[Personalrobots-commit] SF.net SVN: personalrobots:[19620] pkg/trunk

[<ale...@us...>]

Revision: 19620
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19620&view=rev
Author:   alexteichman
Date:     2009-07-24 21:25:18 +0000 (Fri, 24 Jul 2009)

Log Message:
-----------
Robustifying the daisy makefile.

Modified Paths:
--------------
    pkg/trunk/3rdparty/daisy/Makefile
    pkg/trunk/3rdparty/daisy/manifest.xml
    pkg/trunk/sandbox/image_descriptors_gpl/image_descriptors_gpl.cpp

Modified: pkg/trunk/3rdparty/daisy/Makefile
===================================================================
--- pkg/trunk/3rdparty/daisy/Makefile	2009-07-24 21:23:12 UTC (rev 19619)
+++ pkg/trunk/3rdparty/daisy/Makefile	2009-07-24 21:25:18 UTC (rev 19620)
@@ -1,16 +1,22 @@
 
-all: installed
+all: daisy
+ifneq ($(wildcard daisy_makefile),) #Clean up cruft from previous makefile.
+	ls | grep -v Makefile | grep -v Makefile.old | grep -v makefile.patch | grep -v manifest.xml | grep -v build | xargs rm -r; fi
+endif
 
+TARBALL = build/daisy-1.7.0.tar.gz
+TARBALL_URL = http://cvlab.epfl.ch/~tola/research/08/daisy/daisy-1.7.0.tar.gz
+SOURCE_DIR = build/daisy-1.7.0
+TARBALL_PATCH = makefile.patch
+include $(shell rospack find mk)/download_unpack_build.mk
 
-installed:
-	wget http://cvlab.epfl.ch/~tola/research/08/daisy/daisy-1.7.0.tar.gz
-	tar xvzf daisy-1.7.0.tar.gz
-	mv daisy-1.7.0/* .
-	rm -rf daisy-1.7.0
-	patch makefile < makefile.patch
-	mv makefile daisy_makefile
-	make -f daisy_makefile slib
-	touch installed
+daisy: $(SOURCE_DIR)/unpacked
+ifeq ($(wildcard $(SOURCE_DIR)/lib/libdaisy.so),) 
+	cd $(SOURCE_DIR) && make -f makefile slib
+endif
 
 clean: 
-	ls | grep -v Makefile | grep -v patch | grep -v manifest.xml | xargs rm -r
\ No newline at end of file
+	-rm -rf $(SOURCE_DIR)
+
+wipe: clean
+	-rm -rf build

Modified: pkg/trunk/3rdparty/daisy/manifest.xml
===================================================================
--- pkg/trunk/3rdparty/daisy/manifest.xml	2009-07-24 21:23:12 UTC (rev 19619)
+++ pkg/trunk/3rdparty/daisy/manifest.xml	2009-07-24 21:25:18 UTC (rev 19620)
@@ -9,7 +9,7 @@
   <review status="unreviewed" notes=""/>
   <url>http://cvlab.epfl.ch/~tola/daisy.html</url>
   <export>
-    <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -ldaisy -Wl,-rpath,${prefix}/lib" />
+    <cpp cflags="-I${prefix}/build/daisy-1.7.0/include/" lflags="-L${prefix}/build/daisy-1.7.0/lib/ -ldaisy -Wl,-rpath,${prefix}/build/daisy-1.7.0/lib/" />
   </export>
 
 </package>

Modified: pkg/trunk/sandbox/image_descriptors_gpl/image_descriptors_gpl.cpp
===================================================================
--- pkg/trunk/sandbox/image_descriptors_gpl/image_descriptors_gpl.cpp	2009-07-24 21:23:12 UTC (rev 19619)
+++ pkg/trunk/sandbox/image_descriptors_gpl/image_descriptors_gpl.cpp	2009-07-24 21:25:18 UTC (rev 19620)
@@ -23,6 +23,9 @@
   dai.set_parameters(rad_, rad_q_no_, th_q_no_, hist_th_q_no_);
   dai.set_normalization(NRM_FULL);
   dai.initialize_single_descriptor_mode();
+  int ws = dai.compute_workspace_memory();
+  float* workspace = new float[ ws ];
+  dai.set_workspace_memory( workspace, ws);
 
   result_size_ = dai.descriptor_size();
 }
@@ -33,23 +36,23 @@
 
 void Daisy::compute(IplImage* img, const cv::Vector<Keypoint>& points, vvf& results) {
   // -- Stupid way to pass img to daisy.
+  char filename[] = "temp.pgm";
   IplImage* gray = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 1);
   cvCvtColor(img, gray, CV_BGR2GRAY);
-  cvSaveImage("temp.png", gray);
+  cvSaveImage(filename, gray);
   uchar* im = NULL;
-  load_gray_image("temp.png", im, img->height, img->width);
+  load_gray_image(filename, im, img->height, img->width);
   dai.set_image(im, img->height, img->width);
 
 
   results.clear();
   results.resize(points.size());
-  int orientation = 0;
   int nValid = 0;
   for(size_t i=0; i<points.size(); ++i) {
     // -- Get the descriptor.
     float* thor = new float[result_size_];
     memset(thor, 0, sizeof(float)*result_size_);
-    dai.get_descriptor(points[i].pt.y, points[i].pt.x, orientation, thor);
+    dai.get_descriptor((int)points[i].pt.y, (int)points[i].pt.x, thor);
 
     // -- Check if it's all zeros.
     bool valid = false;


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