pull in changes from upstream

aslam_cv/aslam_cv_serialization/.gitignore

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+test.ba

aslam_cv/aslam_cv_serialization/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(aslam_cv_serialization)
+
+find_package(catkin_simple REQUIRED)
+catkin_simple()
+
+#common commands for building c++ executables and libraries
+INCLUDE(autogen_cameras.cmake)
+#INCLUDE(autogen_frames.cmake)
+
+cs_add_library(${PROJECT_NAME} 
+#  ${AUTOGEN_FRAME_CPP_FILES}
+  ${AUTOGEN_CAMERA_CPP_FILES}
+  src/FrameBaseSerialization.cpp
+)
+
+find_package(Boost REQUIRED COMPONENTS serialization) 
+target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
+
+# Avoid clash with tr1::tuple: https://code.google.com/p/googletest/source/browse/trunk/README?r=589#257
+#add_definitions(-DGTEST_USE_OWN_TR1_TUPLE=0)
+#catkin_add_gtest(${PROJECT_NAME}_tests
+#  test/test_main.cpp
+#  test/testMultiFrame.cpp
+#)
+#target_link_libraries(${PROJECT_NAME}_tests ${PROJECT_NAME})
+
+cs_install()
+cs_export()

aslam_cv/aslam_cv_serialization/Makefile

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+include $(shell rospack find mk)/cmake.mk

aslam_cv/aslam_cv_serialization/autogen_cameras.cmake

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+# THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py
+SET( AUTOGEN_CAMERA_CPP_FILES
+	src/autogen/Camera-PinholeCameraGeometry.cpp
+	src/autogen/Camera-DistortedPinholeCameraGeometry.cpp
+	src/autogen/Camera-EquidistantDistortedPinholeCameraGeometry.cpp
+	src/autogen/Camera-OmniCameraGeometry.cpp
+	src/autogen/Camera-DistortedOmniCameraGeometry.cpp
+	src/autogen/Camera-EquidistantDistortedOmniCameraGeometry.cpp
+#	src/autogen/Camera-PinholeRsCameraGeometry.cpp
+#	src/autogen/Camera-DistortedPinholeRsCameraGeometry.cpp
+#	src/autogen/Camera-EquidistantDistortedPinholeRsCameraGeometry.cpp
+#	src/autogen/Camera-OmniRsCameraGeometry.cpp
+#	src/autogen/Camera-DistortedOmniRsCameraGeometry.cpp
+#	src/autogen/Camera-EquidistantDistortedOmniRsCameraGeometry.cpp
+#	src/autogen/Camera-MaskedPinholeCameraGeometry.cpp
+#	src/autogen/Camera-MaskedDistortedPinholeCameraGeometry.cpp
+#	src/autogen/Camera-MaskedEquidistantDistortedPinholeCameraGeometry.cpp
+#	src/autogen/Camera-MaskedOmniCameraGeometry.cpp
+#	src/autogen/Camera-MaskedDistortedOmniCameraGeometry.cpp
+#	src/autogen/Camera-MaskedEquidistantDistortedOmniCameraGeometry.cpp
+#	src/autogen/Camera-MaskedPinholeRsCameraGeometry.cpp
+#	src/autogen/Camera-MaskedDistortedPinholeRsCameraGeometry.cpp
+#	src/autogen/Camera-MaskedEquidistantDistortedPinholeRsCameraGeometry.cpp
+#	src/autogen/Camera-MaskedOmniRsCameraGeometry.cpp
+#	src/autogen/Camera-MaskedDistortedOmniRsCameraGeometry.cpp
+#	src/autogen/Camera-MaskedEquidistantDistortedOmniRsCameraGeometry.cpp
+#	src/autogen/Camera-DepthCameraGeometry.cpp
+#	src/autogen/Camera-DistortedDepthCameraGeometry.cpp
+#	src/autogen/Camera-EquidistantDistortedDepthCameraGeometry.cpp
+)
+

aslam_cv/aslam_cv_serialization/autogen_frames.cmake

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+# THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py
+SET( AUTOGEN_FRAME_CPP_FILES
+	src/autogen/Frame-PinholeCameraGeometry.cpp
+	src/autogen/Frame-DistortedPinholeCameraGeometry.cpp
+	src/autogen/Frame-EquidistantDistortedPinholeCameraGeometry.cpp
+	src/autogen/Frame-OmniCameraGeometry.cpp
+	src/autogen/Frame-DistortedOmniCameraGeometry.cpp
+	src/autogen/Frame-EquidistantDistortedOmniCameraGeometry.cpp
+	src/autogen/Frame-PinholeRsCameraGeometry.cpp
+	src/autogen/Frame-DistortedPinholeRsCameraGeometry.cpp
+	src/autogen/Frame-EquidistantDistortedPinholeRsCameraGeometry.cpp
+	src/autogen/Frame-OmniRsCameraGeometry.cpp
+	src/autogen/Frame-DistortedOmniRsCameraGeometry.cpp
+	src/autogen/Frame-EquidistantDistortedOmniRsCameraGeometry.cpp
+	src/autogen/Frame-MaskedPinholeCameraGeometry.cpp
+	src/autogen/Frame-MaskedDistortedPinholeCameraGeometry.cpp
+	src/autogen/Frame-MaskedEquidistantDistortedPinholeCameraGeometry.cpp
+	src/autogen/Frame-MaskedOmniCameraGeometry.cpp
+	src/autogen/Frame-MaskedDistortedOmniCameraGeometry.cpp
+	src/autogen/Frame-MaskedEquidistantDistortedOmniCameraGeometry.cpp
+	src/autogen/Frame-MaskedPinholeRsCameraGeometry.cpp
+	src/autogen/Frame-MaskedDistortedPinholeRsCameraGeometry.cpp
+	src/autogen/Frame-MaskedEquidistantDistortedPinholeRsCameraGeometry.cpp
+	src/autogen/Frame-MaskedOmniRsCameraGeometry.cpp
+	src/autogen/Frame-MaskedDistortedOmniRsCameraGeometry.cpp
+	src/autogen/Frame-MaskedEquidistantDistortedOmniRsCameraGeometry.cpp
+	src/autogen/Frame-DepthCameraGeometry.cpp
+	src/autogen/Frame-DistortedDepthCameraGeometry.cpp
+	src/autogen/Frame-EquidistantDistortedDepthCameraGeometry.cpp
+)
+

aslam_cv/aslam_cv_serialization/gen_files.py

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+#!/usr/bin/env python
+
+CAMERA_FILE_HEADER="""
+/**
+ * @file   CameraGeometryBaseSerialization.hpp
+ * @author Paul Furgale <[email protected]>
+ * @date   Tue Apr 16 09:43:33 2013
+ * 
+ * @brief  This file is needed to enable serialization using CameraGeometryBase pointers
+ *
+ * THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py
+ * 
+ */
+
+
+#include <boost/serialization/export.hpp>
+#include <aslam/cameras.hpp>
+
+BOOST_CLASS_EXPORT_KEY( aslam::cameras::CameraGeometryBase );
+"""
+
+FRAME_FILE_HEADER="""
+#ifndef ASLAM_FRAME_BASE_SERIALIZATION_HPP
+#define ASLAM_FRAME_BASE_SERIALIZATION_HPP
+
+/**
+ * @file   FrameBaseSerialization.hpp
+ * @author Paul Furgale <[email protected]>
+ * @date   Tue Apr 16 09:43:33 2013
+ * 
+ * @brief  This file is needed to enable serialization using FrameBase pointers
+ *
+ * THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py
+ * 
+ */
+
+
+#include <boost/serialization/export.hpp>
+#include <aslam/cameras.hpp>
+#include <aslam/Frame.hpp>
+#include \"LinkCvSerialization.hpp\"
+
+"""
+
+
+BOOST_SERIALIZATION_HEADERS="""
+
+// Standard serialization headers
+#include <boost/archive/text_oarchive.hpp>
+#include <boost/archive/text_iarchive.hpp>
+#include <boost/archive/binary_oarchive.hpp>
+#include <boost/archive/binary_iarchive.hpp>
+#include <boost/archive/xml_oarchive.hpp>
+#include <boost/archive/xml_iarchive.hpp>
+// These ones are in sm_boost
+#include <boost/portable_binary_iarchive.hpp>
+#include <boost/portable_binary_oarchive.hpp>
+
+"""
+
+FRAME_EXPORT="""
+namespace aslam {{
+    
+template void Frame< aslam::cameras::{0} >::save<>(boost::archive::text_oarchive & ar, const unsigned int version) const;
+template void Frame< aslam::cameras::{0} >::load<>(boost::archive::text_iarchive & ar, const unsigned int version);
+template void Frame< aslam::cameras::{0} >::save<>(boost::archive::xml_oarchive & ar, const unsigned int version) const;
+template void Frame< aslam::cameras::{0} >::load<>(boost::archive::xml_iarchive & ar, const unsigned int version);
+template void Frame< aslam::cameras::{0} >::save<>(boost::archive::binary_oarchive & ar, const unsigned int version) const;
+template void Frame< aslam::cameras::{0} >::load<>(boost::archive::binary_iarchive & ar, const unsigned int version);
+template void Frame< aslam::cameras::{0} >::save<>(boost::archive::portable_binary_oarchive & ar, const unsigned int version) const;
+template void Frame< aslam::cameras::{0} >::load<>(boost::archive::portable_binary_iarchive & ar, const unsigned int version);
+
+}} // namespace aslam
+
+"""
+
+cameras = ["PinholeCameraGeometry",
+           "DistortedPinholeCameraGeometry",
+           "EquidistantDistortedPinholeCameraGeometry",
+           "OmniCameraGeometry",
+           "DistortedOmniCameraGeometry",
+           "EquidistantDistortedOmniCameraGeometry",
+           "PinholeRsCameraGeometry",
+           "DistortedPinholeRsCameraGeometry",
+           "EquidistantDistortedPinholeRsCameraGeometry",
+           "OmniRsCameraGeometry",
+           "DistortedOmniRsCameraGeometry",
+           "EquidistantDistortedOmniRsCameraGeometry",
+           "MaskedPinholeCameraGeometry",
+           "MaskedDistortedPinholeCameraGeometry",
+           "MaskedEquidistantDistortedPinholeCameraGeometry",
+           "MaskedOmniCameraGeometry",
+           "MaskedDistortedOmniCameraGeometry",
+           "MaskedEquidistantDistortedOmniCameraGeometry",
+           "MaskedPinholeRsCameraGeometry",
+           "MaskedDistortedPinholeRsCameraGeometry",
+           "MaskedEquidistantDistortedPinholeRsCameraGeometry",
+           "MaskedOmniRsCameraGeometry",
+           "MaskedDistortedOmniRsCameraGeometry",
+           "MaskedEquidistantDistortedOmniRsCameraGeometry",
+           "DepthCameraGeometry",
+           "DistortedDepthCameraGeometry",
+           "EquidistantDistortedDepthCameraGeometry"]
+
+
+# write the camera header
+with open('include/aslam/cameras/CameraBaseSerialization.hpp','w') as outf:
+    outf.write(CAMERA_FILE_HEADER)
+    for cam in cameras:
+        outf.write( 'BOOST_CLASS_EXPORT_KEY( aslam::cameras::%s );\n' % cam )
+    outf.write( '\n\n' )
+
+# write the individual camera class files
+cam_fnames=[]
+for cam in cameras:
+    fname = 'src/autogen/Camera-%s.cpp' % (cam)
+    cam_fnames.append(fname)
+    with open(fname,'w') as outf:
+        outf.write('#include <aslam/cameras/CameraBaseSerialization.hpp>\n\n')
+        outf.write(BOOST_SERIALIZATION_HEADERS)
+        outf.write('BOOST_CLASS_EXPORT_IMPLEMENT( aslam::cameras::%s );\n\n' % cam)
+
+# write the CMake File
+with open('autogen_cameras.cmake','w') as outf:
+    outf.write("# THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py\n")
+    outf.write("SET( AUTOGEN_CAMERA_CPP_FILES\n")
+    for cam in cam_fnames:
+        outf.write('\t%s\n' % cam)
+    outf.write(')\n\n')
+
+
+# write the frame header
+with open('include/aslam/FrameBaseSerialization.hpp','w') as outf:
+    outf.write(FRAME_FILE_HEADER)
+    for cam in cameras:
+        outf.write( 'BOOST_CLASS_EXPORT_KEY( aslam::Frame<aslam::cameras::%s> );\n' % cam )
+    outf.write( '\n\n' )
+    #outf.write( 'inline void exportFrameBase()\n' )
+    #outf.write( '{\n' )
+    #for cam in cameras:
+    #    frame = "aslam::Frame< aslam::cameras::{0} >".format(cam)
+    #    outf.write( '\tboost::serialization::void_cast_register< {0}, aslam::FrameBase>(static_cast<{0} *>(NULL), static_cast< aslam::FrameBase * >(NULL) );\n'.format(frame) )
+    #outf.write( '}\n' )
+    outf.write( '#endif // ASLAM_FRAME_BASE_SERIALIZATION_HPP\n\n' )
+# write the individual frame class files
+cam_fnames=[]
+for cam in cameras:
+    fname = 'src/autogen/Frame-%s.cpp' % (cam)
+    cam_fnames.append(fname)
+    with open(fname,'w') as outf:
+        outf.write("// THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py\n")
+        outf.write('#include <aslam/cameras.hpp>\n')
+        outf.write('#include <aslam/Frame.hpp>\n')
+        outf.write('#include <aslam/FrameBaseSerialization.hpp>\n\n')
+        outf.write(BOOST_SERIALIZATION_HEADERS)
+        outf.write('BOOST_CLASS_EXPORT_IMPLEMENT( aslam::Frame<aslam::cameras::%s> );\n\n' % cam)
+        outf.write(FRAME_EXPORT.format( cam ) )
+        outf.write("\n\n")
+
+# write the "linkCvSerialization" cpp file
+with open('src/LinkCvSerialization.cpp', 'w') as outf:
+    outf.write('#include <aslam/LinkCvSerialization.hpp>\n"
+
+# write the CMake File
+with open('autogen_frames.cmake','w') as outf:
+    outf.write("# THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py\n")
+    outf.write("SET( AUTOGEN_FRAME_CPP_FILES\n")
+    for cam in cam_fnames:
+        outf.write('\t%s\n' % cam)
+    outf.write(')\n\n')

aslam_cv/aslam_cv_serialization/include/aslam/FrameBaseSerialization.hpp

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+#ifndef ASLAM_FRAME_BASE_SERIALIZATION_HPP
+#define ASLAM_FRAME_BASE_SERIALIZATION_HPP
+
+/**
+ * @file   FrameBaseSerialization.hpp
+ * @author Paul Furgale <[email protected]>
+ * @date   Tue Apr 16 09:43:33 2013
+ * 
+ * @brief  This file is needed to enable serialization using FrameBase pointers
+ *
+ * THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py
+ * 
+ */
+
+#include <boost/serialization/export.hpp>
+#include <aslam/cameras.hpp>
+#include <aslam/Frame.hpp>
+#include "LinkCvSerialization.hpp"
+
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::PinholeCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::DistortedPinholeCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::EquidistantDistortedPinholeCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::OmniCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::DistortedOmniCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::EquidistantDistortedOmniCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::PinholeRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::DistortedPinholeRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::EquidistantDistortedPinholeRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::OmniRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::DistortedOmniRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::EquidistantDistortedOmniRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::MaskedPinholeCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedDistortedPinholeCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedEquidistantDistortedPinholeCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::MaskedOmniCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedDistortedOmniCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedEquidistantDistortedOmniCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedPinholeRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedDistortedPinholeRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedEquidistantDistortedPinholeRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::MaskedOmniRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedDistortedOmniRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::MaskedEquidistantDistortedOmniRsCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::DepthCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::DistortedDepthCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY (aslam::Frame<
+    aslam::cameras::EquidistantDistortedDepthCameraGeometry>);
+
+#endif // ASLAM_FRAME_BASE_SERIALIZATION_HPP
+

aslam_cv/aslam_cv_serialization/include/aslam/LinkCvSerialization.hpp

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+#ifndef ASLAM_LINK_CV_SERIALIZATION_HPP
+#define ASLAM_LINK_CV_SERIALIZATION_HPP
+
+#include<aslam/FrameBaseSerialization.hpp>
+#include <aslam/cameras/CameraBaseSerialization.hpp>
+
+namespace aslam {
+
+int linkCvSerialization();
+
+}  // namespace aslam
+
+#endif /* ASLAM_LINK_CV_SERIALIZATION_HPP */

aslam_cv/aslam_cv_serialization/include/aslam/cameras/CameraBaseSerialization.hpp

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+#ifndef ASLAM_CV_SERIALIZATION_CAMERA_BASE_SERIALIZATION
+#define ASLAM_CV_SERIALIZATION_CAMERA_BASE_SERIALIZATION
+
+/**
+ * @file   CameraGeometryBaseSerialization.hpp
+ * @author Paul Furgale <[email protected]>
+ * @date   Tue Apr 16 09:43:33 2013
+ * 
+ * @brief  This file is needed to enable serialization using CameraGeometryBase pointers
+ *
+ * THIS FILE HAS BEEN AUTOGENERATED BY gen_files.py
+ * 
+ */
+
+#include <boost/serialization/export.hpp>
+#include <aslam/cameras.hpp>
+
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::CameraGeometryBase);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::PinholeCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::DistortedPinholeCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::EquidistantDistortedPinholeCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::OmniCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::DistortedOmniCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::EquidistantDistortedOmniCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::PinholeRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::DistortedPinholeRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::EquidistantDistortedPinholeRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::OmniRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::DistortedOmniRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::EquidistantDistortedOmniRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedPinholeCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedDistortedPinholeCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedEquidistantDistortedPinholeCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedOmniCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedDistortedOmniCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedEquidistantDistortedOmniCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedPinholeRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedDistortedPinholeRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedEquidistantDistortedPinholeRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedOmniRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedDistortedOmniRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::MaskedEquidistantDistortedOmniRsCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::DepthCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::DistortedDepthCameraGeometry);
+BOOST_CLASS_EXPORT_KEY (aslam::cameras::EquidistantDistortedDepthCameraGeometry);
+
+#endif /* ASLAM_CV_SERIALIZATION_CAMERA_BASE_SERIALIZATION */