implement mip file support for kls

CMakeCache.txt

@@ -0,0 +1,40 @@
+# This is the CMakeCache file.
+# For build in directory: /home/njp/svn/src/pcl
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUI's for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/njp/svn/src/pcl
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2
+//Minor version of cmake used to create the current loaded cache
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=8
+//Patch version of cmake used to create the current loaded cache
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=11
+//Path to CMake executable.
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
+//Path to cpack program executable.
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
+//Path to ctest program executable.
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest
+//Path to cache edit program executable.
+CMAKE_EDIT_COMMAND:INTERNAL=/usr/bin/ccmake
+//Path to CMake installation.
+CMAKE_ROOT:INTERNAL=/usr/share/cmake
+

CMakeFiles/cmake.check_cache

@@ -0,0 +1 @@
+# This file is generated by cmake for dependency checking of the CMakeCache.txt file

PCLConfig.cmake.in

@@ -226,13 +226,13 @@ macro(find_openni2)
   endif(PKG_CONFIG_FOUND)
 
   find_path(OPENNI2_INCLUDE_DIRS OpenNI.h
-          HINTS /usr/include/openni2 /usr/include/ni2 /usr/local/include/openni2 /usr/local/include/ni2
+          HINTS /usr/include/openni2 /usr/include/ni2
           PATHS "$ENV{OPENNI2_INCLUDE${OPENNI2_SUFFIX}}"
           PATH_SUFFIXES openni openni2 include Include)
 
   find_library(OPENNI2_LIBRARY 
              NAMES OpenNI2	# No suffix needed on Win64
-             HINTS /usr/lib /usr/local/lib/ni2
+             HINTS /usr/lib
              PATHS "$ENV{OPENNI2_LIB${OPENNI2_SUFFIX}}"
              PATH_SUFFIXES lib Lib Lib64)	
 

common/include/pcl/point_types_conversion.h

@@ -53,8 +53,8 @@ namespace pcl
     * \param[out] out the output XYZI point
     */
   inline void 
-  PointXYZRGBtoXYZI (const PointXYZRGB& in,
-                     PointXYZI&         out)
+  PointXYZRGBtoXYZI (PointXYZRGB&  in,
+                     PointXYZI&    out)
   {
     out.x = in.x; out.y = in.y; out.z = in.z;
     out.intensity = 0.299f * static_cast <float> (in.r) + 0.587f * static_cast <float> (in.g) + 0.114f * static_cast <float> (in.b);
@@ -65,7 +65,7 @@ namespace pcl
     * \param[out] out the output Intensity point
     */
   inline void
-  PointRGBtoI (const RGB&    in,
+  PointRGBtoI (RGB&          in,
                Intensity&    out)
   {
     out.intensity = 0.299f * static_cast <float> (in.r) + 0.587f * static_cast <float> (in.g) + 0.114f * static_cast <float> (in.b);
@@ -76,7 +76,7 @@ namespace pcl
     * \param[out] out the output Intensity point
     */
   inline void
-  PointRGBtoI (const RGB&    in,
+  PointRGBtoI (RGB&          in,
                Intensity8u&  out)
   {
     out.intensity = static_cast<uint8_t>(std::numeric_limits<uint8_t>::max() * 0.299f * static_cast <float> (in.r)
@@ -88,7 +88,7 @@ namespace pcl
     * \param[out] out the output Intensity point
     */
   inline void
-  PointRGBtoI (const RGB&    in,
+  PointRGBtoI (RGB&          in,
                Intensity32u& out)
   {
     out.intensity = static_cast<uint32_t>(static_cast<float>(std::numeric_limits<uint32_t>::max()) * 0.299f * static_cast <float> (in.r)
@@ -100,13 +100,12 @@ namespace pcl
     * \param[out] out the output XYZHSV point
     */
   inline void 
-  PointXYZRGBtoXYZHSV (const PointXYZRGB& in,
-                       PointXYZHSV&       out)
+  PointXYZRGBtoXYZHSV (PointXYZRGB& in,
+                       PointXYZHSV& out)
   {
     const unsigned char max = std::max (in.r, std::max (in.g, in.b));
     const unsigned char min = std::min (in.r, std::min (in.g, in.b));
 
-    out.x = in.x; out.y = in.y; out.z = in.z;
     out.v = static_cast <float> (max) / 255.f;
 
     if (max == 0) // division by zero
@@ -138,13 +137,12 @@ namespace pcl
     * \todo include the A parameter but how?
     */
   inline void
-  PointXYZRGBAtoXYZHSV (const PointXYZRGBA& in,
-                        PointXYZHSV&        out)
+  PointXYZRGBAtoXYZHSV (PointXYZRGBA& in,
+                        PointXYZHSV& out)
   {
     const unsigned char max = std::max (in.r, std::max (in.g, in.b));
     const unsigned char min = std::min (in.r, std::min (in.g, in.b));
 
-    out.x = in.x; out.y = in.y; out.z = in.z;
     out.v = static_cast <float> (max) / 255.f;
 
     if (max == 0) // division by zero
@@ -175,8 +173,8 @@ namespace pcl
     * \param[out] out the output XYZRGB point
     */
   inline void 
-  PointXYZHSVtoXYZRGB (const PointXYZHSV&  in,
-                       PointXYZRGB&        out)
+  PointXYZHSVtoXYZRGB (PointXYZHSV&  in,
+                       PointXYZRGB&  out)
   {
     out.x = in.x; out.y = in.y; out.z = in.z;
     if (in.s == 0)
@@ -243,7 +241,7 @@ namespace pcl
     * \param[out] out the output Intensity point cloud
     */
   inline void
-  PointCloudRGBtoI (const PointCloud<RGB>&  in,
+  PointCloudRGBtoI (PointCloud<RGB>&        in,
                     PointCloud<Intensity>&  out)
   {
     out.width   = in.width;
@@ -261,7 +259,7 @@ namespace pcl
     * \param[out] out the output Intensity point cloud
     */
   inline void
-  PointCloudRGBtoI (const PointCloud<RGB>&    in,
+  PointCloudRGBtoI (PointCloud<RGB>&          in,
                     PointCloud<Intensity8u>&  out)
   {
     out.width   = in.width;
@@ -279,7 +277,7 @@ namespace pcl
     * \param[out] out the output Intensity point cloud
     */
   inline void
-  PointCloudRGBtoI (const PointCloud<RGB>&     in,
+  PointCloudRGBtoI (PointCloud<RGB>&        in,
                     PointCloud<Intensity32u>&  out)
   {
     out.width   = in.width;
@@ -297,8 +295,8 @@ namespace pcl
     * \param[out] out the output XYZHSV point cloud
     */
   inline void 
-  PointCloudXYZRGBtoXYZHSV (const PointCloud<PointXYZRGB>& in,
-                            PointCloud<PointXYZHSV>&       out)
+  PointCloudXYZRGBtoXYZHSV (PointCloud<PointXYZRGB>& in,
+                            PointCloud<PointXYZHSV>& out)
   {
     out.width   = in.width;
     out.height  = in.height;
@@ -315,8 +313,8 @@ namespace pcl
     * \param[out] out the output XYZHSV point cloud
     */
   inline void
-  PointCloudXYZRGBAtoXYZHSV (const PointCloud<PointXYZRGBA>& in,
-                             PointCloud<PointXYZHSV>&        out)
+  PointCloudXYZRGBAtoXYZHSV (PointCloud<PointXYZRGBA>& in,
+                             PointCloud<PointXYZHSV>& out)
   {
     out.width   = in.width;
     out.height  = in.height;
@@ -333,8 +331,8 @@ namespace pcl
     * \param[out] out the output XYZI point cloud
     */
   inline void 
-  PointCloudXYZRGBtoXYZI (const PointCloud<PointXYZRGB>& in,
-                          PointCloud<PointXYZI>&         out)
+  PointCloudXYZRGBtoXYZI (PointCloud<PointXYZRGB>& in,
+                          PointCloud<PointXYZI>& out)
   {
     out.width   = in.width;
     out.height  = in.height;
@@ -353,9 +351,9 @@ namespace pcl
    *  \param[out] out the output pointcloud
    *  **/
   inline void
-  PointCloudDepthAndRGBtoXYZRGBA (const PointCloud<Intensity>&  depth,
-                                  const PointCloud<RGB>&        image,
-                                  const float&                  focal,
+  PointCloudDepthAndRGBtoXYZRGBA (PointCloud<Intensity>&  depth,
+                                  PointCloud<RGB>&        image,
+                                  float&                  focal,
                                   PointCloud<PointXYZRGBA>&     out)
   {
     float bad_point = std::numeric_limits<float>::quiet_NaN();

doc/tutorials/content/tracking.rst

@@ -132,5 +132,5 @@ After few seconds, tracking will start working and you can move tracking object
 
 More Advanced
 -------------
-If you want to see more flexible and useful tracking code which starts tracking without preparing to make segemented model beforehand, you should refer a tracking code  https://github.com/PointCloudLibrary/pcl/blob/master/apps/src/openni_tracking.cpp. It will show you better and more legible code. The above Figures  are windows when you implement that code.
+If you want to see more flexible and useful tracking code which starts tracking without preparing to make segemented model beforehand, you should refer a tracking code  https://github.com/aginika/pcl/blob/master/apps/src/openni_tracking.cpp. It will show you better and more legible code. The above Figures  are windows when you implement that code.
 

doc/tutorials/content/writing_new_classes.rst

@@ -676,7 +676,7 @@ execution of the code, its value is still 0, we will print an error using the
 In the case of the search method, we can either do the same, or be clever and
 provide a default option for the user. The best default options are:
 
- * use an organized search method via :pcl:`pcl::OrganizedNeighbor<pcl::OrganizedNeighbor>` if the point cloud is organized;
+ * use an organized search method via :pcl:`pcl::OrganizedDataIndex<pcl::OrganizedDataIndex>` if the point cloud is organized;
  * use a general purpose kdtree via :pcl:`pcl::KdTreeFLANN<pcl::KdTreeFLANN>` if the point cloud is unorganized.
 
 .. code-block:: cpp
@@ -697,7 +697,7 @@ provide a default option for the user. The best default options are:
       if (!tree_)
       {
         if (input_->isOrganized ())
-          tree_.reset (new pcl::OrganizedNeighbor<PointT> ());
+          tree_.reset (new pcl::OrganizedDataIndex<PointT> ());
         else
           tree_.reset (new pcl::KdTreeFLANN<PointT> (false));
       }
@@ -749,7 +749,7 @@ The implementation file header thus becomes:
       if (!tree_)
       {
         if (input_->isOrganized ())
-          tree_.reset (new pcl::OrganizedNeighbor<PointT> ());
+          tree_.reset (new pcl::OrganizedDataIndex<PointT> ());
         else
           tree_.reset (new pcl::KdTreeFLANN<PointT> (false));
       }
@@ -812,7 +812,7 @@ The new *bilateral.hpp* class thus becomes:
       if (!tree_)
       {
         if (input_->isOrganized ())
-          tree_.reset (new pcl::OrganizedNeighbor<PointT> ());
+          tree_.reset (new pcl::OrganizedDataIndex<PointT> ());
         else
           tree_.reset (new pcl::KdTreeFLANN<PointT> (false));
       }
@@ -864,7 +864,7 @@ The implementation file header thus becomes:
       if (!tree_)
       {
         if (input_->isOrganized ())
-          tree_.reset (new pcl::OrganizedNeighbor<PointT> ());
+          tree_.reset (new pcl::OrganizedDataIndex<PointT> ());
         else
           tree_.reset (new pcl::KdTreeFLANN<PointT> (false));
       }
@@ -1221,9 +1221,9 @@ And the *bilateral.hpp* like:
       // In case a search method has not been given, initialize it using some defaults
       if (!tree_)
       {
-        // For organized datasets, use an OrganizedNeighbor
+        // For organized datasets, use an OrganizedDataIndex
         if (input_->isOrganized ())
-          tree_.reset (new pcl::OrganizedNeighbor<PointT> ());
+          tree_.reset (new pcl::OrganizedDataIndex<PointT> ());
         // For unorganized data, use a FLANN kdtree
         else
           tree_.reset (new pcl::KdTreeFLANN<PointT> (false));

features/CMakeLists.txt

@@ -24,7 +24,6 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/feature.h"
         "include/pcl/${SUBSYS_NAME}/fpfh.h"
         "include/pcl/${SUBSYS_NAME}/fpfh_omp.h"
-        "include/pcl/${SUBSYS_NAME}/from_meshes.h"
         "include/pcl/${SUBSYS_NAME}/gfpfh.h"
         "include/pcl/${SUBSYS_NAME}/integral_image2D.h"
         "include/pcl/${SUBSYS_NAME}/integral_image_normal.h"

filters/include/pcl/filters/impl/bilateral.hpp

@@ -81,7 +81,7 @@ pcl::BilateralFilter<PointT>::applyFilter (PointCloud &output)
   // In case a search method has not been given, initialize it using some defaults
   if (!tree_)
   {
-    // For organized datasets, use an OrganizedNeighbor
+    // For organized datasets, use an OrganizedDataIndex
     if (input_->isOrganized ())
       tree_.reset (new pcl::search::OrganizedNeighbor<PointT> ());
     // For unorganized data, use a FLANN kdtree