diff --git a/.cproject b/.cproject
index 9c0b0f80b66e6fd52b9ad948d7afd3f059c3a9fd..de7640655e2ef3d7bc156252969e68d1f5251715 100644
--- a/.cproject
+++ b/.cproject
@@ -1,11 +1,9 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
- <cconfiguration id="cdt.managedbuild.toolchain.gnu.base.727026548">
- <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.base.727026548" moduleId="org.eclipse.cdt.core.settings" name="Default">
- <externalSettings>
- <externalSetting/>
- </externalSettings>
+ <cconfiguration id="cdt.managedbuild.toolchain.gnu.base.1244102678">
+ <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.base.1244102678" moduleId="org.eclipse.cdt.core.settings" name="Default">
+ <externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
@@ -16,46 +14,42 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.base.727026548" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
- <folderInfo id="cdt.managedbuild.toolchain.gnu.base.727026548.1071101131" name="/" resourcePath="">
- <toolChain id="cdt.managedbuild.toolchain.gnu.base.1732291248" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
- <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF" id="cdt.managedbuild.target.gnu.platform.base.1640924025" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
- <builder buildPath="${workspace_loc:/vision_utils}/build" id="cdt.managedbuild.target.gnu.builder.base.1544635012" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base"/>
- <tool id="cdt.managedbuild.tool.gnu.archiver.base.646136846" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
- <tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.433122623" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
- <option id="gnu.cpp.compiler.option.include.paths.937784075" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+ <configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.base.1244102678" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
+ <folderInfo id="cdt.managedbuild.toolchain.gnu.base.1244102678.1450977940" name="/" resourcePath="">
+ <toolChain id="cdt.managedbuild.toolchain.gnu.base.1670099165" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
+ <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF" id="cdt.managedbuild.target.gnu.platform.base.1425058182" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
+ <builder arguments=".." buildPath="${workspace_loc:/vision_utils/build}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1397358642" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.archiver.base.599567389" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1572359948" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
+ <option id="gnu.cpp.compiler.option.include.paths.1770487778" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+ <listOptionValue builtIn="false" value=""${workspace_loc:/vision_utils/src}""/>
<listOptionValue builtIn="false" value="/usr/local/include"/>
- <listOptionValue builtIn="false" value="/usr/include"/>
- <listOptionValue builtIn="false" value="/opt/ros/indigo/include/opencv-3.1.0-dev"/>
</option>
- <inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.341288586" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+ <inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.466329004" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
</tool>
- <tool id="cdt.managedbuild.tool.gnu.c.compiler.base.61708613" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
- <option id="gnu.c.compiler.option.include.paths.829945653" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+ <tool id="cdt.managedbuild.tool.gnu.c.compiler.base.1838202852" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
+ <option id="gnu.c.compiler.option.include.paths.1944000269" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+ <listOptionValue builtIn="false" value=""${workspace_loc:/vision_utils/src}""/>
<listOptionValue builtIn="false" value="/usr/local/include"/>
- <listOptionValue builtIn="false" value="/usr/include"/>
- <listOptionValue builtIn="false" value="/opt/ros/indigo/include/opencv-3.1.0-dev"/>
</option>
- <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.166078074" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+ <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.964584931" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
</tool>
- <tool id="cdt.managedbuild.tool.gnu.c.linker.base.2056051326" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
- <tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.1724439765" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
- <option id="gnu.cpp.link.option.paths.619011598" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
- <listOptionValue builtIn="false" value="/usr/lib"/>
+ <tool id="cdt.managedbuild.tool.gnu.c.linker.base.1546364764" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.674742229" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
+ <option id="gnu.cpp.link.option.paths.1264112011" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
<listOptionValue builtIn="false" value="/usr/local/lib"/>
</option>
- <inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1477240259" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+ <inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.224259993" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
</inputType>
</tool>
- <tool id="cdt.managedbuild.tool.gnu.assembler.base.507993336" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
- <option id="gnu.both.asm.option.include.paths.408889783" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
+ <tool id="cdt.managedbuild.tool.gnu.assembler.base.2121101980" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
+ <option id="gnu.both.asm.option.include.paths.738910739" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
+ <listOptionValue builtIn="false" value=""${workspace_loc:/vision_utils/src}""/>
<listOptionValue builtIn="false" value="/usr/local/include"/>
- <listOptionValue builtIn="false" value="/usr/include"/>
- <listOptionValue builtIn="false" value="/opt/ros/indigo/include/opencv-3.1.0-dev"/>
</option>
- <inputType id="cdt.managedbuild.tool.gnu.assembler.input.794492820" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+ <inputType id="cdt.managedbuild.tool.gnu.assembler.input.1979788870" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
</tool>
</toolChain>
</folderInfo>
@@ -65,7 +59,7 @@
</cconfiguration>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <project id="vision_utils.null.1102208136" name="vision_utils"/>
+ <project id="vision_utils.null.866851028" name="vision_utils"/>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2">
@@ -73,6 +67,7 @@
<resource resourceType="PROJECT" workspacePath="/vision_utils"/>
</configuration>
</storageModule>
+ <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1736073220;cdt.managedbuild.toolchain.gnu.base.1736073220.1390770886;cdt.managedbuild.tool.gnu.c.compiler.base.1459107576;cdt.managedbuild.tool.gnu.c.compiler.input.1695301683">
@@ -87,12 +82,18 @@
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.727026548;cdt.managedbuild.toolchain.gnu.base.727026548.1071101131;cdt.managedbuild.tool.gnu.c.compiler.base.61708613;cdt.managedbuild.tool.gnu.c.compiler.input.166078074">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1244102678;cdt.managedbuild.toolchain.gnu.base.1244102678.1450977940;cdt.managedbuild.tool.gnu.cpp.compiler.base.1572359948;cdt.managedbuild.tool.gnu.cpp.compiler.input.466329004">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.207681558;cdt.managedbuild.toolchain.gnu.base.207681558.1208625085;cdt.managedbuild.tool.gnu.cpp.compiler.base.1755527935;cdt.managedbuild.tool.gnu.cpp.compiler.input.1794914341">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.727026548;cdt.managedbuild.toolchain.gnu.base.727026548.1071101131;cdt.managedbuild.tool.gnu.cpp.compiler.base.433122623;cdt.managedbuild.tool.gnu.cpp.compiler.input.341288586">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1244102678;cdt.managedbuild.toolchain.gnu.base.1244102678.1450977940;cdt.managedbuild.tool.gnu.c.compiler.base.1838202852;cdt.managedbuild.tool.gnu.c.compiler.input.964584931">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1819918851;cdt.managedbuild.toolchain.gnu.base.1819918851.1318867162;cdt.managedbuild.tool.gnu.c.compiler.base.593702953;cdt.managedbuild.tool.gnu.c.compiler.input.392834553">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
@@ -100,6 +101,4 @@
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
- <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
- <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
</cproject>
diff --git a/ReadMe.md b/ReadMe.md
index fe741e80fe3e34bd8d12dfcb90263dc22f182f55..81110c0d194bcb690b2708cac2718046ccb26584 100644
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -27,6 +27,19 @@ Under MacOS most of the packages are available via [fink](http://www.finkproject
$ make -j4
$ sudo make install
```
+ * [YAML cpp](https://github.com/jbeder/yaml-cpp): Used to load parameters from YAML files. To install it run the following commands:
+
+
+```
+ $ sudo apt-get update
+ $ sudo apt-get install libyaml-cpp-dev
+```
+ * [Boost](http://www.boost.org/). Free peer-reviewed portable C++ source libraries. To install it run the following commands:
+
+```
+ $ sudo apt-get update
+ $ sudo apt-get install libboost-all-dev
+```
### Compilation
@@ -60,12 +73,12 @@ After doing so you will need to call cmake manually again.
### Configuration
-The default build mode is DEBUG. That is, objects and executables include debug information.
+The default build mode is RELEASE. That is, optimizing for speed.
-The RELEASE build mode optimizes for speed. To build in this mode execute
+With the DEBUG build mode objects and executables include debug information. To build in this mode execute
```
- $ cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+ $ cmake .. -DCMAKE_BUILD_TYPE=DEBUG
```
The release mode will be kept until next time cmake is executed.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3a68cd19a9be673118d2deaaad0005efea56b541..ceae6cc75cfcf9a2dedda8395159caef3510fb2b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -169,7 +169,7 @@ SET(headers_alg_activesearch
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
-FIND_PACKAGE(Boost REQUIRED)
+#FIND_PACKAGE(Boost REQUIRED)
if (OpenCV_FOUND)
if (${OpenCV_VERSION_MAJOR} GREATER 2)
@@ -193,7 +193,8 @@ ELSEIF(YAMLCPP_FOUND)
ENDIF(YAMLCPP_FOUND)
# add the necessary include directories
-INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+#INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS})
IF(YAMLCPP_FOUND)
INCLUDE_DIRECTORIES(${YAMLCPP_INCLUDE_DIR})
@@ -222,7 +223,8 @@ include_directories("${PROJECT_BINARY_DIR}/conf")
ADD_LIBRARY(${PROJECT_NAME} SHARED ${sources})
# link necessary libraries
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS} ${Boost_LIBRARIES})
+#TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS} ${Boost_LIBRARIES})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS})
IF (YAMLCPP_FOUND)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${YAMLCPP_LIBRARY})
diff --git a/src/algorithms/algorithm_base.cpp b/src/algorithms/algorithm_base.cpp
index df3a03f5354163bc3c68988d479f1d54d75b4283..4c23670e07d8c77a63345aa385d6b6d6e28efd7d 100644
--- a/src/algorithms/algorithm_base.cpp
+++ b/src/algorithms/algorithm_base.cpp
@@ -40,6 +40,7 @@ AlgorithmBasePtr setupAlgorithm(const std::string& _type, const std::string& _un
std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
<< "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
<< std::endl;
+ return NULL;
}
#endif
diff --git a/src/descriptors/descriptor_base.cpp b/src/descriptors/descriptor_base.cpp
index 5764bd3fd88f934005a1ec3913d8f02f84f59a53..1f76d5a50f0787b8acb87fd83fa6c6c317bd6235 100644
--- a/src/descriptors/descriptor_base.cpp
+++ b/src/descriptors/descriptor_base.cpp
@@ -47,6 +47,7 @@ DescriptorBasePtr setupDescriptor(const std::string& _type, const std::string& _
std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
<< "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
<< std::endl;
+ return NULL;
}
#endif
diff --git a/src/detectors/detector_base.cpp b/src/detectors/detector_base.cpp
index 559612d760df7058d1d78475722df1e17ec682ce..a660fd79321e11666e44183cf063d7c38d50c57c 100644
--- a/src/detectors/detector_base.cpp
+++ b/src/detectors/detector_base.cpp
@@ -70,6 +70,7 @@ DetectorBasePtr setupDetector(const std::string& _type, const std::string& _uniq
std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
<< "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
<< std::endl;
+ return NULL;
}
#endif
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index f2744b4a76c72aec5cf86df890e3182dc6545cff..fffbb956323d4f830890dc3d58a86d18387a0801 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -182,6 +182,7 @@ MatcherBasePtr setupMatcher(const std::string& _type, const std::string& _unique
std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
<< "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
<< std::endl;
+ return NULL;
}
#endif
diff --git a/src/sensors/sensor_base.cpp b/src/sensors/sensor_base.cpp
index a36ef53afe6495d6ca1b9a941a7aab7fd8ba537e..357508cdbf2270ee50e349c5e013d610f9a113d4 100644
--- a/src/sensors/sensor_base.cpp
+++ b/src/sensors/sensor_base.cpp
@@ -35,6 +35,7 @@ SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_n
std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
<< "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
<< std::endl;
+ return NULL;
}
#endif
diff --git a/src/vision_utils.cpp b/src/vision_utils.cpp
index 7ce4c3d3d873fa8337a9ae99b78e1ddaa66bc954..2b68a93e9c091f8aad16977dc94bf702e2522433 100644
--- a/src/vision_utils.cpp
+++ b/src/vision_utils.cpp
@@ -280,6 +280,7 @@ std::string readYamlType(const std::string& _filename_dot_yaml, const std::strin
std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
<< "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
<< std::endl;
+ return std::string();
}
#endif
diff --git a/src/vision_utils.h b/src/vision_utils.h
index c47aeb0f2f30a5e82f2de592bb1f67f8faae6bbf..9f10fc48c4a54a1326eb7a1da833d1a04af208d2 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -15,8 +15,8 @@
#include <memory> // shared_ptr and weak_ptr
// Boost
-#include <boost/assign/std/vector.hpp> // for 'operator+=()'
-using namespace boost::assign; // bring 'operator+=()' into scope
+//#include <boost/assign/std/vector.hpp> // for 'operator+=()'
+//using namespace boost::assign; // bring 'operator+=()' into scope
// Eigen
#include <eigen3/Eigen/Dense>