Merge branch 'develop' into smurfa

app/CMakeLists.txt

@@ -79,7 +79,7 @@ IF( MINGW )
 ENDIF( MINGW )
 endif(MAINGUI_FOUND)
 
-add_executable(${PROJECT_NAME} src/main.cpp ${TARGET_SRC})
+add_executable(${PROJECT_NAME} src/main.cpp)
 add_library(mars SHARED ${TARGET_SRC})
 
 if(MAINGUI_FOUND)

app/manifest.xml

@@ -21,7 +21,7 @@
     <depend package="simulation/mars/common/gui/data_broker_plotter2" optional="1" />
     <depend package="simulation/mars/plugins/SkyDomePlugin" optional="1" />
     <depend package="simulation/mars/plugins/CameraGUI" optional="1" />
-    <depend package="simulation/mars/plugins/PythonMars" optional="1" />
+    <!--depend package="simulation/mars/plugins/PythonMars" optional="1" /-->
     <depend package="simulation/mars/plugins/entity_view" optional="1" />
     <depend package="simulation/mars/entity_generation/smurf" optional="1" />
     <depend package="simulation/mars/smurf_loader" optional="1" />

app/src/MARS.cpp

@@ -73,6 +73,9 @@ namespace mars {
         //MARS::control->sim->exitMars();
         //Convention: print the signal type
       }
+#ifndef NO_GUI
+      if(qApp) qApp->quit();
+#endif
     }
 
     void handle_abort(int signal) {

app/src/main.cpp

@@ -32,9 +32,6 @@
 
 void qtExitHandler(int sig) {
   mars::app::exit_main(sig);
-#ifndef NO_GUI
-  if(qApp) qApp->quit();
-#endif
 }
 
 void ignoreSignal(int sig) {
@@ -88,7 +85,6 @@ int main(int argc, char *argv[]) {
   int state;
   if(simulation->needQApp) state = app->exec();
   else state = simulation->runWoQApp();
-
   delete simulation;
   fprintf(stderr, "\n################################\n");
   fprintf(stderr, "## everything closed fine ^-^ ##\n");

common/graphics/osg_material_manager/resources/graph_shader/wave2d.yaml

@@ -1,8 +1,8 @@
 params:
   in:
     sin: {index: 0, type: float}
-    cos: {index: 0, type: float}
-    s: {index: 0, type: vec4}
+    cos: {index: 1, type: float}
+    s: {index: 2, type: vec4}
   out:
     v: {index: 0, type: vec4}
 uniforms:

common/graphics/osg_material_manager/src/OsgMaterial.cpp

@@ -41,11 +41,9 @@
 #include <osg/CullFace>
 
 #ifdef WIN32
- #include <cv.h>
- #include <highgui.h>
+ #include <opencv2/opencv.hpp>
 #else
- #include <opencv/cv.h>
- #include <opencv/highgui.h>
+ #include <opencv2/opencv.hpp>
 #endif
 
 #include <cmath>
@@ -756,37 +754,46 @@ namespace osg_material_manager {
   }
 
   osg::Texture2D* OsgMaterial::loadTerrainTexture(std::string filename) {
-    IplImage* img=cvLoadImage(filename.c_str(), -1);
+    cv::Mat img=cv::imread(filename, cv::IMREAD_ANYDEPTH);
     osg::Texture2D *texture = NULL;
-    if(img) {
+    if(img.data) {
       texture = new osg::Texture2D;
       texture->setDataVariance(osg::Object::DYNAMIC);
       texture->setWrap(osg::Texture::WRAP_S, osg::Texture::CLAMP);
       texture->setWrap(osg::Texture::WRAP_T, osg::Texture::CLAMP);
       texture->setWrap(osg::Texture::WRAP_R, osg::Texture::CLAMP);
       osg::Image* image = new osg::Image();
-      image->allocateImage(img->width, img->height,
+      image->allocateImage(img.cols, img.rows,
                            1, GL_RGBA, GL_UNSIGNED_INT_8_8_8_8_REV);
-      assert(img->width = img->height);
-      terrainDimUniform->set((int)img->width);
-      CvScalar s;
+      assert(img.cols == img.rows);
+      if(img.cols != img.rows or img.channels() != 1) {
+        fprintf(stderr, "ERROR: bad heightmap loaded: w=%d h=%d c=%d\n",
+                img.cols, img.rows, img.channels());
+        return texture;
+      }
+
+      terrainDimUniform->set((int)img.cols);
+      cv::Scalar s;
+      int depth = img.depth();
       int v;
-      double imageMaxValue = pow(2., img->depth);
+      double imageMaxValue = pow(2., depth);
       double s256 = 1./256;
-      for(int x=0; x<img->width; ++x) {
-        for(int y=0; y<img->width; ++y) {
-          s=cvGet2D(img,y,x);
-          if(img->depth == 16) {
-            v = floor(s.val[0]*s256);
+      for(int x=0; x<img.cols; ++x) {
+        for(int y=0; y<img.rows; ++y) {
+          //s=cvGet2D(img,y,x);
+          if(depth == CV_16U) {
+            s = img.at<ushort>(y,x);
+            v = floor(s[0]*s256);
             if(v < 0) v = 0;
             if(v>255) v = 255;
             image->data(y, x)[0] = (char)v;
-            v = (int)s.val[0] % 256;
+            v = (int)s[0] % 256;
             if(v < 0) v = 0;
             if(v>255) v = 255;
             image->data(y, x)[1] = (char)v;
           }
           else {
+            s = img.at<uchar>(y,x);
             image->data(y, x)[0] = (char)s.val[0];
             image->data(y, x)[1] = 0;
           }
@@ -797,7 +804,7 @@ namespace osg_material_manager {
       //osgDB::writeImageFile(*image, "da.png");
 
       texture->setImage(image);
-      cvReleaseImage(&img);
+      img.release();//cvReleaseImage(&img);
     }
     return texture;
   }

graphics/src/gui_helper_functions.cpp

@@ -35,11 +35,9 @@
 #endif
 
 #ifdef WIN32
- #include <cv.h>
- #include <highgui.h>
+ #include <opencv2/opencv.hpp>
 #else
- #include <opencv/cv.h>
- #include <opencv/highgui.h>
+ #include <opencv2/opencv.hpp>
 #endif
 
 #include <mars/utils/mathUtils.h>
@@ -569,28 +567,38 @@ namespace mars {
     void GuiHelper::readPixelData(mars::interfaces::terrainStruct *terrain) {
 
 #if !defined (WIN32) && !defined (__linux__)
-      IplImage* img=0;
+      cv::Mat img;
 
-      img=cvLoadImage(terrain->srcname.data(), -1);
-      if(img) {
-        terrain->width = img->width;
-        terrain->height = img->height;
-        fprintf(stderr, "w h = %d %d\n", img->width, img->height);
+      img=cv::imread(terrain->srcname, cv::IMREAD_ANYDEPTH);
+      if(img.data) {
+        terrain->width = img.cols;
+        terrain->height = img.rows;
+        fprintf(stderr, "w h = %d %d\n", img.cols, img.rows);
         terrain->pixelData = (double*)calloc((terrain->width*
                                               terrain->height),
                                              sizeof(double));
 
-
-       CvScalar s;
+        if(img.channels() != 1) {
+          fprintf(stderr, "Error: loading heightmap data. Only single channel grayscale images can be loaded!\n");
+          return;
+        }
+        cv::Scalar s;
         int count = 0;
-        double imageMaxValue = pow(2., img->depth);
+        int depth = img.depth();
+        double imageMaxValue = pow(2., 8);
+        if(depth==CV_16U) {
+          imageMaxValue = pow(2., 16);
+        }
         //for(int y=0; y<terrain->height; y++) {
         //for(int x=terrain->width-1; x>=0; x--) {
         for(int y=terrain->height-1; y>=0; y--) {
           for(int x=0; x<terrain->width; x++) {
-
-            s=cvGet2D(img,y,x);
-            terrain->pixelData[count++] = ((double)s.val[0])/(imageMaxValue-1);
+             if(depth == CV_16U) {
+               s = img.at<ushort>(y,x);
+             } else {
+               s = img.at<uchar>(y,x);
+             }
+            terrain->pixelData[count++] = ((double)s[0])/(imageMaxValue-1);
             // if(y==0 || y == terrain->height-1 ||
             //    x==0 || x == terrain->width-1)
             //   terrain->pixelData[count-1] -= 0.002;
@@ -599,7 +607,8 @@ namespace mars {
 
           }
         }
-        cvReleaseImage(&img);
+        img.release();
+        //cvReleaseImage(&img);
       }
 
 #else

gui/src/dialogs/CaptureWindow/ImageProcess.cpp

@@ -21,6 +21,18 @@
 #include "ImageProcess.h"
 #include <cstdio>
 
+#ifdef WIN32
+ #include <opencv2/opencv.hpp>
+ #include <opencv2/highgui/highgui.hpp>
+#else
+ #include <opencv2/opencv.hpp>
+ #include <opencv2/highgui/highgui.hpp>
+#endif
+
+#ifndef CV_FOURCC_MACRO
+#define CV_FOURCC cv::VideoWriter::fourcc
+#endif
+
 namespace mars {
   namespace gui {
 
@@ -30,7 +42,6 @@ namespace mars {
       start();
       state = 1;
       width = height = 0;
-      writer = 0;
       this->framerate = framerate;
       fprintf(stderr, "created ImagePorcess\n");
     }
@@ -63,8 +74,8 @@ namespace mars {
       uchar *data = 0;
       uchar *dest, *src;
       QString num;
-      IplImage *cvImage = 0;
-
+      cv::Mat cvImage;
+      cv::VideoWriter writer;
       imageCount = 0;
       file_count = 0;
 
@@ -82,24 +93,24 @@ namespace mars {
           newImage = imageList[0];
           imageList.erase(imageList.begin());
           listMutex.unlock();
-      
+
           if(width == 0) {
             width = newImage.width;
             height = newImage.height;
-            writer = cvCreateVideoWriter(qPrintable(file),
-                                         //-1, framerate,
-                                         CV_FOURCC('X', 'V', 'I', 'D'), framerate,
-                                         //CV_FOURCC('M', 'J', 'P', 'G'), framerate,
-                                         cvSize(width, height), 1); 
-            cvImage = cvCreateImageHeader(cvSize(width, height), IPL_DEPTH_8U, 3);
+            writer.open(qPrintable(file),
+                        //-1, framerate,
+                        CV_FOURCC('X', 'V', 'I', 'D'), framerate,
+                        //cv::VideoWriter::fourcc('M', 'J', 'P', 'G'), framerate,
+                        cv::Size(width, height), 1);
+            cvImage = cv::Mat(cv::Size(width, height), CV_8UC3);
             data = (uchar*)malloc(width*height*3);
-            cvImage->imageData = (char*)data;
+            cvImage.data = data;
           }
           // convert to standard rgb image
           for (int i=0; i<newImage.height; ++i) {
             for(int k=0; k<newImage.width; ++k) {
-              dest = data + ((newImage.height-1)*(newImage.width)*3-
-                             i*newImage.width*3 + k*3);
+              dest = cvImage.data + ((newImage.height-1)*(newImage.width)*3-
+                                     i*newImage.width*3 + k*3);
 
               src  = (uchar*)newImage.data + (i*newImage.width*4) + k*4;
 
@@ -108,10 +119,14 @@ namespace mars {
           }
 
           // save new Image
-          if(writer) {
-            cvWriteFrame(writer, cvImage);
+          if(writer.isOpened()) {
+            fprintf(stderr, ".");
+            writer.write(cvImage);
             ++imageCount;
           }
+          else {
+            fprintf(stderr, "ERROR: writer not opened!\n");
+          }
 
           // free memory
           free(newImage.data);
@@ -121,11 +136,13 @@ namespace mars {
           msleep(4);
         }
       }
-
-      // clean up
-      if(writer) cvReleaseVideoWriter(&writer);  
-      if(cvImage) cvReleaseImageHeader(&cvImage);
-      if(data) free(data);
+
+      if(writer.isOpened()) writer.release();
+      //if(cvImage.data) cvImage.release();
+      if(data) {
+        free(data);
+        data = NULL;
+      }
     }
 
   } // end of namespace gui

gui/src/dialogs/CaptureWindow/ImageProcess.h

@@ -25,14 +25,6 @@
 #include <QMutex>
 #include <vector>
 
-#ifdef WIN32
- #include <cv.h>
- #include <highgui.h>
-#else
- #include <opencv/cv.h>
- #include <opencv/highgui.h>
-#endif
-
 namespace mars {
   namespace gui {
 
@@ -64,7 +56,6 @@ namespace mars {
       int file_count;
       int width, height;
       int framerate;
-      CvVideoWriter *writer;
     };
 
   } // end of namespace gui

plugins/PythonMars/CMakeLists.txt

@@ -28,6 +28,7 @@ pkg_check_modules(PKGCONFIG REQUIRED
           osg_lines
           osg_material_manager
           mars_sim
+          mars_app
 )
 include_directories(${PKGCONFIG_INCLUDE_DIRS})
 link_directories(${PKGCONFIG_LIBRARY_DIRS})
@@ -55,6 +56,7 @@ if (APPLE)
   set(PYTHON_LIBRARY "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/Python")
   set(PYTHON_INCLUDE_DIR "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/include/python2.7" "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/numpy/core/include")
 endif (APPLE)
+#add_definitions(-DPYTHON3)
 set(Python_ADDITIONAL_VERSIONS "2.7")
 find_package(PythonLibs REQUIRED)
 

plugins/PythonMars/manifest.xml

@@ -9,6 +9,7 @@
     <depend package="simulation/mars/common/data_broker" />
     <depend package="simulation/mars/interfaces" />
     <depend package="simulation/mars/sim" />
+    <depend package="simulation/mars/app" />
     <depend package="simulation/mars/common/graphics/osg_lines" />
     <depend package="simulation/mars/common/graphics/osg_points" />
     <depend package="simulation/mars/common/graphics/osg_material_manager" />