[Jderobot-admin] jderobot-r870 - trunk/src/components/pluginsGazebo/kinect

[ahcorde en jderobot.org]

Author: ahcorde
Date: 2013-03-01 12:32:55 +0100 (Fri, 01 Mar 2013)
New Revision: 870

Modified:
   trunk/src/components/pluginsGazebo/kinect/CMakeLists.txt
   trunk/src/components/pluginsGazebo/kinect/kinect.world
   trunk/src/components/pluginsGazebo/kinect/kinectPlugin.cc
Log:
[ahcorde] 


Modified: trunk/src/components/pluginsGazebo/kinect/CMakeLists.txt
===================================================================
--- trunk/src/components/pluginsGazebo/kinect/CMakeLists.txt	2013-03-01 09:36:47 UTC (rev 869)
+++ trunk/src/components/pluginsGazebo/kinect/CMakeLists.txt	2013-03-01 11:32:55 UTC (rev 870)
@@ -1,3 +1,4 @@
+
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 include (FindPkgConfig)
 if (PKG_CONFIG_FOUND)
@@ -3,11 +4,31 @@
   pkg_check_modules(GAZEBO gazebo)
 endif()
+
 find_package(PCL 1.2 REQUIRED)
+find_package(OpenCV REQUIRED)
 
-include_directories( ${GAZEBO_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} /usr/local/include/gearbox/ /usr/local/include/jderobot) 
-link_directories( ${GAZEBO_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS} /usr/local/lib/jderobot)
+include_directories( 
+	${GAZEBO_INCLUDE_DIRS} 
+	${PCL_INCLUDE_DIRS} 
+	/usr/local/include/gearbox/ 
+	/usr/local/include/jderobot
+	
+	) 
+link_directories( 
+	${GAZEBO_LIBRARY_DIRS} 
+	${PCL_LIBRARY_DIRS} 
+	)
 
 set( CMAKE_CXX_FLAGS "-lIce -lIceUtil" ) # Opciones para el compilador
 
 add_library(kinectPlugin SHARED kinectPlugin.cc)
-target_link_libraries(kinectPlugin ${GAZEBO_libraries} ${PCL_LIBRARIES} opencv_core opencv_highgui opencv_imgproc ${ZeroCIce_LIBRARIES} jderobotice jderobotutil colorspacesmm JderobotInterfaces)
+
+target_link_libraries(kinectPlugin 
+	${GAZEBO_libraries} 
+	${PCL_LIBRARIES} 
+	${OpenCV_LIBS} 
+		/usr/local/lib/jderobot/libJderobotInterfaces.so
+		/usr/local/lib/jderobot/libjderobotice.so
+		/usr/local/lib/jderobot/libjderobotutil.so
+
+)

Modified: trunk/src/components/pluginsGazebo/kinect/kinect.world
===================================================================
--- trunk/src/components/pluginsGazebo/kinect/kinect.world	2013-03-01 09:36:47 UTC (rev 869)
+++ trunk/src/components/pluginsGazebo/kinect/kinect.world	2013-03-01 11:32:55 UTC (rev 870)
@@ -1,9 +1,12 @@
 <?xml version ='1.0'?>
 <gazebo version ='1.0'>
 <world name='default'>
-  <include filename='ground_plane.model'/>
-  <model name='pioneer2dx' static='0'>
-        <pose>10.000000 -15.000000 0.160000 0.000000 -0.000000 0.000000</pose>
+        <include>
+            <uri>model://ground_plane</uri>
+        </include>
+    
+  <model name='kinect_model'>
+  	<static>true</static>
         <link name="kinect">
             <inertial>
                 <mass>0.30</mass>
@@ -37,7 +40,10 @@
             </sensor>
         </link>
   </model>
-  <include filename='sun.light'/>
+        <include>
+            <uri>model://sun</uri>
+        </include>
+    
 
 </world>
 </gazebo>

Modified: trunk/src/components/pluginsGazebo/kinect/kinectPlugin.cc
===================================================================
--- trunk/src/components/pluginsGazebo/kinect/kinectPlugin.cc	2013-03-01 09:36:47 UTC (rev 869)
+++ trunk/src/components/pluginsGazebo/kinect/kinectPlugin.cc	2013-03-01 11:32:55 UTC (rev 870)
@@ -170,7 +170,7 @@
 
 
 	pthread_mutex_lock (&kinect->mutex);
-    //cloud->points.resize(_width*_height);
+    cloud->points.resize(_width*_height);
     
     int indicePunto = 0;
 	pcl::PointXYZRGBA point;
@@ -178,6 +178,7 @@
 	point.g      = 0;
 	point.b      = 0;
     
+    
 	for(int x = 0 ; x < _width ; x++){
 		for(int y = 0; y < _height; y++){
 			int indice = y*_width + x;
@@ -210,6 +211,7 @@
 
 		}
 	}
+
 	
 	pcl::VoxelGrid<pcl::PointXYZRGBA> sor;
 	sor.setInputCloud (cloud);
@@ -661,11 +663,11 @@
 		jderobotice::Context context;
 
         Ice::ObjectPtr object = new KinectI(std::string("KinectGazebo"), context, kinect);
-        //Ice::ObjectPtr object2 = new CameraI(std::string("KinectGazebo"), context, kinect);
+        Ice::ObjectPtr object2 = new CameraI(std::string("KinectGazebo"), context, kinect);
         //Ice::ObjectPtr object3 = new CameraII(std::string("KinectGazebo"), context, kinect);
 
         adapter->add(object, ic->stringToIdentity("Kinect"));
-        //adapter->add(object2, ic->stringToIdentity("KinectRGB"));
+        adapter->add(object2, ic->stringToIdentity("KinectRGB"));
         //adapter->add(object3, ic->stringToIdentity("KinectDepth"));
         std::cout << "        adapter->add(object, ic->stringToIdentity(Kinect)); "  << std::endl;
         adapter->activate();