OSX, VTK6, OpenMP

.gitignore

@@ -0,0 +1,34 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Build Folder
+build/*
+xcodebuild/*
+build2/*
+xcodebuild2/*

CMakeLists.txt

@@ -1,8 +1,23 @@
-project(ObjRecRANSACRun)
-cmake_minimum_required(VERSION 2.8.3)
+project(objrecransac)
+
+cmake_minimum_required(VERSION 2.8.12)
+
+
+
+# optional for ROS build https://github.com/catkin/catkin_tools
+find_package(catkin)
+
+if(NOT EXISTS OBJREC_USE_CUDA)
+  FIND_PACKAGE(CUDA)
+  if(CUDA_FOUND)
+    set(OBJREC_USE_CUDA TRUE)
+  endif()
+endif()
+cmake_policy(SET CMP0053 OLD)
 
 IF(OBJREC_USE_CUDA)
   set(OBJREC_CUDA_DEVICE_ID 1 CACHE STRING "Which GPU device to use when running")
+  message(STATUS "CUDA Found and enabled with OBJREC_USE_CUDA=TRUE, Using CUDA GPU Device # " ${OBJREC_CUDA_DEVICE_ID})
   add_definitions(-DUSE_CUDA)
   add_definitions(-DCUDA_DEVICE_ID=${OBJREC_CUDA_DEVICE_ID})
 
@@ -14,13 +29,25 @@ IF(OBJREC_USE_CUDA)
   #add_definitions(-DOBJ_REC_RANSAC_VERBOSE)
   #add_definitions(-DOBJ_REC_RANSAC_VERBOSE_1)
   #add_definitions(-DOBJ_REC_RANSAC_VERBOSE_2)
-ENDIF(OBJREC_USE_CUDA)
+ENDIF()
+
+if(CATKIN_FOUND)
+    option(BUILD_ROS_BINDING "Build ROS Bindings using catkin" ON)
+    catkin_package(
+          DEPENDS # none
+          CATKIN_DEPENDS # none
+          INCLUDE_DIRS src include
+          LIBRARIES ObjRecRANSAC
+      )
+else()
+    option(BUILD_ROS_BINDING "Build ROS Bindings using catkin" OFF)
+endif()
 
 find_package(Boost COMPONENTS thread system REQUIRED)
 include_directories(${Boost_INCLUDE_DIRS})
 
 find_package(PCL REQUIRED)
-find_package(OpenMP REQUIRED)
+find_package(OpenMP)
 find_package(VTK)
 
 IF(NOT VTK_FOUND)
@@ -47,6 +74,7 @@ endif()
 IF(OPENMP_FOUND)
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+  add_definitions(-DUSE_OPENMP)
   message (STATUS "Found OpenMP")
 ENDIF(OPENMP_FOUND)
 
@@ -77,37 +105,66 @@ else()
   add_executable(ObjRecRANSACRun main.cpp)
 endif()
 
-target_link_libraries(ObjRecRANSACRun ObjRecRANSAC BasicToolsL1 BasicTools VtkBasics vtkIO vtkCommon vtkRendering ${OpenCV_LIBS} rt ${PCL_LIBRARIES})
+target_link_libraries(ObjRecRANSACRun ObjRecRANSAC BasicToolsL1 BasicTools VtkBasics ${VTK_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES})
 
 #add_library(Utility utility.h utility.cpp) 
 #target_link_libraries(Utility ${PCL_LIBRARIES} ${OpenCV_LIBS})
 
 add_library(Greedy src/Greedy/utility.h src/Greedy/utility.cpp src/Greedy/seg.h src/Greedy/seg.cpp) 
-target_link_libraries(Greedy ${PCL_LIBRARIES} ${OpenCV_LIBS})
+target_link_libraries(Greedy ObjRecRANSAC ${PCL_LIBRARIES} ${OpenCV_LIBS})
 
 add_executable(SegRansac main_seg.cpp)
-target_link_libraries(SegRansac ObjRecRANSAC BasicToolsL1 BasicTools VtkBasics vtkIO vtkCommon vtkRendering Greedy ${OpenCV_LIBS} ${PCL_LIBRARIES} rt)
+target_link_libraries(SegRansac ObjRecRANSAC BasicToolsL1 BasicTools VtkBasics ${VTK_LIBRARIES} Greedy ${OpenCV_LIBS} ${PCL_LIBRARIES})
 
 add_executable(poseTest main_test_pose.cpp)
-target_link_libraries(poseTest ObjRecRANSAC BasicToolsL1 BasicTools VtkBasics vtkIO vtkCommon vtkRendering Greedy ${OpenCV_LIBS} ${PCL_LIBRARIES} rt)
+target_link_libraries(poseTest ObjRecRANSAC BasicToolsL1 BasicTools VtkBasics ${VTK_LIBRARIES} Greedy ${OpenCV_LIBS} ${PCL_LIBRARIES})
 
 add_executable(segTest main_test_seg.cpp)
-target_link_libraries(segTest ObjRecRANSAC BasicToolsL1 BasicTools VtkBasics vtkIO vtkCommon vtkRendering Greedy ${OpenCV_LIBS} ${PCL_LIBRARIES} rt)
-
-install(TARGETS ObjRecRANSACRun
-  RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib)
-
-install(DIRECTORY src/
-  DESTINATION include
-  PATTERN "*.cpp" EXCLUDE
-  PATTERN "*.cu" EXCLUDE
-  PATTERN "*.c" EXCLUDE
-  )
+target_link_libraries(segTest ObjRecRANSAC BasicToolsL1 BasicTools VtkBasics ${VTK_LIBRARIES} Greedy ${OpenCV_LIBS} ${PCL_LIBRARIES})
+
+if(UNIX AND NOT APPLE)
+    target_link_libraries(ObjRecRANSACRun rt)
+    target_link_libraries(Greedy rt)
+    target_link_libraries(poseTest rt)
+    target_link_libraries(segTest rt)
+endif()
+
+
+if(NOT BUILD_ROS_BINDING)
+    # STANDARD INSTALLATION
+    install(TARGETS ObjRecRANSACRun
+      RUNTIME DESTINATION bin
+      LIBRARY DESTINATION lib
+      ARCHIVE DESTINATION lib)
+
+    install(DIRECTORY src/
+      DESTINATION include
+      PATTERN "*.cpp" EXCLUDE
+      PATTERN "*.cu" EXCLUDE
+      PATTERN "*.c" EXCLUDE
+      )
+
+      install(DIRECTORY data
+        DESTINATION share/ObjRecRANSAC)
+
+      install(FILES package.xml
+        DESTINATION share/ObjRecRANSAC)
+
+elseif(BUILD_ROS_BINDING)
+    # CATKIN INSTALLATION
+    install(DIRECTORY src/
+            DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+            PATTERN "*.cpp" EXCLUDE
+            PATTERN "*.cu" EXCLUDE
+            PATTERN "*.c" EXCLUDE
+    )
+
+    install(DIRECTORY data
+      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+    install(FILES package.xml
+      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+endif()
 
-install(DIRECTORY data
-  DESTINATION share/ObjRecRANSAC)
 
-install(FILES package.xml
-  DESTINATION share/ObjRecRANSAC)

main.cpp

@@ -27,6 +27,7 @@
 #include <vtkPolyData.h>
 #include <vtkPolyDataReader.h>
 #include <vtkTransformPolyDataFilter.h>
+#include <vtkVersion.h>
 #include <list>
 
 using namespace std;
@@ -293,7 +294,12 @@ void visualize(list<boost::shared_ptr<PointSetShape> >& detectedShapes, vtkPoint
 
 		// Transform the model instance using the estimated rigid transform
 		vtkTransformPolyDataFilter *transformer = vtkTransformPolyDataFilter::New();
+
+#if VTK_MAJOR_VERSION < 6
 		  transformer->SetInput(shape->getHighResModel());
+#else // VTK 6
+		  transformer->SetInputData(shape->getHighResModel());
+#endif
 		  VtkTransform::mat4x4ToTransformer((const double**)mat4x4, transformer);
 
 		// Visualize the transformed model

main_seg.cpp

@@ -1,7 +1,7 @@
 #include "src/Greedy/seg.h"
 #include <sys/time.h>
 #include <eigen3/Eigen/src/Geometry/Quaternion.h>
-#include <bits/algorithmfwd.h>
+#include <algorithm>
 
 //=========================================================================================================================
 

package.xml

@@ -1,5 +1,5 @@
 <package>
-  <name>ObjRecRANSAC</name>
+  <name>objrecransac</name>
   <version>1.1.0</version>
   <description>
     RANSAC variant for 3D object recognition in occluded scenes

src/BasicTools/Aux/Stopwatch.cpp

@@ -7,8 +7,22 @@
 
 #include "Stopwatch.h"
 
+#ifdef __APPLE__
+#include "realtime.hpp"
+#endif // __APPLE__
+
 Stopwatch::Stopwatch(bool print_err_msg)
 {
+#ifdef __APPLE__
+#ifdef HAVE_REALTIME
+        int msToNS = 1000000, period = 1*msToNS, computation = 0.1*msToNS, constraint = 0.5*msToNS;
+         bool preemptible = false;
+        if(set_realtime( period,  computation,  constraint,  preemptible)){
+           std::cout << "realtime mode successfully enabled!\n";
+        };
+#endif // HAVE_REALTIME
+#else // __APPLE__
+    // LINUX
 	// Measure test time
 	sched_param mySchedParam;
 	mySchedParam.__sched_priority =	sched_get_priority_max(SCHED_FIFO);
@@ -19,7 +33,6 @@ Stopwatch::Stopwatch(bool print_err_msg)
 			printf("Stopwatch::Stopwatch(): sched_get_priority_max() failed\n");
 		mySchedParam.__sched_priority = 99;
 	}
-
 	if ( sched_setscheduler(0, SCHED_FIFO, &mySchedParam) == -1 && print_err_msg )
 	{
 		printf("Stopwatch::Stopwatch(): Changing to real-time priority level %i failed. ", mySchedParam.__sched_priority);
@@ -41,7 +54,7 @@ Stopwatch::Stopwatch(bool print_err_msg)
 				break;
 		}
 	}
-
+#endif
 	fflush(stdout);
 }
 

src/BasicTools/Aux/Stopwatch.h

@@ -16,13 +16,44 @@
 #include <errno.h>
 #include <sched.h>
 
+#ifdef __APPLE__
+#include <mach/mach_time.h>
+#define ORWL_NANO (+1.0E-9)
+#define ORWL_GIGA UINT64_C(1000000000)
+
+static double orwl_timebase = 0.0;
+static uint64_t orwl_timestart = 0;
+
+inline struct timespec orwl_gettime(void) {
+  // be more careful in a multithreaded environement
+  if (!orwl_timestart) {
+    mach_timebase_info_data_t tb = { 0 };
+    mach_timebase_info(&tb);
+    orwl_timebase = tb.numer;
+    orwl_timebase /= tb.denom;
+    orwl_timestart = mach_absolute_time();
+  }
+  struct timespec t;
+  double diff = (mach_absolute_time() - orwl_timestart) * orwl_timebase;
+  t.tv_sec = diff * ORWL_NANO;
+  t.tv_nsec = diff - (t.tv_sec * ORWL_GIGA);
+  return t;
+}
+#endif // __APPLE__
+
 class Stopwatch
 {
 public:
 	Stopwatch(bool print_err_msg = true);
 	virtual ~Stopwatch();
 
-	void start(){ clock_gettime(CLOCK_REALTIME, &mStart);}
+	void start(){
+#ifdef __APPLE__
+     mStart = orwl_gettime();
+#else
+	 clock_gettime(CLOCK_REALTIME, &mStart);
+#endif
+    }
 
 	/** Returns the elapsed time in seconds since the last call of 'this->start()'. */
 	inline double stop();
@@ -35,7 +66,12 @@ class Stopwatch
 
 inline double Stopwatch::stop()
 {
-	timespec stop; clock_gettime(CLOCK_REALTIME, &stop);
+    timespec stop;
+#ifdef __APPLE__
+     stop = orwl_gettime();
+#else
+	 clock_gettime(CLOCK_REALTIME, &stop);
+#endif
 	// Return the difference in seconds
 	return (double)(stop.tv_sec - mStart.tv_sec) + ((double)(stop.tv_nsec - mStart.tv_nsec))/1000000000.0;
 }