files</Filter>
  9732. - </ClInclude>
  9733. - <ClInclude Include="..\global.h">
  9734. - <Filter>Header Files</Filter>
  9735. - </ClInclude>
  9736. - </ItemGroup>
  9737. +<?xml version="1.0" encoding="utf-8"?>
  9738. +<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
  9739. + <ItemGroup>
  9740. + <Filter Include="Source Files">
  9741. + <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
  9742. + <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
  9743. + </Filter>
  9744. + <Filter Include="Header Files">
  9745. + <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
  9746. + <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
  9747. + </Filter>
  9748. + <Filter Include="Resource Files">
  9749. + <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
  9750. + <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
  9751. + </Filter>
  9752. + </ItemGroup>
  9753. + <ItemGroup>
  9754. + <ClCompile Include="..\main.cpp">
  9755. + <Filter>Source Files</Filter>
  9756. + </ClCompile>
  9757. + <ClCompile Include="..\Visualizer.cpp">
  9758. + <Filter>Source Files</Filter>
  9759. + </ClCompile>
  9760. + <ClCompile Include="..\Webcam.cpp">
  9761. + <Filter>Source Files</Filter>
  9762. + </ClCompile>
  9763. + <ClCompile Include="..\Hand.cpp">
  9764. + <Filter>Source Files</Filter>
  9765. + </ClCompile>
  9766. + <ClCompile Include="..\Util.cpp">
  9767. + <Filter>Source Files</Filter>
  9768. + </ClCompile>
  9769. + <ClCompile Include="..\DepthCamera.cpp">
  9770. + <Filter>Source Files</Filter>
  9771. + </ClCompile>
  9772. + <ClCompile Include="..\PMDCamera.cpp">
  9773. + <Filter>Source Files</Filter>
  9774. + </ClCompile>
  9775. + <ClCompile Include="..\RGBCamera.cpp">
  9776. + <Filter>Source Files</Filter>
  9777. + </ClCompile>
  9778. + <ClCompile Include="..\Plane.cpp">
  9779. + <Filter>Source Files</Filter>
  9780. + </ClCompile>
  9781. + <ClCompile Include="..\Calibration.cpp">
  9782. + <Filter>Source Files</Filter>
  9783. + </ClCompile>
  9784. + <ClCompile Include="..\UDPSender.cpp">
  9785. + <Filter>Source Files</Filter>
  9786. + </ClCompile>
  9787. + <ClCompile Include="..\Object3D.cpp">
  9788. + <Filter>Source Files</Filter>
  9789. + </ClCompile>
  9790. + <ClCompile Include="..\StreamingAverager.cpp">
  9791. + <Filter>Source Files</Filter>
  9792. + </ClCompile>
  9793. + </ItemGroup>
  9794. + <ItemGroup>
  9795. + <ClInclude Include="..\Visualizer.h">
  9796. + <Filter>Header Files</Filter>
  9797. + </ClInclude>
  9798. + <ClInclude Include="..\Webcam.h">
  9799. + <Filter>Header Files</Filter>
  9800. + </ClInclude>
  9801. + <ClInclude Include="..\Hand.h">
  9802. + <Filter>Header Files</Filter>
  9803. + </ClInclude>
  9804. + <ClInclude Include="..\Util.h">
  9805. + <Filter>Header Files</Filter>
  9806. + </ClInclude>
  9807. + <ClInclude Include="..\DepthCamera.h">
  9808. + <Filter>Header Files</Filter>
  9809. + </ClInclude>
  9810. + <ClInclude Include="..\PMDCamera.h">
  9811. + <Filter>Header Files</Filter>
  9812. + </ClInclude>
  9813. + <ClInclude Include="..\RGBCamera.h">
  9814. + <Filter>Header Files</Filter>
  9815. + </ClInclude>
  9816. + <ClInclude Include="..\Plane.h">
  9817. + <Filter>Header Files</Filter>
  9818. + </ClInclude>
  9819. + <ClInclude Include="..\Calibration.h">
  9820. + <Filter>Header Files</Filter>
  9821. + </ClInclude>
  9822. + <ClInclude Include="..\UDPSender.h">
  9823. + <Filter>Header Files</Filter>
  9824. + </ClInclude>
  9825. + <ClInclude Include="..\Object3D.h">
  9826. + <Filter>Header Files</Filter>
  9827. + </ClInclude>
  9828. + <ClInclude Include="..\StreamingAverager.h">
  9829. + <Filter>Header Files</Filter>
  9830. + </ClInclude>
  9831. + </ItemGroup>
  9832. </Project>
  9833. \ No newline at end of file
  9834. diff --git a/OpenARK-SDK/README.md b/OpenARK-SDK/README.md
  9835. index e11aceb..e57a3a8 100644
  9836. --- a/OpenARK-SDK/README.md
  9837. +++ b/OpenARK-SDK/README.md
  9838. @@ -1,11 +1,11 @@
  9839. -## Required modules:
  9840. -* Try::Tiny;
  9841. -* XML::TreePP;
  9842. -* XML::TreePP::XMLPath;
  9843. -* Text::Xslate;
  9844. -* Readonly
  9845. -* autobox::Core
  9846. -
  9847. -## Usage
  9848. -
  9849. - perl vcxproj2cmake.pl <vcxproj path> <target configuration>
  9850. +## Required modules:
  9851. +* Try::Tiny;
  9852. +* XML::TreePP;
  9853. +* XML::TreePP::XMLPath;
  9854. +* Text::Xslate;
  9855. +* Readonly
  9856. +* autobox::Core
  9857. +
  9858. +## Usage
  9859. +
  9860. + perl vcxproj2cmake.pl <vcxproj path> <target configuration>
  9861. diff --git a/OpenARK-SDK/vcxproj2cmake.pl b/OpenARK-SDK/vcxproj2cmake.pl
  9862. index 35129a7..9e6e9b8 100644
  9863. --- a/OpenARK-SDK/vcxproj2cmake.pl
  9864. +++ b/OpenARK-SDK/vcxproj2cmake.pl
  9865. @@ -1,426 +1,426 @@
  9866. -#!/usr/bin/env perl
  9867. -
  9868. -use strict;
  9869. -use warnings;
  9870. -use utf8;
  9871. -use feature 'say';
  9872. -use Readonly;
  9873. -
  9874. -use autobox::Core;
  9875. -use Try::Tiny;
  9876. -use XML::TreePP;
  9877. -use XML::TreePP::XMLPath;
  9878. -use Text::Xslate;
  9879. -use Data::Dumper;
  9880. -use FindBin;
  9881. -
  9882. -my $filepath = $ARGV[0]
  9883. - || die "Usage: $FindBin::Script <vcxproj path> <target configuration>";
  9884. -my $target_conf = $ARGV[1]
  9885. - || die "Usage: $FindBin::Script <vcxproj path> <target configuration>";
  9886. -
  9887. -my $filters_path = $filepath . '.filters';
  9888. -
  9889. -
  9890. -my $vcxproj_xml = XML::TreePP->new()->parsefile($filepath);
  9891. -my $vcxproj_filters_xml = XML::TreePP->new()->parsefile($filters_path);
  9892. -my $target = $vcxproj_xml->{Project}->{PropertyGroup}->[0]->{RootNamespace};
  9893. -my $target_prop = get_target_property($target_conf,
  9894. - get_propertys($vcxproj_xml));
  9895. -my $filenode_ref = get_file_node($vcxproj_xml);
  9896. -my $item_def_ref = get_item_def_group($vcxproj_xml,
  9897. - $target_prop->{-Condition});
  9898. -my %filters = get_filters($vcxproj_filters_xml);
  9899. -
  9900. -make($filenode_ref, $item_def_ref, %filters);
  9901. -
  9902. -sub get_filters {
  9903. - my ($vcxproj_filters_xml) = @_;
  9904. - my %filters = ();
  9905. -
  9906. - my @itemgroups = @{$vcxproj_filters_xml->{Project}->{ItemGroup}};
  9907. -
  9908. - # first itemgroup is list of filters
  9909. - for my $filter (@{$itemgroups[0]->{Filter}}) {
  9910. - my $filtername = $filter->{-Include};
  9911. - my @files = ();
  9912. - @{$filters{$filtername}} = @files;
  9913. - }
  9914. -
  9915. - # second itemgroup contains sorce files filter information
  9916. - for my $clcompile (@{$itemgroups[1]->{ClCompile}}) {
  9917. - my $filename = $clcompile->{-Include};
  9918. - my $filter = $clcompile->{Filter};
  9919. - push @{$filters{$filter}}, $filename;
  9920. - }
  9921. -
  9922. - # third itemgroup contains header files filter information
  9923. - for my $clinclude (@{$itemgroups[2]->{ClInclude}}) {
  9924. - my $filename = $clinclude->{-Include};
  9925. - my $filter = $clinclude->{Filter};
  9926. - push @{$filters{$filter}}, $filename;
  9927. - }
  9928. -
  9929. - # fourth itemgroup contains filter information for files that should not compiled (like readme)
  9930. -
  9931. - # fifth itemgroup contains recources filter
  9932. -
  9933. - # remove empty arrays
  9934. - my @toDelete;
  9935. - for my $filter (keys %filters) {
  9936. - my @filterfiles = @{$filters{$filter}};
  9937. - if (scalar @filterfiles == 0) {
  9938. - push @toDelete, $filter;
  9939. - }
  9940. - }
  9941. - #delete @filters{@toDelete};
  9942. -
  9943. - return %filters;
  9944. -}
  9945. -
  9946. -sub get_target_property {
  9947. - my ($target_conf, @property_groups) = @_;
  9948. - my $target_prop;
  9949. - for my $property (@property_groups) {
  9950. - if ($property->{-Condition} =~ m{$target_conf}) {
  9951. - $target_prop = $property;
  9952. - last;
  9953. - }
  9954. - }
  9955. -
  9956. - return $target_prop;
  9957. -}
  9958. -
  9959. -sub get_item_def_group {
  9960. - my ($vcxproj_xml, $cond) = @_;
  9961. - my $tppx = new XML::TreePP::XMLPath;
  9962. -
  9963. - # my $xpath = '/Project/ItemDefinitionGroup[@Condition="'.$cond.'"]';
  9964. - # warn $xpath;
  9965. - # my $item_def_ref = $tppx->filterXMLDoc($vcxproj_xml, $xpath);
  9966. - my $item_def_ref;
  9967. - for my $item_def ($tppx->filterXMLDoc($vcxproj_xml,
  9968. - '/Project/ItemDefinitionGroup')) {
  9969. - if ($item_def->{-Condition} eq $cond) {
  9970. - $item_def_ref = $item_def;
  9971. - last;
  9972. - }
  9973. - }
  9974. -
  9975. - return $item_def_ref;
  9976. -}
  9977. -
  9978. -sub get_propertys {
  9979. - my ($vcxproj_xml) = @_;
  9980. - my $property_node_ref;
  9981. -
  9982. - my $tppx = new XML::TreePP::XMLPath;
  9983. - my @property_groups
  9984. - = $tppx->filterXMLDoc($vcxproj_xml,
  9985. - '/Project/PropertyGroup[@Label="Configuration"]');
  9986. -
  9987. - return @property_groups;
  9988. -}
  9989. -
  9990. -sub get_file_node {
  9991. - my ($vcxproj_xml) = @_;
  9992. - my @itemgroups = @{$vcxproj_xml->{Project}->{ItemGroup}};
  9993. - my $filenode_ref;
  9994. - for my $itemgroup (@itemgroups) {
  9995. - next if (defined $itemgroup->{-Label}
  9996. - && $itemgroup->{-Label} eq 'ProjectConfigurations');
  9997. -
  9998. - for my $nodename (keys %{$itemgroup}) {
  9999. - my @nodes;
  10000. -
  10001. - if (ref($itemgroup->{$nodename}) eq 'HASH') {
  10002. - push @nodes, $itemgroup->{$nodename};
  10003. - } else {
  10004. - @nodes = @{$itemgroup->{$nodename}};
  10005. - }
  10006. -
  10007. - for my $node (@nodes) {
  10008. - unless (defined $node->{ExcludedFromBuild}
  10009. - && $node->{ExcludedFromBuild}->{-Condition} eq $target_prop->{-Condition}) {
  10010. - push @{$filenode_ref->{$nodename}}, $node->{-Include};
  10011. - }
  10012. - }
  10013. - }
  10014. - }
  10015. -
  10016. - return $filenode_ref;
  10017. -}
  10018. -
  10019. -sub render_find_packages {
  10020. - my ($tx, @srcs) = @_;
  10021. - my %find_packages_supported_by_cmake = (
  10022. - # include_pattern => package_name
  10023. -
  10024. - #'' => 'ALSA',
  10025. - #'' => 'Armadillo',
  10026. - #'' => 'ASPELL',
  10027. - #'' => 'AVIFile',
  10028. - #'' => 'BISON',
  10029. - #'' => 'BLAS',
  10030. - 'boost/' => 'Boost',
  10031. - #'' => 'Bullet',
  10032. - #'' => 'BZip2',
  10033. - #'' => 'CABLE',
  10034. - #'' => 'Coin3D',
  10035. - #'' => 'CUDA',
  10036. - #'' => 'Cups',
  10037. - #'' => 'CURL',
  10038. - #'' => 'Curses',
  10039. - #'' => 'CVS',
  10040. - #'' => 'CxxTest',
  10041. - #'' => 'Cygwin',
  10042. - #'' => 'Dart',
  10043. - #'' => 'DCMTK',
  10044. - #'' => 'DevIL',
  10045. - #'' => 'Doxygen',
  10046. - #'' => 'EXPAT',
  10047. - #'' => 'FLEX',
  10048. - #'' => 'FLTK',
  10049. - #'' => 'FLTK2',
  10050. - #'' => 'Freetype',
  10051. - #'' => 'GCCXML',
  10052. - #'' => 'GDAL',
  10053. - #'' => 'Gettext',
  10054. - #'' => 'GIF',
  10055. - #'' => 'Git',
  10056. - #'' => 'GLU',
  10057. - #'' => 'GLUT',
  10058. - #'' => 'Gnuplot',
  10059. - #'' => 'GnuTLS',
  10060. - #'' => 'GTest',
  10061. - #'' => 'GTK',
  10062. - #'' => 'GTK2',
  10063. - #'' => 'HDF5',
  10064. - #'' => 'HSPELL',
  10065. - #'' => 'HTMLHelp',
  10066. - #'' => 'ImageMagick',
  10067. - #'' => 'ITK',
  10068. - #'' => 'Jasper',
  10069. - #'' => 'Java',
  10070. - #'' => 'JNI',
  10071. - #'' => 'JPEG',
  10072. - #'' => 'KDE3',
  10073. - #'' => 'KDE4',
  10074. - #'' => 'LAPACK',
  10075. - #'' => 'LATEX',
  10076. - #'' => 'LibArchive',
  10077. - #'' => 'LibLZMA',
  10078. - #'' => 'LibXml2',
  10079. - #'' => 'LibXslt',
  10080. - #'' => 'Lua50',
  10081. - #'' => 'Lua51',
  10082. - #'' => 'Matlab',
  10083. - #'' => 'MFC',
  10084. - #'' => 'Motif',
  10085. - #'' => 'MPEG',
  10086. - #'' => 'MPEG2',
  10087. - #'' => 'MPI',
  10088. - #'' => 'OpenAL',
  10089. - #'' => 'OpenGL',
  10090. - #'' => 'OpenMP',
  10091. - #'' => 'OpenSceneGraph',
  10092. - 'openssl/' => 'OpenSSL',
  10093. - #'' => 'OpenThreads',
  10094. - #'' => 'osg',
  10095. - #'' => 'osgAnimation',
  10096. - #'' => 'osgDB',
  10097. - #'' => 'osgFX',
  10098. - #'' => 'osgGA',
  10099. - #'' => 'osgIntrospection',
  10100. - #'' => 'osgManipulator',
  10101. - #'' => 'osgParticle',
  10102. - #'' => 'osgPresentation',
  10103. - #'' => 'osgProducer',
  10104. - #'' => 'osgQt',
  10105. - #'' => 'osgShadow',
  10106. - #'' => 'osgSim',
  10107. - #'' => 'osgTerrain',
  10108. - #'' => 'osgText',
  10109. - #'' => 'osgUtil',
  10110. - #'' => 'osgViewer',
  10111. - #'' => 'osgVolume',
  10112. - #'' => 'osgWidget',
  10113. - #'' => 'osg_functions',
  10114. - #'' => 'PackageHandleStandardArgs',
  10115. - #'' => 'PackageMessage',
  10116. - #'' => 'Perl',
  10117. - #'' => 'PerlLibs',
  10118. - #'' => 'PHP4',
  10119. - #'' => 'PhysFS',
  10120. - #'' => 'Pike',
  10121. - #'' => 'PkgConfig',
  10122. - #'' => 'PNG',
  10123. - #'' => 'PostgreSQL',
  10124. - #'' => 'Producer',
  10125. - #'' => 'Protobuf',
  10126. - #'' => 'PythonInterp',
  10127. - #'' => 'PythonLibs',
  10128. - #'' => 'Qt',
  10129. - #'' => 'Qt3',
  10130. - #'' => 'Qt4',
  10131. - #'' => 'QuickTime',
  10132. - #'' => 'RTI',
  10133. - #'' => 'Ruby',
  10134. - 'SDL/' => 'SDL',
  10135. - #'' => 'SDL_image',
  10136. - #'' => 'SDL_mixer',
  10137. - #'' => 'SDL_net',
  10138. - #'' => 'SDL_sound',
  10139. - #'' => 'SDL_ttf',
  10140. - #'' => 'SelfPackers',
  10141. - #'' => 'Squish',
  10142. - #'' => 'Subversion',
  10143. - #'' => 'SWIG',
  10144. - #'' => 'TCL',
  10145. - #'' => 'Tclsh',
  10146. - #'' => 'TclStub',
  10147. - #'' => 'Threads',
  10148. - #'' => 'TIFF',
  10149. - #'' => 'UnixCommands',
  10150. - #'' => 'VTK',
  10151. - #'' => 'Wget',
  10152. - #'' => 'Wish',
  10153. - #'' => 'wxWidgets',
  10154. - #'' => 'wxWindows',
  10155. - #'' => 'X11',
  10156. - 'xercesc' => 'XercesC',
  10157. - #'' => 'XMLRPC',
  10158. - 'zlib.h' => 'ZLIB',
  10159. - );
  10160. - my $rendered_find_packages = '';
  10161. -
  10162. - # find all libs that used
  10163. - my @libs_to_find_patterns = keys(%find_packages_supported_by_cmake);
  10164. - my @libs;
  10165. - for my $file (@srcs) {
  10166. - # find libs that the file uses
  10167. - open my $info, $file or die "Could not open $file: $!";
  10168. - while( my $line = <$info>) {
  10169. - if ($line =~ /#\s*include/) {
  10170. - my @lib_pattern_indexes_to_delete;
  10171. -
  10172. - for my $lib_match (@libs_to_find_patterns) {
  10173. - if ($line =~ m/^\s*#\s*include\s*<$lib_match/) {
  10174. - my $lib = $find_packages_supported_by_cmake{$lib_match};
  10175. - push @libs, $lib;
  10176. -
  10177. - my $lib_index = 0;
  10178. - $lib_index++ until $libs_to_find_patterns[$lib_index] eq $lib_match;
  10179. - push @lib_pattern_indexes_to_delete, $lib_index;
  10180. - }
  10181. - }
  10182. -
  10183. - for my $index (@lib_pattern_indexes_to_delete) {
  10184. - splice(@libs_to_find_patterns, $index, 1);
  10185. - }
  10186. - }
  10187. - }
  10188. - close $info;
  10189. - }
  10190. -
  10191. - for my $lib (@libs) {
  10192. - my %vars = (
  10193. - package => $lib,
  10194. - package_upcase => uc $lib,
  10195. - );
  10196. - warn Dumper(%vars);
  10197. -
  10198. - try {
  10199. - my $render = $tx->render( 'CMakeFindPackage.tx', \%vars );
  10200. - $rendered_find_packages = $rendered_find_packages . $render;
  10201. - } catch {
  10202. - print "caught error: $_\n";
  10203. - };
  10204. - }
  10205. -
  10206. - return Text::Xslate::Util::mark_raw($rendered_find_packages);
  10207. -}
  10208. -
  10209. -sub render_source_groups {
  10210. - my ($tx, %filters) = @_;
  10211. -
  10212. - my $rendered_source_groups = '';
  10213. - for my $filter (keys %filters) {
  10214. - my @files = @{$filters{$filter}};
  10215. - $filter =~ s/\\/\\\\/g;
  10216. - my %vars = (
  10217. - flter => $filter,
  10218. - files => +(join "\n\t", @files),
  10219. - );
  10220. - warn Dumper(%vars);
  10221. -
  10222. - try {
  10223. - my $render = $tx->render( 'CMakeSourceGroup.tx', \%vars );
  10224. - $rendered_source_groups = $rendered_source_groups . $render;
  10225. - } catch {
  10226. - print "caught error: $_\n";
  10227. - };
  10228. - }
  10229. -
  10230. - return Text::Xslate::Util::mark_raw($rendered_source_groups);
  10231. -}
  10232. -
  10233. -sub make {
  10234. - my ($filenode_ref, $item_def_ref, %filters) = @_;
  10235. -
  10236. - my @srcs = @{$filenode_ref->{ClCompile}};
  10237. - my @headers = @{$filenode_ref->{ClInclude}};
  10238. - my $add_dir = $item_def_ref->{ClCompile}->{AdditionalIncludeDirectories};
  10239. - $add_dir =~ s{\\}{/}g;
  10240. - my @includes =
  10241. - grep { $_ ne '%(AdditionalIncludeDirectories)' }
  10242. - split ';', $add_dir;
  10243. -
  10244. - my $def = $item_def_ref->{ClCompile}->{PreprocessorDefinitions};
  10245. - # add prefix -D. example> -DSHP
  10246. - my @defs =
  10247. - map { "-D$_"; }
  10248. - grep { $_ ne '%(PreprocessorDefinitions)' }
  10249. - split ';', $def;
  10250. -
  10251. - my $add_dep = $item_def_ref->{Link}->{AdditionalDependencies};
  10252. - $add_dep =~ s{\\}{/}g;
  10253. - my @deps =
  10254. - grep { $_ ne '%(AdditionalDependencies)' }
  10255. - split ';', $add_dep;
  10256. -
  10257. - warn Dumper(@includes);
  10258. -
  10259. - my $tx = Text::Xslate->new(
  10260. - syntax => 'TTerse',
  10261. - path => [ '.', '.' ],
  10262. - );
  10263. -
  10264. - my $rendered_find_packages = render_find_packages($tx, @headers, @srcs);
  10265. - my $rendered_source_groups = render_source_groups($tx, %filters);
  10266. -
  10267. - my %vars = (
  10268. - type => $target_prop->{ConfigurationType},
  10269. - charset => $target_prop->{CharacterSet},
  10270. - target => $target,
  10271. - def => +(join "\n\t", @defs),
  10272. - lib => +(join "\n\t", @deps),
  10273. - include => +(join "\n\t", @includes),
  10274. - src => +(join "\n\t", @srcs),
  10275. - header => +(join "\n\t", @headers),
  10276. - source_groups => $rendered_source_groups,
  10277. - find_packages => $rendered_find_packages,
  10278. - );
  10279. -
  10280. - warn Dumper(%vars);
  10281. -
  10282. - my $render_text;
  10283. - try {
  10284. - $render_text = $tx->render( 'CMakeLists.tx', \%vars );
  10285. - } catch {
  10286. - print "caught error: $_\n";
  10287. - };
  10288. -
  10289. - open my $cmakelists_file, '>', 'CMakeLists.txt';
  10290. - print {$cmakelists_file} $render_text;
  10291. -}
  10292. +#!/usr/bin/env perl
  10293. +
  10294. +use strict;
  10295. +use warnings;
  10296. +use utf8;
  10297. +use feature 'say';
  10298. +use Readonly;
  10299. +
  10300. +use autobox::Core;
  10301. +use Try::Tiny;
  10302. +use XML::TreePP;
  10303. +use XML::TreePP::XMLPath;
  10304. +use Text::Xslate;
  10305. +use Data::Dumper;
  10306. +use FindBin;
  10307. +
  10308. +my $filepath = $ARGV[0]
  10309. + || die "Usage: $FindBin::Script <vcxproj path> <target configuration>";
  10310. +my $target_conf = $ARGV[1]
  10311. + || die "Usage: $FindBin::Script <vcxproj path> <target configuration>";
  10312. +
  10313. +my $filters_path = $filepath . '.filters';
  10314. +
  10315. +
  10316. +my $vcxproj_xml = XML::TreePP->new()->parsefile($filepath);
  10317. +my $vcxproj_filters_xml = XML::TreePP->new()->parsefile($filters_path);
  10318. +my $target = $vcxproj_xml->{Project}->{PropertyGroup}->[0]->{RootNamespace};
  10319. +my $target_prop = get_target_property($target_conf,
  10320. + get_propertys($vcxproj_xml));
  10321. +my $filenode_ref = get_file_node($vcxproj_xml);
  10322. +my $item_def_ref = get_item_def_group($vcxproj_xml,
  10323. + $target_prop->{-Condition});
  10324. +my %filters = get_filters($vcxproj_filters_xml);
  10325. +
  10326. +make($filenode_ref, $item_def_ref, %filters);
  10327. +
  10328. +sub get_filters {
  10329. + my ($vcxproj_filters_xml) = @_;
  10330. + my %filters = ();
  10331. +
  10332. + my @itemgroups = @{$vcxproj_filters_xml->{Project}->{ItemGroup}};
  10333. +
  10334. + # first itemgroup is list of filters
  10335. + for my $filter (@{$itemgroups[0]->{Filter}}) {
  10336. + my $filtername = $filter->{-Include};
  10337. + my @files = ();
  10338. + @{$filters{$filtername}} = @files;
  10339. + }
  10340. +
  10341. + # second itemgroup contains sorce files filter information
  10342. + for my $clcompile (@{$itemgroups[1]->{ClCompile}}) {
  10343. + my $filename = $clcompile->{-Include};
  10344. + my $filter = $clcompile->{Filter};
  10345. + push @{$filters{$filter}}, $filename;
  10346. + }
  10347. +
  10348. + # third itemgroup contains header files filter information
  10349. + for my $clinclude (@{$itemgroups[2]->{ClInclude}}) {
  10350. + my $filename = $clinclude->{-Include};
  10351. + my $filter = $clinclude->{Filter};
  10352. + push @{$filters{$filter}}, $filename;
  10353. + }
  10354. +
  10355. + # fourth itemgroup contains filter information for files that should not compiled (like readme)
  10356. +
  10357. + # fifth itemgroup contains recources filter
  10358. +
  10359. + # remove empty arrays
  10360. + my @toDelete;
  10361. + for my $filter (keys %filters) {
  10362. + my @filterfiles = @{$filters{$filter}};
  10363. + if (scalar @filterfiles == 0) {
  10364. + push @toDelete, $filter;
  10365. + }
  10366. + }
  10367. + #delete @filters{@toDelete};
  10368. +
  10369. + return %filters;
  10370. +}
  10371. +
  10372. +sub get_target_property {
  10373. + my ($target_conf, @property_groups) = @_;
  10374. + my $target_prop;
  10375. + for my $property (@property_groups) {
  10376. + if ($property->{-Condition} =~ m{$target_conf}) {
  10377. + $target_prop = $property;
  10378. + last;
  10379. + }
  10380. + }
  10381. +
  10382. + return $target_prop;
  10383. +}
  10384. +
  10385. +sub get_item_def_group {
  10386. + my ($vcxproj_xml, $cond) = @_;
  10387. + my $tppx = new XML::TreePP::XMLPath;
  10388. +
  10389. + # my $xpath = '/Project/ItemDefinitionGroup[@Condition="'.$cond.'"]';
  10390. + # warn $xpath;
  10391. + # my $item_def_ref = $tppx->filterXMLDoc($vcxproj_xml, $xpath);
  10392. + my $item_def_ref;
  10393. + for my $item_def ($tppx->filterXMLDoc($vcxproj_xml,
  10394. + '/Project/ItemDefinitionGroup')) {
  10395. + if ($item_def->{-Condition} eq $cond) {
  10396. + $item_def_ref = $item_def;
  10397. + last;
  10398. + }
  10399. + }
  10400. +
  10401. + return $item_def_ref;
  10402. +}
  10403. +
  10404. +sub get_propertys {
  10405. + my ($vcxproj_xml) = @_;
  10406. + my $property_node_ref;
  10407. +
  10408. + my $tppx = new XML::TreePP::XMLPath;
  10409. + my @property_groups
  10410. + = $tppx->filterXMLDoc($vcxproj_xml,
  10411. + '/Project/PropertyGroup[@Label="Configuration"]');
  10412. +
  10413. + return @property_groups;
  10414. +}
  10415. +
  10416. +sub get_file_node {
  10417. + my ($vcxproj_xml) = @_;
  10418. + my @itemgroups = @{$vcxproj_xml->{Project}->{ItemGroup}};
  10419. + my $filenode_ref;
  10420. + for my $itemgroup (@itemgroups) {
  10421. + next if (defined $itemgroup->{-Label}
  10422. + && $itemgroup->{-Label} eq 'ProjectConfigurations');
  10423. +
  10424. + for my $nodename (keys %{$itemgroup}) {
  10425. + my @nodes;
  10426. +
  10427. + if (ref($itemgroup->{$nodename}) eq 'HASH') {
  10428. + push @nodes, $itemgroup->{$nodename};
  10429. + } else {
  10430. + @nodes = @{$itemgroup->{$nodename}};
  10431. + }
  10432. +
  10433. + for my $node (@nodes) {
  10434. + unless (defined $node->{ExcludedFromBuild}
  10435. + && $node->{ExcludedFromBuild}->{-Condition} eq $target_prop->{-Condition}) {
  10436. + push @{$filenode_ref->{$nodename}}, $node->{-Include};
  10437. + }
  10438. + }
  10439. + }
  10440. + }
  10441. +
  10442. + return $filenode_ref;
  10443. +}
  10444. +
  10445. +sub render_find_packages {
  10446. + my ($tx, @srcs) = @_;
  10447. + my %find_packages_supported_by_cmake = (
  10448. + # include_pattern => package_name
  10449. +
  10450. + #'' => 'ALSA',
  10451. + #'' => 'Armadillo',
  10452. + #'' => 'ASPELL',
  10453. + #'' => 'AVIFile',
  10454. + #'' => 'BISON',
  10455. + #'' => 'BLAS',
  10456. + 'boost/' => 'Boost',
  10457. + #'' => 'Bullet',
  10458. + #'' => 'BZip2',
  10459. + #'' => 'CABLE',
  10460. + #'' => 'Coin3D',
  10461. + #'' => 'CUDA',
  10462. + #'' => 'Cups',
  10463. + #'' => 'CURL',
  10464. + #'' => 'Curses',
  10465. + #'' => 'CVS',
  10466. + #'' => 'CxxTest',
  10467. + #'' => 'Cygwin',
  10468. + #'' => 'Dart',
  10469. + #'' => 'DCMTK',
  10470. + #'' => 'DevIL',
  10471. + #'' => 'Doxygen',
  10472. + #'' => 'EXPAT',
  10473. + #'' => 'FLEX',
  10474. + #'' => 'FLTK',
  10475. + #'' => 'FLTK2',
  10476. + #'' => 'Freetype',
  10477. + #'' => 'GCCXML',
  10478. + #'' => 'GDAL',
  10479. + #'' => 'Gettext',
  10480. + #'' => 'GIF',
  10481. + #'' => 'Git',
  10482. + #'' => 'GLU',
  10483. + #'' => 'GLUT',
  10484. + #'' => 'Gnuplot',
  10485. + #'' => 'GnuTLS',
  10486. + #'' => 'GTest',
  10487. + #'' => 'GTK',
  10488. + #'' => 'GTK2',
  10489. + #'' => 'HDF5',
  10490. + #'' => 'HSPELL',
  10491. + #'' => 'HTMLHelp',
  10492. + #'' => 'ImageMagick',
  10493. + #'' => 'ITK',
  10494. + #'' => 'Jasper',
  10495. + #'' => 'Java',
  10496. + #'' => 'JNI',
  10497. + #'' => 'JPEG',
  10498. + #'' => 'KDE3',
  10499. + #'' => 'KDE4',
  10500. + #'' => 'LAPACK',
  10501. + #'' => 'LATEX',
  10502. + #'' => 'LibArchive',
  10503. + #'' => 'LibLZMA',
  10504. + #'' => 'LibXml2',
  10505. + #'' => 'LibXslt',
  10506. + #'' => 'Lua50',
  10507. + #'' => 'Lua51',
  10508. + #'' => 'Matlab',
  10509. + #'' => 'MFC',
  10510. + #'' => 'Motif',
  10511. + #'' => 'MPEG',
  10512. + #'' => 'MPEG2',
  10513. + #'' => 'MPI',
  10514. + #'' => 'OpenAL',
  10515. + #'' => 'OpenGL',
  10516. + #'' => 'OpenMP',
  10517. + #'' => 'OpenSceneGraph',
  10518. + 'openssl/' => 'OpenSSL',
  10519. + #'' => 'OpenThreads',
  10520. + #'' => 'osg',
  10521. + #'' => 'osgAnimation',
  10522. + #'' => 'osgDB',
  10523. + #'' => 'osgFX',
  10524. + #'' => 'osgGA',
  10525. + #'' => 'osgIntrospection',
  10526. + #'' => 'osgManipulator',
  10527. + #'' => 'osgParticle',
  10528. + #'' => 'osgPresentation',
  10529. + #'' => 'osgProducer',
  10530. + #'' => 'osgQt',
  10531. + #'' => 'osgShadow',
  10532. + #'' => 'osgSim',
  10533. + #'' => 'osgTerrain',
  10534. + #'' => 'osgText',
  10535. + #'' => 'osgUtil',
  10536. + #'' => 'osgViewer',
  10537. + #'' => 'osgVolume',
  10538. + #'' => 'osgWidget',
  10539. + #'' => 'osg_functions',
  10540. + #'' => 'PackageHandleStandardArgs',
  10541. + #'' => 'PackageMessage',
  10542. + #'' => 'Perl',
  10543. + #'' => 'PerlLibs',
  10544. + #'' => 'PHP4',
  10545. + #'' => 'PhysFS',
  10546. + #'' => 'Pike',
  10547. + #'' => 'PkgConfig',
  10548. + #'' => 'PNG',
  10549. + #'' => 'PostgreSQL',
  10550. + #'' => 'Producer',
  10551. + #'' => 'Protobuf',
  10552. + #'' => 'PythonInterp',
  10553. + #'' => 'PythonLibs',
  10554. + #'' => 'Qt',
  10555. + #'' => 'Qt3',
  10556. + #'' => 'Qt4',
  10557. + #'' => 'QuickTime',
  10558. + #'' => 'RTI',
  10559. + #'' => 'Ruby',
  10560. + 'SDL/' => 'SDL',
  10561. + #'' => 'SDL_image',
  10562. + #'' => 'SDL_mixer',
  10563. + #'' => 'SDL_net',
  10564. + #'' => 'SDL_sound',
  10565. + #'' => 'SDL_ttf',
  10566. + #'' => 'SelfPackers',
  10567. + #'' => 'Squish',
  10568. + #'' => 'Subversion',
  10569. + #'' => 'SWIG',
  10570. + #'' => 'TCL',
  10571. + #'' => 'Tclsh',
  10572. + #'' => 'TclStub',
  10573. + #'' => 'Threads',
  10574. + #'' => 'TIFF',
  10575. + #'' => 'UnixCommands',
  10576. + #'' => 'VTK',
  10577. + #'' => 'Wget',
  10578. + #'' => 'Wish',
  10579. + #'' => 'wxWidgets',
  10580. + #'' => 'wxWindows',
  10581. + #'' => 'X11',
  10582. + 'xercesc' => 'XercesC',
  10583. + #'' => 'XMLRPC',
  10584. + 'zlib.h' => 'ZLIB',
  10585. + );
  10586. + my $rendered_find_packages = '';
  10587. +
  10588. + # find all libs that used
  10589. + my @libs_to_find_patterns = keys(%find_packages_supported_by_cmake);
  10590. + my @libs;
  10591. + for my $file (@srcs) {
  10592. + # find libs that the file uses
  10593. + open my $info, $file or die "Could not open $file: $!";
  10594. + while( my $line = <$info>) {
  10595. + if ($line =~ /#\s*include/) {
  10596. + my @lib_pattern_indexes_to_delete;
  10597. +
  10598. + for my $lib_match (@libs_to_find_patterns) {
  10599. + if ($line =~ m/^\s*#\s*include\s*<$lib_match/) {
  10600. + my $lib = $find_packages_supported_by_cmake{$lib_match};
  10601. + push @libs, $lib;
  10602. +
  10603. + my $lib_index = 0;
  10604. + $lib_index++ until $libs_to_find_patterns[$lib_index] eq $lib_match;
  10605. + push @lib_pattern_indexes_to_delete, $lib_index;
  10606. + }
  10607. + }
  10608. +
  10609. + for my $index (@lib_pattern_indexes_to_delete) {
  10610. + splice(@libs_to_find_patterns, $index, 1);
  10611. + }
  10612. + }
  10613. + }
  10614. + close $info;
  10615. + }
  10616. +
  10617. + for my $lib (@libs) {
  10618. + my %vars = (
  10619. + package => $lib,
  10620. + package_upcase => uc $lib,
  10621. + );
  10622. + warn Dumper(%vars);
  10623. +
  10624. + try {
  10625. + my $render = $tx->render( 'CMakeFindPackage.tx', \%vars );
  10626. + $rendered_find_packages = $rendered_find_packages . $render;
  10627. + } catch {
  10628. + print "caught error: $_\n";
  10629. + };
  10630. + }
  10631. +
  10632. + return Text::Xslate::Util::mark_raw($rendered_find_packages);
  10633. +}
  10634. +
  10635. +sub render_source_groups {
  10636. + my ($tx, %filters) = @_;
  10637. +
  10638. + my $rendered_source_groups = '';
  10639. + for my $filter (keys %filters) {
  10640. + my @files = @{$filters{$filter}};
  10641. + $filter =~ s/\\/\\\\/g;
  10642. + my %vars = (
  10643. + flter => $filter,
  10644. + files => +(join "\n\t", @files),
  10645. + );
  10646. + warn Dumper(%vars);
  10647. +
  10648. + try {
  10649. + my $render = $tx->render( 'CMakeSourceGroup.tx', \%vars );
  10650. + $rendered_source_groups = $rendered_source_groups . $render;
  10651. + } catch {
  10652. + print "caught error: $_\n";
  10653. + };
  10654. + }
  10655. +
  10656. + return Text::Xslate::Util::mark_raw($rendered_source_groups);
  10657. +}
  10658. +
  10659. +sub make {
  10660. + my ($filenode_ref, $item_def_ref, %filters) = @_;
  10661. +
  10662. + my @srcs = @{$filenode_ref->{ClCompile}};
  10663. + my @headers = @{$filenode_ref->{ClInclude}};
  10664. + my $add_dir = $item_def_ref->{ClCompile}->{AdditionalIncludeDirectories};
  10665. + $add_dir =~ s{\\}{/}g;
  10666. + my @includes =
  10667. + grep { $_ ne '%(AdditionalIncludeDirectories)' }
  10668. + split ';', $add_dir;
  10669. +
  10670. + my $def = $item_def_ref->{ClCompile}->{PreprocessorDefinitions};
  10671. + # add prefix -D. example> -DSHP
  10672. + my @defs =
  10673. + map { "-D$_"; }
  10674. + grep { $_ ne '%(PreprocessorDefinitions)' }
  10675. + split ';', $def;
  10676. +
  10677. + my $add_dep = $item_def_ref->{Link}->{AdditionalDependencies};
  10678. + $add_dep =~ s{\\}{/}g;
  10679. + my @deps =
  10680. + grep { $_ ne '%(AdditionalDependencies)' }
  10681. + split ';', $add_dep;
  10682. +
  10683. + warn Dumper(@includes);
  10684. +
  10685. + my $tx = Text::Xslate->new(
  10686. + syntax => 'TTerse',
  10687. + path => [ '.', '.' ],
  10688. + );
  10689. +
  10690. + my $rendered_find_packages = render_find_packages($tx, @headers, @srcs);
  10691. + my $rendered_source_groups = render_source_groups($tx, %filters);
  10692. +
  10693. + my %vars = (
  10694. + type => $target_prop->{ConfigurationType},
  10695. + charset => $target_prop->{CharacterSet},
  10696. + target => $target,
  10697. + def => +(join "\n\t", @defs),
  10698. + lib => +(join "\n\t", @deps),
  10699. + include => +(join "\n\t", @includes),
  10700. + src => +(join "\n\t", @srcs),
  10701. + header => +(join "\n\t", @headers),
  10702. + source_groups => $rendered_source_groups,
  10703. + find_packages => $rendered_find_packages,
  10704. + );
  10705. +
  10706. + warn Dumper(%vars);
  10707. +
  10708. + my $render_text;
  10709. + try {
  10710. + $render_text = $tx->render( 'CMakeLists.tx', \%vars );
  10711. + } catch {
  10712. + print "caught error: $_\n";
  10713. + };
  10714. +
  10715. + open my $cmakelists_file, '>', 'CMakeLists.txt';
  10716. + print {$cmakelists_file} $render_text;
  10717. +}
  10718. diff --git a/PMDCamera.cpp b/PMDCamera.cpp
  10719. index 97d3929..ef8b32c 100644
  10720. --- a/PMDCamera.cpp
  10721. +++ b/PMDCamera.cpp
  10722. @@ -1,186 +1,159 @@
  10723. -#include "PMDCamera.h"
  10724. -
  10725. -/***
  10726. -Private constructor for the PMD depth sensor
  10727. -***/
  10728. -PMDCamera::PMDCamera(bool use_live_sensor)
  10729. -{
  10730. - CONFIDENCE_THRESHHOLD = (60.0f / 255.0f*500.0f);
  10731. - INVALID_FLAG_VALUE = PMD_FLAG_INVALID;
  10732. - X_DIMENSION = 176;
  10733. - Y_DIMENSION = 120;
  10734. -
  10735. - if (!use_live_sensor) {
  10736. - return;
  10737. - }
  10738. -
  10739. - int res;
  10740. - std::cout << "Trying to open pmd\n";
  10741. - res = pmdOpen(&hnd, SOURCE_PLUGIN, SOURCE_PARAM, PROC_PLUGIN, PROC_PARAM); //Open the PMD sensor
  10742. - if (res != PMD_OK)
  10743. - {
  10744. - pmdGetLastError(0, err, 128);
  10745. - fprintf(stderr, "Could not connect: %s\n", err);
  10746. - return;
  10747. - }
  10748. - printf("opened sensor\n");
  10749. -
  10750. - // Updating the sensor is necessary before any data can be retrieved
  10751. - res = pmdUpdate(hnd);
  10752. - if (res != PMD_OK)
  10753. - {
  10754. - pmdGetLastError(hnd, err, 128);
  10755. - fprintf(stderr, "Couldn't transfer data: %s\n", err);
  10756. - pmdClose(hnd);
  10757. - return;
  10758. - }
  10759. - printf("acquired image\n");
  10760. -
  10761. - // res: Structure which contains various meta-information about the data delivered by your Nano.
  10762. - // It is advisabe to always use the data delivered by this struct (for example the width and height of the imager
  10763. - // and the image format). Please refer to the PMSDSK documentation for more information
  10764. - res = pmdGetSourceDataDescription(hnd, &dd);
  10765. - if (res != PMD_OK)
  10766. - {
  10767. - pmdGetLastError(hnd, err, 128);
  10768. - fprintf(stderr, "Couldn't get data description: %s\n", err);
  10769. - pmdClose(hnd);
  10770. - return;
  10771. - }
  10772. -
  10773. - printf("retrieved source data description\n");
  10774. - if (dd.subHeaderType != PMD_IMAGE_DATA)
  10775. - {
  10776. - fprintf(stderr, "Source data is not an image!\n");
  10777. - pmdClose(hnd);
  10778. - return;
  10779. - }
  10780. -
  10781. - numPixels = dd.img.numRows * dd.img.numColumns; // Number of pixels in camera
  10782. - dists = new float[3 * numPixels]; // Dists contains XYZ values. needs to be 3x the size of numPixels
  10783. - amps = new float[numPixels];
  10784. - frame.create(dd.img.numRows, dd.img.numColumns, CV_8UC3);
  10785. -
  10786. - KF.init(6, 3, 0);
  10787. - KF.transitionMatrix = (cv::Mat_<float>(6, 6) << 1, 0, 0, 1, 0, 0,
  10788. - 0, 1, 0, 0, 1, 0,
  10789. - 0, 0, 1, 0, 0, 1,
  10790. - 0, 0, 0, 1, 0, 0,
  10791. - 0, 0, 0, 0, 1, 0,
  10792. - 0, 0, 0, 0, 0, 1);
  10793. - measurement = cv::Mat_<float>::zeros(3, 1);
  10794. -
  10795. - //Initaite Kalman
  10796. - KF.statePre.setTo(0);
  10797. - setIdentity(KF.measurementMatrix);
  10798. - setIdentity(KF.processNoiseCov, cv::Scalar::all(.001)); // Adjust this for faster convergence - but higher noise
  10799. - setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-1));
  10800. - setIdentity(KF.errorCovPost, cv::Scalar::all(.1));
  10801. -
  10802. -}
  10803. -
  10804. -/***
  10805. -Public deconstructor for he PMD depth sensor
  10806. -***/
  10807. -PMDCamera::~PMDCamera() {}
  10808. -
  10809. -void PMDCamera::destroyInstance()
  10810. -{
  10811. - printf("closing sensor\n");
  10812. - pmdClose(hnd);
  10813. - printf("sensor closed\n");
  10814. -}
  10815. -
  10816. -/***
  10817. -Create xyzMap, zMap, ampMap, and flagMap from sensor input
  10818. -***/
  10819. -void PMDCamera::update()
  10820. -{
  10821. - initilizeImages();
  10822. -
  10823. - fillInAmps();
  10824. - fillInZCoords();
  10825. - // Flags. Helps with denoising.
  10826. -
  10827. - unsigned *flags = new unsigned[ampMap.cols*ampMap.rows];
  10828. - int res = pmdGetFlags(hnd, flags, numPixels * sizeof(unsigned));
  10829. - if (res != PMD_OK) {
  10830. - pmdGetLastError(hnd, err, 128);
  10831. - fprintf(stderr, "Couldn't get the flags: %s\n", err);
  10832. - pmdClose(hnd);
  10833. - return;
  10834. - }
  10835. - flagMap.data = (uchar *)flags;
  10836. -
  10837. - res = pmdUpdate(hnd);
  10838. - if (res != PMD_OK) {
  10839. - pmdGetLastError(hnd, err, 128);
  10840. - fprintf(stderr, "Couldn't update the PMD camera: %s\n", err);
  10841. - pmdClose(hnd);
  10842. - return;
  10843. - }
  10844. - delete(flags);
  10845. -
  10846. -}
  10847. -
  10848. -
  10849. -/***
  10850. -Reads the depth data from the sensor and fills in the matrix
  10851. -***/
  10852. -void PMDCamera::fillInZCoords()
  10853. -{
  10854. - int res = pmdGet3DCoordinates(hnd, dists, 3 * numPixels * sizeof(float)); //store x,y,z coordinates dists (type: float*)
  10855. - //float * zCoords = new float[1]; //store z-Coordinates of dists in zCoords
  10856. - if (res != PMD_OK) {
  10857. - pmdGetLastError(hnd, err, 128);
  10858. - fprintf(stderr, "Couldn't get 3D coordinates: %s\n", err);
  10859. - pmdClose(hnd);
  10860. - return;
  10861. - }
  10862. - xyzMap = cv::Mat(xyzMap.size(), xyzMap.type(), dists);
  10863. - //std::cout << "nrows: " << xyzMap.rows << std::endl;
  10864. - //std::cout << "ncols: " << xyzMap.cols << std::endl;
  10865. -}
  10866. -
  10867. -/***
  10868. -Reads the amplitude data from the sensor and fills in the matrix
  10869. -***/
  10870. -void PMDCamera::fillInAmps()
  10871. -{
  10872. - int res = pmdGetAmplitudes(hnd, amps, numPixels * sizeof(float));
  10873. - //float * dataPtr = amps;
  10874. - if (res != PMD_OK) {
  10875. - pmdGetLastError(hnd, err, 128);
  10876. - fprintf(stderr, "Couldn't get amplitudes: %s\n", err);
  10877. - pmdClose(hnd);
  10878. - return;
  10879. - }
  10880. - ampMap.data = (uchar *)amps;
  10881. -}
  10882. -
  10883. -/***
  10884. -Returns the X value at (i, j)
  10885. -***/
  10886. -float PMDCamera::getX(int i, int j) const
  10887. -{
  10888. - int flat = j * dd.img.numColumns * 3 + i * 3;
  10889. - return dists[flat];
  10890. -}
  10891. -
  10892. -/***
  10893. -Returns the Y value at (i, j)
  10894. -***/
  10895. -float PMDCamera::getY(int i, int j) const
  10896. -{
  10897. - int flat = j * dd.img.numColumns * 3 + i * 3;
  10898. - return dists[flat + 1];
  10899. -}
  10900. -
  10901. -/***
  10902. -Returns the Z value at (i, j)
  10903. -***/
  10904. -float PMDCamera::getZ(int i, int j) const
  10905. -{
  10906. - int flat = j * dd.img.numColumns * 3 + i * 3;
  10907. - return dists[flat + 2];
  10908. +#include "PMDCamera.h"
  10909. +
  10910. +/***
  10911. +Private constructor for the PMD depth sensor
  10912. +***/
  10913. +PMDCamera::PMDCamera(bool use_live_sensor)
  10914. +{
  10915. + CONFIDENCE_THRESHHOLD = (60.0f / 255.0f*500.0f);
  10916. + INVALID_FLAG_VALUE = PMD_FLAG_INVALID;
  10917. + X_DIMENSION = 176;
  10918. + Y_DIMENSION = 120;
  10919. +
  10920. + if (!use_live_sensor) {
  10921. + return;
  10922. + }
  10923. +
  10924. + int res;
  10925. + std::cout << "Trying to open pmd\n";
  10926. + res = pmdOpen(&hnd, SOURCE_PLUGIN, SOURCE_PARAM, PROC_PLUGIN, PROC_PARAM); //Open the PMD sensor
  10927. + if (res != PMD_OK)
  10928. + {
  10929. + pmdGetLastError(0, err, 128);
  10930. + fprintf(stderr, "Could not connect: %s\n", err);
  10931. + return;
  10932. + }
  10933. + printf("opened sensor\n");
  10934. +
  10935. + // Updating the sensor is necessary before any data can be retrieved
  10936. + res = pmdUpdate(hnd);
  10937. + if (res != PMD_OK)
  10938. + {
  10939. + pmdGetLastError(hnd, err, 128);
  10940. + fprintf(stderr, "Couldn't transfer data: %s\n", err);
  10941. + pmdClose(hnd);
  10942. + return;
  10943. + }
  10944. + printf("acquired image\n");
  10945. +
  10946. + // res: Structure which contains various meta-information about the data delivered by your Nano.
  10947. + // It is advisabe to always use the data delivered by this struct (for example the width and height of the imager
  10948. + // and the image format). Please refer to the PMSDSK documentation for more information
  10949. + res = pmdGetSourceDataDescription(hnd, &dd);
  10950. + if (res != PMD_OK)
  10951. + {
  10952. + pmdGetLastError(hnd, err, 128);
  10953. + fprintf(stderr, "Couldn't get data description: %s\n", err);
  10954. + pmdClose(hnd);
  10955. + return;
  10956. + }
  10957. +
  10958. + printf("retrieved source data description\n");
  10959. + if (dd.subHeaderType != PMD_IMAGE_DATA)
  10960. + {
  10961. + fprintf(stderr, "Source data is not an image!\n");
  10962. + pmdClose(hnd);
  10963. + return;
  10964. + }
  10965. +
  10966. + numPixels = dd.img.numRows * dd.img.numColumns; // Number of pixels in camera
  10967. + dists = new float[3 * numPixels]; // Dists contains XYZ values. needs to be 3x the size of numPixels
  10968. + amps = new float[numPixels];
  10969. + frame = cvCreateImage(cvSize(dd.img.numColumns, dd.img.numRows), 8, 3); // Create the frame
  10970. +
  10971. + KF.init(6, 3, 0);
  10972. + KF.transitionMatrix = (cv::Mat_<float>(6, 6) << 1, 0, 0, 1, 0, 0,
  10973. + 0, 1, 0, 0, 1, 0,
  10974. + 0, 0, 1, 0, 0, 1,
  10975. + 0, 0, 0, 1, 0, 0,
  10976. + 0, 0, 0, 0, 1, 0,
  10977. + 0, 0, 0, 0, 0, 1);
  10978. + measurement = cv::Mat_<float>::zeros(3, 1);
  10979. +
  10980. + //Initaite Kalman
  10981. + KF.statePre.setTo(0);
  10982. + setIdentity(KF.measurementMatrix);
  10983. + setIdentity(KF.processNoiseCov, cv::Scalar::all(.001)); // Adjust this for faster convergence - but higher noise
  10984. + setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-1));
  10985. + setIdentity(KF.errorCovPost, cv::Scalar::all(.1));
  10986. +}
  10987. +
  10988. +/***
  10989. +Public deconstructor for he PMD depth sensor
  10990. +***/
  10991. +PMDCamera::~PMDCamera() {}
  10992. +
  10993. +void PMDCamera::destroyInstance()
  10994. +{
  10995. + printf("closing sensor\n");
  10996. + pmdClose(hnd);
  10997. + printf("sensor closed\n");
  10998. +}
  10999. +
  11000. +/***
  11001. +Create xyzMap, zMap, ampMap, and flagMap from sensor input
  11002. +***/
  11003. +void PMDCamera::update()
  11004. +{
  11005. + initilizeImages();
  11006. +
  11007. + fillInAmps();
  11008. + fillInZCoords();
  11009. + // Flags. Helps with denoising.
  11010. +
  11011. + unsigned *flags = new unsigned[ampMap.cols*ampMap.rows];
  11012. + int res = pmdGetFlags(hnd, flags, numPixels * sizeof(unsigned));
  11013. + flagMap.data = (uchar *)flags;
  11014. +
  11015. + pmdUpdate(hnd);
  11016. + delete(flags);
  11017. +
  11018. +}
  11019. +
  11020. +
  11021. +/***
  11022. +Reads the depth data from the sensor and fills in the matrix
  11023. +***/
  11024. +void PMDCamera::fillInZCoords()
  11025. +{
  11026. + int res = pmdGet3DCoordinates(hnd, dists, 3 * numPixels * sizeof(float)); //store x,y,z coordinates dists (type: float*)
  11027. + //float * zCoords = new float[1]; //store z-Coordinates of dists in zCoords
  11028. + xyzMap = cv::Mat(xyzMap.size(), xyzMap.type(), dists);
  11029. +}
  11030. +
  11031. +/***
  11032. +Reads the amplitude data from the sensor and fills in the matrix
  11033. +***/
  11034. +void PMDCamera::fillInAmps()
  11035. +{
  11036. + int res = pmdGetAmplitudes(hnd, amps, numPixels * sizeof(float));
  11037. + //float * dataPtr = amps;
  11038. + ampMap.data = (uchar *)amps;
  11039. +}
  11040. +
  11041. +/***
  11042. +Returns the X value at (i, j)
  11043. +***/
  11044. +float PMDCamera::getX(int i, int j) const
  11045. +{
  11046. + int flat = j * dd.img.numColumns * 3 + i * 3;
  11047. + return dists[flat];
  11048. +}
  11049. +
  11050. +/***
  11051. +Returns the Y value at (i, j)
  11052. +***/
  11053. +float PMDCamera::getY(int i, int j) const
  11054. +{
  11055. + int flat = j * dd.img.numColumns * 3 + i * 3;
  11056. + return dists[flat + 1];
  11057. +}
  11058. +
  11059. +/***
  11060. +Returns the Z value at (i, j)
  11061. +***/
  11062. +float PMDCamera::getZ(int i, int j) const
  11063. +{
  11064. + int flat = j * dd.img.numColumns * 3 + i * 3;
  11065. + return dists[flat + 2];
  11066. }
  11067. \ No newline at end of file
  11068. diff --git a/PMDCamera.h b/PMDCamera.h
  11069. index d4930fc..373c1f3 100644
  11070. --- a/PMDCamera.h
  11071. +++ b/PMDCamera.h
  11072. @@ -1,107 +1,107 @@
  11073. -#pragma once
  11074. -// C++ Libraries
  11075. -#include<string.h>
  11076. -
  11077. -// PMD Libraries
  11078. -#include <pmdsdk2.h>
  11079. -
  11080. -// OpenCV Libraries
  11081. -#include <opencv/cxcore.h>
  11082. -#include <opencv/highgui.h>
  11083. -#include "opencv2/highgui/highgui.hpp"
  11084. -#include <opencv2/video/tracking.hpp>
  11085. -#include "opencv2/imgproc/imgproc.hpp"
  11086. -#include <opencv2/objdetect/objdetect.hpp>
  11087. -#include <opencv2/features2d/features2d.hpp>
  11088. -
  11089. -// OpenARK Libraries
  11090. -#include "DepthCamera.h"
  11091. -
  11092. -/**
  11093. -* Class defining the behavior of a PMD Camera.
  11094. -* Example on how to read from sensor and visualize its output
  11095. -* @include SensorIO.cpp
  11096. -*/
  11097. -class PMDCamera : public DepthCamera
  11098. -{
  11099. -public:
  11100. - /**
  11101. - * Public constructor initializing the PMD Camera.
  11102. - * @param use_live_sensor uses input from real sensor if TRUE. Otherwise reads from input file. Default is set to TRUE.
  11103. - */
  11104. - PMDCamera(bool use_live_sensor = true);
  11105. -
  11106. - /**
  11107. - * Deconstructor for the PMD Camera.
  11108. - */
  11109. - ~PMDCamera();
  11110. -
  11111. - /**
  11112. - * Gets new frame from sensor.
  11113. - * Updates xyzMap, ampMap, and flagMap. Resets clusters.
  11114. - */
  11115. - void update();
  11116. -
  11117. - /**
  11118. - * Gracefully closes the PMD camera.
  11119. - */
  11120. - void destroyInstance();
  11121. -
  11122. -private:
  11123. - /**
  11124. - * Getter method for the x-coordinate at (i,j).
  11125. - * @param i ith row
  11126. - * @param j jth column
  11127. - * @return x-coodinate at (i,j)
  11128. - */
  11129. - float getX(int i, int j) const;
  11130. -
  11131. - /**
  11132. - * Getter method for the x-coordinate at (i,j).
  11133. - * @param i ith row
  11134. - * @param j jth column
  11135. - * @return x-coodinate at (i,j)
  11136. - */
  11137. - float getY(int i, int j) const;
  11138. -
  11139. - /**
  11140. - * Getter method for the x-coordinate at (i,j).
  11141. - * @param i ith row
  11142. - * @param j jth column
  11143. - * @return x-coodinate at (i,j)
  11144. - */
  11145. - float getZ(int i, int j) const;
  11146. -
  11147. - /**
  11148. - * Update the z-coordinates of the xyzMap.
  11149. - */
  11150. - void fillInZCoords();
  11151. -
  11152. - /**
  11153. - * Update the values in the ampMap.
  11154. - */
  11155. - void fillInAmps();
  11156. -
  11157. - //Private Variable
  11158. - const char* SOURCE_PLUGIN = "camboardpico";
  11159. - const char* SOURCE_PARAM = "";
  11160. - const char* PROC_PLUGIN = "camboardpicoproc";
  11161. - const char* PROC_PARAM = "";
  11162. -
  11163. - PMDHandle hnd;
  11164. - PMDDataDescription dd;
  11165. - char err[128]; // Char array for storing PMD's error log
  11166. -
  11167. - int numPixels;
  11168. - float* dists;
  11169. - float* amps;
  11170. -
  11171. - cv::Mat frame;
  11172. - cv::KalmanFilter KF;
  11173. - cv::Mat_<float> measurement;
  11174. -};
  11175. -
  11176. -/*
  11177. -* \include SensorIO.cpp
  11178. -* Example of how to read from sensor
  11179. +#pragma once
  11180. +// C++ Libraries
  11181. +#include<string.h>
  11182. +
  11183. +// PMD Libraries
  11184. +#include <pmdsdk2.h>
  11185. +
  11186. +// OpenCV Libraries
  11187. +#include <opencv/cxcore.h>
  11188. +#include <opencv/highgui.h>
  11189. +#include "opencv2/highgui/highgui.hpp"
  11190. +#include <opencv2/video/tracking.hpp>
  11191. +#include "opencv2/imgproc/imgproc.hpp"
  11192. +#include <opencv2/objdetect/objdetect.hpp>
  11193. +#include <opencv2/features2d/features2d.hpp>
  11194. +
  11195. +// OpenARK Libraries
  11196. +#include "DepthCamera.h"
  11197. +
  11198. +/**
  11199. +* Class defining the behavior of a PMD Camera.
  11200. +* Example on how to read from sensor and visualize its output
  11201. +* @include SensorIO.cpp
  11202. +*/
  11203. +class PMDCamera : public DepthCamera
  11204. +{
  11205. +public:
  11206. + /**
  11207. + * Public constructor initializing the PMD Camera.
  11208. + * @param use_live_sensor uses input from real sensor if TRUE. Otherwise reads from input file. Default is set to TRUE.
  11209. + */
  11210. + PMDCamera(bool use_live_sensor = true);
  11211. +
  11212. + /**
  11213. + * Deconstructor for the PMD Camera.
  11214. + */
  11215. + ~PMDCamera();
  11216. +
  11217. + /**
  11218. + * Gets new frame from sensor.
  11219. + * Updates xyzMap, ampMap, and flagMap. Resets clusters.
  11220. + */
  11221. + void update();
  11222. +
  11223. + /**
  11224. + * Gracefully closes the PMD camera.
  11225. + */
  11226. + void destroyInstance();
  11227. +
  11228. +private:
  11229. + /**
  11230. + * Getter method for the x-coordinate at (i,j).
  11231. + * @param i ith row
  11232. + * @param j jth column
  11233. + * @return x-coodinate at (i,j)
  11234. + */
  11235. + float getX(int i, int j) const;
  11236. +
  11237. + /**
  11238. + * Getter method for the x-coordinate at (i,j).
  11239. + * @param i ith row
  11240. + * @param j jth column
  11241. + * @return x-coodinate at (i,j)
  11242. + */
  11243. + float getY(int i, int j) const;
  11244. +
  11245. + /**
  11246. + * Getter method for the x-coordinate at (i,j).
  11247. + * @param i ith row
  11248. + * @param j jth column
  11249. + * @return x-coodinate at (i,j)
  11250. + */
  11251. + float getZ(int i, int j) const;
  11252. +
  11253. + /**
  11254. + * Update the z-coordinates of the xyzMap.
  11255. + */
  11256. + void fillInZCoords();
  11257. +
  11258. + /**
  11259. + * Update the values in the ampMap.
  11260. + */
  11261. + void fillInAmps();
  11262. +
  11263. + //Private Variable
  11264. + const char* SOURCE_PLUGIN = "camboardpico";
  11265. + const char* SOURCE_PARAM = "";
  11266. + const char* PROC_PLUGIN = "camboardpicoproc";
  11267. + const char* PROC_PARAM = "";
  11268. +
  11269. + PMDHandle hnd;
  11270. + PMDDataDescription dd;
  11271. + char err[128]; // Char array for storing PMD's error log
  11272. +
  11273. + int numPixels;
  11274. + float* dists;
  11275. + float* amps;
  11276. +
  11277. + IplImage * frame;
  11278. + cv::KalmanFilter KF;
  11279. + cv::Mat_<float> measurement;
  11280. +};
  11281. +
  11282. +/*
  11283. +* \include SensorIO.cpp
  11284. +* Example of how to read from sensor
  11285. */
  11286. \ No newline at end of file
  11287. diff --git a/Plane.cpp b/Plane.cpp
  11288. index e21a5fb..370135d 100644
  11289. --- a/Plane.cpp
  11290. +++ b/Plane.cpp
  11291. @@ -1,276 +1,276 @@
  11292. -#include "Plane.h"
  11293. -
  11294. -Plane::Plane()
  11295. -{
  11296. -
  11297. -}
  11298. -
  11299. -Plane::Plane(cv::Mat &src)
  11300. -{
  11301. - // Initialize Variables
  11302. - cloud = new pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud <pcl::PointXYZ>);
  11303. - normals = new pcl::PointCloud <pcl::Normal>::Ptr(new pcl::PointCloud <pcl::Normal>);
  11304. - down_cloud = new pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
  11305. - down_normals = new pcl::PointCloud<pcl::Normal>::Ptr(new pcl::PointCloud<pcl::Normal>);
  11306. - upsampled_colored_cloud = new pcl::PointCloud<pcl::PointXYZRGB>::Ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
  11307. -
  11308. - initializeCloud(src);
  11309. -
  11310. - if (cloud->get()->width < CLOUD_SIZE_THRESHOLD) {
  11311. - return;
  11312. - }
  11313. -
  11314. - compute();
  11315. -}
  11316. -
  11317. -Plane::~Plane() {
  11318. -}
  11319. -
  11320. -int Plane::compute()
  11321. -{
  11322. - voxelDownsample();
  11323. -
  11324. - // calculate normals
  11325. - pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> normal_estimator;
  11326. - pcl::search::Search<pcl::PointXYZ>::Ptr tree
  11327. - = boost::shared_ptr<pcl::search::Search<pcl::PointXYZ> >(new pcl::search::KdTree<pcl::PointXYZ>);
  11328. - calculateNormals(normal_estimator, tree);
  11329. -
  11330. - // region grow with normals
  11331. - pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;
  11332. - regionGrow(reg, tree);
  11333. -
  11334. - // find index of dominant plane
  11335. - int index_max = -1;
  11336. - for (int i = 0; i < clusters.size(); i++) {
  11337. - if (index_max == -1 || clusters[i].indices.size() > clusters[index_max].indices.size()) {
  11338. - index_max = i;
  11339. - }
  11340. - }
  11341. - if (index_max == -1) {
  11342. - return -1;
  11343. - }
  11344. -
  11345. - computePlaneLSE(clusters[index_max]);
  11346. - computeSphereLSE(clusters[index_max]);
  11347. -
  11348. - num_plane_points = computePlaneIndices();
  11349. - num_sphere_points = computeSphereIndices();
  11350. -
  11351. - return 0;
  11352. -}
  11353. -
  11354. -void Plane::computePlaneLSE(pcl::PointIndices &ind)
  11355. -{
  11356. - Eigen::MatrixXd A(ind.indices.size(), 3);
  11357. - Eigen::MatrixXd b(ind.indices.size(), 1);
  11358. -
  11359. - for (int i = 0; i < ind.indices.size(); i++) {
  11360. - int index = ind.indices[i];
  11361. - A(i, 0) = down_cloud->get()->points[index].x;
  11362. - A(i, 1) = down_cloud->get()->points[index].y;
  11363. - A(i, 2) = 1;
  11364. - b(i, 0) = down_cloud->get()->points[index].z;
  11365. - }
  11366. -
  11367. - Eigen::MatrixXd mul = A.transpose() * A;
  11368. - Eigen::MatrixXd inv = mul.inverse();
  11369. - Eigen::MatrixXd b_hat = A.transpose() * b;
  11370. - Eigen::MatrixXd vals = inv * b_hat;
  11371. -
  11372. - plane_equation.clear();
  11373. - plane_equation.resize(3);
  11374. - plane_equation[0] = vals(0, 0);
  11375. - plane_equation[1] = vals(1, 0);
  11376. - plane_equation[2] = vals(2, 0);
  11377. -}
  11378. -
  11379. -void Plane::computeSphereLSE( pcl::PointIndices &ind)
  11380. -{
  11381. - Eigen::MatrixXd A(ind.indices.size(), 4);
  11382. - Eigen::MatrixXd b(ind.indices.size(), 1);
  11383. -
  11384. - for (int i = 0; i < ind.indices.size(); i++) {
  11385. - int index = ind.indices[i];
  11386. - A(i, 0) = 1;
  11387. - A(i, 1) = down_cloud->get()->points[index].x;
  11388. - A(i, 2) = down_cloud->get()->points[index].y;
  11389. - A(i, 3) = down_cloud->get()->points[index].z;
  11390. - b(i, 0) = down_cloud->get()->points[index].x * down_cloud->get()->points[index].x +
  11391. - down_cloud->get()->points[index].y * down_cloud->get()->points[index].y +
  11392. - down_cloud->get()->points[index].z * down_cloud->get()->points[index].z;
  11393. - }
  11394. -
  11395. - Eigen::MatrixXd mul = A.transpose() * A;
  11396. - Eigen::MatrixXd inv = mul.inverse();
  11397. - Eigen::MatrixXd b_hat = A.transpose() * b;
  11398. - Eigen::MatrixXd vals = inv * b_hat;
  11399. -
  11400. - double a0 = vals(0, 0);
  11401. - double coef_a = vals(1, 0) / 2;
  11402. - double coef_b = vals(2, 0) / 2;
  11403. - double coef_c = vals(3, 0) / 2;
  11404. - double radius = sqrt(a0 + coef_a * coef_a + coef_b * coef_b + coef_c * coef_c);
  11405. -
  11406. - sphere_equation.clear();
  11407. - sphere_equation.resize(4);
  11408. - sphere_equation[0] = coef_a;
  11409. - sphere_equation[1] = coef_b;
  11410. - sphere_equation[2] = coef_c;
  11411. - sphere_equation[3] = radius;
  11412. -}
  11413. -
  11414. -int Plane::computePlaneIndices()
  11415. -{
  11416. - int rowSize = depth_img.rows;
  11417. - int colSize = depth_img.cols;
  11418. - plane_indices.clear();
  11419. - int num_points_detected = 0;
  11420. - for (int r = 0; r < rowSize; r++) {
  11421. - for (int c = 0; c < colSize; c++) {
  11422. - double x = depth_img.at<cv::Vec3f>(r, c)[0];
  11423. - double y = depth_img.at<cv::Vec3f>(r, c)[1];
  11424. - double z = depth_img.at<cv::Vec3f>(r, c)[2];
  11425. -
  11426. - if (z > 0) {
  11427. - double z_hat = plane_equation[0] * x + plane_equation[1] * y + plane_equation[2];
  11428. - double r_squared = (z - z_hat) * (z - z_hat);
  11429. -
  11430. - if (r_squared < R_SQUARED_DISTANCE_THRESHOLD) {
  11431. - plane_indices.push_back(cv::Point2i(c, r));
  11432. - num_points_detected++;
  11433. - }
  11434. - }
  11435. - }
  11436. - }
  11437. - return num_points_detected;
  11438. -}
  11439. -
  11440. -int Plane::computeSphereIndices()
  11441. -{
  11442. - int rowSize = depth_img.rows;
  11443. - int colSize = depth_img.cols;
  11444. - sphere_indices.clear();
  11445. - int pointsDetected = 0;
  11446. - for (int r = 0; r < rowSize; r++) {
  11447. - for (int c = 0; c < colSize; c++) {
  11448. - double x = depth_img.at<cv::Vec3f>(r, c)[0];
  11449. - double y = depth_img.at<cv::Vec3f>(r, c)[1];
  11450. - double z = depth_img.at<cv::Vec3f>(r, c)[2];
  11451. -
  11452. - if (z > 0) {
  11453. - double radius = sqrt((x - sphere_equation[0]) * (x - sphere_equation[0])
  11454. - + (y - sphere_equation[1]) * (y - sphere_equation[1])
  11455. - + (z - sphere_equation[2]) * (z - sphere_equation[2]));
  11456. - double radial_r_squared = (radius - sphere_equation[3]) * (radius - sphere_equation[3]);
  11457. -
  11458. - if (radial_r_squared < R_SQUARED_DISTANCE_THRESHOLD) {
  11459. - sphere_indices.push_back(cv::Point2i(c, r));
  11460. - pointsDetected++;
  11461. - }
  11462. - }
  11463. - }
  11464. - }
  11465. - return pointsDetected;
  11466. -}
  11467. -
  11468. -void Plane::regionGrow(pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> &reg, pcl::search::Search<pcl::PointXYZ>::Ptr tree)
  11469. -{
  11470. - if (down_cloud->get()->width < 100 && down_normals->get()->width < 100) {
  11471. - return;
  11472. - }
  11473. -
  11474. - reg.setMinClusterSize(20);
  11475. - reg.setMaxClusterSize(1000000);
  11476. - reg.setSearchMethod(tree);
  11477. - reg.setNumberOfNeighbours(30);
  11478. - reg.setInputCloud(*down_cloud);
  11479. - reg.setInputNormals(*down_normals);
  11480. - reg.setSmoothnessThreshold(3.0 / 180.0 * M_PI);
  11481. - reg.setCurvatureThreshold(2.5);
  11482. - reg.extract(clusters);
  11483. -}
  11484. -
  11485. -void Plane::voxelDownsample()
  11486. -{
  11487. - pcl::PCLPointCloud2::Ptr temp_cloud(new pcl::PCLPointCloud2());
  11488. - pcl::PCLPointCloud2::Ptr cloud_filtered(new pcl::PCLPointCloud2());
  11489. - pcl::toPCLPointCloud2(*cloud->get(), *temp_cloud);
  11490. -
  11491. - pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
  11492. - sor.setInputCloud(temp_cloud);
  11493. - sor.setLeafSize(0.01f, 0.01f, 0.01f);
  11494. - sor.filter(*cloud_filtered);
  11495. - pcl::fromPCLPointCloud2(*cloud_filtered, *down_cloud->get());
  11496. -}
  11497. -
  11498. -void Plane::calculateNormals(pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> normal_estimator,
  11499. - pcl::search::Search<pcl::PointXYZ>::Ptr tree)
  11500. -{
  11501. - normal_estimator.setNumberOfThreads(NUM_CORES);
  11502. - normal_estimator.setSearchMethod(tree);
  11503. - normal_estimator.setInputCloud(*down_cloud);
  11504. - normal_estimator.setKSearch(50);
  11505. - normal_estimator.compute(*down_normals->get());
  11506. -}
  11507. -
  11508. -void Plane::initializeCloud(cv::Mat &src)
  11509. -{
  11510. - depth_img = src.clone();
  11511. - int rowSize = src.rows;
  11512. - int colSize = src.cols;
  11513. - int cloudSize = 0;
  11514. - for (size_t r = 0; r < rowSize; r++) {
  11515. - for (size_t c = 0; c < colSize; c++) {
  11516. - if (src.at<cv::Vec3f>(r, c)[2] != 0) {
  11517. - cloudSize++;
  11518. - }
  11519. - }
  11520. - }
  11521. - cloud->get()->width = cloudSize;
  11522. - cloud->get()->height = 1;
  11523. - cloud->get()->points.resize(cloud->get()->width * cloud->get()->height);
  11524. -
  11525. - int index = 0;
  11526. - for (size_t r = 0; r < rowSize; r++) {
  11527. - for (size_t c = 0; c < colSize; c++) {
  11528. - if (src.at<cv::Vec3f>(r, c)[2] != 0) {
  11529. - cloud->get()->points[index].x = src.at<cv::Vec3f>(r, c)[0];
  11530. - cloud->get()->points[index].y = src.at<cv::Vec3f>(r, c)[1];
  11531. - cloud->get()->points[index].z = src.at<cv::Vec3f>(r, c)[2];
  11532. - index++;
  11533. - }
  11534. - }
  11535. - }
  11536. -
  11537. -}
  11538. -
  11539. -pcl::PointCloud<pcl::PointXYZ>::Ptr Plane::getCloud()
  11540. -{
  11541. - return *cloud;
  11542. -}
  11543. -
  11544. -pcl::PointCloud<pcl::PointXYZ>::Ptr Plane::getDownCloud()
  11545. -{
  11546. - return *down_cloud;
  11547. -}
  11548. -
  11549. -std::vector<double> Plane::getPlaneEquation()
  11550. -{
  11551. - return plane_equation;
  11552. -}
  11553. -
  11554. -std::vector<double> Plane::getSphereEquation()
  11555. -{
  11556. - return sphere_equation;
  11557. -}
  11558. -
  11559. -std::vector<cv::Point2i> Plane::getPlaneIndicies()
  11560. -{
  11561. - return plane_indices;
  11562. -}
  11563. -
  11564. -std::vector<cv::Point2i> Plane::getSphereIndices()
  11565. -{
  11566. - return sphere_indices;
  11567. +#include "Plane.h"
  11568. +
  11569. +Plane::Plane()
  11570. +{
  11571. +
  11572. +}
  11573. +
  11574. +Plane::Plane(cv::Mat &src)
  11575. +{
  11576. + // Initialize Variables
  11577. + cloud = new pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud <pcl::PointXYZ>);
  11578. + normals = new pcl::PointCloud <pcl::Normal>::Ptr(new pcl::PointCloud <pcl::Normal>);
  11579. + down_cloud = new pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
  11580. + down_normals = new pcl::PointCloud<pcl::Normal>::Ptr(new pcl::PointCloud<pcl::Normal>);
  11581. + upsampled_colored_cloud = new pcl::PointCloud<pcl::PointXYZRGB>::Ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
  11582. +
  11583. + initializeCloud(src);
  11584. +
  11585. + if (cloud->get()->width < CLOUD_SIZE_THRESHOLD) {
  11586. + return;
  11587. + }
  11588. +
  11589. + compute();
  11590. +}
  11591. +
  11592. +Plane::~Plane() {
  11593. +}
  11594. +
  11595. +int Plane::compute()
  11596. +{
  11597. + voxelDownsample();
  11598. +
  11599. + // calculate normals
  11600. + pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> normal_estimator;
  11601. + pcl::search::Search<pcl::PointXYZ>::Ptr tree
  11602. + = boost::shared_ptr<pcl::search::Search<pcl::PointXYZ> >(new pcl::search::KdTree<pcl::PointXYZ>);
  11603. + calculateNormals(normal_estimator, tree);
  11604. +
  11605. + // region grow with normals
  11606. + pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;
  11607. + regionGrow(reg, tree);
  11608. +
  11609. + // find index of dominant plane
  11610. + int index_max = -1;
  11611. + for (int i = 0; i < clusters.size(); i++) {
  11612. + if (index_max == -1 || clusters[i].indices.size() > clusters[index_max].indices.size()) {
  11613. + index_max = i;
  11614. + }
  11615. + }
  11616. + if (index_max == -1) {
  11617. + return -1;
  11618. + }
  11619. +
  11620. + computePlaneLSE(clusters[index_max]);
  11621. + computeSphereLSE(clusters[index_max]);
  11622. +
  11623. + num_plane_points = computePlaneIndices();
  11624. + num_sphere_points = computeSphereIndices();
  11625. +
  11626. + return 0;
  11627. +}
  11628. +
  11629. +void Plane::computePlaneLSE(pcl::PointIndices &ind)
  11630. +{
  11631. + Eigen::MatrixXd A(ind.indices.size(), 3);
  11632. + Eigen::MatrixXd b(ind.indices.size(), 1);
  11633. +
  11634. + for (int i = 0; i < ind.indices.size(); i++) {
  11635. + int index = ind.indices[i];
  11636. + A(i, 0) = down_cloud->get()->points[index].x;
  11637. + A(i, 1) = down_cloud->get()->points[index].y;
  11638. + A(i, 2) = 1;
  11639. + b(i, 0) = down_cloud->get()->points[index].z;
  11640. + }
  11641. +
  11642. + Eigen::MatrixXd mul = A.transpose() * A;
  11643. + Eigen::MatrixXd inv = mul.inverse();
  11644. + Eigen::MatrixXd b_hat = A.transpose() * b;
  11645. + Eigen::MatrixXd vals = inv * b_hat;
  11646. +
  11647. + plane_equation.clear();
  11648. + plane_equation.resize(3);
  11649. + plane_equation[0] = vals(0, 0);
  11650. + plane_equation[1] = vals(1, 0);
  11651. + plane_equation[2] = vals(2, 0);
  11652. +}
  11653. +
  11654. +void Plane::computeSphereLSE( pcl::PointIndices &ind)
  11655. +{
  11656. + Eigen::MatrixXd A(ind.indices.size(), 4);
  11657. + Eigen::MatrixXd b(ind.indices.size(), 1);
  11658. +
  11659. + for (int i = 0; i < ind.indices.size(); i++) {
  11660. + int index = ind.indices[i];
  11661. + A(i, 0) = 1;
  11662. + A(i, 1) = down_cloud->get()->points[index].x;
  11663. + A(i, 2) = down_cloud->get()->points[index].y;
  11664. + A(i, 3) = down_cloud->get()->points[index].z;
  11665. + b(i, 0) = down_cloud->get()->points[index].x * down_cloud->get()->points[index].x +
  11666. + down_cloud->get()->points[index].y * down_cloud->get()->points[index].y +
  11667. + down_cloud->get()->points[index].z * down_cloud->get()->points[index].z;
  11668. + }
  11669. +
  11670. + Eigen::MatrixXd mul = A.transpose() * A;
  11671. + Eigen::MatrixXd inv = mul.inverse();
  11672. + Eigen::MatrixXd b_hat = A.transpose() * b;
  11673. + Eigen::MatrixXd vals = inv * b_hat;
  11674. +
  11675. + double a0 = vals(0, 0);
  11676. + double coef_a = vals(1, 0) / 2;
  11677. + double coef_b = vals(2, 0) / 2;
  11678. + double coef_c = vals(3, 0) / 2;
  11679. + double radius = sqrt(a0 + coef_a * coef_a + coef_b * coef_b + coef_c * coef_c);
  11680. +
  11681. + sphere_equation.clear();
  11682. + sphere_equation.resize(4);
  11683. + sphere_equation[0] = coef_a;
  11684. + sphere_equation[1] = coef_b;
  11685. + sphere_equation[2] = coef_c;
  11686. + sphere_equation[3] = radius;
  11687. +}
  11688. +
  11689. +int Plane::computePlaneIndices()
  11690. +{
  11691. + int rowSize = depth_img.rows;
  11692. + int colSize = depth_img.cols;
  11693. + plane_indices.clear();
  11694. + int num_points_detected = 0;
  11695. + for (int r = 0; r < rowSize; r++) {
  11696. + for (int c = 0; c < colSize; c++) {
  11697. + double x = depth_img.at<cv::Vec3f>(r, c)[0];
  11698. + double y = depth_img.at<cv::Vec3f>(r, c)[1];
  11699. + double z = depth_img.at<cv::Vec3f>(r, c)[2];
  11700. +
  11701. + if (z > 0) {
  11702. + double z_hat = plane_equation[0] * x + plane_equation[1] * y + plane_equation[2];
  11703. + double r_squared = (z - z_hat) * (z - z_hat);
  11704. +
  11705. + if (r_squared < R_SQUARED_DISTANCE_THRESHOLD) {
  11706. + plane_indices.push_back(cv::Point2i(c, r));
  11707. + num_points_detected++;
  11708. + }
  11709. + }
  11710. + }
  11711. + }
  11712. + return num_points_detected;
  11713. +}
  11714. +
  11715. +int Plane::computeSphereIndices()
  11716. +{
  11717. + int rowSize = depth_img.rows;
  11718. + int colSize = depth_img.cols;
  11719. + sphere_indices.clear();
  11720. + int pointsDetected = 0;
  11721. + for (int r = 0; r < rowSize; r++) {
  11722. + for (int c = 0; c < colSize; c++) {
  11723. + double x = depth_img.at<cv::Vec3f>(r, c)[0];
  11724. + double y = depth_img.at<cv::Vec3f>(r, c)[1];
  11725. + double z = depth_img.at<cv::Vec3f>(r, c)[2];
  11726. +
  11727. + if (z > 0) {
  11728. + double radius = sqrt((x - sphere_equation[0]) * (x - sphere_equation[0])
  11729. + + (y - sphere_equation[1]) * (y - sphere_equation[1])
  11730. + + (z - sphere_equation[2]) * (z - sphere_equation[2]));
  11731. + double radial_r_squared = (radius - sphere_equation[3]) * (radius - sphere_equation[3]);
  11732. +
  11733. + if (radial_r_squared < R_SQUARED_DISTANCE_THRESHOLD) {
  11734. + sphere_indices.push_back(cv::Point2i(c, r));
  11735. + pointsDetected++;
  11736. + }
  11737. + }
  11738. + }
  11739. + }
  11740. + return pointsDetected;
  11741. +}
  11742. +
  11743. +void Plane::regionGrow(pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> &reg, pcl::search::Search<pcl::PointXYZ>::Ptr tree)
  11744. +{
  11745. + if (down_cloud->get()->width < 100 && down_normals->get()->width < 100) {
  11746. + return;
  11747. + }
  11748. +
  11749. + reg.setMinClusterSize(20);
  11750. + reg.setMaxClusterSize(1000000);
  11751. + reg.setSearchMethod(tree);
  11752. + reg.setNumberOfNeighbours(30);
  11753. + reg.setInputCloud(*down_cloud);
  11754. + reg.setInputNormals(*down_normals);
  11755. + reg.setSmoothnessThreshold(3.0 / 180.0 * M_PI);
  11756. + reg.setCurvatureThreshold(2.5);
  11757. + reg.extract(clusters);
  11758. +}
  11759. +
  11760. +void Plane::voxelDownsample()
  11761. +{
  11762. + pcl::PCLPointCloud2::Ptr temp_cloud(new pcl::PCLPointCloud2());
  11763. + pcl::PCLPointCloud2::Ptr cloud_filtered(new pcl::PCLPointCloud2());
  11764. + pcl::toPCLPointCloud2(*cloud->get(), *temp_cloud);
  11765. +
  11766. + pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
  11767. + sor.setInputCloud(temp_cloud);
  11768. + sor.setLeafSize(0.01f, 0.01f, 0.01f);
  11769. + sor.filter(*cloud_filtered);
  11770. + pcl::fromPCLPointCloud2(*cloud_filtered, *down_cloud->get());
  11771. +}
  11772. +
  11773. +void Plane::calculateNormals(pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> normal_estimator,
  11774. + pcl::search::Search<pcl::PointXYZ>::Ptr tree)
  11775. +{
  11776. + normal_estimator.setNumberOfThreads(NUM_CORES);
  11777. + normal_estimator.setSearchMethod(tree);
  11778. + normal_estimator.setInputCloud(*down_cloud);
  11779. + normal_estimator.setKSearch(50);
  11780. + normal_estimator.compute(*down_normals->get());
  11781. +}
  11782. +
  11783. +void Plane::initializeCloud(cv::Mat &src)
  11784. +{
  11785. + depth_img = src.clone();
  11786. + int rowSize = src.rows;
  11787. + int colSize = src.cols;
  11788. + int cloudSize = 0;
  11789. + for (size_t r = 0; r < rowSize; r++) {
  11790. + for (size_t c = 0; c < colSize; c++) {
  11791. + if (src.at<cv::Vec3f>(r, c)[2] != 0) {
  11792. + cloudSize++;
  11793. + }
  11794. + }
  11795. + }
  11796. + cloud->get()->width = cloudSize;
  11797. + cloud->get()->height = 1;
  11798. + cloud->get()->points.resize(cloud->get()->width * cloud->get()->height);
  11799. +
  11800. + int index = 0;
  11801. + for (size_t r = 0; r < rowSize; r++) {
  11802. + for (size_t c = 0; c < colSize; c++) {
  11803. + if (src.at<cv::Vec3f>(r, c)[2] != 0) {
  11804. + cloud->get()->points[index].x = src.at<cv::Vec3f>(r, c)[0];
  11805. + cloud->get()->points[index].y = src.at<cv::Vec3f>(r, c)[1];
  11806. + cloud->get()->points[index].z = src.at<cv::Vec3f>(r, c)[2];
  11807. + index++;
  11808. + }
  11809. + }
  11810. + }
  11811. +
  11812. +}
  11813. +
  11814. +pcl::PointCloud<pcl::PointXYZ>::Ptr Plane::getCloud()
  11815. +{
  11816. + return *cloud;
  11817. +}
  11818. +
  11819. +pcl::PointCloud<pcl::PointXYZ>::Ptr Plane::getDownCloud()
  11820. +{
  11821. + return *down_cloud;
  11822. +}
  11823. +
  11824. +std::vector<double> Plane::getPlaneEquation()
  11825. +{
  11826. + return plane_equation;
  11827. +}
  11828. +
  11829. +std::vector<double> Plane::getSphereEquation()
  11830. +{
  11831. + return sphere_equation;
  11832. +}
  11833. +
  11834. +std::vector<cv::Point2i> Plane::getPlaneIndicies()
  11835. +{
  11836. + return plane_indices;
  11837. +}
  11838. +
  11839. +std::vector<cv::Point2i> Plane::getSphereIndices()
  11840. +{
  11841. + return sphere_indices;
  11842. }
  11843. \ No newline at end of file
  11844. diff --git a/Plane.h b/Plane.h
  11845. index a455f05..ac09874 100644
  11846. --- a/Plane.h
  11847. +++ b/Plane.h
  11848. @@ -1,171 +1,171 @@
  11849. -#pragma once
  11850. -// C++ Libraries
  11851. -#include <iostream>
  11852. -#include <cstdio>
  11853. -#include <ctime>
  11854. -
  11855. -// OpenCV Libaries
  11856. -#include <opencv2/highgui/highgui.hpp>
  11857. -#include <opencv2/core/core.hpp>
  11858. -#include <opencv2/imgproc/imgproc.hpp>
  11859. -
  11860. -// PCL Libaries
  11861. -#include <pcl/filters/voxel_grid.h>
  11862. -#include <pcl/point_types.h>
  11863. -#include <pcl/features/normal_3d.h>
  11864. -#include <pcl/io/pcd_io.h>
  11865. -#include <pcl/io/ply_io.h>
  11866. -#include <pcl/point_cloud.h>
  11867. -#include <pcl/console/parse.h>
  11868. -#include <pcl/common/transforms.h>
  11869. -#include <pcl/visualization/pcl_visualizer.h>
  11870. -#include <pcl/filters/passthrough.h>
  11871. -#include <pcl/features/integral_image_normal.h>
  11872. -#include <pcl/visualization/cloud_viewer.h>
  11873. -#include <pcl/segmentation/region_growing.h>
  11874. -#include <pcl/features/normal_3d_omp.h>
  11875. -
  11876. -/**
  11877. -* Class defining a plane object.
  11878. -* The plane object will be defined by its regression equation
  11879. -* Example on tracking hand and background plane object simulateously
  11880. -* @include HandandPlane.cpp
  11881. -*/
  11882. -class Plane {
  11883. -public:
  11884. - Plane();
  11885. -
  11886. - /**
  11887. - * Constructs a plane object from a unsegemented xyzMap.
  11888. - * @param [in] src the raw xyzMap.
  11889. - */
  11890. - Plane(cv::Mat &src);
  11891. -
  11892. - /**
  11893. - * Deconstructs the plane object.
  11894. - */
  11895. - ~Plane();
  11896. -
  11897. - /**
  11898. - * Initializes all the required point clouds.
  11899. - * @param [in] src the raw xyzMap
  11900. - */
  11901. - void initializeCloud(cv::Mat &src);
  11902. -
  11903. - /**
  11904. - * Returns the PCL representation of the xyzMap.
  11905. - * @return PCL point cloud
  11906. - */
  11907. - pcl::PointCloud<pcl::PointXYZ>::Ptr getCloud();
  11908. -
  11909. - /**
  11910. - * Returns the PCL representatino of a down sampled xyzMap.
  11911. - * @return down sampled PCL point cloud
  11912. - */
  11913. - pcl::PointCloud<pcl::PointXYZ>::Ptr getDownCloud();
  11914. -
  11915. - /**
  11916. - * Returns the planar regression equation of the identified plane.
  11917. - * @return coefficients for the planar regression equation
  11918. - */
  11919. - std::vector<double> getPlaneEquation();
  11920. -
  11921. - /**
  11922. - * Returns the sphereical regression equation of the identified plane.
  11923. - * @return coefficients for the sphereical regression equation
  11924. - */
  11925. - std::vector<double> getSphereEquation();
  11926. -
  11927. - /**
  11928. - * Returns the (i,j) indices for which the plane appears on the xyzMap.
  11929. - * @return vector of (i,j) coordinates defining the points that make up the plane on the xyzMap
  11930. - */
  11931. - std::vector<cv::Point2i> getPlaneIndicies();
  11932. -
  11933. - /**
  11934. - * Returns the (i,j) indices for which the plane appears on the xyzMap.
  11935. - * @return vector of (i,j) coordinates defining the points that make up the plane on the xyzMap
  11936. - */
  11937. - std::vector<cv::Point2i> getSphereIndices();
  11938. -
  11939. - /**
  11940. - * Maximum cloud size (pixel) allowed.
  11941. - */
  11942. - const int CLOUD_SIZE_THRESHOLD = 1000;
  11943. -
  11944. - /**
  11945. - * Maximum distance (mm) allowed between real point and regression equation.
  11946. - */
  11947. - const double R_SQUARED_DISTANCE_THRESHOLD = 0.0005;
  11948. -
  11949. -private:
  11950. - /**
  11951. - * Performs a series of computations to find the plane.
  11952. - */
  11953. - int compute();
  11954. -
  11955. - /**
  11956. - * Computes the normals at every point.
  11957. - * @param [in] normal_estimator a OMP instance of the normal estimator
  11958. - * @param [in] tree a KD-tree used by the normal estimator to preform neareest neighbor searches
  11959. - */
  11960. - void calculateNormals(pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> normal_estimator, pcl::search::Search<pcl::PointXYZ>::Ptr tree);
  11961. -
  11962. - /**
  11963. - * Down samples the cloud via a median filter.
  11964. - */
  11965. - void voxelDownsample();
  11966. -
  11967. - /**
  11968. - * Aggregates points with like normals.
  11969. - * @param [out] reg equation of the final plane
  11970. - * @param [in] tree KD-tree used for nearest neighbor search
  11971. - */
  11972. - void regionGrow(pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> &reg, pcl::search::Search<pcl::PointXYZ>::Ptr tree);
  11973. -
  11974. - /**
  11975. - * Compute a planar regression equation.
  11976. - * @param [in] ind all the points on the plane
  11977. - */
  11978. - void computePlaneLSE(pcl::PointIndices &ind);
  11979. -
  11980. - /**
  11981. - * Compute a sphereical regression equation.
  11982. - * @param [in] ind all the points on the plane
  11983. - */
  11984. - void computeSphereLSE(pcl::PointIndices &ind);
  11985. -
  11986. - /**
  11987. - * Compute all the (i,j) index of the plane points from the planar regression.
  11988. - */
  11989. - int computePlaneIndices();
  11990. -
  11991. - /**
  11992. - * Compute all the (i,j) index of the plane points from the sphereical regression.
  11993. - */
  11994. - int computeSphereIndices();
  11995. -
  11996. - int drawSphereRegressionPoints(cv::Mat &output_mat, cv::Mat &input_mat, std::vector<double> &equation,
  11997. - const int rowSize, const int colSize, const double threshold, bool clicked);
  11998. -
  11999. - // Private Variables
  12000. - pcl::PointCloud<pcl::PointXYZ>::Ptr *cloud;
  12001. - pcl::PointCloud <pcl::Normal>::Ptr *normals;
  12002. - pcl::PointCloud<pcl::PointXYZ>::Ptr *down_cloud;
  12003. - pcl::PointCloud<pcl::Normal>::Ptr *down_normals;
  12004. - pcl::PointCloud <pcl::PointXYZRGB>::Ptr *colored_cloud;
  12005. - pcl::PointCloud <pcl::PointXYZRGB>::Ptr *upsampled_colored_cloud;
  12006. - std::vector<pcl::PointIndices> clusters;
  12007. - std::vector<double> plane_equation;
  12008. - std::vector<double> sphere_equation;
  12009. - std::vector<cv::Point2i> plane_indices;
  12010. - std::vector<cv::Point2i> sphere_indices;
  12011. - cv::Mat sphere_mat;
  12012. - cv::Mat plane_mat;
  12013. - cv::Mat display_img;
  12014. - cv::Mat depth_img;
  12015. - int num_sphere_points;
  12016. - int num_plane_points;
  12017. -
  12018. - const int NUM_CORES = boost::thread::hardware_concurrency();
  12019. +#pragma once
  12020. +// C++ Libraries
  12021. +#include <iostream>
  12022. +#include <cstdio>
  12023. +#include <ctime>
  12024. +
  12025. +// OpenCV Libaries
  12026. +#include <opencv2/highgui/highgui.hpp>
  12027. +#include <opencv2/core/core.hpp>
  12028. +#include <opencv2/imgproc/imgproc.hpp>
  12029. +
  12030. +// PCL Libaries
  12031. +#include <pcl/filters/voxel_grid.h>
  12032. +#include <pcl/point_types.h>
  12033. +#include <pcl/features/normal_3d.h>
  12034. +#include <pcl/io/pcd_io.h>
  12035. +#include <pcl/io/ply_io.h>
  12036. +#include <pcl/point_cloud.h>
  12037. +#include <pcl/console/parse.h>
  12038. +#include <pcl/common/transforms.h>
  12039. +#include <pcl/visualization/pcl_visualizer.h>
  12040. +#include <pcl/filters/passthrough.h>
  12041. +#include <pcl/features/integral_image_normal.h>
  12042. +#include <pcl/visualization/cloud_viewer.h>
  12043. +#include <pcl/segmentation/region_growing.h>
  12044. +#include <pcl/features/normal_3d_omp.h>
  12045. +
  12046. +/**
  12047. +* Class defining a plane object.
  12048. +* The plane object will be defined by its regression equation
  12049. +* Example on tracking hand and background plane object simulateously
  12050. +* @include HandandPlane.cpp
  12051. +*/
  12052. +class Plane {
  12053. +public:
  12054. + Plane();
  12055. +
  12056. + /**
  12057. + * Constructs a plane object from a unsegemented xyzMap.
  12058. + * @param [in] src the raw xyzMap.
  12059. + */
  12060. + Plane(cv::Mat &src);
  12061. +
  12062. + /**
  12063. + * Deconstructs the plane object.
  12064. + */
  12065. + ~Plane();
  12066. +
  12067. + /**
  12068. + * Initializes all the required point clouds.
  12069. + * @param [in] src the raw xyzMap
  12070. + */
  12071. + void initializeCloud(cv::Mat &src);
  12072. +
  12073. + /**
  12074. + * Returns the PCL representation of the xyzMap.
  12075. + * @return PCL point cloud
  12076. + */
  12077. + pcl::PointCloud<pcl::PointXYZ>::Ptr getCloud();
  12078. +
  12079. + /**
  12080. + * Returns the PCL representatino of a down sampled xyzMap.
  12081. + * @return down sampled PCL point cloud
  12082. + */
  12083. + pcl::PointCloud<pcl::PointXYZ>::Ptr getDownCloud();
  12084. +
  12085. + /**
  12086. + * Returns the planar regression equation of the identified plane.
  12087. + * @return coefficients for the planar regression equation
  12088. + */
  12089. + std::vector<double> getPlaneEquation();
  12090. +
  12091. + /**
  12092. + * Returns the sphereical regression equation of the identified plane.
  12093. + * @return coefficients for the sphereical regression equation
  12094. + */
  12095. + std::vector<double> getSphereEquation();
  12096. +
  12097. + /**
  12098. + * Returns the (i,j) indices for which the plane appears on the xyzMap.
  12099. + * @return vector of (i,j) coordinates defining the points that make up the plane on the xyzMap
  12100. + */
  12101. + std::vector<cv::Point2i> getPlaneIndicies();
  12102. +
  12103. + /**
  12104. + * Returns the (i,j) indices for which the plane appears on the xyzMap.
  12105. + * @return vector of (i,j) coordinates defining the points that make up the plane on the xyzMap
  12106. + */
  12107. + std::vector<cv::Point2i> getSphereIndices();
  12108. +
  12109. + /**
  12110. + * Maximum cloud size (pixel) allowed.
  12111. + */
  12112. + const int CLOUD_SIZE_THRESHOLD = 1000;
  12113. +
  12114. + /**
  12115. + * Maximum distance (mm) allowed between real point and regression equation.
  12116. + */
  12117. + const double R_SQUARED_DISTANCE_THRESHOLD = 0.0005;
  12118. +
  12119. +private:
  12120. + /**
  12121. + * Performs a series of computations to find the plane.
  12122. + */
  12123. + int compute();
  12124. +
  12125. + /**
  12126. + * Computes the normals at every point.
  12127. + * @param [in] normal_estimator a OMP instance of the normal estimator
  12128. + * @param [in] tree a KD-tree used by the normal estimator to preform neareest neighbor searches
  12129. + */
  12130. + void calculateNormals(pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> normal_estimator, pcl::search::Search<pcl::PointXYZ>::Ptr tree);
  12131. +
  12132. + /**
  12133. + * Down samples the cloud via a median filter.
  12134. + */
  12135. + void voxelDownsample();
  12136. +
  12137. + /**
  12138. + * Aggregates points with like normals.
  12139. + * @param [out] reg equation of the final plane
  12140. + * @param [in] tree KD-tree used for nearest neighbor search
  12141. + */
  12142. + void regionGrow(pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> &reg, pcl::search::Search<pcl::PointXYZ>::Ptr tree);
  12143. +
  12144. + /**
  12145. + * Compute a planar regression equation.
  12146. + * @param [in] ind all the points on the plane
  12147. + */
  12148. + void computePlaneLSE(pcl::PointIndices &ind);
  12149. +
  12150. + /**
  12151. + * Compute a sphereical regression equation.
  12152. + * @param [in] ind all the points on the plane
  12153. + */
  12154. + void computeSphereLSE(pcl::PointIndices &ind);
  12155. +
  12156. + /**
  12157. + * Compute all the (i,j) index of the plane points from the planar regression.
  12158. + */
  12159. + int computePlaneIndices();
  12160. +
  12161. + /**
  12162. + * Compute all the (i,j) index of the plane points from the sphereical regression.
  12163. + */
  12164. + int computeSphereIndices();
  12165. +
  12166. + int drawSphereRegressionPoints(cv::Mat &output_mat, cv::Mat &input_mat, std::vector<double> &equation,
  12167. + const int rowSize, const int colSize, const double threshold, bool clicked);
  12168. +
  12169. + // Private Variables
  12170. + pcl::PointCloud<pcl::PointXYZ>::Ptr *cloud;
  12171. + pcl::PointCloud <pcl::Normal>::Ptr *normals;
  12172. + pcl::PointCloud<pcl::PointXYZ>::Ptr *down_cloud;
  12173. + pcl::PointCloud<pcl::Normal>::Ptr *down_normals;
  12174. + pcl::PointCloud <pcl::PointXYZRGB>::Ptr *colored_cloud;
  12175. + pcl::PointCloud <pcl::PointXYZRGB>::Ptr *upsampled_colored_cloud;
  12176. + std::vector<pcl::PointIndices> clusters;
  12177. + std::vector<double> plane_equation;
  12178. + std::vector<double> sphere_equation;
  12179. + std::vector<cv::Point2i> plane_indices;
  12180. + std::vector<cv::Point2i> sphere_indices;
  12181. + cv::Mat sphere_mat;
  12182. + cv::Mat plane_mat;
  12183. + cv::Mat display_img;
  12184. + cv::Mat depth_img;
  12185. + int num_sphere_points;
  12186. + int num_plane_points;
  12187. +
  12188. + const int NUM_CORES = boost::thread::hardware_concurrency();
  12189. };
  12190. \ No newline at end of file
  12191. diff --git a/README.md b/README.md
  12192. index 2ab905b..68b9fd3 100644
  12193. --- a/README.md
  12194. +++ b/README.md
  12195. @@ -1,58 +1,58 @@
  12196. -# OpenARK
  12197. -
  12198. -OpenARK is an open-source wearable augmented reality (AR) system founded at UC Berkeley in 2016. The C++ based software offers innovative core functionalities to power a wide range of off-the-shelf AR components, including see-through glasses, depth cameras, and IMUs. The open-source platform includes fundamental tools such as AR-based camera calibration and SLAM, and it also includes higher-level functions to aid human-computer interaction, such as 3D gesture recognition and multi-user collaboration.
  12199. -
  12200. -At a Glance
  12201. -
  12202. - - **Technology stack**: C++, OpenCV, PCL, Boost, OpenNI
  12203. - - **Status**: Beta 0.8
  12204. - - **Application Demo**: vimeo.com/205084929
  12205. -
  12206. -
  12207. -## Dependencies
  12208. -Hardware
  12209. -- Depth Camera
  12210. -- RGB Camera
  12211. -- Transparent AR Glasses (optional)
  12212. -
  12213. -Software
  12214. -- OpenCV 3.0
  12215. -- PCL 1.8
  12216. -- OpenNI 1.5.8
  12217. -- Boost 1.6.4
  12218. -
  12219. -## Installation
  12220. -
  12221. -1. Download and install all software depedencies (OpenCV, PCL, OpenNI, Boost)
  12222. -2. Clone repo to local machine
  12223. -3. Open the Visual Studios solution (OpenARK.sln)
  12224. -
  12225. -## Configuration
  12226. -
  12227. -Configure project properties (see /documentation/OpenARK_Setup.pdf)
  12228. -
  12229. -## Usage
  12230. -
  12231. -OpenARK is made for easy customization. Please feel free to build on top of this platform to fit your needs.
  12232. -
  12233. -## How to test the software
  12234. -
  12235. -Code used to run the demo video is included in main.cpp. Additional sample code can be found in /samplecode/.
  12236. -
  12237. -## Known issues
  12238. -
  12239. -OpenCV currently do not offer prebuilt VC14+ binaries. Running VC12 OpenCV binaries with VC14 will result in memories errors in findCountours(). If you are using VC12+ to compile OpenARK, you will need to use CMake to rebuilt OpenCV from source.
  12240. -
  12241. -## Getting help
  12242. -
  12243. -If you have questions, concerns, bug reports, etc, please file an issue in this repository's Issue Tracker.
  12244. -
  12245. -## Getting involved
  12246. -
  12247. -The Center for Augmented Cognition welcome interested industry partners to join our alliance to support the Open ARK platform. More information can be found on cac.berkeley.edu
  12248. -
  12249. -----
  12250. -
  12251. -## Credits and references
  12252. -
  12253. -Bill Zhou, Allen Yang, S.Shankar, Will Huang, Larry Yang, Eric Nyugen, Michelli Ni, Peter Li, Jessica Jiang
  12254. +# OpenARK
  12255. +
  12256. +OpenARK is an open-source wearable augmented reality (AR) system founded at UC Berkeley in 2016. The C++ based software offers innovative core functionalities to power a wide range of off-the-shelf AR components, including see-through glasses, depth cameras, and IMUs. The open-source platform includes fundamental tools such as AR-based camera calibration and SLAM, and it also includes higher-level functions to aid human-computer interaction, such as 3D gesture recognition and multi-user collaboration.
  12257. +
  12258. +At a Glance
  12259. +
  12260. + - **Technology stack**: C++, OpenCV, PCL, Boost, OpenNI
  12261. + - **Status**: Beta 0.8
  12262. + - **Application Demo**: vimeo.com/205084929
  12263. +
  12264. +
  12265. +## Dependencies
  12266. +Hardware
  12267. +- Depth Camera
  12268. +- RGB Camera
  12269. +- Transparent AR Glasses (optional)
  12270. +
  12271. +Software
  12272. +- OpenCV 3.0
  12273. +- PCL 1.8
  12274. +- OpenNI 1.5.8
  12275. +- Boost 1.6.4
  12276. +
  12277. +## Installation
  12278. +
  12279. +1. Download and install all software depedencies (OpenCV, PCL, OpenNI, Boost)
  12280. +2. Clone repo to local machine
  12281. +3. Open the Visual Studios solution (OpenARK.sln)
  12282. +
  12283. +## Configuration
  12284. +
  12285. +Configure project properties (see /documentation/OpenARK_Setup.pdf)
  12286. +
  12287. +## Usage
  12288. +
  12289. +OpenARK is made for easy customization. Please feel free to build on top of this platform to fit your needs.
  12290. +
  12291. +## How to test the software
  12292. +
  12293. +Code used to run the demo video is included in main.cpp. Additional sample code can be found in /samplecode/.
  12294. +
  12295. +## Known issues
  12296. +
  12297. +OpenCV currently do not offer prebuilt VC14+ binaries. Running VC12 OpenCV binaries with VC14 will result in memories errors in findCountours(). If you are using VC12+ to compile OpenARK, you will need to use CMake to rebuilt OpenCV from source.
  12298. +
  12299. +## Getting help
  12300. +
  12301. +If you have questions, concerns, bug reports, etc, please file an issue in this repository's Issue Tracker.
  12302. +
  12303. +## Getting involved
  12304. +
  12305. +The Center for Augmented Cognition welcome interested industry partners to join our alliance to support the Open ARK platform. More information can be found on cac.berkeley.edu
  12306. +
  12307. +----
  12308. +
  12309. +## Credits and references
  12310. +
  12311. +Bill Zhou, Allen Yang, S.Shankar, Will Huang, Larry Yang, Eric Nyugen, Michelli Ni, Peter Li, Jessica Jiang
  12312. diff --git a/RGBCamera.cpp b/RGBCamera.cpp
  12313. index 4a0f292..b7703ed 100644
  12314. --- a/RGBCamera.cpp
  12315. +++ b/RGBCamera.cpp
  12316. @@ -1,10 +1,10 @@
  12317. -#include "RGBCamera.h"
  12318. -
  12319. -/***
  12320. -Returns the next frame if next frame is recorded
  12321. -Returns the previous frame if next frame is not recorded
  12322. -***/
  12323. -cv::Mat RGBCamera::getFrame()
  12324. -{
  12325. - return frame;
  12326. +#include "RGBCamera.h"
  12327. +
  12328. +/***
  12329. +Returns the next frame if next frame is recorded
  12330. +Returns the previous frame if next frame is not recorded
  12331. +***/
  12332. +cv::Mat RGBCamera::getFrame()
  12333. +{
  12334. + return frame;
  12335. }
  12336. \ No newline at end of file
  12337. diff --git a/RGBCamera.h b/RGBCamera.h
  12338. index c671c95..7c883e8 100644
  12339. --- a/RGBCamera.h
  12340. +++ b/RGBCamera.h
  12341. @@ -1,33 +1,33 @@
  12342. -#pragma once
  12343. -//OpenCV libraries
  12344. -#include "opencv2/highgui/highgui.hpp"
  12345. -
  12346. -/**
  12347. -* Abstract class that defines the behavior of a RGB camera.
  12348. -*/
  12349. -class RGBCamera
  12350. -{
  12351. -public:
  12352. - /**
  12353. - * Updates the current frame on the RGB camera.
  12354. - * Should be overriden by a concerte implementation specific to the RGB camera
  12355. - */
  12356. - virtual void update() = 0;
  12357. -
  12358. - /**
  12359. - * Returns the current frame.
  12360. - * @return the current frame
  12361. - */
  12362. - cv::Mat getFrame();
  12363. -
  12364. -protected:
  12365. - /**
  12366. - * Camera handle.
  12367. - */
  12368. - cv::VideoCapture cap;
  12369. -
  12370. - /**
  12371. - * Current frame.
  12372. - */
  12373. - cv::Mat frame;
  12374. +#pragma once
  12375. +#include <opencv/cxcore.h>
  12376. +#include "opencv2/highgui/highgui.hpp"
  12377. +
  12378. +/**
  12379. +* Abstract class that defines the behavior of a RGB camera.
  12380. +*/
  12381. +class RGBCamera
  12382. +{
  12383. +public:
  12384. + /**
  12385. + * Updates the current frame on the RGB camera.
  12386. + * Should be overriden by a concerte implementation specific to the RGB camera
  12387. + */
  12388. + virtual void update() = 0;
  12389. +
  12390. + /**
  12391. + * Returns the current frame.
  12392. + * @return the current frame
  12393. + */
  12394. + cv::Mat getFrame();
  12395. +
  12396. +protected:
  12397. + /**
  12398. + * Camera handle.
  12399. + */
  12400. + cv::VideoCapture cap;
  12401. +
  12402. + /**
  12403. + * Current frame.
  12404. + */
  12405. + cv::Mat frame;
  12406. };
  12407. \ No newline at end of file
  12408. diff --git a/RT_Transform.txt b/RT_Transform.txt
  12409. index f708c02..d1f20fc 100644
  12410. --- a/RT_Transform.txt
  12411. +++ b/RT_Transform.txt
  12412. @@ -1,13 +1,13 @@
  12413. -%YAML:1.0
  12414. -R: !!opencv-matrix
  12415. - rows: 3
  12416. - cols: 3
  12417. - dt: f
  12418. - data: [ 9.99971926e-001, -7.48438481e-003, -4.79703158e-006,
  12419. - -7.47213839e-003, -9.98298407e-001, -5.78310676e-002,
  12420. - -4.28037398e-004, -5.78294173e-002, 9.98326361e-001 ]
  12421. -T: !!opencv-matrix
  12422. - rows: 3
  12423. - cols: 1
  12424. - dt: f
  12425. - data: [ 1.13893911e-001, 8.25873576e-003, -1.35086179e-002 ]
  12426. +%YAML:1.0
  12427. +R: !!opencv-matrix
  12428. + rows: 3
  12429. + cols: 3
  12430. + dt: f
  12431. + data: [ 9.99971926e-001, -7.48438481e-003, -4.79703158e-006,
  12432. + -7.47213839e-003, -9.98298407e-001, -5.78310676e-002,
  12433. + -4.28037398e-004, -5.78294173e-002, 9.98326361e-001 ]
  12434. +T: !!opencv-matrix
  12435. + rows: 3
  12436. + cols: 1
  12437. + dt: f
  12438. + data: [ 1.13893911e-001, 8.25873576e-003, -1.35086179e-002 ]
  12439. diff --git a/SR300Camera.cpp b/SR300Camera.cpp
  12440. deleted file mode 100644
  12441. index 589a10e..0000000
  12442. --- a/SR300Camera.cpp
  12443. +++ /dev/null
  12444. @@ -1,157 +0,0 @@
  12445. -#include "SR300Camera.h"
  12446. -#include "Visualizer.h"
  12447. -#include <iostream>
  12448. -
  12449. -
  12450. -
  12451. -/***
  12452. -Private constructor for the SR300 Camera depth sensor
  12453. -***/
  12454. -using namespace std;
  12455. -
  12456. -
  12457. -
  12458. -/***
  12459. -Private constructor for the Intel RealSense SR300 camera depth sensor
  12460. -***/
  12461. -SR300Camera::SR300Camera(bool use_live_sensor)
  12462. -{
  12463. -
  12464. - session->SetCoordinateSystem(Intel::RealSense::CoordinateSystem::COORDINATE_SYSTEM_FRONT_DEFAULT);
  12465. - X_DIMENSION = 640;
  12466. - Y_DIMENSION = 480;
  12467. - if (!sm)
  12468. - {
  12469. - wprintf_s(L"Unable to create the SenseManager\n");
  12470. - }
  12471. - cm = sm->QueryCaptureManager();
  12472. - Intel::RealSense::Status sts = Intel::RealSense::Status::STATUS_DATA_UNAVAILABLE;
  12473. -
  12474. - sm->EnableStream(Intel::RealSense::Capture::StreamType::STREAM_TYPE_DEPTH, X_DIMENSION, Y_DIMENSION, depth_fps);
  12475. - sts = sm->Init();
  12476. - if (sts < Intel::RealSense::Status::STATUS_NO_ERROR)
  12477. - {
  12478. - sm->Close();
  12479. - sm->EnableStream(Intel::RealSense::Capture::STREAM_TYPE_DEPTH);
  12480. - sts = sm->Init();
  12481. - if (sts < Intel::RealSense::Status::STATUS_NO_ERROR)
  12482. - {
  12483. - sm->Close();
  12484. - sts = sm->Init();
  12485. - }
  12486. - }
  12487. - device = cm->QueryDevice();
  12488. -}
  12489. -
  12490. -
  12491. -/***
  12492. -Public deconstructor for the SR300 Camera depth sensor
  12493. -***/
  12494. -SR300Camera::~SR300Camera() {};
  12495. -
  12496. -void SR300Camera::destroyInstance()
  12497. -{
  12498. - printf("closing sensor\n");
  12499. - sm->Release();
  12500. - sm->Close();
  12501. - printf("sensor closed\n");
  12502. -}
  12503. -
  12504. -
  12505. -/***
  12506. -Create xyzMap, zMap, ampMap, and flagMap from sensor input
  12507. -***/
  12508. -void SR300Camera::update()
  12509. -{
  12510. - initilizeImages();
  12511. - fillInAmps();
  12512. - fillInZCoords();
  12513. - sm->ReleaseFrame();
  12514. -}
  12515. -
  12516. -
  12517. -/***
  12518. -Reads the depth data from the sensor and fills in the matrix
  12519. -***/
  12520. -void SR300Camera::fillInZCoords()
  12521. -{
  12522. -
  12523. - int num_pixels;
  12524. - vector<cv::Point3f> xyzBuffer;
  12525. -
  12526. - int res;
  12527. - Intel::RealSense::Status sts = sm ->AcquireFrame(true);
  12528. - if (sts < Intel::RealSense::STATUS_NO_ERROR) {
  12529. - if (sts == Intel::RealSense::Status::STATUS_STREAM_CONFIG_CHANGED)
  12530. - {
  12531. - wprintf_s(L"Stream configuration was changed, re-initilizing\n");
  12532. - sm ->Close();
  12533. - }
  12534. - }
  12535. - sample = sm->QuerySample();
  12536. - Intel::RealSense::Image *depthMap = sample->depth;
  12537. - Intel::RealSense::Image::ImageData depthImage;
  12538. - depthMap->AcquireAccess(Intel::RealSense::Image::ACCESS_READ, &depthImage);
  12539. - cv::Mat img;
  12540. - Converter::ConvertPXCImageToOpenCVMat(depthMap, depthImage, &img);
  12541. - cv::imshow("Depth Image by OpenARK", Visualizer::visualizeDepthMap(img));
  12542. - Intel::RealSense::Image::ImageInfo imgInfo = depthMap->QueryInfo();
  12543. - depth_width = imgInfo.width;
  12544. - depth_height = imgInfo.height;
  12545. - num_pixels = depth_width * depth_height;
  12546. - Intel::RealSense::Projection * projection = device->CreateProjection();
  12547. - Intel::RealSense::Point3DF32 *pos3D = new Intel::RealSense::Point3DF32[num_pixels];
  12548. - sts = projection->QueryVertices(depthMap, &pos3D[0]);
  12549. - if (sts < Intel::RealSense::Status::STATUS_NO_ERROR)
  12550. - {
  12551. - wprintf_s(L"Projection was unsuccessful! \n");
  12552. - sm->Close();
  12553. - }
  12554. - xyzBuffer.clear();
  12555. - for (int k = 0; k < num_pixels; k++)
  12556. - {
  12557. - xyzBuffer.emplace_back(cv::Point3f(pos3D[k].x / 1000.0f, pos3D[k].y / 1000.0f, pos3D[k].z / 1000.0f));
  12558. - }
  12559. - xyzMap = cv::Mat(xyzBuffer, true).reshape(3, 480);
  12560. - cv::namedWindow("XYZ Image by OpenARK", CV_WINDOW_AUTOSIZE);
  12561. - cv::imshow("XYZ Image by OpenARK", Visualizer::visualizeXYZMap(xyzMap));
  12562. -}
  12563. -
  12564. -
  12565. -/***
  12566. -Reads the amplitude data from the sensor and fills in the matrix
  12567. -***/
  12568. -void SR300Camera::fillInAmps()
  12569. -{
  12570. - ampMap.data = NULL;
  12571. -}
  12572. -
  12573. -
  12574. -/***
  12575. -Returns the X value at (i, j)
  12576. -***/
  12577. -float SR300Camera::getX(int i, int j) const
  12578. -{
  12579. - int flat = j * depth_width * 3 + i * 3;
  12580. - return dists[flat];
  12581. -}
  12582. -
  12583. -
  12584. -/***
  12585. -Returns the Y value at (i, j)
  12586. -***/
  12587. -float SR300Camera::getY(int i, int j) const
  12588. -{
  12589. - int flat = j * depth_width * 3 + i * 3;
  12590. - return dists[flat + 1];
  12591. -}
  12592. -
  12593. -
  12594. -/***
  12595. -Returns the Z value at (i, j)
  12596. -***/
  12597. -float SR300Camera::getZ(int i, int j) const
  12598. -{
  12599. - int flat = j * depth_width * 3 + i * 3;
  12600. - return dists[flat + 2];
  12601. -}
  12602. \ No newline at end of file
  12603. diff --git a/SR300Camera.h b/SR300Camera.h
  12604. deleted file mode 100644
  12605. index 1e901f3..0000000
  12606. --- a/SR300Camera.h
  12607. +++ /dev/null
  12608. @@ -1,104 +0,0 @@
  12609. -#pragma once
  12610. -// C++ Libraries
  12611. -#include<string.h>
  12612. -
  12613. -
  12614. -// OpenCV Libraries
  12615. -#include <opencv2/opencv.hpp>
  12616. -#include "opencv2/highgui/highgui.hpp"
  12617. -#include <opencv2/video/tracking.hpp>
  12618. -#include "opencv2/imgproc/imgproc.hpp"
  12619. -#include <opencv2/objdetect/objdetect.hpp>
  12620. -#include <opencv2/features2d/features2d.hpp>
  12621. -
  12622. -
  12623. -// OpenARK Libraries
  12624. -#include "DepthCamera.h"
  12625. -#include "Converter.h"
  12626. -
  12627. -//using namespace Intel::RealSense;
  12628. -
  12629. -/**
  12630. -* Class defining the behavior of an SR300 Camera.
  12631. -* Example on how to read from sensor and visualize its output
  12632. -* @include SensorIO.cpp
  12633. -*/
  12634. -class SR300Camera : public DepthCamera
  12635. -{
  12636. -public:
  12637. -
  12638. -
  12639. - /**
  12640. - * Public constructor initializing the SR300 Camera.
  12641. - * @param use_live_sensor uses input from real sensor if TRUE. Otherwise reads from input file. Default is set to TRUE.
  12642. - */
  12643. - SR300Camera(bool use_live_sensor = true);
  12644. -
  12645. - /**
  12646. - * Deconstructor for the SR300 Camera.
  12647. - */
  12648. - ~SR300Camera();
  12649. -
  12650. - /**
  12651. - * Gets new frame from sensor.
  12652. - * Updates xyzMap, ampMap, and flagMap. Resets clusters.
  12653. - */
  12654. - void update();
  12655. -
  12656. - /**
  12657. - * Gracefully closes the SR300 camera.
  12658. - */
  12659. - void destroyInstance();
  12660. -
  12661. -private:
  12662. - /**
  12663. - * Getter method for the x-coordinate at (i,j).
  12664. - * @param i ith row
  12665. - * @param j jth column
  12666. - * @return x-coodinate at (i,j)
  12667. - */
  12668. - float getX(int i, int j) const;
  12669. -
  12670. -
  12671. - /**
  12672. - * Getter method for the x-coordinate at (i,j).
  12673. - * @param i ith row
  12674. - * @param j jth column
  12675. - * @return x-coodinate at (i,j)
  12676. - */
  12677. - float getY(int i, int j) const;
  12678. -
  12679. - /**
  12680. - * Getter method for the x-coordinate at (i,j).
  12681. - * @param i ith row
  12682. - * @param j jth column
  12683. - * @return x-coodinate at (i,j)
  12684. - */
  12685. - float getZ(int i, int j) const;
  12686. -
  12687. - /**
  12688. - * Update the z-coordinates of the xyzMap.
  12689. - */
  12690. - void fillInZCoords();
  12691. -
  12692. - /**
  12693. - * Update the values in the ampMap.
  12694. - */
  12695. - void fillInAmps();
  12696. -
  12697. -
  12698. - //Private Variables
  12699. - float* dists;
  12700. - float* amps;
  12701. - cv::Mat frame;
  12702. - const int depth_fps = 30;
  12703. - int depth_width;
  12704. - int depth_height;
  12705. - cv::Size bufferSize;
  12706. - const Intel::RealSense::Sample *sample;
  12707. - Intel::RealSense::SenseManager *sm = Intel::RealSense::SenseManager::CreateInstance();
  12708. - Intel::RealSense::Session *session = sm->QuerySession();
  12709. - Intel::RealSense::Device *device;
  12710. - Intel::RealSense::CaptureManager *cm;
  12711. -
  12712. -};
  12713. \ No newline at end of file
  12714. diff --git a/SensorIO.cpp b/SensorIO.cpp
  12715. index 6abf574..d569ff8 100644
  12716. --- a/SensorIO.cpp
  12717. +++ b/SensorIO.cpp
  12718. @@ -1,41 +1,41 @@
  12719. -// C++ Libraries
  12720. -#include <stdio.h>
  12721. -#include <iostream>
  12722. -#include <string>
  12723. -
  12724. -// OpenCV Libraries
  12725. -#include <opencv/cxcore.h>
  12726. -#include "opencv2/highgui/highgui.hpp"
  12727. -
  12728. -// OpenARK Libraries
  12729. -#include "PMDCamera.h"
  12730. -#include "Visualizer.h"
  12731. -#include "Util.h"
  12732. -
  12733. -int main() {
  12734. - DepthCamera* pmd = new PMDCamera();
  12735. - int frame = 0;
  12736. -
  12737. - while (true)
  12738. - {
  12739. - // Update the current frame
  12740. - pmd->update();
  12741. -
  12742. - // REmove the current frame
  12743. - pmd->removeNoise();
  12744. -
  12745. - // Visualize the XYZ Map
  12746. - cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  12747. -
  12748. - /**** Start: Loop Break Condition ****/
  12749. - int c = cvWaitKey(1);
  12750. - if (c == 'q' || c == 'Q' || c == 27) {
  12751. - break;
  12752. - }
  12753. - /**** End: Loop Break Condition ****/
  12754. - frame++;
  12755. - }
  12756. -
  12757. - pmd->destroyInstance();
  12758. - return 0;
  12759. +// C++ Libraries
  12760. +#include <stdio.h>
  12761. +#include <iostream>
  12762. +#include <string>
  12763. +
  12764. +// OpenCV Libraries
  12765. +#include <opencv/cxcore.h>
  12766. +#include "opencv2/highgui/highgui.hpp"
  12767. +
  12768. +// OpenARK Libraries
  12769. +#include "PMDCamera.h"
  12770. +#include "Visualizer.h"
  12771. +#include "Util.h"
  12772. +
  12773. +int main() {
  12774. + DepthCamera* pmd = new PMDCamera();
  12775. + int frame = 0;
  12776. +
  12777. + while (true)
  12778. + {
  12779. + // Update the current frame
  12780. + pmd->update();
  12781. +
  12782. + // REmove the current frame
  12783. + pmd->removeNoise();
  12784. +
  12785. + // Visualize the XYZ Map
  12786. + cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  12787. +
  12788. + /**** Start: Loop Break Condition ****/
  12789. + int c = cvWaitKey(1);
  12790. + if (c == 'q' || c == 'Q' || c == 27) {
  12791. + break;
  12792. + }
  12793. + /**** End: Loop Break Condition ****/
  12794. + frame++;
  12795. + }
  12796. +
  12797. + pmd->destroyInstance();
  12798. + return 0;
  12799. }
  12800. \ No newline at end of file
  12801. diff --git a/StreamingAverager.cpp b/StreamingAverager.cpp
  12802. index 99d2d76..4aff320 100644
  12803. --- a/StreamingAverager.cpp
  12804. +++ b/StreamingAverager.cpp
  12805. @@ -1,51 +1,51 @@
  12806. -#include "StreamingAverager.h"
  12807. -
  12808. -StreamingAverager::StreamingAverager(int frequency, double rejectionDistance)
  12809. -{
  12810. - sampleFrequency = frequency;
  12811. - rejectionThreshold = rejectionDistance;
  12812. - dataPoints = std::deque<cv::Vec3f>();
  12813. -}
  12814. -
  12815. -cv::Vec3f StreamingAverager::addDataPoint(cv::Vec3f pt)
  12816. -{
  12817. - if (dataPoints.size() > 0 && Util::euclidianDistance3D(pt, getCurrentAverage()) > rejectionThreshold) {
  12818. - addEmptyPoint();
  12819. - return getCurrentAverage();
  12820. - }
  12821. -
  12822. - if (dataPoints.size() >= sampleFrequency) {
  12823. - cv::Vec3f extra = dataPoints.front();
  12824. - dataPoints.pop_front();
  12825. - currentValue -= extra;
  12826. - }
  12827. - dataPoints.push_back(pt);
  12828. - currentValue += pt;
  12829. -
  12830. - return getCurrentAverage();
  12831. -}
  12832. -
  12833. -void StreamingAverager::addEmptyPoint()
  12834. -{
  12835. - if (dataPoints.size() > 0) {
  12836. - cv::Vec3f extra = dataPoints.front();
  12837. - dataPoints.pop_front();
  12838. - currentValue = currentValue - extra;
  12839. - }
  12840. -}
  12841. -
  12842. -cv::Vec3f StreamingAverager::getCurrentAverage()
  12843. -{
  12844. - cv::Vec3f average;
  12845. - if (dataPoints.size() != 0) {
  12846. - average[0] = currentValue[0] / dataPoints.size();
  12847. - average[1] = currentValue[1] / dataPoints.size();
  12848. - average[2] = currentValue[2] / dataPoints.size();
  12849. - }
  12850. - return average;
  12851. -}
  12852. -
  12853. -StreamingAverager::~StreamingAverager()
  12854. -{
  12855. -
  12856. +#include "StreamingAverager.h"
  12857. +
  12858. +StreamingAverager::StreamingAverager(int frequency, double rejectionDistance)
  12859. +{
  12860. + sampleFrequency = frequency;
  12861. + rejectionThreshold = rejectionDistance;
  12862. + dataPoints = std::deque<cv::Vec3f>();
  12863. +}
  12864. +
  12865. +cv::Vec3f StreamingAverager::addDataPoint(cv::Vec3f pt)
  12866. +{
  12867. + if (dataPoints.size() > 0 && Util::euclidianDistance3D(pt, getCurrentAverage()) > rejectionThreshold) {
  12868. + addEmptyPoint();
  12869. + return getCurrentAverage();
  12870. + }
  12871. +
  12872. + if (dataPoints.size() >= sampleFrequency) {
  12873. + cv::Vec3f extra = dataPoints.front();
  12874. + dataPoints.pop_front();
  12875. + currentValue -= extra;
  12876. + }
  12877. + dataPoints.push_back(pt);
  12878. + currentValue += pt;
  12879. +
  12880. + return getCurrentAverage();
  12881. +}
  12882. +
  12883. +void StreamingAverager::addEmptyPoint()
  12884. +{
  12885. + if (dataPoints.size() > 0) {
  12886. + cv::Vec3f extra = dataPoints.front();
  12887. + dataPoints.pop_front();
  12888. + currentValue = currentValue - extra;
  12889. + }
  12890. +}
  12891. +
  12892. +cv::Vec3f StreamingAverager::getCurrentAverage()
  12893. +{
  12894. + cv::Vec3f average;
  12895. + if (dataPoints.size() != 0) {
  12896. + average[0] = currentValue[0] / dataPoints.size();
  12897. + average[1] = currentValue[1] / dataPoints.size();
  12898. + average[2] = currentValue[2] / dataPoints.size();
  12899. + }
  12900. + return average;
  12901. +}
  12902. +
  12903. +StreamingAverager::~StreamingAverager()
  12904. +{
  12905. +
  12906. }
  12907. \ No newline at end of file
  12908. diff --git a/StreamingAverager.h b/StreamingAverager.h
  12909. index a763836..74387c0 100644
  12910. --- a/StreamingAverager.h
  12911. +++ b/StreamingAverager.h
  12912. @@ -1,66 +1,69 @@
  12913. -#pragma once
  12914. -// C++ Libraries
  12915. -#include <deque>
  12916. -
  12917. -// OpenARK Libraries
  12918. -#include "Util.h"
  12919. -
  12920. -/*
  12921. -* Averages streaming data to combate outliers. A sample frequency and rejection threshold is used to determined the best fit point at the current time frame.
  12922. -*/
  12923. -class StreamingAverager
  12924. -{
  12925. -public:
  12926. - /*
  12927. - * Constructs a new instance of the streaming averager.
  12928. - * @param frequency how many previous points to use in the averaging computation
  12929. - * @param rejectionDistance maximum jump distance allowed between current point and previous point
  12930. - */
  12931. - StreamingAverager(int frequency, double rejectionDistance);
  12932. -
  12933. - /*
  12934. - * Deconstructs an instance of the streaming averager.
  12935. - */
  12936. - ~StreamingAverager();
  12937. -
  12938. - /*
  12939. - * Adds new data point to the streaming averager.
  12940. - * @param pt point at the current frame
  12941. - * @return the average a the current frame
  12942. - */
  12943. - cv::Vec3f addDataPoint(cv::Vec3f pt);
  12944. -
  12945. - /*
  12946. - * Adds a empty data point to the stream of points.
  12947. - * If there are no points to add at the current frame, an empty point should be added to push out the old points
  12948. - */
  12949. - void addEmptyPoint();
  12950. -
  12951. -private:
  12952. - /*
  12953. - * Number of previous points to be used in the average.
  12954. - */
  12955. - int sampleFrequency;
  12956. -
  12957. - /*
  12958. - * Maximum jump distance allowed between current point and previous point
  12959. - */
  12960. - double rejectionThreshold;
  12961. -
  12962. - /*
  12963. - * The current average value
  12964. - */
  12965. - cv::Vec3f currentValue;
  12966. -
  12967. - /*
  12968. - * Recently seen data points
  12969. - * @see sampleFrequency
  12970. - */
  12971. - std::deque<cv::Vec3f> dataPoints;
  12972. -
  12973. - /*
  12974. - * Compute the current average.
  12975. - * @return (x,y,z) average at current frame
  12976. - */
  12977. - cv::Vec3f getCurrentAverage();
  12978. +#pragma once
  12979. +// C++ Libraries
  12980. +#include <deque>
  12981. +
  12982. +// OpenCV Libraries
  12983. +#include <opencv/cxcore.h>
  12984. +
  12985. +// OpenARK Libraries
  12986. +#include "Util.h"
  12987. +
  12988. +/*
  12989. +* Averages streaming data to combate outliers. A sample frequency and rejection threshold is used to determined the best fit point at the current time frame.
  12990. +*/
  12991. +class StreamingAverager
  12992. +{
  12993. +public:
  12994. + /*
  12995. + * Constructs a new instance of the streaming averager.
  12996. + * @param frequency how many previous points to use in the averaging computation
  12997. + * @param rejectionDistance maximum jump distance allowed between current point and previous point
  12998. + */
  12999. + StreamingAverager(int frequency, double rejectionDistance);
  13000. +
  13001. + /*
  13002. + * Deconstructs an instance of the streaming averager.
  13003. + */
  13004. + ~StreamingAverager();
  13005. +
  13006. + /*
  13007. + * Adds new data point to the streaming averager.
  13008. + * @param pt point at the current frame
  13009. + * @return the average a the current frame
  13010. + */
  13011. + cv::Vec3f addDataPoint(cv::Vec3f pt);
  13012. +
  13013. + /*
  13014. + * Adds a empty data point to the stream of points.
  13015. + * If there are no points to add at the current frame, an empty point should be added to push out the old points
  13016. + */
  13017. + void addEmptyPoint();
  13018. +
  13019. +private:
  13020. + /*
  13021. + * Number of previous points to be used in the average.
  13022. + */
  13023. + int sampleFrequency;
  13024. +
  13025. + /*
  13026. + * Maximum jump distance allowed between current point and previous point
  13027. + */
  13028. + double rejectionThreshold;
  13029. +
  13030. + /*
  13031. + * The current average value
  13032. + */
  13033. + cv::Vec3f currentValue;
  13034. +
  13035. + /*
  13036. + * Recently seen data points
  13037. + * @see sampleFrequency
  13038. + */
  13039. + std::deque<cv::Vec3f> dataPoints;
  13040. +
  13041. + /*
  13042. + * Compute the current average.
  13043. + * @return (x,y,z) average at current frame
  13044. + */
  13045. + cv::Vec3f getCurrentAverage();
  13046. };
  13047. \ No newline at end of file
  13048. diff --git a/UDPSender.cpp b/UDPSender.cpp
  13049. index 23586c7..d26c8d7 100644
  13050. --- a/UDPSender.cpp
  13051. +++ b/UDPSender.cpp
  13052. @@ -1,45 +1,45 @@
  13053. -#include "UDPSender.h"
  13054. -#define _WINSOCK_DEPRECATED_NO_WARNINGS
  13055. -
  13056. -UDPSender::UDPSender()
  13057. -{
  13058. - //Initialise winsock
  13059. - printf("\nInitialising Winsock...");
  13060. - if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0)
  13061. - {
  13062. - printf("Failed. Error Code : %d", WSAGetLastError());
  13063. - exit(EXIT_FAILURE);
  13064. - }
  13065. - printf("Initialised.\n");
  13066. -
  13067. - //create socket
  13068. - if ((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == SOCKET_ERROR)
  13069. - {
  13070. - printf("socket() failed with error code : %d", WSAGetLastError());
  13071. - exit(EXIT_FAILURE);
  13072. - }
  13073. -
  13074. - //setup address structure
  13075. - memset((char *)&si_other, 0, sizeof(si_other));
  13076. - si_other.sin_family = AF_INET;
  13077. - si_other.sin_port = htons(PORT);
  13078. - si_other.sin_addr.S_un.S_addr = inet_addr(SERVER);
  13079. -
  13080. -}
  13081. -
  13082. -int UDPSender::send(std::string message)
  13083. -{
  13084. - if (sendto(s, message.c_str(), strlen(message.c_str()), 0, (struct sockaddr *) &si_other, slen) == SOCKET_ERROR)
  13085. - {
  13086. - printf("sendto() failed with error code : %d", WSAGetLastError());
  13087. - exit(EXIT_FAILURE);
  13088. - }
  13089. - return 0;
  13090. -}
  13091. -
  13092. -int UDPSender::close()
  13093. -{
  13094. - closesocket(s);
  13095. - WSACleanup();
  13096. - return 0;
  13097. +#include "UDPSender.h"
  13098. +#define _WINSOCK_DEPRECATED_NO_WARNINGS
  13099. +
  13100. +UDPSender::UDPSender()
  13101. +{
  13102. + //Initialise winsock
  13103. + printf("\nInitialising Winsock...");
  13104. + if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0)
  13105. + {
  13106. + printf("Failed. Error Code : %d", WSAGetLastError());
  13107. + exit(EXIT_FAILURE);
  13108. + }
  13109. + printf("Initialised.\n");
  13110. +
  13111. + //create socket
  13112. + if ((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == SOCKET_ERROR)
  13113. + {
  13114. + printf("socket() failed with error code : %d", WSAGetLastError());
  13115. + exit(EXIT_FAILURE);
  13116. + }
  13117. +
  13118. + //setup address structure
  13119. + memset((char *)&si_other, 0, sizeof(si_other));
  13120. + si_other.sin_family = AF_INET;
  13121. + si_other.sin_port = htons(PORT);
  13122. + si_other.sin_addr.S_un.S_addr = inet_addr(SERVER);
  13123. +
  13124. +}
  13125. +
  13126. +int UDPSender::send(std::string message)
  13127. +{
  13128. + if (sendto(s, message.c_str(), strlen(message.c_str()), 0, (struct sockaddr *) &si_other, slen) == SOCKET_ERROR)
  13129. + {
  13130. + printf("sendto() failed with error code : %d", WSAGetLastError());
  13131. + exit(EXIT_FAILURE);
  13132. + }
  13133. + return 0;
  13134. +}
  13135. +
  13136. +int UDPSender::close()
  13137. +{
  13138. + closesocket(s);
  13139. + WSACleanup();
  13140. + return 0;
  13141. }
  13142. \ No newline at end of file
  13143. diff --git a/UDPSender.h b/UDPSender.h
  13144. index e3bf8f3..0a3fe7c 100644
  13145. --- a/UDPSender.h
  13146. +++ b/UDPSender.h
  13147. @@ -1,40 +1,40 @@
  13148. -#pragma once
  13149. -#define _WINSOCK_DEPRECATED_NO_WARNINGS
  13150. -#include <winsock2.h>
  13151. -#include <stdio.h>
  13152. -#include <iostream>
  13153. -
  13154. -#pragma comment(lib,"ws2_32.lib") //Winsock Library
  13155. -
  13156. -#define SERVER "127.0.0.1" //ip address of udp server
  13157. -#define BUFLEN 512 //Max length of buffer
  13158. -#define PORT 8051 //The port on which to listen for incoming data
  13159. -
  13160. -/**
  13161. -* UDP client.
  13162. -* Used to communicate information with game engines such as Unity
  13163. -*/
  13164. -class UDPSender {
  13165. -public:
  13166. - /**
  13167. - * Constructs a new UPD sender.
  13168. - */
  13169. - UDPSender();
  13170. -
  13171. - /**
  13172. - * Sends a message.
  13173. - * @param message the data to be sent
  13174. - */
  13175. - int send(std::string message);
  13176. -
  13177. - /**
  13178. - * Close the current connection.
  13179. - */
  13180. - int close();
  13181. -
  13182. - struct sockaddr_in si_other;
  13183. - int s, slen = sizeof(si_other);
  13184. - char buf[BUFLEN];
  13185. - char message[BUFLEN];
  13186. - WSADATA wsa;
  13187. +#pragma once
  13188. +#define _WINSOCK_DEPRECATED_NO_WARNINGS
  13189. +#include <winsock2.h>
  13190. +#include <stdio.h>
  13191. +#include <iostream>
  13192. +
  13193. +#pragma comment(lib,"ws2_32.lib") //Winsock Library
  13194. +
  13195. +#define SERVER "127.0.0.1" //ip address of udp server
  13196. +#define BUFLEN 512 //Max length of buffer
  13197. +#define PORT 8051 //The port on which to listen for incoming data
  13198. +
  13199. +/**
  13200. +* UDP client.
  13201. +* Used to communicate information with game engines such as Unity
  13202. +*/
  13203. +class UDPSender {
  13204. +public:
  13205. + /**
  13206. + * Constructs a new UPD sender.
  13207. + */
  13208. + UDPSender();
  13209. +
  13210. + /**
  13211. + * Sends a message.
  13212. + * @param message the data to be sent
  13213. + */
  13214. + int send(std::string message);
  13215. +
  13216. + /**
  13217. + * Close the current connection.
  13218. + */
  13219. + int close();
  13220. +
  13221. + struct sockaddr_in si_other;
  13222. + int s, slen = sizeof(si_other);
  13223. + char buf[BUFLEN];
  13224. + char message[BUFLEN];
  13225. + WSADATA wsa;
  13226. };
  13227. \ No newline at end of file
  13228. diff --git a/Util.cpp b/Util.cpp
  13229. index ec12c76..44a62f2 100644
  13230. --- a/Util.cpp
  13231. +++ b/Util.cpp
  13232. @@ -1,273 +1,273 @@
  13233. -#include "Util.h"
  13234. -
  13235. -cv::Vec3b Util::colorGenerator2()
  13236. -{
  13237. - return cv::Vec3b(rand() % 256, rand() % 256, rand() % 256);
  13238. -}
  13239. -
  13240. -float Util::normalize(float a, float b)
  13241. -{
  13242. - return sqrt(a*a + b*b);
  13243. -}
  13244. -
  13245. -bool Util::isMember(cv::Mat image, int x, int y)
  13246. -{
  13247. - if (x < 0 || y < 0 || x >= image.cols || y >= image.rows) {
  13248. - return false;
  13249. - }
  13250. -
  13251. - if (image.at<uchar>(y, x) != 0) {
  13252. - return true;
  13253. - }
  13254. -
  13255. - return false;
  13256. -}
  13257. -int Util::getDistanceT(int x1, int y1, int x2, int y2)
  13258. -{
  13259. - return abs(y1 - y2) + abs(x2 - x1);
  13260. -}
  13261. -
  13262. -double Util::euclidianDistance3D(cv::Vec3f pt1, cv::Vec3f pt2)
  13263. -{
  13264. - double dx = pt1[0] - pt2[0];
  13265. - double dy = pt1[1] - pt2[1];
  13266. - double dz = pt1[2] - pt2[2];
  13267. -
  13268. - return sqrtf(dx*dx + dy*dy + dz*dz);
  13269. -}
  13270. -
  13271. -double Util::euclideanDistance2D(cv::Point pt1, cv::Point pt2)
  13272. -{
  13273. - double dx = pt1.x - pt2.x;
  13274. - double dy = pt1.y - pt2.y;
  13275. - return sqrtf(dx*dx + dy*dy);
  13276. -}
  13277. -
  13278. -double Util::euclideanDistancePerPixel(cv::Mat xyzMap, cv::Point pt, int radius)
  13279. -{
  13280. - int x = pt.x;
  13281. - int y = pt.y;
  13282. -
  13283. - int r_lower = (y - radius < 0) ? 0 : y - radius;
  13284. - int c_lower = (x - radius < 0) ? 0 : x - radius;
  13285. - int r_upper = (y + radius > xyzMap.rows) ? xyzMap.rows : y + radius;
  13286. - int c_upper = (x + radius > xyzMap.cols) ? xyzMap.cols : x + radius;
  13287. -
  13288. - int count = 0;
  13289. - double average = 0;
  13290. - for (int r = r_lower; r < r_upper; r++) {
  13291. - for (int c = c_lower; c < c_upper; c++) {
  13292. - if (xyzMap.at<cv::Vec3f>(r, c)[2] != 0) {
  13293. - double distance = euclideanDistance2D(pt, cv::Point(c, r));
  13294. - if (distance != 0) {
  13295. - average += euclidianDistance3D(xyzMap.at<cv::Vec3f>(pt.y, pt.x), xyzMap.at<cv::Vec3f>(r, c)) / distance;
  13296. - count++;
  13297. - }
  13298. - }
  13299. - }
  13300. - }
  13301. -
  13302. - if (average == 0) {
  13303. - return average;
  13304. - }
  13305. - return average / count;
  13306. -}
  13307. -
  13308. -cv::Mat Util::removePoints(cv::Mat img, std::vector<cv::Point2i> points)
  13309. -{
  13310. - cv::Mat result = img.clone();
  13311. - for (int i = 0; i < points.size(); i++) {
  13312. - int x = points[i].x;
  13313. - int y = points[i].y;
  13314. - result.at<cv::Vec3f>(y, x)[0] = 0;
  13315. - result.at<cv::Vec3f>(y, x)[1] = 0;
  13316. - result.at<cv::Vec3f>(y, x)[2] = 0;
  13317. - }
  13318. - return result;
  13319. -}
  13320. -
  13321. -cv::Vec3f Util::averageAroundPoint(cv::Mat xyzMap, cv::Point2i pt, int radius)
  13322. -{
  13323. - int x = pt.x;
  13324. - int y = pt.y;
  13325. -
  13326. - int r_lower = (y - radius < 0) ? 0 : y - radius;
  13327. - int c_lower = (x - radius < 0) ? 0 : x - radius;
  13328. - int r_upper = (y + radius > xyzMap.rows) ? xyzMap.rows : y + radius;
  13329. - int c_upper = (x + radius > xyzMap.cols) ? xyzMap.cols : x + radius;
  13330. -
  13331. - int count = 0;
  13332. - cv::Vec3f average;
  13333. - for (int r = r_lower; r < r_upper; r++) {
  13334. - for (int c = c_lower; c < c_upper; c++) {
  13335. - if (xyzMap.at<cv::Vec3f>(r, c)[2] != 0) {
  13336. - average[0] += xyzMap.at<cv::Vec3f>(r, c)[0];
  13337. - average[1] += xyzMap.at<cv::Vec3f>(r, c)[1];
  13338. - average[2] += xyzMap.at<cv::Vec3f>(r, c)[2];
  13339. - count++;
  13340. - }
  13341. - }
  13342. - }
  13343. -
  13344. - if (count == 0) {
  13345. - return 0;
  13346. - }
  13347. -
  13348. - average[0] /= count;
  13349. - average[1] /= count;
  13350. - average[2] /= count;
  13351. -
  13352. - return average;
  13353. -}
  13354. -
  13355. -cv::Point Util::findCentroid(cv::Mat xyzMap)
  13356. -{
  13357. - cv::Mat channels[3];
  13358. - cv::split(xyzMap, channels);
  13359. - cv::Moments m = cv::moments(channels[2], false);
  13360. - cv::Point center(m.m10 / m.m00, m.m01 / m.m00);
  13361. - return center;
  13362. -}
  13363. -
  13364. -//Function to find Lenght of sides of triangle
  13365. -double Util::DistanceTwoPoints(double x1, double y1, double x2, double y2)
  13366. -{
  13367. - double x, y, distance;
  13368. - x = x2 - x1;
  13369. - y = y2 - y1;
  13370. - distance = pow(x, 2) + pow(y, 2);
  13371. - distance = sqrt(distance);
  13372. - return distance;
  13373. -}
  13374. -
  13375. -//Function to find angle with Sine rule
  13376. -double Util::otherAngleFind(double biggerAngle, double largestDistance, double smallDistance)
  13377. -{
  13378. - double otherAngle;
  13379. - otherAngle = smallDistance *sin(biggerAngle*3.14159265 / 180);
  13380. - otherAngle = otherAngle / largestDistance;
  13381. - otherAngle = asin(otherAngle)*180.0 / PI;
  13382. - return otherAngle;
  13383. -}
  13384. -
  13385. -//Function to find angle opposite to largest side of triangle
  13386. -double Util::BiggerAngleFind(double largestDistance, double smallDistanceOne, double smallDistanceTwo)
  13387. -{
  13388. - double biggerAngle;
  13389. - biggerAngle = pow(smallDistanceOne, 2) + pow(smallDistanceTwo, 2) - pow(largestDistance, 2);
  13390. - biggerAngle = fabs(biggerAngle / (2 * smallDistanceOne*smallDistanceTwo));
  13391. - biggerAngle = acos(biggerAngle)* 180.0 / PI;
  13392. - return biggerAngle;
  13393. -}
  13394. -
  13395. -//Calculate angle of triangle given three coordinates c++ code
  13396. -double Util::TriangleAngleCalculation(double x1, double y1, double x2, double y2, double x3, double y3)
  13397. -{
  13398. - double dist1, dist2, dist3;
  13399. - double angle1, angle2, angle3;
  13400. - double total;
  13401. -
  13402. - int largestLength = 0;
  13403. - dist1 = DistanceTwoPoints(x1, y1, x2, y2);
  13404. - dist2 = DistanceTwoPoints(x2, y2, x3, y3);
  13405. - dist3 = DistanceTwoPoints(x1, y1, x3, y3);
  13406. -
  13407. - if (dist1>dist2 && dist1 > dist3)
  13408. - {
  13409. - //cout<<"dist1 is greater";
  13410. - angle1 = BiggerAngleFind(dist1, dist2, dist3);
  13411. - angle2 = otherAngleFind(angle1, dist1, dist2);
  13412. - angle3 = otherAngleFind(angle1, dist1, dist3);
  13413. -
  13414. - //angle2 = OtherAngleFind(angle1, dist1, dist2);
  13415. -
  13416. - total = angle1 + angle2 + angle3;
  13417. -
  13418. - if (total <180)
  13419. - {
  13420. - angle1 = 180 - angle1;
  13421. - }
  13422. - }
  13423. - else if (dist2 > dist3 && dist2 > dist1)
  13424. - {
  13425. - // cout<<"dist2 is greater";
  13426. - angle2 = BiggerAngleFind(dist2, dist1, dist3);
  13427. - angle1 = otherAngleFind(angle2, dist2, dist1);
  13428. - angle3 = otherAngleFind(angle2, dist2, dist3);
  13429. -
  13430. - total = angle1 + angle2 + angle3;
  13431. -
  13432. - if (total <180)
  13433. - {
  13434. - angle2 = 180 - angle2;
  13435. - }
  13436. - }
  13437. - else
  13438. - {
  13439. - // cout<<"dist3 is greater";
  13440. - angle3 = BiggerAngleFind(dist3, dist1, dist2);
  13441. - angle1 = otherAngleFind(angle3, dist3, dist2);
  13442. - angle2 = otherAngleFind(angle3, dist3, dist2);
  13443. -
  13444. - total = angle1 + angle2 + angle3;
  13445. -
  13446. - if (total <180)
  13447. - {
  13448. - angle3 = 180 - angle3;
  13449. - }
  13450. - }
  13451. -
  13452. - //cout << endl << "Angle Between First Point and Second Point = " << angle3 << endl;
  13453. - //cout << "Angle Between First Point and Third Point = " << angle2 << endl;
  13454. - //cout << "Angle Between Second Point and Third Point = " << angle1 << endl;
  13455. - return angle2;
  13456. -}
  13457. -
  13458. -/***
  13459. -Recursively performs floodfill on depthMap
  13460. -***/
  13461. -void Util::floodFill(int x, int y, cv::Mat& depthMap, cv::Mat& mask, double max_distance)
  13462. -{
  13463. - if (x < 0 || x >= depthMap.cols || y < 0 || y >= depthMap.rows || depthMap.at<cv::Vec3f>(y, x)[2] == 0.0)
  13464. - return;
  13465. - if (closeEnough(x, y, depthMap, 4, max_distance)) {
  13466. - mask.at<cv::Vec3f>(y, x) = depthMap.at<cv::Vec3f>(y, x);
  13467. - depthMap.at<cv::Vec3f>(y, x)[0] = 0;
  13468. - depthMap.at<cv::Vec3f>(y, x)[1] = 0;
  13469. - depthMap.at<cv::Vec3f>(y, x)[2] = 0;
  13470. - }
  13471. - else {
  13472. - return;
  13473. - }
  13474. -
  13475. - floodFill(x + 1, y, depthMap, mask, max_distance);
  13476. - floodFill(x - 1, y, depthMap, mask, max_distance);
  13477. - floodFill(x, y + 1, depthMap, mask, max_distance);
  13478. - floodFill(x, y - 1, depthMap, mask, max_distance);
  13479. -}
  13480. -
  13481. -/***
  13482. -Check whether candidate point is close enough to neighboring points
  13483. -***/
  13484. -bool Util::closeEnough(int x, int y, cv::Mat& depthMap, int num_neighbors, double max_distance)
  13485. -{
  13486. - int num_close = 0;
  13487. - if (x - 1 < 0 || depthMap.at<cv::Vec3f>(y, x - 1)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y, x - 1)) < max_distance) {
  13488. - num_close++;
  13489. - }
  13490. - if (x + 1 >= depthMap.cols || depthMap.at<cv::Vec3f>(y, x + 1)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y, x + 1)) < max_distance) {
  13491. - num_close++;
  13492. - }
  13493. - if (y - 1 < 0 || depthMap.at<cv::Vec3f>(y - 1, x)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y - 1, x)) < max_distance) {
  13494. - num_close++;
  13495. - }
  13496. - if (y + 1 >= depthMap.rows || depthMap.at<cv::Vec3f>(y + 1, x)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y + 1, x)) < max_distance) {
  13497. - num_close++;
  13498. - }
  13499. -
  13500. - if (num_close >= num_neighbors) {
  13501. - return true;
  13502. - }
  13503. -
  13504. - return false;
  13505. +#include "Util.h"
  13506. +
  13507. +cv::Vec3b Util::colorGenerator2()
  13508. +{
  13509. + return cv::Vec3b(rand() % 256, rand() % 256, rand() % 256);
  13510. +}
  13511. +
  13512. +float Util::normalize(float a, float b)
  13513. +{
  13514. + return sqrt(a*a + b*b);
  13515. +}
  13516. +
  13517. +bool Util::isMember(cv::Mat image, int x, int y)
  13518. +{
  13519. + if (x < 0 || y < 0 || x >= image.cols || y >= image.rows) {
  13520. + return false;
  13521. + }
  13522. +
  13523. + if (image.at<uchar>(y, x) != 0) {
  13524. + return true;
  13525. + }
  13526. +
  13527. + return false;
  13528. +}
  13529. +int Util::getDistanceT(int x1, int y1, int x2, int y2)
  13530. +{
  13531. + return abs(y1 - y2) + abs(x2 - x1);
  13532. +}
  13533. +
  13534. +double Util::euclidianDistance3D(cv::Vec3f pt1, cv::Vec3f pt2)
  13535. +{
  13536. + double dx = pt1[0] - pt2[0];
  13537. + double dy = pt1[1] - pt2[1];
  13538. + double dz = pt1[2] - pt2[2];
  13539. +
  13540. + return sqrtf(dx*dx + dy*dy + dz*dz);
  13541. +}
  13542. +
  13543. +double Util::euclideanDistance2D(cv::Point pt1, cv::Point pt2)
  13544. +{
  13545. + double dx = pt1.x - pt2.x;
  13546. + double dy = pt1.y - pt2.y;
  13547. + return sqrtf(dx*dx + dy*dy);
  13548. +}
  13549. +
  13550. +double Util::euclideanDistancePerPixel(cv::Mat xyzMap, cv::Point pt, int radius)
  13551. +{
  13552. + int x = pt.x;
  13553. + int y = pt.y;
  13554. +
  13555. + int r_lower = (y - radius < 0) ? 0 : y - radius;
  13556. + int c_lower = (x - radius < 0) ? 0 : x - radius;
  13557. + int r_upper = (y + radius > xyzMap.rows) ? xyzMap.rows : y + radius;
  13558. + int c_upper = (x + radius > xyzMap.cols) ? xyzMap.cols : x + radius;
  13559. +
  13560. + int count = 0;
  13561. + double average = 0;
  13562. + for (int r = r_lower; r < r_upper; r++) {
  13563. + for (int c = c_lower; c < c_upper; c++) {
  13564. + if (xyzMap.at<cv::Vec3f>(r, c)[2] != 0) {
  13565. + double distance = euclideanDistance2D(pt, cv::Point(c, r));
  13566. + if (distance != 0) {
  13567. + average += euclidianDistance3D(xyzMap.at<cv::Vec3f>(pt.y, pt.x), xyzMap.at<cv::Vec3f>(r, c)) / distance;
  13568. + count++;
  13569. + }
  13570. + }
  13571. + }
  13572. + }
  13573. +
  13574. + if (average == 0) {
  13575. + return average;
  13576. + }
  13577. + return average / count;
  13578. +}
  13579. +
  13580. +cv::Mat Util::removePoints(cv::Mat img, std::vector<cv::Point2i> points)
  13581. +{
  13582. + cv::Mat result = img.clone();
  13583. + for (int i = 0; i < points.size(); i++) {
  13584. + int x = points[i].x;
  13585. + int y = points[i].y;
  13586. + result.at<cv::Vec3f>(y, x)[0] = 0;
  13587. + result.at<cv::Vec3f>(y, x)[1] = 0;
  13588. + result.at<cv::Vec3f>(y, x)[2] = 0;
  13589. + }
  13590. + return result;
  13591. +}
  13592. +
  13593. +cv::Vec3f Util::averageAroundPoint(cv::Mat xyzMap, cv::Point2i pt, int radius)
  13594. +{
  13595. + int x = pt.x;
  13596. + int y = pt.y;
  13597. +
  13598. + int r_lower = (y - radius < 0) ? 0 : y - radius;
  13599. + int c_lower = (x - radius < 0) ? 0 : x - radius;
  13600. + int r_upper = (y + radius > xyzMap.rows) ? xyzMap.rows : y + radius;
  13601. + int c_upper = (x + radius > xyzMap.cols) ? xyzMap.cols : x + radius;
  13602. +
  13603. + int count = 0;
  13604. + cv::Vec3f average;
  13605. + for (int r = r_lower; r < r_upper; r++) {
  13606. + for (int c = c_lower; c < c_upper; c++) {
  13607. + if (xyzMap.at<cv::Vec3f>(r, c)[2] != 0) {
  13608. + average[0] += xyzMap.at<cv::Vec3f>(r, c)[0];
  13609. + average[1] += xyzMap.at<cv::Vec3f>(r, c)[1];
  13610. + average[2] += xyzMap.at<cv::Vec3f>(r, c)[2];
  13611. + count++;
  13612. + }
  13613. + }
  13614. + }
  13615. +
  13616. + if (count == 0) {
  13617. + return 0;
  13618. + }
  13619. +
  13620. + average[0] /= count;
  13621. + average[1] /= count;
  13622. + average[2] /= count;
  13623. +
  13624. + return average;
  13625. +}
  13626. +
  13627. +cv::Point Util::findCentroid(cv::Mat xyzMap)
  13628. +{
  13629. + cv::Mat channels[3];
  13630. + cv::split(xyzMap, channels);
  13631. + cv::Moments m = cv::moments(channels[2], false);
  13632. + cv::Point center(m.m10 / m.m00, m.m01 / m.m00);
  13633. + return center;
  13634. +}
  13635. +
  13636. +//Function to find Lenght of sides of triangle
  13637. +double Util::DistanceTwoPoints(double x1, double y1, double x2, double y2)
  13638. +{
  13639. + double x, y, distance;
  13640. + x = x2 - x1;
  13641. + y = y2 - y1;
  13642. + distance = pow(x, 2) + pow(y, 2);
  13643. + distance = sqrt(distance);
  13644. + return distance;
  13645. +}
  13646. +
  13647. +//Function to find angle with Sine rule
  13648. +double Util::otherAngleFind(double biggerAngle, double largestDistance, double smallDistance)
  13649. +{
  13650. + double otherAngle;
  13651. + otherAngle = smallDistance *sin(biggerAngle*3.14159265 / 180);
  13652. + otherAngle = otherAngle / largestDistance;
  13653. + otherAngle = asin(otherAngle)*180.0 / PI;
  13654. + return otherAngle;
  13655. +}
  13656. +
  13657. +//Function to find angle opposite to largest side of triangle
  13658. +double Util::BiggerAngleFind(double largestDistance, double smallDistanceOne, double smallDistanceTwo)
  13659. +{
  13660. + double biggerAngle;
  13661. + biggerAngle = pow(smallDistanceOne, 2) + pow(smallDistanceTwo, 2) - pow(largestDistance, 2);
  13662. + biggerAngle = fabs(biggerAngle / (2 * smallDistanceOne*smallDistanceTwo));
  13663. + biggerAngle = acos(biggerAngle)* 180.0 / PI;
  13664. + return biggerAngle;
  13665. +}
  13666. +
  13667. +//Calculate angle of triangle given three coordinates c++ code
  13668. +double Util::TriangleAngleCalculation(double x1, double y1, double x2, double y2, double x3, double y3)
  13669. +{
  13670. + double dist1, dist2, dist3;
  13671. + double angle1, angle2, angle3;
  13672. + double total;
  13673. +
  13674. + int largestLength = 0;
  13675. + dist1 = DistanceTwoPoints(x1, y1, x2, y2);
  13676. + dist2 = DistanceTwoPoints(x2, y2, x3, y3);
  13677. + dist3 = DistanceTwoPoints(x1, y1, x3, y3);
  13678. +
  13679. + if (dist1>dist2 && dist1 > dist3)
  13680. + {
  13681. + //cout<<"dist1 is greater";
  13682. + angle1 = BiggerAngleFind(dist1, dist2, dist3);
  13683. + angle2 = otherAngleFind(angle1, dist1, dist2);
  13684. + angle3 = otherAngleFind(angle1, dist1, dist3);
  13685. +
  13686. + //angle2 = OtherAngleFind(angle1, dist1, dist2);
  13687. +
  13688. + total = angle1 + angle2 + angle3;
  13689. +
  13690. + if (total <180)
  13691. + {
  13692. + angle1 = 180 - angle1;
  13693. + }
  13694. + }
  13695. + else if (dist2 > dist3 && dist2 > dist1)
  13696. + {
  13697. + // cout<<"dist2 is greater";
  13698. + angle2 = BiggerAngleFind(dist2, dist1, dist3);
  13699. + angle1 = otherAngleFind(angle2, dist2, dist1);
  13700. + angle3 = otherAngleFind(angle2, dist2, dist3);
  13701. +
  13702. + total = angle1 + angle2 + angle3;
  13703. +
  13704. + if (total <180)
  13705. + {
  13706. + angle2 = 180 - angle2;
  13707. + }
  13708. + }
  13709. + else
  13710. + {
  13711. + // cout<<"dist3 is greater";
  13712. + angle3 = BiggerAngleFind(dist3, dist1, dist2);
  13713. + angle1 = otherAngleFind(angle3, dist3, dist2);
  13714. + angle2 = otherAngleFind(angle3, dist3, dist2);
  13715. +
  13716. + total = angle1 + angle2 + angle3;
  13717. +
  13718. + if (total <180)
  13719. + {
  13720. + angle3 = 180 - angle3;
  13721. + }
  13722. + }
  13723. +
  13724. + //cout << endl << "Angle Between First Point and Second Point = " << angle3 << endl;
  13725. + //cout << "Angle Between First Point and Third Point = " << angle2 << endl;
  13726. + //cout << "Angle Between Second Point and Third Point = " << angle1 << endl;
  13727. + return angle2;
  13728. +}
  13729. +
  13730. +/***
  13731. +Recursively performs floodfill on depthMap
  13732. +***/
  13733. +void Util::floodFill(int x, int y, cv::Mat& depthMap, cv::Mat& mask, double max_distance)
  13734. +{
  13735. + if (x < 0 || x >= depthMap.cols || y < 0 || y >= depthMap.rows || depthMap.at<cv::Vec3f>(y, x)[2] == 0.0)
  13736. + return;
  13737. + if (closeEnough(x, y, depthMap, 4, max_distance)) {
  13738. + mask.at<cv::Vec3f>(y, x) = depthMap.at<cv::Vec3f>(y, x);
  13739. + depthMap.at<cv::Vec3f>(y, x)[0] = 0;
  13740. + depthMap.at<cv::Vec3f>(y, x)[1] = 0;
  13741. + depthMap.at<cv::Vec3f>(y, x)[2] = 0;
  13742. + }
  13743. + else {
  13744. + return;
  13745. + }
  13746. +
  13747. + floodFill(x + 1, y, depthMap, mask, max_distance);
  13748. + floodFill(x - 1, y, depthMap, mask, max_distance);
  13749. + floodFill(x, y + 1, depthMap, mask, max_distance);
  13750. + floodFill(x, y - 1, depthMap, mask, max_distance);
  13751. +}
  13752. +
  13753. +/***
  13754. +Check whether candidate point is close enough to neighboring points
  13755. +***/
  13756. +bool Util::closeEnough(int x, int y, cv::Mat& depthMap, int num_neighbors, double max_distance)
  13757. +{
  13758. + int num_close = 0;
  13759. + if (x - 1 < 0 || depthMap.at<cv::Vec3f>(y, x - 1)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y, x - 1)) < max_distance) {
  13760. + num_close++;
  13761. + }
  13762. + if (x + 1 >= depthMap.cols || depthMap.at<cv::Vec3f>(y, x + 1)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y, x + 1)) < max_distance) {
  13763. + num_close++;
  13764. + }
  13765. + if (y - 1 < 0 || depthMap.at<cv::Vec3f>(y - 1, x)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y - 1, x)) < max_distance) {
  13766. + num_close++;
  13767. + }
  13768. + if (y + 1 >= depthMap.rows || depthMap.at<cv::Vec3f>(y + 1, x)[2] == 0 || Util::euclidianDistance3D(depthMap.at<cv::Vec3f>(y, x), depthMap.at<cv::Vec3f>(y + 1, x)) < max_distance) {
  13769. + num_close++;
  13770. + }
  13771. +
  13772. + if (num_close >= num_neighbors) {
  13773. + return true;
  13774. + }
  13775. +
  13776. + return false;
  13777. }
  13778. \ No newline at end of file
  13779. diff --git a/Util.h b/Util.h
  13780. index 0bbe24a..b33b9a4 100644
  13781. --- a/Util.h
  13782. +++ b/Util.h
  13783. @@ -1,108 +1,108 @@
  13784. -#pragma once
  13785. -// OpenCV Libraries
  13786. -#include "opencv2/imgproc/imgproc.hpp"
  13787. -
  13788. -// Constants Redefined
  13789. -#ifndef M_PI
  13790. - #define M_PI 3.14159265358979323846
  13791. - #define PI 3.14159265;
  13792. -#endif
  13793. -
  13794. -/**
  13795. -* Class containing generic helper functions.
  13796. -*/
  13797. -class Util
  13798. -{
  13799. -public:
  13800. -
  13801. - /**
  13802. - * Generates a random RGB color.
  13803. - * @return random RGB color in Vec3b format
  13804. - */
  13805. - static cv::Vec3b colorGenerator2();
  13806. -
  13807. - /**
  13808. - * Get euclidean distance between two 2D points.
  13809. - * @param x1 x-coordinate of point 1
  13810. - * @param y1 y-coordinate of point 1
  13811. - * @param x2 x-coordinate of point 2
  13812. - * @param y2 y-coordinate of point 2
  13813. - * @return the euclidean distance
  13814. - */
  13815. - static int getDistanceT(int x1, int y1, int x2, int y2);
  13816. -
  13817. - /**
  13818. - * Return the hypotenuse length.
  13819. - * @param a leg length
  13820. - * @param b leg length
  13821. - * return hypotenuse length
  13822. - */
  13823. - static float normalize(float a, float b);
  13824. -
  13825. - /*
  13826. - * Compute the euclidean distance between (x1,y1) and (x2,y2)
  13827. - * @param p1 (x1, y1)
  13828. - * @param p2 (x2, y2)
  13829. - * @return the euclidean distance between the two points
  13830. - */
  13831. - static double euclideanDistance2D(cv::Point p1, cv::Point pt2);
  13832. -
  13833. - /**
  13834. - * Get euclidean distance between two 3D points.
  13835. - * @param pt1 point 1
  13836. - * @param pt2 point 2
  13837. - * @return euclidean distance
  13838. - */
  13839. - static double euclidianDistance3D(cv::Vec3f pt1, cv::Vec3f pt2);
  13840. -
  13841. - static double euclideanDistancePerPixel(cv::Mat xyzMap, cv::Point pt, int radius);
  13842. -
  13843. - /**
  13844. - * Removes points on img with indicies defined in points.
  13845. - * @param img the input image
  13846. - * @param points list of indicies (i,j) to be set to 0
  13847. - * @return processed image
  13848. - */
  13849. - static cv::Mat removePoints(cv::Mat img, std::vector<cv::Point2i> points);
  13850. -
  13851. - /**
  13852. - * Average all non-zero values around a point.
  13853. - * @param img base image to use
  13854. - * @param pt the point of interest
  13855. - * @param radius number of neighboring points to be used for computing the average
  13856. - * @return average (x,y,z) value of the point of interest
  13857. - */
  13858. - static cv::Vec3f averageAroundPoint(cv::Mat img, cv::Point2i pt, int radius);
  13859. -
  13860. - /**
  13861. - * Determine whether (x,y) is a non-zero point in the matrix.
  13862. - * @param xyzMap Input image
  13863. - * @param x x-coordinate of the point
  13864. - * @param y y-coordinate of the point
  13865. - * @return true if (x.y) is non-zero
  13866. - */
  13867. - static bool isMember(cv::Mat xyzMap, int x, int y);
  13868. -
  13869. - /*
  13870. - * Find the centroid of the point cloud
  13871. - * @param xyzMap input point cloud
  13872. - * @return (x,y) coordinate of the centroid
  13873. - */
  13874. - static cv::Point findCentroid(cv::Mat xyzMap);
  13875. -
  13876. - /*
  13877. - * Compute the angle formed by 3 points
  13878. - * @return the angle formed
  13879. - */
  13880. - static double TriangleAngleCalculation(double x1, double y1, double x2, double y2, double x3, double y3);
  13881. -
  13882. - static void floodFill(int x, int y, cv::Mat& depthMap, cv::Mat& mask, double max_distance);
  13883. -
  13884. -
  13885. -private:
  13886. - static double DistanceTwoPoints(double x1, double y1, double x2, double y2);
  13887. - static double otherAngleFind(double biggerAngle, double largestDistance, double smallDistance);
  13888. - static double BiggerAngleFind(double largestDistance, double smallDistanceOne, double smallDistanceTwo);
  13889. - static bool Util::closeEnough(int x, int y, cv::Mat& depthMap, int num_neighbors, double max_distance);
  13890. -
  13891. +#pragma once
  13892. +// OpenCV Libraries
  13893. +#include <opencv/cxcore.h>
  13894. +#include "opencv2/imgproc/imgproc.hpp"
  13895. +
  13896. +// Constants Redefined
  13897. +#ifndef M_PI
  13898. + #define M_PI 3.14159265358979323846
  13899. + #define PI 3.14159265;
  13900. +#endif
  13901. +
  13902. +/**
  13903. +* Class containing generic helper functions.
  13904. +*/
  13905. +class Util
  13906. +{
  13907. +public:
  13908. + /**
  13909. + * Generates a random RGB color.
  13910. + * @return random RGB color in Vec3b format
  13911. + */
  13912. + static cv::Vec3b colorGenerator2();
  13913. +
  13914. + /**
  13915. + * Get euclidean distance between two 2D points.
  13916. + * @param x1 x-coordinate of point 1
  13917. + * @param y1 y-coordinate of point 1
  13918. + * @param x2 x-coordinate of point 2
  13919. + * @param y2 y-coordinate of point 2
  13920. + * @return the euclidean distance
  13921. + */
  13922. + static int getDistanceT(int x1, int y1, int x2, int y2);
  13923. +
  13924. + /**
  13925. + * Return the hypotenuse length.
  13926. + * @param a leg length
  13927. + * @param b leg length
  13928. + * return hypotenuse length
  13929. + */
  13930. + static float normalize(float a, float b);
  13931. +
  13932. + /*
  13933. + * Compute the euclidean distance between (x1,y1) and (x2,y2)
  13934. + * @param p1 (x1, y1)
  13935. + * @param p2 (x2, y2)
  13936. + * @return the euclidean distance between the two points
  13937. + */
  13938. + static double euclideanDistance2D(cv::Point p1, cv::Point pt2);
  13939. +
  13940. + /**
  13941. + * Get euclidean distance between two 3D points.
  13942. + * @param pt1 point 1
  13943. + * @param pt2 point 2
  13944. + * @return euclidean distance
  13945. + */
  13946. + static double euclidianDistance3D(cv::Vec3f pt1, cv::Vec3f pt2);
  13947. +
  13948. + static double euclideanDistancePerPixel(cv::Mat xyzMap, cv::Point pt, int radius);
  13949. +
  13950. + /**
  13951. + * Removes points on img with indicies defined in points.
  13952. + * @param img the input image
  13953. + * @param points list of indicies (i,j) to be set to 0
  13954. + * @return processed image
  13955. + */
  13956. + static cv::Mat removePoints(cv::Mat img, std::vector<cv::Point2i> points);
  13957. +
  13958. + /**
  13959. + * Average all non-zero values around a point.
  13960. + * @param img base image to use
  13961. + * @param pt the point of interest
  13962. + * @param radius number of neighboring points to be used for computing the average
  13963. + * @return average (x,y,z) value of the point of interest
  13964. + */
  13965. + static cv::Vec3f averageAroundPoint(cv::Mat img, cv::Point2i pt, int radius);
  13966. +
  13967. + /**
  13968. + * Determine whether (x,y) is a non-zero point in the matrix.
  13969. + * @param xyzMap Input image
  13970. + * @param x x-coordinate of the point
  13971. + * @param y y-coordinate of the point
  13972. + * @return true if (x.y) is non-zero
  13973. + */
  13974. + static bool isMember(cv::Mat xyzMap, int x, int y);
  13975. +
  13976. + /*
  13977. + * Find the centroid of the point cloud
  13978. + * @param xyzMap input point cloud
  13979. + * @return (x,y) coordinate of the centroid
  13980. + */
  13981. + static cv::Point findCentroid(cv::Mat xyzMap);
  13982. +
  13983. + /*
  13984. + * Compute the angle formed by 3 points
  13985. + * @return the angle formed
  13986. + */
  13987. + static double TriangleAngleCalculation(double x1, double y1, double x2, double y2, double x3, double y3);
  13988. +
  13989. + static void floodFill(int x, int y, cv::Mat& depthMap, cv::Mat& mask, double max_distance);
  13990. +
  13991. +
  13992. +private:
  13993. + static double DistanceTwoPoints(double x1, double y1, double x2, double y2);
  13994. + static double otherAngleFind(double biggerAngle, double largestDistance, double smallDistance);
  13995. + static double BiggerAngleFind(double largestDistance, double smallDistanceOne, double smallDistanceTwo);
  13996. + static bool Util::closeEnough(int x, int y, cv::Mat& depthMap, int num_neighbors, double max_distance);
  13997. +
  13998. };
  13999. \ No newline at end of file
  14000. diff --git a/Visualizer.cpp b/Visualizer.cpp
  14001. index 82aaabc..91e534d 100644
  14002. --- a/Visualizer.cpp
  14003. +++ b/Visualizer.cpp
  14004. @@ -1,159 +1,158 @@
  14005. -#include "Visualizer.h"
  14006. -
  14007. -pcl::visualization::PCLVisualizer Visualizer::viewer = pcl::visualization::PCLVisualizer("Point Cloud");
  14008. -
  14009. -/***
  14010. -Maps matrix values to [0, 255] for viewing
  14011. -***/
  14012. -cv::Mat Visualizer::visualizeMatrix(cv::Mat &input)
  14013. -{
  14014. - cv::Mat img;
  14015. - cv::normalize(input, img, 0, 255, cv::NORM_MINMAX, CV_8UC3);
  14016. - return img;
  14017. -}
  14018. -
  14019. -/***
  14020. -RGB depth map visualization
  14021. -***/
  14022. -cv::Mat Visualizer::visualizeDepthMap(cv::Mat &depthMap)
  14023. -{
  14024. - cv::Mat img;
  14025. - cv::normalize(depthMap, img, 0, 255, cv::NORM_MINMAX, CV_8UC1);
  14026. - cv::applyColorMap(img, img, cv::COLORMAP_HOT);
  14027. - return img;
  14028. -}
  14029. -
  14030. -cv::Mat Visualizer::visualizeXYZMap(cv::Mat &xyzMap)
  14031. -{
  14032. - cv::Mat channels[3];
  14033. - cv::split(xyzMap, channels);
  14034. - return visualizeDepthMap(channels[2]);
  14035. -}
  14036. -
  14037. -cv::Mat Visualizer::visualizeHand(cv::Mat xyzMap, cv::Point2i finger, cv::Point2i centroid)
  14038. -{
  14039. - cv::Mat displayImg;
  14040. - if (xyzMap.type() == CV_32FC3) {
  14041. - displayImg = Visualizer::visualizeXYZMap(xyzMap);
  14042. - }
  14043. - else {
  14044. - displayImg = xyzMap;
  14045. - }
  14046. -
  14047. - cv::circle(displayImg, cv::Point(finger.x, finger.y), 2, cv::Scalar(0, 255, 255), 2);
  14048. - cv::circle(displayImg, cv::Point(centroid.x, centroid.y), 2, cv::Scalar(0, 255, 0), 2);
  14049. - return displayImg;
  14050. -}
  14051. -
  14052. -void Visualizer::visualizeCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
  14053. -{
  14054. - viewer.setBackgroundColor(0, 0, 0);
  14055. - if (!viewer.updatePointCloud(cloud))
  14056. - viewer.addPointCloud(cloud);
  14057. - viewer.spinOnce();
  14058. -}
  14059. -
  14060. -cv::Mat Visualizer::visualizePlaneRegression(cv::Mat &input_mat, std::vector<double> &equation, const double threshold, bool clicked)
  14061. -{
  14062. - cv::Mat output_mat;
  14063. - if (input_mat.type() == CV_32FC3) {
  14064. - output_mat = Visualizer::visualizeXYZMap(input_mat);
  14065. - }
  14066. - else {
  14067. - output_mat = input_mat;
  14068. - }
  14069. -
  14070. - if (equation.size() < 3)
  14071. - {
  14072. - return output_mat;
  14073. - }
  14074. - int rowSize = input_mat.rows;
  14075. - int colSize = input_mat.cols;
  14076. - cv::Scalar color;
  14077. - if (clicked) {
  14078. - color = cv::Scalar(255, 255, 0);
  14079. - }
  14080. - else {
  14081. - color = cv::Scalar(0, 255, 0);
  14082. - }
  14083. -
  14084. - int pointsDetected = 0;
  14085. - for (int r = 0; r < rowSize; r++) {
  14086. - for (int c = 0; c < colSize; c++) {
  14087. - double x = input_mat.at<cv::Vec3f>(r, c)[0];
  14088. - double y = input_mat.at<cv::Vec3f>(r, c)[1];
  14089. - double z = input_mat.at<cv::Vec3f>(r, c)[2];
  14090. -
  14091. - if (z == 0) {
  14092. - continue;
  14093. - }
  14094. -
  14095. - double z_hat = equation[0] * x + equation[1] * y + equation[2];
  14096. - double r_squared = (z - z_hat) * (z - z_hat);
  14097. -
  14098. - if (r_squared < threshold) {
  14099. - cv::circle(output_mat, cv::Point(c, r), 1, color, -1);
  14100. - pointsDetected++;
  14101. - }
  14102. - }
  14103. - }
  14104. - return output_mat;
  14105. -}
  14106. -
  14107. -void Visualizer::visualizePlanePoints(cv::Mat &input_mat, std::vector<cv::Point2i> indicies)
  14108. -{
  14109. - for (int i = 0; i < indicies.size(); i++) {
  14110. - input_mat.at<uchar>(indicies[i].y, indicies[i].x) = (uchar)255;
  14111. - }
  14112. -}
  14113. -
  14114. -void Visualizer::visulizePolygonMesh(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
  14115. -{
  14116. - if (cloud.get()->width == 0) {
  14117. - return;
  14118. - }
  14119. - // Normal estimation*
  14120. - pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
  14121. - pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
  14122. - pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
  14123. - tree->setInputCloud(cloud);
  14124. - n.setInputCloud(cloud);
  14125. - n.setSearchMethod(tree);
  14126. - n.setKSearch(20);
  14127. - n.compute(*normals);
  14128. - //* normals should not contain the point normals + surface curvatures
  14129. -
  14130. - // Concatenate the XYZ and normal fields*
  14131. - pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
  14132. - pcl::concatenateFields(*cloud, *normals, *cloud_with_normals);
  14133. - //* cloud_with_normals = cloud + normals
  14134. -
  14135. - // Create search tree*
  14136. - pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
  14137. - tree2->setInputCloud(cloud_with_normals);
  14138. -
  14139. - // Initialize objects
  14140. - pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
  14141. - pcl::PolygonMesh triangles;
  14142. -
  14143. - // Set the maximum distance between connected points (maximum edge length)
  14144. - gp3.setSearchRadius(0.025);
  14145. -
  14146. - // Set typical values for the parameters
  14147. - gp3.setMu(2.5);
  14148. - gp3.setMaximumNearestNeighbors(100);
  14149. - gp3.setMaximumSurfaceAngle(M_PI / 4); // 45 degrees
  14150. - gp3.setMinimumAngle(M_PI / 18); // 10 degrees
  14151. - gp3.setMaximumAngle(2 * M_PI / 3); // 120 degrees
  14152. - gp3.setNormalConsistency(false);
  14153. -
  14154. - // Get result
  14155. - gp3.setInputCloud(cloud_with_normals);
  14156. - gp3.setSearchMethod(tree2);
  14157. - gp3.reconstruct(triangles);
  14158. -
  14159. - viewer.setBackgroundColor(0, 0, 0);
  14160. - if (!viewer.updatePolygonMesh(triangles))
  14161. - viewer.addPolygonMesh(triangles);
  14162. - viewer.spinOnce();
  14163. +#include "Visualizer.h"
  14164. +
  14165. +pcl::visualization::PCLVisualizer Visualizer::viewer = pcl::visualization::PCLVisualizer("Point Cloud");
  14166. +
  14167. +/***
  14168. +Maps matrix values to [0, 255] for viewing
  14169. +***/
  14170. +cv::Mat Visualizer::visualizeMatrix(cv::Mat &input)
  14171. +{
  14172. + cv::Mat img;
  14173. + cv::normalize(input, img, 0, 255, cv::NORM_MINMAX, CV_8UC3);
  14174. + return img;
  14175. +}
  14176. +
  14177. +/***
  14178. +RGB depth map visualization
  14179. +***/
  14180. +cv::Mat Visualizer::visualizeDepthMap(cv::Mat &depthMap)
  14181. +{
  14182. + cv::Mat img;
  14183. + cv::normalize(depthMap, img, 0, 255, cv::NORM_MINMAX, CV_8UC1);
  14184. + cv::applyColorMap(img, img, cv::COLORMAP_HOT);
  14185. + return img;
  14186. +}
  14187. +
  14188. +cv::Mat Visualizer::visualizeXYZMap(cv::Mat &xyzMap)
  14189. +{
  14190. + cv::Mat channels[3];
  14191. + cv::split(xyzMap, channels);
  14192. + return visualizeDepthMap(channels[2]);
  14193. +}
  14194. +
  14195. +cv::Mat Visualizer::visualizeHand(cv::Mat xyzMap, cv::Point2i finger, cv::Point2i centroid)
  14196. +{
  14197. + cv::Mat displayImg;
  14198. + if (xyzMap.type() == CV_32FC3) {
  14199. + displayImg = Visualizer::visualizeXYZMap(xyzMap);
  14200. + }
  14201. + else {
  14202. + displayImg = xyzMap;
  14203. + }
  14204. +
  14205. + cv::circle(displayImg, cv::Point(finger.x, finger.y), 2, cv::Scalar(0, 255, 255), 2);
  14206. + cv::circle(displayImg, cv::Point(centroid.x, centroid.y), 2, cv::Scalar(0, 255, 0), 2);
  14207. + return displayImg;
  14208. +}
  14209. +
  14210. +void Visualizer::visualizeCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
  14211. +{
  14212. + viewer.setBackgroundColor(0, 0, 0);
  14213. + if (!viewer.updatePointCloud(cloud))
  14214. + viewer.addPointCloud(cloud);
  14215. + viewer.spinOnce();
  14216. +}
  14217. +
  14218. +cv::Mat Visualizer::visualizePlaneRegression(cv::Mat &input_mat, std::vector<double> &equation, const double threshold, bool clicked)
  14219. +{
  14220. + cv::Mat output_mat;
  14221. + if (input_mat.type() == CV_32FC3) {
  14222. + output_mat = Visualizer::visualizeXYZMap(input_mat);
  14223. + } else {
  14224. + output_mat = input_mat;
  14225. + }
  14226. +
  14227. + if (equation.size() < 3)
  14228. + {
  14229. + return output_mat;
  14230. + }
  14231. + int rowSize = input_mat.rows;
  14232. + int colSize = input_mat.cols;
  14233. + cv::Scalar color;
  14234. + if (clicked) {
  14235. + color = cv::Scalar(255, 255, 0);
  14236. + }
  14237. + else {
  14238. + color = cv::Scalar(0, 255, 0);
  14239. + }
  14240. +
  14241. + int pointsDetected = 0;
  14242. + for (int r = 0; r < rowSize; r++) {
  14243. + for (int c = 0; c < colSize; c++) {
  14244. + double x = input_mat.at<cv::Vec3f>(r, c)[0];
  14245. + double y = input_mat.at<cv::Vec3f>(r, c)[1];
  14246. + double z = input_mat.at<cv::Vec3f>(r, c)[2];
  14247. +
  14248. + if (z == 0) {
  14249. + continue;
  14250. + }
  14251. +
  14252. + double z_hat = equation[0] * x + equation[1] * y + equation[2];
  14253. + double r_squared = (z - z_hat) * (z - z_hat);
  14254. +
  14255. + if (r_squared < threshold) {
  14256. + cv::circle(output_mat, cv::Point(c, r), 1, color, -1);
  14257. + pointsDetected++;
  14258. + }
  14259. + }
  14260. + }
  14261. + return output_mat;
  14262. +}
  14263. +
  14264. +void Visualizer::visualizePlanePoints(cv::Mat &input_mat, std::vector<cv::Point2i> indicies)
  14265. +{
  14266. + for (int i = 0; i < indicies.size(); i++) {
  14267. + input_mat.at<uchar>(indicies[i].y, indicies[i].x) = (uchar) 255;
  14268. + }
  14269. +}
  14270. +
  14271. +void Visualizer::visulizePolygonMesh(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
  14272. +{
  14273. + if (cloud.get()->width == 0) {
  14274. + return;
  14275. + }
  14276. + // Normal estimation*
  14277. + pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
  14278. + pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
  14279. + pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
  14280. + tree->setInputCloud(cloud);
  14281. + n.setInputCloud(cloud);
  14282. + n.setSearchMethod(tree);
  14283. + n.setKSearch(20);
  14284. + n.compute(*normals);
  14285. + //* normals should not contain the point normals + surface curvatures
  14286. +
  14287. + // Concatenate the XYZ and normal fields*
  14288. + pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
  14289. + pcl::concatenateFields(*cloud, *normals, *cloud_with_normals);
  14290. + //* cloud_with_normals = cloud + normals
  14291. +
  14292. + // Create search tree*
  14293. + pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
  14294. + tree2->setInputCloud(cloud_with_normals);
  14295. +
  14296. + // Initialize objects
  14297. + pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
  14298. + pcl::PolygonMesh triangles;
  14299. +
  14300. + // Set the maximum distance between connected points (maximum edge length)
  14301. + gp3.setSearchRadius(0.025);
  14302. +
  14303. + // Set typical values for the parameters
  14304. + gp3.setMu(2.5);
  14305. + gp3.setMaximumNearestNeighbors(100);
  14306. + gp3.setMaximumSurfaceAngle(M_PI / 4); // 45 degrees
  14307. + gp3.setMinimumAngle(M_PI / 18); // 10 degrees
  14308. + gp3.setMaximumAngle(2 * M_PI / 3); // 120 degrees
  14309. + gp3.setNormalConsistency(false);
  14310. +
  14311. + // Get result
  14312. + gp3.setInputCloud(cloud_with_normals);
  14313. + gp3.setSearchMethod(tree2);
  14314. + gp3.reconstruct(triangles);
  14315. +
  14316. + viewer.setBackgroundColor(0, 0, 0);
  14317. + if (!viewer.updatePolygonMesh(triangles))
  14318. + viewer.addPolygonMesh(triangles);
  14319. + viewer.spinOnce();
  14320. }
  14321. \ No newline at end of file
  14322. diff --git a/Visualizer.h b/Visualizer.h
  14323. index d716c12..8eae51d 100644
  14324. --- a/Visualizer.h
  14325. +++ b/Visualizer.h
  14326. @@ -1,91 +1,90 @@
  14327. -#pragma once
  14328. -//OpenCV Libraries
  14329. -#include <opencv2/core/core.hpp>
  14330. -#include <opencv2/highgui/highgui.hpp>
  14331. -#include <opencv2/core.hpp>
  14332. -#include <opencv2/imgproc.hpp>
  14333. -#include <opencv2/imgcodecs.hpp>
  14334. -#include <opencv2/highgui.hpp>
  14335. -
  14336. -// PCL Libraries
  14337. -#include <pcl/point_types.h>
  14338. -#include <pcl/io/pcd_io.h>
  14339. -#include <pcl/kdtree/kdtree_flann.h>
  14340. -#include <pcl/features/normal_3d.h>
  14341. -#include <pcl/surface/gp3.h>
  14342. -#include <pcl/visualization/cloud_viewer.h>
  14343. -
  14344. -/**
  14345. -* Utility class containing various conversions and visualization techniques.
  14346. -*/
  14347. -class Visualizer
  14348. -{
  14349. -public:
  14350. - /**
  14351. - * Visualization for xyzMap.
  14352. - * @param [in] xyzMap input point cloud matrix
  14353. - * @return a CV_8UC3 representation of the xyzMap
  14354. - */
  14355. - static cv::Mat visualizeXYZMap(cv::Mat &xyzMap);
  14356. -
  14357. - /**
  14358. - * Visualization for hand object.
  14359. - * @param [in] xyzMap the base image to draw on
  14360. - * @param [in] finger (i,j) coordinates of the finger
  14361. - * @param [in] centroid (i,j) coordinates of the centroid
  14362. - * @return a CV_8UC3 matrix with the hand points drawn
  14363. - */
  14364. - static cv::Mat visualizeHand(cv::Mat xyzMap, cv::Point2i finger, cv::Point2i centroid);
  14365. -
  14366. - /**
  14367. - * Visualization for PCL point cloud.
  14368. - * @param [in] cloud PCL point cloud to be visualized
  14369. - */
  14370. - static void visualizeCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
  14371. -
  14372. - /**
  14373. - * Visualization for polygon mesh.
  14374. - * Visualize a PCL point cloud as a polygon mesh
  14375. - * @param [in] cloud PCL point cloud to be visualized
  14376. - */
  14377. - static void visulizePolygonMesh(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
  14378. -
  14379. - /**
  14380. - * Visualization for plane regression.
  14381. - * @param [in] input_mat the base xyzMap on which to draw the visualization
  14382. - * @param [in] equation equation of the plane
  14383. - * @param threshold maximum error distance (mm) allowed for points to be considered covered by regression equation
  14384. - * @param clicked whether the finger is currently current contacting the regression equation. Default is FALSE
  14385. - * @return a CV_8UC3 representation of the matrix with the regression plane drawn
  14386. - */
  14387. - static cv::Mat visualizePlaneRegression(cv::Mat &input_mat, std::vector<double> &equation, const double threshold, bool clicked = false);
  14388. -
  14389. - /*
  14390. - * Visualize points that lie on the plane.
  14391. - * @param input_mat the input point cloud
  14392. - * @indicies (i,j) coordinates of the points belonging to the plane
  14393. - */
  14394. - static void visualizePlanePoints(cv::Mat &input_mat, std::vector<cv::Point2i> indicies);
  14395. - static cv::Mat visualizeDepthMap(cv::Mat &depthMap);
  14396. -
  14397. -private:
  14398. -
  14399. - /**
  14400. - * Visualization for a generic matrix.
  14401. - * @param [in] input matrix to be visualized
  14402. - * @return a CV_8UC3 representation of the input matrix
  14403. - */
  14404. - static cv::Mat visualizeMatrix(cv::Mat &input);
  14405. -
  14406. - /**
  14407. - * Visualization for a depth map matrix (i,j,z).
  14408. - * @param [in] depthMap matrix to be visualized
  14409. - * @return a CV_8UC3 representation of the input matrix
  14410. - */
  14411. -
  14412. -
  14413. - /**
  14414. - * PCL point cloud viewer
  14415. - */
  14416. - static pcl::visualization::PCLVisualizer viewer;
  14417. +#pragma once
  14418. +//OpenCV Libraries
  14419. +#include <opencv2/core/core.hpp>
  14420. +#include <opencv2/highgui/highgui.hpp>
  14421. +#include <opencv2/core.hpp>
  14422. +#include <opencv2/imgproc.hpp>
  14423. +#include <opencv2/imgcodecs.hpp>
  14424. +#include <opencv2/highgui.hpp>
  14425. +
  14426. +// PCL Libraries
  14427. +#include <pcl/point_types.h>
  14428. +#include <pcl/io/pcd_io.h>
  14429. +#include <pcl/kdtree/kdtree_flann.h>
  14430. +#include <pcl/features/normal_3d.h>
  14431. +#include <pcl/surface/gp3.h>
  14432. +#include <pcl/visualization/cloud_viewer.h>
  14433. +
  14434. +/**
  14435. +* Utility class containing various conversions and visualization techniques.
  14436. +*/
  14437. +class Visualizer
  14438. +{
  14439. +public:
  14440. + /**
  14441. + * Visualization for xyzMap.
  14442. + * @param [in] xyzMap input point cloud matrix
  14443. + * @return a CV_8UC3 representation of the xyzMap
  14444. + */
  14445. + static cv::Mat visualizeXYZMap(cv::Mat &xyzMap);
  14446. +
  14447. + /**
  14448. + * Visualization for hand object.
  14449. + * @param [in] xyzMap the base image to draw on
  14450. + * @param [in] finger (i,j) coordinates of the finger
  14451. + * @param [in] centroid (i,j) coordinates of the centroid
  14452. + * @return a CV_8UC3 matrix with the hand points drawn
  14453. + */
  14454. + static cv::Mat visualizeHand(cv::Mat xyzMap, cv::Point2i finger, cv::Point2i centroid);
  14455. +
  14456. + /**
  14457. + * Visualization for PCL point cloud.
  14458. + * @param [in] cloud PCL point cloud to be visualized
  14459. + */
  14460. + static void visualizeCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
  14461. +
  14462. + /**
  14463. + * Visualization for polygon mesh.
  14464. + * Visualize a PCL point cloud as a polygon mesh
  14465. + * @param [in] cloud PCL point cloud to be visualized
  14466. + */
  14467. + static void visulizePolygonMesh(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
  14468. +
  14469. + /**
  14470. + * Visualization for plane regression.
  14471. + * @param [in] input_mat the base xyzMap on which to draw the visualization
  14472. + * @param [in] equation equation of the plane
  14473. + * @param threshold maximum error distance (mm) allowed for points to be considered covered by regression equation
  14474. + * @param clicked whether the finger is currently current contacting the regression equation. Default is FALSE
  14475. + * @return a CV_8UC3 representation of the matrix with the regression plane drawn
  14476. + */
  14477. + static cv::Mat visualizePlaneRegression(cv::Mat &input_mat, std::vector<double> &equation, const double threshold, bool clicked = false);
  14478. +
  14479. + /*
  14480. + * Visualize points that lie on the plane.
  14481. + * @param input_mat the input point cloud
  14482. + * @indicies (i,j) coordinates of the points belonging to the plane
  14483. + */
  14484. + static void visualizePlanePoints(cv::Mat &input_mat, std::vector<cv::Point2i> indicies);
  14485. +
  14486. +private:
  14487. +
  14488. + /**
  14489. + * Visualization for a generic matrix.
  14490. + * @param [in] input matrix to be visualized
  14491. + * @return a CV_8UC3 representation of the input matrix
  14492. + */
  14493. + static cv::Mat visualizeMatrix(cv::Mat &input);
  14494. +
  14495. + /**
  14496. + * Visualization for a depth map matrix (i,j,z).
  14497. + * @param [in] depthMap matrix to be visualized
  14498. + * @return a CV_8UC3 representation of the input matrix
  14499. + */
  14500. + static cv::Mat visualizeDepthMap(cv::Mat &depthMap);
  14501. +
  14502. + /**
  14503. + * PCL point cloud viewer
  14504. + */
  14505. + static pcl::visualization::PCLVisualizer viewer;
  14506. };
  14507. \ No newline at end of file
  14508. diff --git a/Webcam.cpp b/Webcam.cpp
  14509. index eed13c9..734a31d 100644
  14510. --- a/Webcam.cpp
  14511. +++ b/Webcam.cpp
  14512. @@ -1,22 +1,22 @@
  14513. -#include "Webcam.h"
  14514. -
  14515. -/***
  14516. -Opens a webcam and returns the handle
  14517. -***/
  14518. -Webcam::Webcam(int code) {
  14519. - cap.release();
  14520. - cap.open(code);
  14521. -}
  14522. -
  14523. -void Webcam::update()
  14524. -{
  14525. - cap.read(frame);
  14526. -}
  14527. -
  14528. -/***
  14529. -Closes the webcam
  14530. -***/
  14531. -Webcam::~Webcam()
  14532. -{
  14533. - cap.release();
  14534. +#include "Webcam.h"
  14535. +
  14536. +/***
  14537. +Opens a webcam and returns the handle
  14538. +***/
  14539. +Webcam::Webcam(int code) {
  14540. + cap.release();
  14541. + cap.open(code);
  14542. +}
  14543. +
  14544. +void Webcam::update()
  14545. +{
  14546. + cap.read(frame);
  14547. +}
  14548. +
  14549. +/***
  14550. +Closes the webcam
  14551. +***/
  14552. +Webcam::~Webcam()
  14553. +{
  14554. + cap.release();
  14555. }
  14556. \ No newline at end of file
  14557. diff --git a/Webcam.h b/Webcam.h
  14558. index 73d4d84..2d83852 100644
  14559. --- a/Webcam.h
  14560. +++ b/Webcam.h
  14561. @@ -1,30 +1,30 @@
  14562. -#pragma once
  14563. -// OpenCV Libaries
  14564. -
  14565. -// OpenARK Libraries
  14566. -#include "RGBCamera.h"
  14567. -
  14568. -/**
  14569. -* Class defining the behavior of a standard webcam.
  14570. -*/
  14571. -class Webcam : public RGBCamera
  14572. -{
  14573. -public:
  14574. - /**
  14575. - * Constructs a new webcam instance.
  14576. - * @param code the code for the webcam. Default is 0 if there is only one webcam connected
  14577. - */
  14578. - Webcam(int code = 0);
  14579. -
  14580. - /**
  14581. - * Deconstructs a webcam instance.
  14582. - */
  14583. - ~Webcam();
  14584. -
  14585. - /**
  14586. - * Updates the webcam infomration with the current frame.
  14587. - */
  14588. - void update();
  14589. -
  14590. -private:
  14591. +#pragma once
  14592. +// OpenCV Libaries
  14593. +
  14594. +// OpenARK Libraries
  14595. +#include "RGBCamera.h"
  14596. +
  14597. +/**
  14598. +* Class defining the behavior of a standard webcam.
  14599. +*/
  14600. +class Webcam : public RGBCamera
  14601. +{
  14602. +public:
  14603. + /**
  14604. + * Constructs a new webcam instance.
  14605. + * @param code the code for the webcam. Default is 0 if there is only one webcam connected
  14606. + */
  14607. + Webcam(int code = 0);
  14608. +
  14609. + /**
  14610. + * Deconstructs a webcam instance.
  14611. + */
  14612. + ~Webcam();
  14613. +
  14614. + /**
  14615. + * Updates the webcam infomration with the current frame.
  14616. + */
  14617. + void update();
  14618. +
  14619. +private:
  14620. };
  14621. \ No newline at end of file
  14622. diff --git a/global.cpp b/global.cpp
  14623. deleted file mode 100644
  14624. index 908fbc6..0000000
  14625. --- a/global.cpp
  14626. +++ /dev/null
  14627. @@ -1,3 +0,0 @@
  14628. -#include "global.h"
  14629. -
  14630. -char * camera_name = "sr300";
  14631. \ No newline at end of file
  14632. diff --git a/global.h b/global.h
  14633. deleted file mode 100644
  14634. index 21401b8..0000000
  14635. --- a/global.h
  14636. +++ /dev/null
  14637. @@ -1,2 +0,0 @@
  14638. -#pragma once
  14639. -extern char * camera_name;
  14640. \ No newline at end of file
  14641. diff --git a/samplecode/ARTiltBrushDemo.cpp b/samplecode/ARTiltBrushDemo.cpp
  14642. index 7cd97c6..a3afe71 100644
  14643. --- a/samplecode/ARTiltBrushDemo.cpp
  14644. +++ b/samplecode/ARTiltBrushDemo.cpp
  14645. @@ -1,179 +1,179 @@
  14646. -// C++ Libraries
  14647. -#include <stdio.h>
  14648. -#include <iostream>
  14649. -#include <string>
  14650. -#include <time.h>
  14651. -
  14652. -// OpenCV Libraries
  14653. -#include <opencv/cxcore.h>
  14654. -#include "opencv2/highgui/highgui.hpp"
  14655. -
  14656. -// OpenARK Libraries
  14657. -#include "PMDCamera.h"
  14658. -#include "Webcam.h"
  14659. -#include "Visualizer.h"
  14660. -#include "Hand.h"
  14661. -#include "Plane.h"
  14662. -#include "Calibration.h"
  14663. -#include "Util.h"
  14664. -#include "UDPSender.h"
  14665. -#include "Object3D.h"
  14666. -#include "StreamingAverager.h"
  14667. -
  14668. -int main() {
  14669. - clock_t starttime = clock();
  14670. - DepthCamera* pmd = new PMDCamera();
  14671. - //RGBCamera *cam = new Webcam(1);
  14672. - int frame = 0;
  14673. - //Calibration::XYZToUnity(*pmd, 4, 4, 3);
  14674. - cv::FileStorage fs;
  14675. - fs.open("RT_Transform.txt", cv::FileStorage::READ);
  14676. -
  14677. - cv::Mat r, t;
  14678. - fs["R"] >> r;
  14679. - fs["T"] >> t;
  14680. -
  14681. - fs.release();
  14682. -
  14683. - UDPSender u = UDPSender();
  14684. - cv::namedWindow("Results", CV_WINDOW_NORMAL);
  14685. -
  14686. - StreamingAverager handAverager = StreamingAverager(4, 0.1);
  14687. - StreamingAverager paleeteAverager = StreamingAverager(6, 0.05);
  14688. -
  14689. - while (true)
  14690. - {
  14691. - pmd->update();
  14692. -
  14693. - /**
  14694. - std::string filename = "..//OpenARK_Datasets//TwoHandDataSet1//img" + std::to_string(frame) + ".yml";
  14695. - if (!pmd->readImage(filename))
  14696. - break;
  14697. - **/
  14698. -
  14699. - // Loading image from sensor
  14700. -
  14701. - pmd->removeNoise();
  14702. - cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  14703. - if (pmd->badInput) {
  14704. - continue;
  14705. - }
  14706. -
  14707. - // Classifying objects in the scene
  14708. -
  14709. - pmd->computeClusters(0.02, 500);
  14710. - std::vector<cv::Mat> clusters = pmd->getClusters();
  14711. - std::vector<Object3D> objects;
  14712. -
  14713. - int handObjectIndex = -1, planeObjectIndex = -1;
  14714. - for (int i = 0; i < clusters.size(); i++) {
  14715. - Object3D obj = Object3D(clusters[i].clone());
  14716. - if (obj.hasHand) {
  14717. - handObjectIndex = i;
  14718. - }
  14719. -
  14720. - if (obj.hasPlane) {
  14721. - planeObjectIndex = i;
  14722. - }
  14723. - objects.push_back(obj);
  14724. -
  14725. - }
  14726. -
  14727. - // Interprate the relationship between the objects
  14728. -
  14729. - bool clicked = false, paletteFound = false;
  14730. - Object3D handObject, planeObject;
  14731. - cv::Point paletteCenter(-1. -1);
  14732. - cv::Mat mask = cv::Mat::zeros(pmd->getXYZMap().rows, pmd->getXYZMap().cols, CV_8UC1);
  14733. - if (planeObjectIndex != -1 && handObjectIndex != -1) {
  14734. - planeObject = objects[planeObjectIndex];
  14735. - handObject = objects[handObjectIndex];
  14736. -
  14737. - clicked = handObject.getHand().touchObject(planeObject.getPlane().getPlaneEquation(), planeObject.getPlane().R_SQUARED_DISTANCE_THRESHOLD * 5);
  14738. - cv::Mat scene = Visualizer::visualizePlaneRegression(pmd->getXYZMap(), planeObject.getPlane().getPlaneEquation(), planeObject.getPlane().R_SQUARED_DISTANCE_THRESHOLD, clicked);
  14739. - //scene = Visualizer::visualizeHand(scene, handObject.getHand().pointer_finger_ij, handObject.getHand().shape_centroid_ij);
  14740. - if (planeObject.leftEdgeConnected) {
  14741. - Visualizer::visualizePlanePoints(mask, planeObject.getPlane().getPlaneIndicies());
  14742. - cv::Moments m = cv::moments(mask, false);
  14743. - paletteCenter = cv::Point (m.m10 / m.m00, m.m01 / m.m00);
  14744. - cv::circle(scene, paletteCenter, 2, cv::Scalar(0, 0, 255), 2);
  14745. - paletteFound = true;
  14746. - }
  14747. - cv::imshow("Results", scene);
  14748. - } else if (handObjectIndex != -1) {
  14749. - handObject = objects[handObjectIndex];
  14750. - //cv::imshow("Results", Visualizer::visualizeHand(pmd->getXYZMap(), handObject.getHand().pointer_finger_ij, handObject.getHand().shape_centroid_ij));
  14751. - } else if (planeObjectIndex != -1) {
  14752. - planeObject = objects[planeObjectIndex];
  14753. - cv::Mat scene = Visualizer::visualizePlaneRegression(pmd->getXYZMap(), planeObject.getPlane().getPlaneEquation(), planeObject.getPlane().R_SQUARED_DISTANCE_THRESHOLD, clicked);
  14754. - if (planeObject.leftEdgeConnected) {
  14755. - Visualizer::visualizePlanePoints(mask, planeObject.getPlane().getPlaneIndicies());
  14756. - cv::Moments m = cv::moments(mask, false);
  14757. - paletteCenter = cv::Point (m.m10 / m.m00, m.m01 / m.m00);
  14758. - cv::circle(scene, paletteCenter, 2, cv::Scalar(0, 0, 255), 2);
  14759. - paletteFound = true;
  14760. - }
  14761. - cv::imshow("Results", scene);
  14762. - }
  14763. -
  14764. - // Organize the data and send to game engine
  14765. -
  14766. - std::string handX = "-", handY = "-", handZ = "-";
  14767. - std::string paletteX = "-", paletteY = "-", paletteZ = "-";
  14768. - std::string clickStatus = "2";
  14769. - std::string num_fingers = "0";
  14770. - if (handObjectIndex != -1) {
  14771. - cv::Vec3f handPos = handAverager.addDataPoint(objects[handObjectIndex].getHand().fingers_xyz[0]);
  14772. - //float hand_pt[3] = { objects[handObjectIndex].getHand().pointer_finger_xyz[0], objects[handObjectIndex].getHand().pointer_finger_xyz[1], objects[handObjectIndex].getHand().pointer_finger_xyz[2]};
  14773. - float hand_pt[3] = { handPos[0], handPos[1], handPos[2] };
  14774. - cv::Mat hand_mat = cv::Mat(3, 1, CV_32FC1, &hand_pt);
  14775. - hand_mat = r*hand_mat + t;
  14776. - handX = std::to_string(hand_mat.at<float>(0, 0));
  14777. - handY = std::to_string(hand_mat.at<float>(1, 0));
  14778. - handZ = std::to_string(hand_mat.at<float>(2, 0));
  14779. - num_fingers = std::to_string(objects[handObjectIndex].getHand().fingers_xyz.size());
  14780. - }
  14781. - else {
  14782. - handAverager.addEmptyPoint();
  14783. - }
  14784. - if (paletteFound) {
  14785. - cv::Vec3f pt = paleeteAverager.addDataPoint(pmd->getXYZMap().at<cv::Vec3f>(paletteCenter.y, paletteCenter.x));
  14786. - float palette_pt[3] = { pt[0], pt[1], pt[2] };
  14787. - cv::Mat palette_mat = cv::Mat(3, 1, CV_32FC1, &palette_pt);
  14788. - palette_mat = r*palette_mat + t;
  14789. - paletteX = std::to_string(palette_mat.at<float>(0, 0));
  14790. - paletteY = std::to_string(palette_mat.at<float>(1, 0));
  14791. - paletteZ = std::to_string(palette_mat.at<float>(2, 0));
  14792. - } else {
  14793. - paleeteAverager.addEmptyPoint();
  14794. - }
  14795. - if (clicked) {
  14796. - clickStatus = "1";
  14797. - }
  14798. -
  14799. - std::string tempS = "";
  14800. - tempS = handX + "%" + handY + "%" + handZ + "%" + paletteX + "%" + paletteY + "%" + paletteZ + "%" + clickStatus + "%" + num_fingers;
  14801. - u.send(tempS);
  14802. -
  14803. -
  14804. -
  14805. - /**** Start: Write Frames to File ****/
  14806. - //std::string filename = "img" + std::to_string(frame) + ".yml";
  14807. - //pmd->writeImage(filename);
  14808. - //std::cout << filename << std::endl;
  14809. - /**** End: Write Frames to File ****/
  14810. -
  14811. -
  14812. -
  14813. - /**** Start: Loop Break Condition ****/
  14814. - int c = cvWaitKey(1);
  14815. - if (c == 'q' || c == 'Q' || c == 27) {
  14816. - break;
  14817. - }
  14818. - /**** End: Loop Break Condition ****/
  14819. - frame++;
  14820. - }
  14821. -
  14822. - pmd->destroyInstance();
  14823. - return 0;
  14824. +// C++ Libraries
  14825. +#include <stdio.h>
  14826. +#include <iostream>
  14827. +#include <string>
  14828. +#include <time.h>
  14829. +
  14830. +// OpenCV Libraries
  14831. +#include <opencv/cxcore.h>
  14832. +#include "opencv2/highgui/highgui.hpp"
  14833. +
  14834. +// OpenARK Libraries
  14835. +#include "PMDCamera.h"
  14836. +#include "Webcam.h"
  14837. +#include "Visualizer.h"
  14838. +#include "Hand.h"
  14839. +#include "Plane.h"
  14840. +#include "Calibration.h"
  14841. +#include "Util.h"
  14842. +#include "UDPSender.h"
  14843. +#include "Object3D.h"
  14844. +#include "StreamingAverager.h"
  14845. +
  14846. +int main() {
  14847. + clock_t starttime = clock();
  14848. + DepthCamera* pmd = new PMDCamera();
  14849. + //RGBCamera *cam = new Webcam(1);
  14850. + int frame = 0;
  14851. + //Calibration::XYZToUnity(*pmd, 4, 4, 3);
  14852. + cv::FileStorage fs;
  14853. + fs.open("RT_Transform.txt", cv::FileStorage::READ);
  14854. +
  14855. + cv::Mat r, t;
  14856. + fs["R"] >> r;
  14857. + fs["T"] >> t;
  14858. +
  14859. + fs.release();
  14860. +
  14861. + UDPSender u = UDPSender();
  14862. + cv::namedWindow("Results", CV_WINDOW_NORMAL);
  14863. +
  14864. + StreamingAverager handAverager = StreamingAverager(4, 0.1);
  14865. + StreamingAverager paleeteAverager = StreamingAverager(6, 0.05);
  14866. +
  14867. + while (true)
  14868. + {
  14869. + pmd->update();
  14870. +
  14871. + /**
  14872. + std::string filename = "..//OpenARK_Datasets//TwoHandDataSet1//img" + std::to_string(frame) + ".yml";
  14873. + if (!pmd->readImage(filename))
  14874. + break;
  14875. + **/
  14876. +
  14877. + // Loading image from sensor
  14878. +
  14879. + pmd->removeNoise();
  14880. + cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  14881. + if (pmd->badInput) {
  14882. + continue;
  14883. + }
  14884. +
  14885. + // Classifying objects in the scene
  14886. +
  14887. + pmd->computeClusters(0.02, 500);
  14888. + std::vector<cv::Mat> clusters = pmd->getClusters();
  14889. + std::vector<Object3D> objects;
  14890. +
  14891. + int handObjectIndex = -1, planeObjectIndex = -1;
  14892. + for (int i = 0; i < clusters.size(); i++) {
  14893. + Object3D obj = Object3D(clusters[i].clone());
  14894. + if (obj.hasHand) {
  14895. + handObjectIndex = i;
  14896. + }
  14897. +
  14898. + if (obj.hasPlane) {
  14899. + planeObjectIndex = i;
  14900. + }
  14901. + objects.push_back(obj);
  14902. +
  14903. + }
  14904. +
  14905. + // Interprate the relationship between the objects
  14906. +
  14907. + bool clicked = false, paletteFound = false;
  14908. + Object3D handObject, planeObject;
  14909. + cv::Point paletteCenter(-1. -1);
  14910. + cv::Mat mask = cv::Mat::zeros(pmd->getXYZMap().rows, pmd->getXYZMap().cols, CV_8UC1);
  14911. + if (planeObjectIndex != -1 && handObjectIndex != -1) {
  14912. + planeObject = objects[planeObjectIndex];
  14913. + handObject = objects[handObjectIndex];
  14914. +
  14915. + clicked = handObject.getHand().touchObject(planeObject.getPlane().getPlaneEquation(), planeObject.getPlane().R_SQUARED_DISTANCE_THRESHOLD * 5);
  14916. + cv::Mat scene = Visualizer::visualizePlaneRegression(pmd->getXYZMap(), planeObject.getPlane().getPlaneEquation(), planeObject.getPlane().R_SQUARED_DISTANCE_THRESHOLD, clicked);
  14917. + //scene = Visualizer::visualizeHand(scene, handObject.getHand().pointer_finger_ij, handObject.getHand().shape_centroid_ij);
  14918. + if (planeObject.leftEdgeConnected) {
  14919. + Visualizer::visualizePlanePoints(mask, planeObject.getPlane().getPlaneIndicies());
  14920. + cv::Moments m = cv::moments(mask, false);
  14921. + paletteCenter = cv::Point (m.m10 / m.m00, m.m01 / m.m00);
  14922. + cv::circle(scene, paletteCenter, 2, cv::Scalar(0, 0, 255), 2);
  14923. + paletteFound = true;
  14924. + }
  14925. + cv::imshow("Results", scene);
  14926. + } else if (handObjectIndex != -1) {
  14927. + handObject = objects[handObjectIndex];
  14928. + //cv::imshow("Results", Visualizer::visualizeHand(pmd->getXYZMap(), handObject.getHand().pointer_finger_ij, handObject.getHand().shape_centroid_ij));
  14929. + } else if (planeObjectIndex != -1) {
  14930. + planeObject = objects[planeObjectIndex];
  14931. + cv::Mat scene = Visualizer::visualizePlaneRegression(pmd->getXYZMap(), planeObject.getPlane().getPlaneEquation(), planeObject.getPlane().R_SQUARED_DISTANCE_THRESHOLD, clicked);
  14932. + if (planeObject.leftEdgeConnected) {
  14933. + Visualizer::visualizePlanePoints(mask, planeObject.getPlane().getPlaneIndicies());
  14934. + cv::Moments m = cv::moments(mask, false);
  14935. + paletteCenter = cv::Point (m.m10 / m.m00, m.m01 / m.m00);
  14936. + cv::circle(scene, paletteCenter, 2, cv::Scalar(0, 0, 255), 2);
  14937. + paletteFound = true;
  14938. + }
  14939. + cv::imshow("Results", scene);
  14940. + }
  14941. +
  14942. + // Organize the data and send to game engine
  14943. +
  14944. + std::string handX = "-", handY = "-", handZ = "-";
  14945. + std::string paletteX = "-", paletteY = "-", paletteZ = "-";
  14946. + std::string clickStatus = "2";
  14947. + std::string num_fingers = "0";
  14948. + if (handObjectIndex != -1) {
  14949. + cv::Vec3f handPos = handAverager.addDataPoint(objects[handObjectIndex].getHand().fingers_xyz[0]);
  14950. + //float hand_pt[3] = { objects[handObjectIndex].getHand().pointer_finger_xyz[0], objects[handObjectIndex].getHand().pointer_finger_xyz[1], objects[handObjectIndex].getHand().pointer_finger_xyz[2]};
  14951. + float hand_pt[3] = { handPos[0], handPos[1], handPos[2] };
  14952. + cv::Mat hand_mat = cv::Mat(3, 1, CV_32FC1, &hand_pt);
  14953. + hand_mat = r*hand_mat + t;
  14954. + handX = std::to_string(hand_mat.at<float>(0, 0));
  14955. + handY = std::to_string(hand_mat.at<float>(1, 0));
  14956. + handZ = std::to_string(hand_mat.at<float>(2, 0));
  14957. + num_fingers = std::to_string(objects[handObjectIndex].getHand().fingers_xyz.size());
  14958. + }
  14959. + else {
  14960. + handAverager.addEmptyPoint();
  14961. + }
  14962. + if (paletteFound) {
  14963. + cv::Vec3f pt = paleeteAverager.addDataPoint(pmd->getXYZMap().at<cv::Vec3f>(paletteCenter.y, paletteCenter.x));
  14964. + float palette_pt[3] = { pt[0], pt[1], pt[2] };
  14965. + cv::Mat palette_mat = cv::Mat(3, 1, CV_32FC1, &palette_pt);
  14966. + palette_mat = r*palette_mat + t;
  14967. + paletteX = std::to_string(palette_mat.at<float>(0, 0));
  14968. + paletteY = std::to_string(palette_mat.at<float>(1, 0));
  14969. + paletteZ = std::to_string(palette_mat.at<float>(2, 0));
  14970. + } else {
  14971. + paleeteAverager.addEmptyPoint();
  14972. + }
  14973. + if (clicked) {
  14974. + clickStatus = "1";
  14975. + }
  14976. +
  14977. + std::string tempS = "";
  14978. + tempS = handX + "%" + handY + "%" + handZ + "%" + paletteX + "%" + paletteY + "%" + paletteZ + "%" + clickStatus + "%" + num_fingers;
  14979. + u.send(tempS);
  14980. +
  14981. +
  14982. +
  14983. + /**** Start: Write Frames to File ****/
  14984. + //std::string filename = "img" + std::to_string(frame) + ".yml";
  14985. + //pmd->writeImage(filename);
  14986. + //std::cout << filename << std::endl;
  14987. + /**** End: Write Frames to File ****/
  14988. +
  14989. +
  14990. +
  14991. + /**** Start: Loop Break Condition ****/
  14992. + int c = cvWaitKey(1);
  14993. + if (c == 'q' || c == 'Q' || c == 27) {
  14994. + break;
  14995. + }
  14996. + /**** End: Loop Break Condition ****/
  14997. + frame++;
  14998. + }
  14999. +
  15000. + pmd->destroyInstance();
  15001. + return 0;
  15002. }
  15003. \ No newline at end of file
  15004. diff --git a/samplecode/CreatingDebugData.cpp b/samplecode/CreatingDebugData.cpp
  15005. index 9f66c0b..8ff63ed 100644
  15006. --- a/samplecode/CreatingDebugData.cpp
  15007. +++ b/samplecode/CreatingDebugData.cpp
  15008. @@ -1,45 +1,45 @@
  15009. -// C++ Libraries
  15010. -#include <stdio.h>
  15011. -#include <iostream>
  15012. -#include <string>
  15013. -
  15014. -// OpenCV Libraries
  15015. -#include <opencv/cxcore.h>
  15016. -#include "opencv2/highgui/highgui.hpp"
  15017. -
  15018. -// OpenARK Libraries
  15019. -#include "PMDCamera.h"
  15020. -#include "Visualizer.h"
  15021. -#include "Util.h"
  15022. -
  15023. -int main() {
  15024. - clock_t starttime = clock();
  15025. - DepthCamera* pmd = new PMDCamera();
  15026. - int frame = 0;
  15027. -
  15028. - while (true)
  15029. - {
  15030. - pmd->update();
  15031. -
  15032. - /**** Start: Write Frames to File ****/
  15033. - std::string filename = "img" + std::to_string(frame) + ".yml";
  15034. - pmd->writeImage(filename);
  15035. - std::cout << filename << std::endl;
  15036. - /**** End: Write Frames to File ****/
  15037. -
  15038. - pmd->removeNoise();
  15039. - cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15040. -
  15041. - /**** Start: Loop Break Condition ****/
  15042. - int c = cvWaitKey(1);
  15043. - if (c == 'q' || c == 'Q' || c == 27) {
  15044. - break;
  15045. - }
  15046. - /**** End: Loop Break Condition ****/
  15047. - frame++;
  15048. -
  15049. - }
  15050. -
  15051. - pmd->destroyInstance();
  15052. - return 0;
  15053. +// C++ Libraries
  15054. +#include <stdio.h>
  15055. +#include <iostream>
  15056. +#include <string>
  15057. +
  15058. +// OpenCV Libraries
  15059. +#include <opencv/cxcore.h>
  15060. +#include "opencv2/highgui/highgui.hpp"
  15061. +
  15062. +// OpenARK Libraries
  15063. +#include "PMDCamera.h"
  15064. +#include "Visualizer.h"
  15065. +#include "Util.h"
  15066. +
  15067. +int main() {
  15068. + clock_t starttime = clock();
  15069. + DepthCamera* pmd = new PMDCamera();
  15070. + int frame = 0;
  15071. +
  15072. + while (true)
  15073. + {
  15074. + pmd->update();
  15075. +
  15076. + /**** Start: Write Frames to File ****/
  15077. + std::string filename = "img" + std::to_string(frame) + ".yml";
  15078. + pmd->writeImage(filename);
  15079. + std::cout << filename << std::endl;
  15080. + /**** End: Write Frames to File ****/
  15081. +
  15082. + pmd->removeNoise();
  15083. + cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15084. +
  15085. + /**** Start: Loop Break Condition ****/
  15086. + int c = cvWaitKey(1);
  15087. + if (c == 'q' || c == 'Q' || c == 27) {
  15088. + break;
  15089. + }
  15090. + /**** End: Loop Break Condition ****/
  15091. + frame++;
  15092. +
  15093. + }
  15094. +
  15095. + pmd->destroyInstance();
  15096. + return 0;
  15097. }
  15098. \ No newline at end of file
  15099. diff --git a/samplecode/HandTracking.cpp b/samplecode/HandTracking.cpp
  15100. index 7e0a203..e6e03c4 100644
  15101. --- a/samplecode/HandTracking.cpp
  15102. +++ b/samplecode/HandTracking.cpp
  15103. @@ -1,51 +1,51 @@
  15104. -// C++ Libraries
  15105. -#include <stdio.h>
  15106. -#include <iostream>
  15107. -#include <string>
  15108. -
  15109. -// OpenCV Libraries
  15110. -#include <opencv/cxcore.h>
  15111. -#include "opencv2/highgui/highgui.hpp"
  15112. -
  15113. -// OpenARK Libraries
  15114. -#include "PMDCamera.h"
  15115. -#include "Visualizer.h"
  15116. -#include "Hand.h"
  15117. -#include "Plane.h"
  15118. -#include "Util.h"
  15119. -
  15120. -int main() {
  15121. - DepthCamera* pmd = new PMDCamera(false);
  15122. - int frame = 0;
  15123. -
  15124. - while (true)
  15125. - {
  15126. - // Load in the debug data
  15127. - std::string filename = "..//OpenARK_Datasets//HandDataSet1//img" + std::to_string(frame) + ".yml";
  15128. - if (!pmd->readImage(filename))
  15129. - break;
  15130. -
  15131. - // Remove noise on the frame
  15132. - pmd->removeNoise();
  15133. - cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15134. -
  15135. - // Find the right hand
  15136. - Hand right_hand = Hand(pmd->getClusters());
  15137. -
  15138. - // Show the hand
  15139. - cv::imshow("Hand", Visualizer::visualizeHand(pmd->getXYZMap(), right_hand.pointer_finger_ij, right_hand.shape_centroid_ij));
  15140. -
  15141. -
  15142. - /**** Start: Loop Break Condition ****/
  15143. - int c = cvWaitKey(1);
  15144. - if (c == 'q' || c == 'Q' || c == 27) {
  15145. - break;
  15146. - }
  15147. - /**** End: Loop Break Condition ****/
  15148. -
  15149. - frame++;
  15150. - }
  15151. -
  15152. - pmd->destroyInstance();
  15153. - return 0;
  15154. +// C++ Libraries
  15155. +#include <stdio.h>
  15156. +#include <iostream>
  15157. +#include <string>
  15158. +
  15159. +// OpenCV Libraries
  15160. +#include <opencv/cxcore.h>
  15161. +#include "opencv2/highgui/highgui.hpp"
  15162. +
  15163. +// OpenARK Libraries
  15164. +#include "PMDCamera.h"
  15165. +#include "Visualizer.h"
  15166. +#include "Hand.h"
  15167. +#include "Plane.h"
  15168. +#include "Util.h"
  15169. +
  15170. +int main() {
  15171. + DepthCamera* pmd = new PMDCamera(false);
  15172. + int frame = 0;
  15173. +
  15174. + while (true)
  15175. + {
  15176. + // Load in the debug data
  15177. + std::string filename = "..//OpenARK_Datasets//HandDataSet1//img" + std::to_string(frame) + ".yml";
  15178. + if (!pmd->readImage(filename))
  15179. + break;
  15180. +
  15181. + // Remove noise on the frame
  15182. + pmd->removeNoise();
  15183. + cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15184. +
  15185. + // Find the right hand
  15186. + Hand right_hand = Hand(pmd->getClusters());
  15187. +
  15188. + // Show the hand
  15189. + cv::imshow("Hand", Visualizer::visualizeHand(pmd->getXYZMap(), right_hand.pointer_finger_ij, right_hand.shape_centroid_ij));
  15190. +
  15191. +
  15192. + /**** Start: Loop Break Condition ****/
  15193. + int c = cvWaitKey(1);
  15194. + if (c == 'q' || c == 'Q' || c == 27) {
  15195. + break;
  15196. + }
  15197. + /**** End: Loop Break Condition ****/
  15198. +
  15199. + frame++;
  15200. + }
  15201. +
  15202. + pmd->destroyInstance();
  15203. + return 0;
  15204. }
  15205. \ No newline at end of file
  15206. diff --git a/samplecode/HandandPlane.cpp b/samplecode/HandandPlane.cpp
  15207. index 6efd71b..33bdd11 100644
  15208. --- a/samplecode/HandandPlane.cpp
  15209. +++ b/samplecode/HandandPlane.cpp
  15210. @@ -1,65 +1,65 @@
  15211. -// C++ Libraries
  15212. -#include <stdio.h>
  15213. -#include <iostream>
  15214. -#include <string>
  15215. -
  15216. -// OpenCV Libraries
  15217. -#include <opencv/cxcore.h>
  15218. -#include "opencv2/highgui/highgui.hpp"
  15219. -
  15220. -// OpenARK Libraries
  15221. -#include "PMDCamera.h"
  15222. -#include "Visualizer.h"
  15223. -#include "Hand.h"
  15224. -#include "Plane.h"
  15225. -#include "Util.h"
  15226. -
  15227. -int main() {
  15228. - DepthCamera* pmd = new PMDCamera(false);
  15229. - int frame = 0;
  15230. -
  15231. - while (true)
  15232. - {
  15233. - // Load in the debug data
  15234. - std::string filename = "..//OpenARK_Datasets//ClusterDataSet1//img" + std::to_string(frame) + ".yml";
  15235. - if (!pmd->readImage(filename))
  15236. - break;
  15237. -
  15238. - // Remove noise on the frame
  15239. - pmd->removeNoise();
  15240. - cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15241. -
  15242. - // Find the plane
  15243. - Plane plane = Plane::Plane(pmd->getXYZMap());
  15244. - Visualizer::visualizeCloud(plane.getDownCloud());
  15245. - cv::imshow("Plane Regression", Visualizer::visualizePlaneRegression(pmd->getXYZMap(), plane.getPlaneEquation(), plane.R_SQUARED_DISTANCE_THRESHOLD));
  15246. -
  15247. - // Remove the plane
  15248. - pmd->removePoints(plane.getPlaneIndicies());
  15249. - cv::imshow("Hand Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15250. - pmd->computeClusters(0.02, 500);
  15251. -
  15252. - // Find the right hand
  15253. - Hand right_hand = Hand(pmd->getClusters());
  15254. -
  15255. - // Show the hand
  15256. - cv::imshow("Hand", Visualizer::visualizeHand(pmd->getXYZMap(), right_hand.pointer_finger_ij, right_hand.shape_centroid_ij));
  15257. - if (right_hand.touchObject(plane.getPlaneEquation(), plane.R_SQUARED_DISTANCE_THRESHOLD * 3) == true)
  15258. - {
  15259. - printf("Touched Plane\n");
  15260. - }
  15261. -
  15262. -
  15263. - /**** Start: Loop Break Condition ****/
  15264. - int c = cvWaitKey(1);
  15265. - if (c == 'q' || c == 'Q' || c == 27) {
  15266. - break;
  15267. - }
  15268. - /**** End: Loop Break Condition ****/
  15269. -
  15270. - frame++;
  15271. - }
  15272. -
  15273. - pmd->destroyInstance();
  15274. - return 0;
  15275. +// C++ Libraries
  15276. +#include <stdio.h>
  15277. +#include <iostream>
  15278. +#include <string>
  15279. +
  15280. +// OpenCV Libraries
  15281. +#include <opencv/cxcore.h>
  15282. +#include "opencv2/highgui/highgui.hpp"
  15283. +
  15284. +// OpenARK Libraries
  15285. +#include "PMDCamera.h"
  15286. +#include "Visualizer.h"
  15287. +#include "Hand.h"
  15288. +#include "Plane.h"
  15289. +#include "Util.h"
  15290. +
  15291. +int main() {
  15292. + DepthCamera* pmd = new PMDCamera(false);
  15293. + int frame = 0;
  15294. +
  15295. + while (true)
  15296. + {
  15297. + // Load in the debug data
  15298. + std::string filename = "..//OpenARK_Datasets//ClusterDataSet1//img" + std::to_string(frame) + ".yml";
  15299. + if (!pmd->readImage(filename))
  15300. + break;
  15301. +
  15302. + // Remove noise on the frame
  15303. + pmd->removeNoise();
  15304. + cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15305. +
  15306. + // Find the plane
  15307. + Plane plane = Plane::Plane(pmd->getXYZMap());
  15308. + Visualizer::visualizeCloud(plane.getDownCloud());
  15309. + cv::imshow("Plane Regression", Visualizer::visualizePlaneRegression(pmd->getXYZMap(), plane.getPlaneEquation(), plane.R_SQUARED_DISTANCE_THRESHOLD));
  15310. +
  15311. + // Remove the plane
  15312. + pmd->removePoints(plane.getPlaneIndicies());
  15313. + cv::imshow("Hand Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15314. + pmd->computeClusters(0.02, 500);
  15315. +
  15316. + // Find the right hand
  15317. + Hand right_hand = Hand(pmd->getClusters());
  15318. +
  15319. + // Show the hand
  15320. + cv::imshow("Hand", Visualizer::visualizeHand(pmd->getXYZMap(), right_hand.pointer_finger_ij, right_hand.shape_centroid_ij));
  15321. + if (right_hand.touchObject(plane.getPlaneEquation(), plane.R_SQUARED_DISTANCE_THRESHOLD * 3) == true)
  15322. + {
  15323. + printf("Touched Plane\n");
  15324. + }
  15325. +
  15326. +
  15327. + /**** Start: Loop Break Condition ****/
  15328. + int c = cvWaitKey(1);
  15329. + if (c == 'q' || c == 'Q' || c == 27) {
  15330. + break;
  15331. + }
  15332. + /**** End: Loop Break Condition ****/
  15333. +
  15334. + frame++;
  15335. + }
  15336. +
  15337. + pmd->destroyInstance();
  15338. + return 0;
  15339. }
  15340. \ No newline at end of file
  15341. diff --git a/samplecode/LoadingDebugData.cpp b/samplecode/LoadingDebugData.cpp
  15342. index 51e1e93..d0a382b 100644
  15343. --- a/samplecode/LoadingDebugData.cpp
  15344. +++ b/samplecode/LoadingDebugData.cpp
  15345. @@ -1,44 +1,44 @@
  15346. -// C++ Libraries
  15347. -#include <stdio.h>
  15348. -#include <iostream>
  15349. -#include <string>
  15350. -
  15351. -// OpenCV Libraries
  15352. -#include <opencv/cxcore.h>
  15353. -#include "opencv2/highgui/highgui.hpp"
  15354. -
  15355. -// OpenARK Libraries
  15356. -#include "PMDCamera.h"
  15357. -#include "Visualizer.h"
  15358. -#include "Util.h"
  15359. -
  15360. -int main() {
  15361. - DepthCamera* pmd = new PMDCamera(false); // Initiatize with use_live_sensor = false
  15362. - int frame = 0;
  15363. -
  15364. - while (true)
  15365. - {
  15366. - // Read in each individual frame from file
  15367. - std::string filename = "..//OpenARK_Datasets//HandDataSet2//img" + std::to_string(frame) + ".yml";
  15368. - if (!pmd->readImage(filename))
  15369. - break;
  15370. -
  15371. - // Remove nosie from the frame
  15372. - pmd->removeNoise();
  15373. -
  15374. - // Display the resultant image
  15375. - cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15376. -
  15377. - /**** Start: Loop Break Condition ****/
  15378. - int c = cvWaitKey(1);
  15379. - if (c == 'q' || c == 'Q' || c == 27) {
  15380. - break;
  15381. - }
  15382. - /**** End: Loop Break Condition ****/
  15383. -
  15384. - frame++;
  15385. - }
  15386. -
  15387. - pmd->destroyInstance();
  15388. - return 0;
  15389. +// C++ Libraries
  15390. +#include <stdio.h>
  15391. +#include <iostream>
  15392. +#include <string>
  15393. +
  15394. +// OpenCV Libraries
  15395. +#include <opencv/cxcore.h>
  15396. +#include "opencv2/highgui/highgui.hpp"
  15397. +
  15398. +// OpenARK Libraries
  15399. +#include "PMDCamera.h"
  15400. +#include "Visualizer.h"
  15401. +#include "Util.h"
  15402. +
  15403. +int main() {
  15404. + DepthCamera* pmd = new PMDCamera(false); // Initiatize with use_live_sensor = false
  15405. + int frame = 0;
  15406. +
  15407. + while (true)
  15408. + {
  15409. + // Read in each individual frame from file
  15410. + std::string filename = "..//OpenARK_Datasets//HandDataSet2//img" + std::to_string(frame) + ".yml";
  15411. + if (!pmd->readImage(filename))
  15412. + break;
  15413. +
  15414. + // Remove nosie from the frame
  15415. + pmd->removeNoise();
  15416. +
  15417. + // Display the resultant image
  15418. + cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15419. +
  15420. + /**** Start: Loop Break Condition ****/
  15421. + int c = cvWaitKey(1);
  15422. + if (c == 'q' || c == 'Q' || c == 27) {
  15423. + break;
  15424. + }
  15425. + /**** End: Loop Break Condition ****/
  15426. +
  15427. + frame++;
  15428. + }
  15429. +
  15430. + pmd->destroyInstance();
  15431. + return 0;
  15432. }
  15433. \ No newline at end of file
  15434. diff --git a/samplecode/SensorIO.cpp b/samplecode/SensorIO.cpp
  15435. index 6abf574..d569ff8 100644
  15436. --- a/samplecode/SensorIO.cpp
  15437. +++ b/samplecode/SensorIO.cpp
  15438. @@ -1,41 +1,41 @@
  15439. -// C++ Libraries
  15440. -#include <stdio.h>
  15441. -#include <iostream>
  15442. -#include <string>
  15443. -
  15444. -// OpenCV Libraries
  15445. -#include <opencv/cxcore.h>
  15446. -#include "opencv2/highgui/highgui.hpp"
  15447. -
  15448. -// OpenARK Libraries
  15449. -#include "PMDCamera.h"
  15450. -#include "Visualizer.h"
  15451. -#include "Util.h"
  15452. -
  15453. -int main() {
  15454. - DepthCamera* pmd = new PMDCamera();
  15455. - int frame = 0;
  15456. -
  15457. - while (true)
  15458. - {
  15459. - // Update the current frame
  15460. - pmd->update();
  15461. -
  15462. - // REmove the current frame
  15463. - pmd->removeNoise();
  15464. -
  15465. - // Visualize the XYZ Map
  15466. - cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15467. -
  15468. - /**** Start: Loop Break Condition ****/
  15469. - int c = cvWaitKey(1);
  15470. - if (c == 'q' || c == 'Q' || c == 27) {
  15471. - break;
  15472. - }
  15473. - /**** End: Loop Break Condition ****/
  15474. - frame++;
  15475. - }
  15476. -
  15477. - pmd->destroyInstance();
  15478. - return 0;
  15479. +// C++ Libraries
  15480. +#include <stdio.h>
  15481. +#include <iostream>
  15482. +#include <string>
  15483. +
  15484. +// OpenCV Libraries
  15485. +#include <opencv/cxcore.h>
  15486. +#include "opencv2/highgui/highgui.hpp"
  15487. +
  15488. +// OpenARK Libraries
  15489. +#include "PMDCamera.h"
  15490. +#include "Visualizer.h"
  15491. +#include "Util.h"
  15492. +
  15493. +int main() {
  15494. + DepthCamera* pmd = new PMDCamera();
  15495. + int frame = 0;
  15496. +
  15497. + while (true)
  15498. + {
  15499. + // Update the current frame
  15500. + pmd->update();
  15501. +
  15502. + // REmove the current frame
  15503. + pmd->removeNoise();
  15504. +
  15505. + // Visualize the XYZ Map
  15506. + cv::imshow("XYZ Map", Visualizer::visualizeXYZMap(pmd->getXYZMap()));
  15507. +
  15508. + /**** Start: Loop Break Condition ****/
  15509. + int c = cvWaitKey(1);
  15510. + if (c == 'q' || c == 'Q' || c == 27) {
  15511. + break;
  15512. + }
  15513. + /**** End: Loop Break Condition ****/
  15514. + frame++;
  15515. + }
  15516. +
  15517. + pmd->destroyInstance();
  15518. + return 0;
  15519. }
  15520. \ No newline at end of file
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