Revision: 6532
http://playerstage.svn.sourceforge.net/playerstage/?rev=6532&view=rev
Author: gbiggs
Date: 2008-06-10 19:45:56 -0700 (Tue, 10 Jun 2008)
Log Message:
-----------
Fixed rtk option usage.
Modified Paths:
--------------
code/player/trunk/cmake/internal/GeneralCompileOptions.cmake
code/player/trunk/playerconfig.h.in
code/player/trunk/rtk2/CMakeLists.txt
code/player/trunk/server/drivers/localization/amcl/CMakeLists.txt
code/player/trunk/server/drivers/localization/amcl/amcl.h
code/player/trunk/server/drivers/localization/amcl/map/map_draw.c
code/player/trunk/server/drivers/localization/amcl/pf/pf_draw.c
code/player/trunk/server/drivers/localization/amcl/pf/pf_kdtree.c
code/player/trunk/server/drivers/localization/amcl/pf/pf_kdtree.h
code/player/trunk/utils/CMakeLists.txt
code/player/trunk/utils/playercam/CMakeLists.txt
Modified: code/player/trunk/cmake/internal/GeneralCompileOptions.cmake
===================================================================
--- code/player/trunk/cmake/internal/GeneralCompileOptions.cmake
2008-06-11 00:57:16 UTC (rev 6531)
+++ code/player/trunk/cmake/internal/GeneralCompileOptions.cmake
2008-06-11 02:45:56 UTC (rev 6532)
@@ -3,7 +3,7 @@
SET (DEBUG_LEVEL NONE CACHE STRING "Level of debug code to be compiled: none,
low, medium or high")
IF (WITH_GTK)
- OPTION (INCLUDE_RTKGUI "Include the RTK GUI in the server." OFF)
+ OPTION (INCLUDE_RTKGUI "Include the RTK GUI in the server." ON)
ENDIF (WITH_GTK)
OPTION (BUILD_SHARED_LIBS "Build the Player libraries as shared libraries." ON)
\ No newline at end of file
Modified: code/player/trunk/playerconfig.h.in
===================================================================
--- code/player/trunk/playerconfig.h.in 2008-06-11 00:57:16 UTC (rev 6531)
+++ code/player/trunk/playerconfig.h.in 2008-06-11 02:45:56 UTC (rev 6532)
@@ -7,6 +7,7 @@
#cmakedefine HAVE_ROUND 1
#cmakedefine HAVE_STDINT_H 1
#cmakedefine NEED_COMPRESSBOUND 1
+#cmakedefine INCLUDE_RTKGUI 1
#ifdef HAVE_STDINT_H
#include <stdint.h>
Modified: code/player/trunk/rtk2/CMakeLists.txt
===================================================================
--- code/player/trunk/rtk2/CMakeLists.txt 2008-06-11 00:57:16 UTC (rev
6531)
+++ code/player/trunk/rtk2/CMakeLists.txt 2008-06-11 02:45:56 UTC (rev
6532)
@@ -1,5 +1,4 @@
-# If have GTK, give the user the option to enable RTK
-IF (WITH_GTK)
+IF (WITH_GTK AND INCLUDE_RTKGUI)
SET (rtkSrcs rtk.c
rtk_canvas.c
rtk_canvas_movie.c
@@ -13,4 +12,4 @@
COMPILE_FLAGS "${GNOMECANVAS_CFLAGS} ${GTK_CFLAGS}
${GDKPIXBUF_CFLAGS}")
SET_TARGET_PROPERTIES (rtk PROPERTIES
LINK_FLAGS "${GNOMECANVAS_LINKFLAGS} ${GTK_LINKFLAGS}
${GDKPIXBUF_LINKFLAGS}")
-ENDIF (WITH_GTK)
\ No newline at end of file
+ENDIF (WITH_GTK AND INCLUDE_RTKGUI)
\ No newline at end of file
Modified: code/player/trunk/server/drivers/localization/amcl/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/CMakeLists.txt
2008-06-11 00:57:16 UTC (rev 6531)
+++ code/player/trunk/server/drivers/localization/amcl/CMakeLists.txt
2008-06-11 02:45:56 UTC (rev 6532)
@@ -23,7 +23,7 @@
IF (INCLUDE_RTKGUI)
SET (linkFlags "${GTK_LINKFLAGS}")
- SET (cFlags "-I${PROJECT_SOURCE_DIR}/rtk2 ${GTK_CFLAGS} -DINCLUDE_RTKGUI")
+ SET (cFlags "-I${PROJECT_SOURCE_DIR}/rtk2 ${GTK_CFLAGS}")
ELSE (INCLUDE_RTKGUI)
SET (linkFlags)
SET (cFlags)
Modified: code/player/trunk/server/drivers/localization/amcl/amcl.h
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/amcl.h 2008-06-11
00:57:16 UTC (rev 6531)
+++ code/player/trunk/server/drivers/localization/amcl/amcl.h 2008-06-11
02:45:56 UTC (rev 6532)
@@ -38,6 +38,7 @@
#include <pthread.h>
+#include <playerconfig.h>
#ifdef INCLUDE_RTKGUI
#include "rtk.h"
#endif
Modified: code/player/trunk/server/drivers/localization/amcl/map/map_draw.c
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/map/map_draw.c
2008-06-11 00:57:16 UTC (rev 6531)
+++ code/player/trunk/server/drivers/localization/amcl/map/map_draw.c
2008-06-11 02:45:56 UTC (rev 6532)
@@ -10,6 +10,8 @@
#include "config.h"
#endif
+#include <playerconfig.h>
+
#ifdef INCLUDE_RTKGUI
#include <errno.h>
@@ -51,7 +53,7 @@
map->scale, map->size_x, map->size_y, 16, image, NULL);
free(image);
-
+
return;
}
@@ -87,7 +89,7 @@
map->scale, map->size_x, map->size_y, 16, image, NULL);
free(image);
-
+
return;
}
@@ -135,7 +137,7 @@
free(mask);
free(image);
-
+
return;
}
Modified: code/player/trunk/server/drivers/localization/amcl/pf/pf_draw.c
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/pf/pf_draw.c
2008-06-11 00:57:16 UTC (rev 6531)
+++ code/player/trunk/server/drivers/localization/amcl/pf/pf_draw.c
2008-06-11 02:45:56 UTC (rev 6532)
@@ -10,6 +10,8 @@
#include "config.h"
#endif
+#include <playerconfig.h>
+
#ifdef INCLUDE_RTKGUI
#include <assert.h>
@@ -23,7 +25,7 @@
#include "pf_pdf.h"
#include "pf_kdtree.h"
-
+
// Draw the statistics
void pf_draw_statistics(pf_t *pf, rtk_fig_t *fig);
@@ -38,22 +40,22 @@
set = pf->sets + pf->current_set;
max_samples = MIN(max_samples, set->sample_count);
-
+
for (i = 0; i < max_samples; i++)
{
sample = set->samples + i;
px = sample->pose.v[0];
py = sample->pose.v[1];
- pa = sample->pose.v[2];
+ pa = sample->pose.v[2];
//printf("%f %f\n", px, py);
-
+
rtk_fig_point(fig, px, py);
rtk_fig_arrow(fig, px, py, pa, 0.1, 0.02);
//rtk_fig_rectangle(fig, px, py, 0, 0.1, 0.1, 0);
}
-
+
return;
}
@@ -67,7 +69,7 @@
rtk_fig_color(fig, 0.0, 0.0, 1.0);
pf_kdtree_draw(set->kdtree, fig);
-
+
return;
}
@@ -80,10 +82,10 @@
pf_get_cep_stats(pf, &mean, &var);
var = sqrt(var);
-
+
rtk_fig_color(fig, 0, 0, 1);
rtk_fig_ellipse(fig, mean.v[0], mean.v[1], mean.v[2], 3 * var, 3 * var, 0);
-
+
return;
}
@@ -100,7 +102,7 @@
double weight, o, d1, d2;
set = pf->sets + pf->current_set;
-
+
for (i = 0; i < set->cluster_count; i++)
{
cluster = set->clusters + i;
@@ -122,7 +124,7 @@
printf("d = \n");
pf_matrix_fprintf(d, stdout, "%e");
*/
-
+
// Compute the orientation of the error ellipse (first eigenvector)
o = atan2(r.m[1][0], r.m[0][0]);
d1 = 6 * sqrt(d.m[0][0]);
@@ -141,7 +143,7 @@
rtk_fig_arrow(fig, mean.v[0], mean.v[1], mean.v[2] + 3 *
sqrt(cov.m[2][2]), 0.50, 0.10);
rtk_fig_arrow(fig, mean.v[0], mean.v[1], mean.v[2] - 3 *
sqrt(cov.m[2][2]), 0.50, 0.10);
}
-
+
return;
}
Modified: code/player/trunk/server/drivers/localization/amcl/pf/pf_kdtree.c
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/pf/pf_kdtree.c
2008-06-11 00:57:16 UTC (rev 6531)
+++ code/player/trunk/server/drivers/localization/amcl/pf/pf_kdtree.c
2008-06-11 02:45:56 UTC (rev 6532)
@@ -58,13 +58,13 @@
self->size[2] = (10 * M_PI / 180);
self->root = NULL;
-
+
self->node_count = 0;
self->node_max_count = max_size;
self->nodes = calloc(self->node_max_count, sizeof(pf_kdtree_node_t));
self->leaf_count = 0;
-
+
return self;
}
@@ -86,7 +86,7 @@
self->root = NULL;
self->leaf_count = 0;
self->node_count = 0;
-
+
return;
}
@@ -109,9 +109,9 @@
assert(pf_kdtree_find_node(self, self->root, key) != NULL);
pf_kdtree_print_node(self, self->root);
-
+
printf("\n");
-
+
for (i = 0; i < self->node_count; i++)
{
node = self->nodes + i;
@@ -120,10 +120,10 @@
printf("find %d %d %d\n", node->key[0], node->key[1], node->key[2]);
assert(pf_kdtree_find_node(self, self->root, node->key) == node);
}
- }
+ }
printf("\n\n");
*/
-
+
return;
}
@@ -139,7 +139,7 @@
key[0] = floor(pose.v[0] / self->size[0]);
key[1] = floor(pose.v[1] / self->size[1]);
key[2] = floor(pose.v[2] / self->size[2]);
-
+
node = pf_kdtree_find_node(self, self->root, key);
if (node == NULL)
return 0.0;
@@ -157,7 +157,7 @@
key[0] = floor(pose.v[0] / self->size[0]);
key[1] = floor(pose.v[1] / self->size[1]);
key[2] = floor(pose.v[2] / self->size[2]);
-
+
node = pf_kdtree_find_node(self, self->root, key);
if (node == NULL)
return -1;
@@ -170,7 +170,7 @@
int pf_kdtree_equal(pf_kdtree_t *self, int key_a[], int key_b[])
{
//double a, b;
-
+
if (key_a[0] != key_b[0])
return 0;
if (key_a[1] != key_b[1])
@@ -185,11 +185,11 @@
a = atan2(sin(a), cos(a)) / self->size[2];
b = key_b[2] * self->size[2];
b = atan2(sin(b), cos(b)) / self->size[2];
-
+
if ((int) a != (int) b)
return 0;
*/
-
+
return 1;
}
@@ -210,7 +210,7 @@
memset(node, 0, sizeof(pf_kdtree_node_t));
node->leaf = 1;
-
+
if (parent == NULL)
node->depth = 0;
else
@@ -218,7 +218,7 @@
for (i = 0; i < 3; i++)
node->key[i] = key[i];
-
+
node->value = value;
self->leaf_count += 1;
}
@@ -249,9 +249,9 @@
}
}
assert(node->pivot_dim >= 0);
-
+
node->pivot_value = (key[node->pivot_dim] + node->key[node->pivot_dim])
/ 2.0;
-
+
if (key[node->pivot_dim] < node->pivot_value)
{
node->children[0] = pf_kdtree_insert_node(self, node, NULL, key,
value);
@@ -262,7 +262,7 @@
node->children[0] = pf_kdtree_insert_node(self, node, NULL, node->key,
node->value);
node->children[1] = pf_kdtree_insert_node(self, node, NULL, key,
value);
}
-
+
node->leaf = 0;
self->leaf_count -= 1;
}
@@ -287,7 +287,7 @@
////////////////////////////////////////////////////////////////////////////////
// Recursive node search
pf_kdtree_node_t *pf_kdtree_find_node(pf_kdtree_t *self, pf_kdtree_node_t
*node, int key[])
-{
+{
if (node->leaf)
{
//printf("find : leaf %p %d %d %d\n", node, node->key[0], node->key[1],
node->key[2]);
@@ -301,7 +301,7 @@
else
{
//printf("find : brch %p %d %f\n", node, node->pivot_dim,
node->pivot_value);
-
+
assert(node->children[0] != NULL);
assert(node->children[1] != NULL);
@@ -323,13 +323,13 @@
if (node->leaf)
{
printf("(%+02d %+02d %+02d)\n", node->key[0], node->key[1], node->key[2]);
- printf("%*s", node->depth * 11, "");
+ printf("%*s", node->depth * 11, "");
}
else
{
printf("(%+02d %+02d %+02d) ", node->key[0], node->key[1], node->key[2]);
pf_kdtree_print_node(self, node->children[0]);
- pf_kdtree_print_node(self, node->children[1]);
+ pf_kdtree_print_node(self, node->children[1]);
}
return;
}
@@ -342,10 +342,10 @@
int i;
int queue_count, cluster_count;
pf_kdtree_node_t **queue, *node;
-
+
queue_count = 0;
queue = calloc(self->node_count, sizeof(queue[0]));
-
+
// Put all the leaves in a queue
for (i = 0; i < self->node_count; i++)
{
@@ -391,7 +391,7 @@
int i;
int nkey[3];
pf_kdtree_node_t *nnode;
-
+
for (i = 0; i < 3 * 3 * 3; i++)
{
nkey[0] = node->key[0] + (i / 9) - 1;
@@ -411,7 +411,7 @@
assert(nnode->cluster == node->cluster);
continue;
}
-
+
// Label this node and recurse
nnode->cluster = node->cluster;
@@ -440,7 +440,7 @@
{
double ox, oy;
char text[64];
-
+
if (node->leaf)
{
ox = (node->key[0] + 0.5) * self->size[0];
@@ -461,7 +461,7 @@
pf_kdtree_draw_node(self, node->children[0], fig);
pf_kdtree_draw_node(self, node->children[1], fig);
}
-
+
return;
}
Modified: code/player/trunk/server/drivers/localization/amcl/pf/pf_kdtree.h
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/pf/pf_kdtree.h
2008-06-11 00:57:16 UTC (rev 6531)
+++ code/player/trunk/server/drivers/localization/amcl/pf/pf_kdtree.h
2008-06-11 02:45:56 UTC (rev 6532)
@@ -9,6 +9,7 @@
#ifndef PF_KDTREE_H
#define PF_KDTREE_H
+#include <playerconfig.h>
#ifdef INCLUDE_RTKGUI
#include "rtk.h"
@@ -24,7 +25,7 @@
// Pivot dimension and value
int pivot_dim;
double pivot_value;
-
+
// The key for this node
int key[3];
@@ -45,7 +46,7 @@
{
// Cell size
double size[3];
-
+
// The root node of the tree
pf_kdtree_node_t *root;
Modified: code/player/trunk/utils/CMakeLists.txt
===================================================================
--- code/player/trunk/utils/CMakeLists.txt 2008-06-11 00:57:16 UTC (rev
6531)
+++ code/player/trunk/utils/CMakeLists.txt 2008-06-11 02:45:56 UTC (rev
6532)
@@ -1,13 +1,18 @@
+OPTION (BUILD_UTILS "Build the various utilities" ON)
MESSAGE (STATUS "===== Player utilities =====")
-ADD_SUBDIRECTORY (dgps_server)
-ADD_SUBDIRECTORY (logsplitter)
-ADD_SUBDIRECTORY (playercam)
-ADD_SUBDIRECTORY (playerjoy)
-ADD_SUBDIRECTORY (playernav)
-ADD_SUBDIRECTORY (playerprint)
-ADD_SUBDIRECTORY (playerprop)
-ADD_SUBDIRECTORY (playerv)
-ADD_SUBDIRECTORY (playervcr)
-ADD_SUBDIRECTORY (playerwritemap)
-ADD_SUBDIRECTORY (pmap)
-ADD_SUBDIRECTORY (xmms-plugin)
\ No newline at end of file
+IF (BUILD_UTILS)
+ ADD_SUBDIRECTORY (dgps_server)
+ ADD_SUBDIRECTORY (logsplitter)
+ ADD_SUBDIRECTORY (playercam)
+ ADD_SUBDIRECTORY (playerjoy)
+ ADD_SUBDIRECTORY (playernav)
+ ADD_SUBDIRECTORY (playerprint)
+ ADD_SUBDIRECTORY (playerprop)
+ ADD_SUBDIRECTORY (playerv)
+ ADD_SUBDIRECTORY (playervcr)
+ ADD_SUBDIRECTORY (playerwritemap)
+ ADD_SUBDIRECTORY (pmap)
+ ADD_SUBDIRECTORY (xmms-plugin)
+ELSE (BUILD_UTILS)
+ MESSAGE (STATUS "Disabled by user. Use ccmake to enable.")
+ENDIF (BUILD_UTILS)
Modified: code/player/trunk/utils/playercam/CMakeLists.txt
===================================================================
--- code/player/trunk/utils/playercam/CMakeLists.txt 2008-06-11 00:57:16 UTC
(rev 6531)
+++ code/player/trunk/utils/playercam/CMakeLists.txt 2008-06-11 02:45:56 UTC
(rev 6532)
@@ -14,4 +14,4 @@
ELSE (NOT WITH_GTK)
MESSAGE (STATUS "playercam will not be built - GDK pixbuf not found")
ENDIF (NOT WITH_GTK)
-ENDIF (WITH_GTK AND WITH_GDKPIXBUF)
\ No newline at end of file
+ENDIF (WITH_GTK AND WITH_GDKPIXBUF)
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