ignoring build directory

Author: Andrea Censi

.gitignore

@@ -2,29 +2,6 @@ CTestTestfile.cmake
 CMakeCache.txt
 Makefile
 CMakeFiles
-sm/log2pdf
-sm/pkg-config/cmake_install.cmake
-sm/pkg-config/csm.pc
-sm/json2carmen
-sm/json2matlab
-sm/json_decimate
-sm/json_extract
-sm/json_extract_field
-sm/json_pipe
-sm/json_split
 cmake_install.cmake
 install_manifest.txt
-sm/carmen2json
-sm/lib/egsl/egsl_test
-sm/lib/egsl/egsl_test_allocation
-sm/lib/gpc/libgpc.a
-sm/lib/json-c/config.hsm/lib/json-c/libjson-c.a
-sm/lib/json-c/test2
-sm/lib/options/liboptions.a
-sm/lib/options/test_options
-sm/libcsm-static.a
-sm/libcsm.dylib
-sm/lib/egsl/libegsl.a
-sm/lib/json-c/config.h
-sm/lib/json-c/libjson-c.a
 sm

README.md

@@ -1 +1,8 @@
-For more information about theC(canonical) Scan Matcher, see the webpage: http://purl.org/censi/2007/csm.
+For more information about the C(anonical) Scan Matcher, see the webpage: http://purl.org/censi/2007/csm.
+
+Note: there are two branches on the repository. The "master" branch uses GSL.
+
+This is the ``csm_eigen`` branch, which uses the ``eigen`` library. 
+This branch is the work of people working at U. Freiburg and Kuka, 
+including [Christoph Sprunk](http://www.informatik.uni-freiburg.de/~sprunkc/) 
+and [Rainer Kuemmerle](http://www.informatik.uni-freiburg.de/~kuemmerl/).

src/CMakeLists.txt

@@ -8,6 +8,13 @@ set(CMAKE_C_FLAGS_RELEASE "-O3")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall") 
 
+if(WIN32)
+  add_definitions(-DWINDOWS)
+  if(MSVC)
+    # SSE2 optimizations
+    ADD_DEFINITIONS("/arch:SSE2")
+  endif()
+endif()
 
 #SET(CMAKE_BUILD_TYPE Debug)
 SET(CMAKE_BUILD_TYPE RelWithDebInfo)

src/csm/math_utils.cpp

@@ -4,7 +4,7 @@
 #include "csm_all.h"
 
 int minmax(int from, int to, int x) {
-	return std::max(std::min(x,to),from);
+	return (std::max)((std::min)(x,to),from);
 }
 
 void possible_interval(
@@ -186,7 +186,7 @@ double dist_to_segment_d(const double a[2], const double b[2], const double x[2]
 		/* the projection is inside the segment */
 		return distance;
 	} else 
-		return sqrt(std::min( distance_squared_d(a,x), distance_squared_d(b,x)));
+		return sqrt((std::min)( distance_squared_d(a,x), distance_squared_d(b,x)));
 }
 
 int count_equal(const int*v, int n, int value) {

src/gpc/gpc.cpp

@@ -1,19 +1,5 @@
 /* GPC: A library for the solution of General Point Correspondence problems.
   Copyright (C) 2006 Andrea Censi (andrea at censi dot org)
-
-  This program 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 2
-  of the License, or (at your option) any later version.
-
-  This program 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 this program; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 */
 
 #include <math.h>
@@ -39,7 +25,7 @@ using namespace std;
 //New version: have static Eigen variables and use pointers to these for compatibility
 #define TAGME(name, tag) name##tag
 #define M(matrix, rows, col) static Eigen::MatrixXd TAGME(matrix,_mem)(rows, col); static gsl_matrix* matrix=&TAGME(matrix,_mem);
-#define MF(matrix)
+#define MF(matrix) (void)(matrix)
 
 
 int gpc_solve(int K, const std::vector<gpc_corr>& c,

src/gpc/gpc.h

@@ -1,20 +1,6 @@
 /*
 // GPC: A library for the solution of General Point Correspondence problems.
 // Copyright (C) 2006 Andrea Censi (andrea at censi dot org)
-
-// This program 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 2
-// of the License, or (at your option) any later version.
-
-// This program 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 this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 */
 
 #ifndef H_GENERAL_POINT_CORRESPONDENCE

src/icp/icp.cpp

@@ -160,8 +160,8 @@ void sm_icp(struct sm_params*params, struct sm_result*res) {
 				//egsl_print_spectrum("cov0_x", cov0_x);
 
 				val fim = ld_fisher0(laser_ref);
-				val ifim = inv(fim);
 				egsl_print("fim", fim);
+				//val ifim = inv(fim);
 				//egsl_print_spectrum("ifim", ifim);
 			}
 		}

src/icp/icp_outliers.cpp

@@ -59,7 +59,7 @@ void kill_outliers_double(struct sm_params*params) {
 		if(!ld_valid_corr(laser_sens, i)) continue;
 		int j1 = laser_sens->corr[i].j1;
 		dist2_i[i] = laser_sens->corr[i].dist2_j1;
-		dist2_j[j1] = std::min(dist2_j[j1], dist2_i[i]);
+		dist2_j[j1] = (std::min)(dist2_j[j1], dist2_i[i]);
 	}
 
 	int nkilled = 0;
@@ -121,7 +121,7 @@ void kill_outliers_trim(struct sm_params*params,  double*total_error) {
 	/* two errors limits are defined: */
 		/* In any case, we don't want more than outliers_maxPerc% */
 		int order = (int)floor(k*(params->outliers_maxPerc));
-			order = std::max(0, std::min(order, k-1));
+			order = (std::max)(0, (std::min)(order, k-1));
 
 	/* The dists for the correspondence are sorted
 	   in ascending order */
@@ -131,10 +131,10 @@ void kill_outliers_trim(struct sm_params*params,  double*total_error) {
 		/* Then we take a order statics (o*K) */
 		/* And we say that the error must be less than alpha*dist(o*K) */
 		int order2 = (int)floor(k*params->outliers_adaptive_order);
-			order2 = std::max(0, std::min(order2, k-1));
+			order2 = (std::max)(0, (std::min)(order2, k-1));
 		double error_limit2 = params->outliers_adaptive_mult*dist2[order2];
 
-	double error_limit = std::min(error_limit1, error_limit2);
+	double error_limit = (std::min)(error_limit1, error_limit2);
 
 #if 0
 	double error_limit1_ho = hoare_selection(dist2_copy, 0, k-1, order);