Revert "Merge pull request #219 from rbrusu/master"

This reverts commit ef88940, reversing
changes made to ab9a891.

CMakeLists.txt

@@ -109,7 +109,7 @@ endif()
 
 if(MSVC)
   SET(CMAKE_COMPILER_IS_MSVC 1)
-  add_definitions ("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX /bigobj")
+  add_definitions ("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX")
   if("${CMAKE_CXX_FLAGS}" STREQUAL "")
     SET(CMAKE_CXX_FLAGS "/bigobj /EHsc /fp:precise /wd4800 /wd4521 /wd4251 /wd4275 /wd4305 /wd4355 ${SSE_FLAGS}")
 

apps/CMakeLists.txt

@@ -66,10 +66,8 @@ if(build)
     PCL_ADD_EXECUTABLE(pcl_pcd_organized_multi_plane_segmentation ${SUBSYS_NAME} src/pcd_organized_multi_plane_segmentation.cpp)
     target_link_libraries(pcl_pcd_organized_multi_plane_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features)
 
-    if (QHULL_FOUND)
-        PCL_ADD_EXECUTABLE(pcl_pcd_select_object_plane ${SUBSYS_NAME} src/pcd_select_object_plane.cpp)
-        target_link_libraries(pcl_pcd_select_object_plane pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_surface)
-    endif()
+    PCL_ADD_EXECUTABLE(pcl_pcd_select_object_plane ${SUBSYS_NAME} src/pcd_select_object_plane.cpp)
+    target_link_libraries(pcl_pcd_select_object_plane pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_surface)
 
 #    PCL_ADD_EXECUTABLE(pcl_convolve ${SUBSYS_NAME} src/convolve.cpp)
 #    target_link_libraries(pcl_convolve pcl_common pcl_io pcl_visualization)
@@ -231,9 +229,7 @@ if(build)
   add_subdirectory(3d_rec_framework)
   add_subdirectory(modeler)
   add_subdirectory(cloud_composer)
-  if(OPENNI_FOUND)
-    add_subdirectory(in_hand_scanner)
-  endif(OPENNI_FOUND)
+  add_subdirectory(in_hand_scanner)
   add_subdirectory(point_cloud_editor)
   if(FZAPI_FOUND)
     add_subdirectory(optronic_viewer)

apps/point_cloud_editor/CMakeLists.txt

@@ -115,6 +115,8 @@ IF(BUILD)
 						pcl_filters
     )
 
+  SET(CMAKE_CXX_FLAGS "-Wno-invalid-offsetof -Wno-extra-tokens")
+
   PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${INCS})
   PCL_MAKE_PKGCONFIG(${EXE_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "" "" "" "" "")
 

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/select2DTool.h

@@ -41,7 +41,7 @@
 #ifndef SELECT_2D_TOOL_H_
 #define SELECT_2D_TOOL_H_
 
-#include <qgl.h>
+#include <GL/gl.h>
 #include <pcl/apps/point_cloud_editor/toolInterface.h>
 #include <pcl/apps/point_cloud_editor/localTypes.h>
 

apps/point_cloud_editor/src/cloud.cpp

@@ -38,7 +38,10 @@
 /// @author  Yue Li and Matthew Hielsberg
 
 #include <algorithm>
-#include <qgl.h>
+//#include <QtOpenGL>
+//#include <qgl.h>
+#include <GL/gl.h>
+#include <GL/glu.h>
 #include <pcl/apps/point_cloud_editor/cloud.h>
 #include <pcl/apps/point_cloud_editor/selection.h>
 #include <pcl/apps/point_cloud_editor/localTypes.h>

apps/point_cloud_editor/src/cloudEditorWidget.cpp

@@ -41,7 +41,7 @@
 #include <QFileDialog>
 #include <QMessageBox>
 #include <QMouseEvent>
-#include <qgl.h>
+#include <GL/gl.h>
 #include <GL/glu.h>
 #include <pcl/filters/filter.h>
 #include <pcl/io/pcd_io.h>

apps/point_cloud_editor/src/select1DTool.cpp

@@ -38,7 +38,7 @@
 /// @author  Yue Li and Matthew Hielsberg
 
 #include <algorithm>
-#include <qgl.h>
+#include <GL/gl.h>
 #include <pcl/apps/point_cloud_editor/select1DTool.h>
 #include <pcl/apps/point_cloud_editor/cloud.h>
 #include <pcl/apps/point_cloud_editor/selection.h>

common/include/pcl/common/common.h

@@ -160,14 +160,6 @@ namespace pcl
   template <typename PointT> inline void 
   getMinMax (const PointT &histogram, int len, float &min_p, float &max_p);
 
-  /** \brief Calculate the area of a polygon given a point cloud that defines the polygon 
-	  * \param polygon point cloud that contains those vertices that comprises the polygon. Vertices are stored in counterclockwise.
-	  * \return the polygon area 
-	  * \ingroup common
-	  */
-  template<typename PointT> inline float
-  calculatePolygonArea (const pcl::PointCloud<PointT> &polygon);
-
   /** \brief Get the minimum and maximum values on a point histogram
     * \param cloud the cloud containing multi-dimensional histograms
     * \param idx point index representing the histogram that we need to compute min/max for

common/include/pcl/common/impl/common.hpp

@@ -386,26 +386,5 @@ pcl::getMinMax (const PointT &histogram, int len, float &min_p, float &max_p)
   }
 }
 
-//////////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> inline float
-pcl::calculatePolygonArea (const pcl::PointCloud<PointT> &polygon) 
-{
-  float area = 0.0f;
-  int num_points = polygon.size ();
-  int j = 0;
-  Eigen::Vector3f va,vb,res;
-
-  res(0) = res(1) = res(2) = 0.0f;
-  for (int i = 0; i < num_points; ++i) 
-  {
-    j = (i + 1) % num_points;
-    va = polygon[i].getVector3fMap ();
-    vb = polygon[j].getVector3fMap ();
-    res += va.cross (vb);
-  }
-  area = res.norm ();
-  return (area*0.5);
-}
-
 #endif  //#ifndef PCL_COMMON_IMPL_H_
 

doc/tutorials/content/alignment_prerejective.rst

@@ -92,14 +92,13 @@ After you have made the executable, you can run it like so::
 
 After a few seconds, you will see a visualization and a terminal output similar to::
   
-      | -0.003 -0.972  0.235 | 
-  R = | -0.993 -0.026 -0.119 | 
-      |  0.122 -0.233 -0.965 | 
+       |  0.027 -0.977  0.212 | 
+   R = | -0.991 -0.055 -0.124 | 
+       |  0.133 -0.207 -0.969 | 
 
-  t = < 0.095, -0.022, 0.069 >
-
-  Inliers: 890/3432
+   t = < 0.084, -0.024, 0.069 >
 
+   Inliers: 912/3432
 
 The visualization window should look something like the below figures. The scene is shown with green color, and the aligned object model is shown with blue color. Note the high number of non-visible object points.
 

doc/tutorials/content/sources/alignment_prerejective/alignment_prerejective.cpp

@@ -61,7 +61,7 @@ main (int argc, char **argv)
   // Estimate normals for scene
   pcl::console::print_highlight ("Estimating scene normals...\n");
   pcl::NormalEstimationOMP<PointNT,PointNT> nest;
-  nest.setRadiusSearch (0.01);
+  nest.setRadiusSearch (0.015);
   nest.setInputCloud (scene);
   nest.compute (*scene);
 

examples/segmentation/example_supervoxels.cpp

@@ -11,7 +11,6 @@
 #include <vtkImageReader2.h>
 #include <vtkImageData.h>
 #include <vtkImageFlip.h>
-#include <vtkPolyLine.h>
 
 // Types
 typedef pcl::PointXYZRGBA PointT;

keypoints/include/pcl/keypoints/impl/harris_3d.hpp

@@ -46,7 +46,7 @@
 #include <pcl/features/integral_image_normal.h>
 #include <pcl/common/time.h>
 #include <pcl/common/centroid.h>
-#ifdef __SSE__
+#ifdef HAVE_SSE_EXTENSIONS
 #include <xmmintrin.h>
 #endif
 
@@ -99,7 +99,7 @@ pcl::HarrisKeypoint3D<PointInT, PointOutT, NormalT>::calculateNormalCovar (const
   unsigned count = 0;
   // indices        0   1   2   3   4   5   6   7
   // coefficients: xx  xy  xz  ??  yx  yy  yz  ??
-#ifdef __SSE__
+#ifdef HAVE_SSE_EXTENSIONS
   // accumulator for xx, xy, xz
   __m128 vec1 = _mm_setzero_ps();
   // accumulator for yy, yz, zz

registration/include/pcl/registration/impl/sample_consensus_prerejective.hpp

@@ -184,13 +184,12 @@ pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::computeTra
   correspondence_rejector_poly_->setInputSource (input_);
   correspondence_rejector_poly_->setInputTarget (target_);
   correspondence_rejector_poly_->setCardinality (nr_samples_);
-  std::vector<bool> accepted (input_->size (), false); // Indices of sampled points that passed prerejection
   int num_rejections = 0; // For debugging
 
   // Initialize results
   final_transformation_ = guess;
   inliers_.clear ();
-  float lowest_error = std::numeric_limits<float>::max ();
+  float highest_inlier_fraction = inlier_fraction_;
   converged_ = false;
 
   // Temporaries
@@ -203,12 +202,11 @@ pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::computeTra
   {
     getFitness (inliers, error);
     inlier_fraction = static_cast<float> (inliers.size ()) / static_cast<float> (input_->size ());
-    error /= static_cast<float> (inliers.size ());
 
-    if (inlier_fraction >= inlier_fraction_ && error < lowest_error)
+    if (inlier_fraction > highest_inlier_fraction)
     {
       inliers_ = inliers;
-      lowest_error = error;
+      highest_inlier_fraction = inlier_fraction;
       converged_ = true;
     }
   }
@@ -222,25 +220,12 @@ pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::computeTra
 
     // Draw nr_samples_ random samples
     selectSamples (*input_, nr_samples_, sample_indices);
-
-    // Check if all sampled points already been accepted
-    bool samples_accepted = true;
-    for (unsigned int j = 0; j < sample_indices.size(); ++j) {
-      if (!accepted[j]) {
-        samples_accepted = false;
-        break;
-      }
-    }
 
-    // All points have already been accepted, avoid
-    if (samples_accepted)
-      continue;
-
     // Find corresponding features in the target cloud
     findSimilarFeatures (*input_features_, sample_indices, corresponding_indices);
 
     // Apply prerejection
-    if (!correspondence_rejector_poly_->thresholdPolygon (sample_indices, corresponding_indices)) {
+    if (!correspondence_rejector_poly_->thresholdPolygon (sample_indices, corresponding_indices)){
       ++num_rejections;
       continue;
     }
@@ -256,25 +241,19 @@ pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::computeTra
 
     // Transform the input and compute the error (uses input_ and final_transformation_)
     getFitness (inliers, error);
-
-    // Restore previous result
-    final_transformation_ = final_transformation_prev;
 
     // If the new fit is better, update results
-    inlier_fraction = static_cast<float> (inliers.size ()) / static_cast<float> (input_->size ());
-
-    if (inlier_fraction >= inlier_fraction_) {
-      // Mark the sampled points accepted
-      for (int j = 0; j < nr_samples_; ++j)
-        accepted[j] = true;
-
-      // Update result if pose hypothesis is better
-      if (error < lowest_error) {
-        inliers_ = inliers;
-        lowest_error = error;
-        converged_ = true;
-        final_transformation_ = transformation_;
-      }
+    const float inlier_fraction = static_cast<float> (inliers.size ()) / static_cast<float> (input_->size ());
+    if (inlier_fraction > highest_inlier_fraction)
+    {
+      inliers_ = inliers;
+      highest_inlier_fraction = inlier_fraction;
+      converged_ = true;
+    }
+    else
+    {
+      // Restore previous result
+      final_transformation_ = final_transformation_prev;
     }
   }
 
@@ -303,7 +282,7 @@ pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::getFitness
   PointCloudSource input_transformed;
   input_transformed.resize (input_->size ());
   transformPointCloud (*input_, input_transformed, final_transformation_);
-  
+
   // For each point in the source dataset
   for (size_t i = 0; i < input_transformed.points.size (); ++i)
   {

registration/include/pcl/registration/sample_consensus_prerejective.h

@@ -56,9 +56,9 @@ namespace pcl
    * constraints, as also implemented in the class
    * \ref registration::CorrespondenceRejectorPoly "CorrespondenceRejectorPoly".
    * 
-   * In order to robustly align partial/occluded models, this routine performs
-   * fit error evaluation using only inliers, i.e. points closer than a
-   * Euclidean threshold, which is specifiable using \ref setInlierFraction().
+   * In order to robustly align partial/occluded models, this routine does not
+   * try to minimize the fit error, but instead tries to maximize the inlier rate,
+   * above a threshold specifiable using \ref setInlierFraction().
    * 
    * The amount of prerejection or "greedyness" of the algorithm can be specified
    * using \ref setSimilarityThreshold() in [0,1[, where a value of 0 means disabled,

segmentation/include/pcl/segmentation/impl/region_growing.hpp

@@ -298,7 +298,6 @@ pcl::RegionGrowing<PointT, NormalT>::extract (std::vector <pcl::PointIndices>& c
   }
 
   clusters_ = std::vector<pcl::PointIndices> (clusters.begin (), cluster_iter_input);
-  clusters.resize(clusters_.size());
 
   deinitCompute ();
 }

visualization/include/pcl/visualization/interactor_style.h

@@ -56,7 +56,6 @@ class vtkLegendScaleActor;
 class vtkScalarBarActor;
 class vtkPNGWriter;
 class vtkWindowToImageFilter;
-class vtkPointPicker;
 
 namespace pcl
 {
@@ -233,8 +232,6 @@ namespace pcl
         vtkSmartPointer<vtkPNGWriter> snapshot_writer_;
         /** \brief Internal window to image filter. Needed by \a snapshot_writer_. */
         vtkSmartPointer<vtkWindowToImageFilter> wif_;
-        /** \brief Stores the point picker when switching to an area picker. */
-        vtkSmartPointer<vtkPointPicker> point_picker_;
 
         boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
         boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;

visualization/src/interactor_style.cpp

@@ -59,9 +59,6 @@
 #include <vtkProperty.h>
 #include <vtkPointData.h>
 #include <vtkAssemblyPath.h>
-#include <vtkAbstractPicker.h>
-#include <vtkPointPicker.h>
-#include <vtkAreaPicker.h>
 
 #include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
 
@@ -809,19 +806,6 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
     case 'x' : case 'X' :
     {
       CurrentMode = (CurrentMode == ORIENT_MODE) ? SELECT_MODE : ORIENT_MODE;
-      if (CurrentMode == SELECT_MODE)
-      {
-        // Save the point picker
-        point_picker_ = static_cast<vtkPointPicker*> (Interactor->GetPicker ());
-        // Switch for an area picker
-        vtkSmartPointer<vtkAreaPicker> area_picker = vtkSmartPointer<vtkAreaPicker>::New ();
-        Interactor->SetPicker (area_picker);
-      }
-      else
-      {
-        // Restore point picker
-        Interactor->SetPicker (point_picker_);
-      }
       break;
     }
 

visualization/src/pcl_visualizer.cpp

@@ -120,6 +120,7 @@ pcl::visualization::PCLVisualizer::PCLVisualizer (const std::string &name, const
   update_fps_->decimated = false;
   ren->AddActor (txt);
 
+
   // Create a RendererWindow
   win_ = vtkSmartPointer<vtkRenderWindow>::New ();
   win_->SetWindowName (name.c_str ());
@@ -255,9 +256,8 @@ pcl::visualization::PCLVisualizer::createInteractor ()
   timer_id_ = interactor_->CreateRepeatingTimer (5000L);
 #endif
 
-  // Set a simple PointPicker
-  vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
-  pp->SetTolerance (pp->GetTolerance () * 2);
+  // Set an AreaPicker
+  vtkSmartPointer<vtkAreaPicker> pp = vtkSmartPointer<vtkAreaPicker>::New ();
   interactor_->SetPicker (pp);
 
   exit_main_loop_timer_callback_ = vtkSmartPointer<ExitMainLoopTimerCallback>::New ();
@@ -297,10 +297,12 @@ pcl::visualization::PCLVisualizer::setupInteractor (
   timer_id_ = iren->CreateRepeatingTimer (5000L);
 #endif
 
-  // Set a simple PointPicker
-  vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
-  pp->SetTolerance (pp->GetTolerance () * 2);
-  iren->SetPicker (pp);
+  // Set an AreaPicker
+  if (interactor_ != NULL)
+  {
+    vtkSmartPointer<vtkAreaPicker> pp = vtkSmartPointer<vtkAreaPicker>::New ();
+    interactor_->SetPicker (pp);
+  }
 
   exit_main_loop_timer_callback_ = vtkSmartPointer<ExitMainLoopTimerCallback>::New ();
   exit_main_loop_timer_callback_->pcl_visualizer = this;
@@ -341,10 +343,9 @@ pcl::visualization::PCLVisualizer::setupInteractor (
   timer_id_ = iren->CreateRepeatingTimer (5000L);
 #endif
 
-  // Set a simple PointPicker
-  // vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
-  // pp->SetTolerance (pp->GetTolerance () * 2);
-  // iren->SetPicker (pp);
+  // Set an AreaPicker
+  // vtkSmartPointer<vtkAreaPicker> pp = vtkSmartPointer<vtkAreaPicker>::New ();
+  // interactor_->SetPicker (pp);
 
   exit_main_loop_timer_callback_ = vtkSmartPointer<ExitMainLoopTimerCallback>::New ();
   exit_main_loop_timer_callback_->pcl_visualizer = this;