[Personalrobots-commit] SF.net SVN: personalrobots:[18203] pkg/trunk

[<rdi...@us...>]

Revision: 18203
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18203&view=rev
Author:   rdiankov
Date:     2009-07-02 18:42:25 +0000 (Thu, 02 Jul 2009)

Log Message:
-----------
update openrave and sensor_msgs octave scripts

Modified Paths:
--------------
    pkg/trunk/openrave_planning/openrave/Makefile
    pkg/trunk/openrave_planning/openraveros/src/session.h

Added Paths:
-----------
    pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_processImage.m
    pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_writeImageMsg.m

Removed Paths:
-------------
    pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_processImage.m
    pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_writeImageMsg.m

Modified: pkg/trunk/openrave_planning/openrave/Makefile
===================================================================
--- pkg/trunk/openrave_planning/openrave/Makefile	2009-07-02 18:38:44 UTC (rev 18202)
+++ pkg/trunk/openrave_planning/openrave/Makefile	2009-07-02 18:42:25 UTC (rev 18203)
@@ -2,7 +2,7 @@
 
 SVN_DIR = openrave_svn
 # Should really specify a revision
-SVN_REVISION = -r 815
+SVN_REVISION = -r 821
 SVN_URL = https://openrave.svn.sourceforge.net/svnroot/openrave
 #SVN_PATCH = fini_patch.patch
 include $(shell rospack find mk)/svn_checkout.mk

Modified: pkg/trunk/openrave_planning/openraveros/src/session.h
===================================================================
--- pkg/trunk/openrave_planning/openraveros/src/session.h	2009-07-02 18:38:44 UTC (rev 18202)
+++ pkg/trunk/openrave_planning/openraveros/src/session.h	2009-07-02 18:42:25 UTC (rev 18203)
@@ -437,10 +437,10 @@
 };
 
 // check that message constants match OpenRAVE constants
-BOOST_STATIC_ASSERT(EnvironmentBase::Clone_Bodies==openrave_session::Request::CloneBodies);
-BOOST_STATIC_ASSERT(EnvironmentBase::Clone_Viewer==openrave_session::Request::CloneViewer);
-BOOST_STATIC_ASSERT(EnvironmentBase::Clone_Simulation==openrave_session::Request::CloneSimulation);
-BOOST_STATIC_ASSERT(EnvironmentBase::Clone_RealControllers==openrave_session::Request::CloneRealControllers);
+BOOST_STATIC_ASSERT(Clone_Bodies==openrave_session::Request::CloneBodies);
+BOOST_STATIC_ASSERT(Clone_Viewer==openrave_session::Request::CloneViewer);
+BOOST_STATIC_ASSERT(Clone_Simulation==openrave_session::Request::CloneSimulation);
+BOOST_STATIC_ASSERT(Clone_RealControllers==openrave_session::Request::CloneRealControllers);
 
 BOOST_STATIC_ASSERT(ActiveDOFs::DOF_X==RobotBase::DOF_X);
 BOOST_STATIC_ASSERT(ActiveDOFs::DOF_Y==RobotBase::DOF_Y);

Deleted: pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_processImage.m
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_processImage.m	2009-07-02 18:38:44 UTC (rev 18202)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_processImage.m	2009-07-02 18:42:25 UTC (rev 18203)
@@ -1,14 +0,0 @@
-%% I = image_msgs_processImage(image_msg)
-%%
-%% returns an image matrix given a image_msgs/Image
-function I = image_msgs_processImage(image_msg)
-%res.camimage_msg.layout
-%I = zeros([data.height data.width 3]);
-layout = eval(sprintf('image_msg.%s_data.layout',image_msg.depth));
-dimsizes = [];
-for i = 1:length(layout.dim)
-    dimsizes(i) = layout.dim{i}.size;
-end
-I = reshape(eval(sprintf('image_msg.%s_data.data',image_msg.depth)),dimsizes(end:-1:1));
-%% reverse the dimension order
-I = permute(I,length(dimsizes):-1:1);

Deleted: pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_writeImageMsg.m
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_writeImageMsg.m	2009-07-02 18:38:44 UTC (rev 18202)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_writeImageMsg.m	2009-07-02 18:42:25 UTC (rev 18203)
@@ -1,39 +0,0 @@
-%% image_msg = image_msgs_processImage(I)
-%%
-%% returns an image matrix given a image_msgs/Image
-%% If I is in integer format, assumes range for each channel is [0,255]
-%% otherwise range for each channel is [0,1]
-function image_msg = image_msgs_writeImageMsg(I)
-
-image_msg = image_msgs_Image();
-image_msg.label = 'OctaveImage';
-image_msg.depth = 'uint8';
-
-if( size(I,3) == 1 )
-    image_msg.encoding = 'mono';
-elseif ( size(I,3) == 3 )
-    image_msg.encoding = 'rgb';
-else
-    error('unrecognized image format');
-end
-
-if( ~isinteger(I) )
-    I = I*255;
-end
-
-s = size(I);
-dim = cell(3,1);
-dim{1} = std_msgs_MultiArrayDimension();
-dim{1}.label = 'height';
-dim{1}.size = s(1);
-dim{1}.stride = s(1)*s(2)*s(3);
-dim{2} = std_msgs_MultiArrayDimension();
-dim{2}.label = 'width';
-dim{2}.size = s(2);
-dim{2}.stride = s(2)*s(3);
-dim{3} = std_msgs_MultiArrayDimension();
-dim{3}.label = 'channel';
-dim{3}.size = s(3);
-dim{3}.stride = s(3);
-image_msg.uint8_data.layout.dim = dim;
-image_msg.uint8_data.data = reshape(permute(uint8(I),length(s):-1:1),[prod(s) 1]); %% reverse the dimension order

Copied: pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_processImage.m (from rev 18187, pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_processImage.m)
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_processImage.m	                        (rev 0)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_processImage.m	2009-07-02 18:42:25 UTC (rev 18203)
@@ -0,0 +1,14 @@
+%% I = image_msgs_processImage(image_msg)
+%%
+%% returns an image matrix given a image_msgs/Image
+function I = image_msgs_processImage(image_msg)
+%res.camimage_msg.layout
+%I = zeros([data.height data.width 3]);
+layout = eval(sprintf('image_msg.%s_data.layout',image_msg.depth));
+dimsizes = [];
+for i = 1:length(layout.dim)
+    dimsizes(i) = layout.dim{i}.size;
+end
+I = reshape(eval(sprintf('image_msg.%s_data.data',image_msg.depth)),dimsizes(end:-1:1));
+%% reverse the dimension order
+I = permute(I,length(dimsizes):-1:1);


Property changes on: pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_processImage.m
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/common/sensor_msgs/octave/image_msgs_processImage.m:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334

Copied: pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_writeImageMsg.m (from rev 18187, pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_writeImageMsg.m)
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_writeImageMsg.m	                        (rev 0)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_writeImageMsg.m	2009-07-02 18:42:25 UTC (rev 18203)
@@ -0,0 +1,39 @@
+%% image_msg = image_msgs_processImage(I)
+%%
+%% returns an image matrix given a image_msgs/Image
+%% If I is in integer format, assumes range for each channel is [0,255]
+%% otherwise range for each channel is [0,1]
+function image_msg = image_msgs_writeImageMsg(I)
+
+image_msg = image_msgs_Image();
+image_msg.label = 'OctaveImage';
+image_msg.depth = 'uint8';
+
+if( size(I,3) == 1 )
+    image_msg.encoding = 'mono';
+elseif ( size(I,3) == 3 )
+    image_msg.encoding = 'rgb';
+else
+    error('unrecognized image format');
+end
+
+if( ~isinteger(I) )
+    I = I*255;
+end
+
+s = size(I);
+dim = cell(3,1);
+dim{1} = std_msgs_MultiArrayDimension();
+dim{1}.label = 'height';
+dim{1}.size = s(1);
+dim{1}.stride = s(1)*s(2)*s(3);
+dim{2} = std_msgs_MultiArrayDimension();
+dim{2}.label = 'width';
+dim{2}.size = s(2);
+dim{2}.stride = s(2)*s(3);
+dim{3} = std_msgs_MultiArrayDimension();
+dim{3}.label = 'channel';
+dim{3}.size = s(3);
+dim{3}.stride = s(3);
+image_msg.uint8_data.layout.dim = dim;
+image_msg.uint8_data.data = reshape(permute(uint8(I),length(s):-1:1),[prod(s) 1]); %% reverse the dimension order


Property changes on: pkg/trunk/stacks/common_msgs/sensor_msgs/octave/sensor_msgs_writeImageMsg.m
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/common/sensor_msgs/octave/image_msgs_writeImageMsg.m:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334


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