initial

first commit of library

.gitignore

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+.DS_Store
+build
+bin

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+set(ROS_BUILD_TYPE Release)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+project (libviso2)
+
+# include directory
+include_directories(${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME})
+
+# use sse3 instruction set
+SET(CMAKE_CXX_FLAGS "-msse3")
+
+# OpenCV
+find_package(OpenCV 2.3.1 REQUIRED)
+if(OpenCV_FOUND)
+	message("======== ${OpenCV_VERSION} Found ========= ")
+endif(OpenCV_FOUND)
+
+
+# sources
+FILE(GLOB LIBVISO2_SRC_FILES "src/lib/*.cpp")
+
+# build library
+rosbuild_add_library(viso2 ${LIBVISO2_SRC_FILES})
+
+# stereo demo program
+rosbuild_add_executable(stereo_demo "src/stereo_demo.cpp")
+target_link_libraries(stereo_demo  ${OpenCV_LIBS} viso2)
+
+# mono demo program
+rosbuild_add_executable(mono_demo "src/mono_demo.cpp")
+target_link_libraries(mono_demo  ${OpenCV_LIBS} viso2)
+
+# mono node
+rosbuild_add_executable(mono_node "src/mono_node.cpp")
+target_link_libraries(mono_node  ${OpenCV_LIBS} viso2)
+

Makefile

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+include $(shell rospack find mk)/cmake.mk

include/libviso2/filter.h

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+/*
+Copyright 2012. All rights reserved.
+Institute of Measurement and Control Systems
+Karlsruhe Institute of Technology, Germany
+
+This file is part of libelas.
+Authors: Julius Ziegler, Andreas Geiger
+
+libelas is free software; you can redistribute it and/or modify it under the
+terms of the GNU General Public License as published by the Free Software
+Foundation; either version 3 of the License, or any later version.
+
+libelas is distributed in the hope that it will be useful, but WITHOUT ANY
+WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+PARTICULAR PURPOSE. See the GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License along with
+libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
+Street, Fifth Floor, Boston, MA 02110-1301, USA 
+*/
+
+#ifndef __FILTER_H__
+#define __FILTER_H__
+
+#include <emmintrin.h>
+#include <pmmintrin.h>
+
+// define fixed-width datatypes for Visual Studio projects
+#ifndef _MSC_VER
+  #include <stdint.h>
+#else
+  typedef __int8            int8_t;
+  typedef __int16           int16_t;
+  typedef __int32           int32_t;
+  typedef __int64           int64_t;
+  typedef unsigned __int8   uint8_t;
+  typedef unsigned __int16  uint16_t;
+  typedef unsigned __int32  uint32_t;
+  typedef unsigned __int64  uint64_t;
+#endif
+
+// fast filters: implements 3x3 and 5x5 sobel filters and 
+//               5x5 blob and corner filters based on SSE2/3 instructions
+namespace filter {
+
+  // private namespace, public user functions at the bottom of this file
+  namespace detail {
+    void integral_image( const uint8_t* in, int32_t* out, int w, int h );
+    void unpack_8bit_to_16bit( const __m128i a, __m128i& b0, __m128i& b1 );
+    void pack_16bit_to_8bit_saturate( const __m128i a0, const __m128i a1, __m128i& b );
+
+    // convolve image with a (1,4,6,4,1) row vector. Result is accumulated into output.
+    // output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
+    void convolve_14641_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h );
+
+    // convolve image with a (1,2,0,-2,-1) row vector. Result is accumulated into output.
+    // This one works on 16bit input and 8bit output.
+    // output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
+    void convolve_12021_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h );
+
+    // convolve image with a (1,2,1) row vector. Result is accumulated into output.
+    // This one works on 16bit input and 8bit output.
+    // output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
+    void convolve_121_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h );
+
+    // convolve image with a (1,0,-1) row vector. Result is accumulated into output.
+    // This one works on 16bit input and 8bit output.
+    // output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
+    void convolve_101_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h );
+
+    void convolve_cols_5x5( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h );
+
+    void convolve_col_p1p1p0m1m1_5x5( const unsigned char* in, int16_t* out, int w, int h );
+
+    void convolve_row_p1p1p0m1m1_5x5( const int16_t* in, int16_t* out, int w, int h );
+
+    void convolve_cols_3x3( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h );
+  }
+
+  void sobel3x3( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h );
+
+  void sobel5x5( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h );
+
+  // -1 -1  0  1  1
+  // -1 -1  0  1  1
+  //  0  0  0  0  0
+  //  1  1  0 -1 -1
+  //  1  1  0 -1 -1
+  void checkerboard5x5( const uint8_t* in, int16_t* out, int w, int h );
+
+  // -1 -1 -1 -1 -1
+  // -1  1  1  1 -1
+  // -1  1  8  1 -1
+  // -1  1  1  1 -1
+  // -1 -1 -1 -1 -1
+  void blob5x5( const uint8_t* in, int16_t* out, int w, int h );
+};
+
+#endif