different from pcl persion_classifier.hpp if add (xmin+width-1) > 0 must check if width >0 else if width <= 0 cause crash

bayes/CMakeLists.txt

@@ -1,9 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(bayes)
 set(CMAKE_BUILD_TYPE RelWithDebInfo)
-find_package(catkin REQUIRED COMPONENTS roscpp )
+find_package(catkin REQUIRED COMPONENTS roscpp)
 
-link_libraries(/usr/lib/liblapack.so.3gf)
+if (EXISTS "/usr/lib/liblapack.so.3gf")
+	link_libraries(/usr/lib/liblapack.so.3gf)
+elseif(EXISTS "/usr/lib/liblapack.so")
+	link_libraries(/usr/lib/liblapack.so)	
+endif()
 
 include_directories(include include/open_ptrack/bayes include/open_ptrack/bayes/filters)
 

detection/CMakeLists.txt

@@ -7,7 +7,7 @@ find_package(VTK REQUIRED)
 if(VTK_FOUND)
 	include_directories(${VTK_INCLUDE_DIRS})
 	link_directories(${VTK_LIBRARY_DIRS})
-	add_definitions(${VTK_DEFINITIONS})
+#	add_definitions(${VTK_DEFINITIONS})
 	include (${VTK_USE_FILE})
 endif() 
 
@@ -49,11 +49,21 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS})
 
 add_executable(ground_based_people_detector apps/ground_based_people_detector_node.cpp)
 SET_TARGET_PROPERTIES(ground_based_people_detector PROPERTIES LINK_FLAGS -L${PCL_LIBRARY_DIRS})
-target_link_libraries(ground_based_people_detector ${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} vtkHybrid vtkRendering)
+#for Nvidiva TX2 must add drm
+if(${VTK_VERSION_MAJOR} GREATER 5)
+target_link_libraries(ground_based_people_detector ${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} drm)
+else()
+target_link_libraries(ground_based_people_detector ${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} vtkHybrid vtkRendering drm)
+endif()
 
 add_executable(ground_based_people_detector_sr apps/ground_based_people_detector_node_sr.cpp)
 SET_TARGET_PROPERTIES(ground_based_people_detector_sr PROPERTIES LINK_FLAGS -L${PCL_LIBRARY_DIRS})
-target_link_libraries(ground_based_people_detector_sr ${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} vtkHybrid vtkRendering)
+#for Nvidiva TX2 must add drm
+if(${VTK_VERSION_MAJOR} GREATER 5)
+target_link_libraries(ground_based_people_detector_sr ${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} drm)
+else()
+target_link_libraries(ground_based_people_detector_sr ${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} vtkHybrid vtkRendering drm)
+endif()
 
 add_library(haar_disp_ada src/haardispada.cpp apps/haardispada_nodelet.cpp)
 target_link_libraries(haar_disp_ada ${catkin_LIBRARIES})

detection/include/open_ptrack/detection/haardispada.h

@@ -40,7 +40,9 @@ POSSIBILITY OF SUCH DAMAGE.
 #include <vector>
 #include <map>
 #include <boost/filesystem.hpp>
+#include <opencv2/opencv.hpp> 
 #include <opencv2/core/core.hpp>
+#include <opencv2/core/version.hpp>
 #include <opencv/cv.h>
 #include <opencv/ml.h>
 #include <opt_msgs/Rois.h>
@@ -65,7 +67,6 @@ namespace open_ptrack
     /*****************************************************************************
      ** Class
      *****************************************************************************/
-
     class HaarDispAdaClassifier{
 
       public:
@@ -101,8 +102,13 @@ namespace open_ptrack
         void setMinConfidence(float );
 
       private:
+#if CV_MAJOR_VERSION >= 3 
+        cv::Ptr<cv::ml::Boost> HDAC_;
+        cv::String classifier_filename_; // for loading and saving
+#else
         CvBoost HDAC_;
         string classifier_filename_; // for loading and saving
+#endif
         int maxSamples_;
         int num_filters_;
         Mat integralImage_;

detection/include/open_ptrack/detection/impl/person_classifier.hpp

@@ -191,6 +191,9 @@ open_ptrack::detection::PersonClassifier<PointT>::copyMakeBorder (PointCloudPtr&
   output_image->points.resize(height*width, black_point);
   output_image->width = width;
   output_image->height = height;
+//  if((width <= 0)||(height <= 0)){
+//    return;
+//  }
 
   int x_start_in = std::max(0, xmin);
   int x_end_in = std::max(x_start_in, std::min(int(input_image->width-1), xmin+width-1));
@@ -233,8 +236,8 @@ open_ptrack::detection::PersonClassifier<PointT>::evaluate (float height_person,
   double confidence;
 
 //std::cout << "Before copyMakeBorder: " << xmin << " " << ymin << " " << width << " " << height << std::endl;
-
-  if ((height > 0) & ((xmin+width-1) > 0))
+/*different from pcl persion_classifier.hpp if add (xmin+width-1) > 0 must check if width >0 else if width <= 0 cause crash */
+  if ((height > 0) &&(width > 0) && ((xmin+width-1) > 0))
   {
     // If near the border, fill with black:
     PointCloudPtr box(new PointCloud);

detection/src/haardispada.cpp

@@ -80,7 +80,11 @@ namespace open_ptrack
           int rtn = haar_features_fast(HF); // compute haar features
           if(rtn== 1){
             // Compute classifier score:
+#if CV_MAJOR_VERSION >= 3
+            result = HDAC_->predict(HF); 
+#else
             result = HDAC_.predict(HF);
+#endif
           }
           else{
             ROS_ERROR("WHY O WHY");
@@ -120,7 +124,11 @@ namespace open_ptrack
           int rtn = haar_features_fast(HF); // compute haar features
           if(rtn== 1){
             // Compute classifier score:
+#if CV_MAJOR_VERSION >= 3 
+            result = HDAC_->predict(HF, cv::Mat(),  cv::ml::StatModel::RAW_OUTPUT);
+#else
             result = HDAC_.predict(HF, cv::Mat(), cv::Range::all(), false, true);
+#endif
           }
           else{
             ROS_ERROR("WHY O WHY");
@@ -188,11 +196,18 @@ namespace open_ptrack
     void
     HaarDispAdaClassifier::train(string filename)
     {
-      CvBoostParams bparams = CvBoostParams();
       float priorFloat[] = { 1.0, HaarDispAdaPrior_ };  // preliminary priors based on ROC)
+#if CV_MAJOR_VERSION >= 3
+      cv::Mat prior(1,sizeof(priorFloat)/sizeof(priorFloat[0]),CV_32F,&priorFloat[0],sizeof(priorFloat)/sizeof(priorFloat[0]));
+      HDAC_->setPriors(prior); 
+      HDAC_->setUseSurrogates(false);
+      HDAC_->setWeakCount(100);
+#else
+      CvBoostParams bparams = CvBoostParams();
       bparams.priors = &priorFloat[0];
       bparams.use_surrogates = false;
       bparams.weak_count = 100;
+#endif
 
       // copy sub matrix for training
       Mat VarIdx;
@@ -207,14 +222,22 @@ namespace open_ptrack
         if(trainingLabels_.at<int>(i,0) == -1) trainingLabels_.at<int>(i,0) = 0;//classes: 0,1
         Responses.at<int>(i,0) = trainingLabels_.at<int>(i,0);
       }
+#if CV_MAJOR_VERSION >= 3 
+      HDAC_->train(Features, cv::ml::ROW_SAMPLE, Responses);
+#else
       Mat vIdx=Mat::ones(Features.cols,1,CV_8UC1); // variables of interest
       Mat sIdx=Mat::ones(Responses.rows,1,CV_8UC1); // samples of interest
       Mat vtyp=Mat(Features.cols,1,CV_8UC1,CV_VAR_ORDERED); // could be VAR_CATAGORICAL(discrete)
       Mat MDM; // no missing mask
       HDAC_.train(Features, CV_ROW_SAMPLE, Responses,vIdx,sIdx,vtyp,MDM,bparams,false);
+#endif
       ROS_ERROR("saving trained classifier to %s",filename.c_str());
       loaded = true;
+#if CV_MAJOR_VERSION >= 3 
+      HDAC_->save(filename);
+#else
       HDAC_.save(filename.c_str());
+#endif
       // Determine Recall Statistics
       int num_TP     = 0;
       int num_FP     = 0;
@@ -223,7 +246,11 @@ namespace open_ptrack
       int num_TN     = 0;
       int num_FN     = 0;
       for(int i=0;i<Features.rows;i++){
+#if CV_MAJOR_VERSION >= 3
+        float result = HDAC_->predict(Features.row(i)); 
+#else
         float result = HDAC_.predict(Features.row(i));
+#endif
         if(Responses.at<int>(i,0) == 1) num_people++;
         if(Responses.at<int>(i,0) != 1) num_neg++;
         if(result==1 && Responses.at<int>(i,0) == 1) num_TP++; // true pos
@@ -262,6 +289,9 @@ namespace open_ptrack
     void
     HaarDispAdaClassifier::init()
     {
+#if CV_MAJOR_VERSION >= 3 
+      HDAC_ = cv::ml::Boost::create();
+#endif
       num_filters_ = 174;
       setMaxSamples(350); //use a small number to have a small memory footprint by default
 
@@ -280,7 +310,18 @@ namespace open_ptrack
     void
     HaarDispAdaClassifier::load(string filename)
     {
+#if CV_MAJOR_VERSION >= 3
+      const cv::String cv_filename(filename); 
+    /*bug fix */
+    /*https://stackoverflow.com/questions/43532122/opencv-logistic-regression-load-failed */
+  #if CV_VERSION_MINOR > 1 
+      HDAC_->load<cv::ml::Boost>(cv_filename);
+  #else
+      HDAC_->load(cv_filename);
+  #endif
+#else
       HDAC_.load(filename.c_str());
+#endif
       loaded = true;
     }
 

opt_calibration/CMakeLists.txt

@@ -32,7 +32,7 @@ endif()
 catkin_package(
   INCLUDE_DIRS include
 #  LIBRARIES
-  CATKIN_DEPENDS roscpp opt_msgs calibration_common camera_info_manager cv_bridge image_transport swissranger_camera
+  CATKIN_DEPENDS roscpp opt_msgs calibration_common camera_info_manager cv_bridge image_transport swissranger_camera kinect
   DEPENDS eigen pcl opencv2
 )
 
@@ -56,10 +56,12 @@ add_executable(opt_calibration
 
 ## Add dependencies to the executable
 ## Specify libraries to link a library or executable target against
+#for Nvidiva TX2 must add libdrm
 target_link_libraries(opt_calibration
   ${catkin_LIBRARIES}
   ${PCL_LIBRARIES}
   ${OpenCV_LIBS}
+  drm
 )
 
 # Publish camera_info topic for stereo:
@@ -75,8 +77,10 @@ add_executable(opt_calibration_refinement
   apps/opt_calibration_refinement.cpp
   src/trajectory_registration.cpp
 )
+#for Nvidiva TX2 must add libdrm
 target_link_libraries(opt_calibration_refinement
   ${catkin_LIBRARIES}
+  drm
 )
 
 add_executable(opt_define_reference_frame
@@ -86,8 +90,10 @@ add_executable(opt_define_reference_frame
   src/opt_checkerboard_extraction.cpp  include/open_ptrack/opt_calibration/opt_checkerboard_extraction.h
 )
 
+#for Nvidiva TX2 must add libdrm
 target_link_libraries(opt_define_reference_frame
   ${catkin_LIBRARIES}
   ${PCL_LIBRARIES}
   ${OpenCV_LIBS}
+  drm
 )

opt_calibration/apps/status_plot.py

@@ -101,6 +101,8 @@ def spinOnce(self) :
     self.lock.release()
 
     plot.draw()
+    #for compact after matplotlib 1.5.1 ,we must call matplotlib.pyplot.pause(interval) or else no draw  
+    plot.pause(0.00001)
   #####################
 
   def spin(self) :

opt_msgs/CMakeLists.txt

@@ -15,7 +15,7 @@ catkin_package(
    CATKIN_DEPENDS roscpp std_msgs sensor_msgs message_runtime
 )
 
-include_directories(include include/open_ptrack/${PROJECT_NAME}/)
+include_directories(include ${catkin_INCLUDE_DIRS} include/open_ptrack/${PROJECT_NAME}/)
 
 add_library(roi_msgs src/overlap.cpp )
 

opt_utils/apps/roi_viewer.cpp

@@ -220,6 +220,8 @@ class roiViewerNode
 
       // Display the cv image
       cv::imshow("Detections",cv_ptr->image);
+      /*opencv 3.2-dev will not show image if do not call waitKey*/	
+      cv::waitKey(1);
     }
 
     ~roiViewerNode()

scripts/calibration_toolkit_install.sh

@@ -8,4 +8,12 @@ cd ~/workspace/ros/catkin/src
 git clone https://github.com/iaslab-unipd/calibration_toolkit 
 cd calibration_toolkit 
 git fetch origin --tags
-git checkout tags/v0.2
+
+UBUNTU_VERSION=`lsb_release -c -s`
+if [ $UBUNTU_VERSION = trusty ] || [ $UBUNTU_VERSION = saucy ] ; then
+	git checkout tags/v0.2
+elif [ $UBUNTU_VERSION = xenial ] ; then
+	git checkout tags/v0.3.1
+else
+	git checkout tags/v0.2
+fi

scripts/ceres_install.sh

@@ -7,6 +7,8 @@ if [ $UBUNTU_VERSION = trusty ]; then
   ./ceres_install_trusty.sh
 elif [ $UBUNTU_VERSION = raring ]; then
   ./ceres_install_raring.sh
+elif [ $UBUNTU_VERSION = xenial ]; then
+  ./ceres_install_trusty.sh
 else
 
   echo ""  1>&2

scripts/ceres_install_trusty.sh

@@ -6,10 +6,17 @@ sudo apt-get install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev li
 mkdir /tmp/ceres_install
 cd /tmp/ceres_install
 
-git clone https://ceres-solver.googlesource.com/ceres-solver
+git clone https://github.com/ceres-solver/ceres-solver.git
 cd ceres-solver
 git fetch --tags
-git checkout tags/1.9.0
+
+UBUNTU_VERSION=`lsb_release -c -s`
+if [ $UBUNTU_VERSION = trusty ]; then
+	git checkout tags/1.9.0
+elif [ $UBUNTU_VERSION = xenial ]; then
+	git checkout tags/1.13.0
+fi
+
 cd ..
 mkdir ceres-bin
 cd ceres-bin

scripts/kinect2_install.sh

@@ -5,11 +5,11 @@ cd $HOME
 if [ -d "libfreenect2" ]; then
 	read -p "The folder librefreenect2 already exist. Replace it? (y/n)" yn
 	case $yn in
-		[Yy]* ) sudo rm libfreenect2; git clone https://github.com/OpenPTrack/libfreenect2.git;;
+		[Yy]* ) sudo rm libfreenect2; git clone https://github.com/wangqiang1588/libfreenect2.git;;
 		[Nn]* ) ;;
 	esac
 else
-	git clone https://github.com/OpenPTrack/libfreenect2.git;
+	git clone https://github.com/wangqiang1588/libfreenect2.git;
 fi
 
 #####################################################
@@ -20,13 +20,27 @@ git checkout iai_kinect2
 #####################################################
 
 cd depends/
-sudo apt-get install git cmake cmake-curses-gui libXmu-dev libXi-dev libgl1-mesa-dev dos2unix xorg-dev libglu1-mesa-dev libtool automake libudev-dev libgtk2.0-dev pkg-config libjpeg-turbo8-dev libturbojpeg libglewmx-dev
+sudo apt-get install git cmake cmake-curses-gui libgl1-mesa-dev dos2unix xorg-dev libglu1-mesa-dev libtool automake libudev-dev libgtk2.0-dev pkg-config libjpeg-turbo8-dev libturbojpeg libglewmx-dev libxmu-dev libxi-dev 
 ./install_ubuntu.sh 
 if [ ! -f /usr/lib/x86_64-linux-gnu/libturbojpeg.so ]
 then
     sudo ln -s /usr/lib/x86_64-linux-gnu/libturbojpeg.so.0.0.0 /usr/lib/x86_64-linux-gnu/libturbojpeg.so
 fi
+
+#Ubuntu 16.04
+sudo apt-get install libglewmx-dev
+if [ ! -f /usr/lib/gcc/x86_64-linux-gnu/libturbojpeg.so ]
+then
+    sudo ln -s -f /usr/lib/x86_64-linux-gnu/libturbojpeg.so.0 /usr/lib/x86_64-linux-gnu/libturbojpeg.so
+fi
+if [ ! -f /lib/x86_64-linux-gnu/libudev.so ]
+then
+    sudo ln -s -f /lib/x86_64-linux-gnu/libudev.so.1 /lib/x86_64-linux-gnu/libudev.so
+fi
+
 cd ../examples/protonect/
+#Fix bug https://github.com/code-iai/iai_kinect2/issues/29
+sed -i s/'TARGET_LINK_LIBRARIES(freenect2 ${LIBRARIES})'/'TARGET_LINK_LIBRARIES(freenect2 ${LIBRARIES} udev)'/g CMakeLists.txt
 cmake .
 make	
 sudo make install
@@ -40,7 +54,7 @@ sudo rm -r libfreenect2
 #install iai-kinect
 cd $ROS_WORKSPACE
 cd ../catkin/src/
-git clone https://github.com/OpenPTrack/iai_kinect2.git
+git clone https://github.com/wangqiang1588/iai_kinect2.git
 
 #####################################################
 # Temporary