[openrtm-commit:01375] r133 - in branches/newCMakeForVC2010/ImageProcessing/opencv/components: . TkCalibGUI TkCalibGUI/cmake TkCalibGUI/cmake_modules TkCalibGUI/cpack_resources TkCalibGUI/doc TkCalibGUI/doc/content TkCalibGUI/idl TkCalibGUI/include TkCalibGUI/include/TkCalibGUI TkCalibGUI/src
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2014年 3月 18日 (火) 11:46:05 JST
Author: kawauchi
Date: 2014-03-18 11:46:05 +0900 (Tue, 18 Mar 2014)
New Revision: 133
Added:
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/.project
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CMakeLists.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/COPYING
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/COPYING.LESSER
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CalibrationService.idl
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/README.TkCalibGUI
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/RTC.xml
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUI.conf
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUIComp.py
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/CMakeLists.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/License.rtf
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/cpack_options.cmake.in
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui-config-version.cmake.in
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui-config.cmake.in
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui.pc.in
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/uninstall_target.cmake.in
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/utils.cmake
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake_modules/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake_modules/FindOpenRTMPython.cmake
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/Description.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/License.rtf
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/License.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/wix.xsl.in
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/CMakeLists.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/conf.py.in
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/index.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/index_j.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/doxyfile.in
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/BasicDataType.idl
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/CMakeLists.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/CalibrationService.idl
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/ExtendedDataTypes.idl
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/InterfaceDataTypes.idl
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idlcompile.bat
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idlcompile.sh
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/CMakeLists.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/TkCalibGUI/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/TkCalibGUI/CMakeLists.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/rtc.conf
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/src/
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/src/CMakeLists.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/tkcalibgui.py
Modified:
branches/newCMakeForVC2010/ImageProcessing/opencv/components/CMakeLists.txt
Log:
TkCalibGUI : Created new GUI component for ImageCalibration. refs #2704
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/CMakeLists.txt 2014-03-18 01:21:19 UTC (rev 132)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/CMakeLists.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -33,5 +33,5 @@
add_subdirectory(SubStractCaptureImage)
add_subdirectory(Template)
add_subdirectory(Translate)
+add_subdirectory(TkCalibGUI)
-
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/.project
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/.project (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/.project 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>TkCalibGUI</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ </buildSpec>
+ <natures>
+ </natures>
+</projectDescription>
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CMakeLists.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CMakeLists.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,238 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(TkCalibGUI NONE)
+
+set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
+set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
+
+set(LINUX_PACKAGE_GENERATOR "DEB")
+#set(LINUX_PACKAGE_GENERATOR "RPM")
+
+
+# component settings
+set(RTC_NAME "${PROJECT_NAME}")
+set(RTC_VERSION "1.1.0")
+set(RTC_VERSION_MAJOR "1")
+set(RTC_VERSION_MINOR "1")
+set(RTC_VERSION_PATCH "0")
+set(RTC_LANG "python")
+set(RTC_DESCRIPTION "Image Calibration GUI")
+set(RTC_VENDOR "AIST")
+set(RTC_MAINTAINER "author at example.com")
+
+string(TOLOWER ${RTC_NAME} PACKAGE_NAME)
+set(PACKAGE_VERSION "${RTC_VERSION_MAJOR}.${RTC_VERSION_MINOR}.${RTC_VERSION_PATCH}")
+
+set(IDL_FILES ""
+ CalibrationService.idl
+)
+
+set(EXEC_FILES ""
+ TkCalibGUIComp.py tkcalibgui.py
+)
+
+set(OTHER_SRCS CMakeLists.txt
+ RTC.xml TkCalibGUI.conf rtc.conf)
+
+
+# check OpenRTM installed
+find_package(OpenRTMPython REQUIRED)
+
+# check doxygen installed
+find_package(Doxygen)
+if(DOXYGEN_FOUND STREQUAL "NO")
+ message(FATAL_ERROR "Doxygen not found.")
+endif()
+
+# check python installed
+find_package(PythonInterp)
+find_package(PythonLibs)
+
+
+if(WIN32)
+ # add command path
+# set($ENV{PATH} $ENV{PATH} "${OPENRTM_DIR}/bin")
+ # set install path prefix
+# set(CMAKE_INSTALL_PREFIX "${OPENRTM_DIR}")
+ set(INSTALL_PREFIX "components/${RTC_LANG}/${PACKAGE_NAME}${PACKAGE_VERSION}")
+else()
+ # add command path
+# set($ENV{PATH} $ENV{PATH} "${OPENRTM_DIR}/bin")
+ # set install path prefix
+# set(CMAKE_INSTALL_PREFIX "${OPENRTM_DIR}")
+ set(OPENRTM_SHARE_PREFIX "share/openrtm-${OPENRTM_VERSION_MAJOR}.${OPENRTM_VERSION_MINOR}")
+ set(INSTALL_PREFIX "${OPENRTM_SHARE_PREFIX}/components/${RTC_LANG}/${PACKAGE_NAME}${PACKAGE_VERSION}")
+endif()
+
+
+# add uninstall target
+configure_file(
+ "${CMAKE_CURRENT_SOURCE_DIR}/cmake/uninstall_target.cmake.in"
+ "${CMAKE_CURRENT_BINARY_DIR}/uninstall_target.cmake"
+ IMMEDIATE @ONLY)
+add_custom_target(uninstall COMMAND
+ ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+
+
+# add build target
+add_custom_target(build ALL)
+
+if(WIN32)
+ add_custom_target( ${PROJECT_NAME} ALL
+ COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/idl
+ COMMAND ${CMAKE_COMMAND} -E copy_directory
+ ${PROJECT_SOURCE_DIR}/idl ${PROJECT_BINARY_DIR}/idl
+ COMMAND cmd ARGS /k ${PROJECT_SOURCE_DIR}/idlcompile.bat
+ )
+
+else()
+ add_custom_target( ${PROJECT_NAME} ALL
+ COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/idl
+ COMMAND ${CMAKE_COMMAND} -E copy_directory
+ ${PROJECT_SOURCE_DIR}/idl ${PROJECT_BINARY_DIR}/idl
+ COMMAND /bin/sh ${PROJECT_SOURCE_DIR}/idlcompile.sh
+ )
+endif()
+
+foreach(target ${EXEC_FILES})
+ add_custom_command( TARGET ${PROJECT_NAME} POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy
+ ${PROJECT_SOURCE_DIR}/${target} ${PROJECT_BINARY_DIR}
+ )
+endforeach()
+
+install(PROGRAMS ${EXEC_FILES} DESTINATION "${INSTALL_PREFIX}"
+ COMPONENT "applications")
+
+install(FILES ${PROJECT_BINARY_DIR}/CalibrationService_idl.py DESTINATION "${INSTALL_PREFIX}"
+ COMPONENT "applications")
+
+install(DIRECTORY idl
+ ${PROJECT_BINARY_DIR}/ImageCalibService
+ ${PROJECT_BINARY_DIR}/ImageCalibService__POA
+ DESTINATION "${INSTALL_PREFIX}"
+ COMPONENT "applications")
+
+# install source files
+#install(FILES ${IDL_FILES} ${EXEC_FILES} ${OTHER_SRCS}
+# DESTINATION "${INSTALL_PREFIX}/src"
+# COMPONENT "sources")
+
+#install(DIRECTORY cmake_modules cpack_resources
+# DESTINATION "${INSTALL_PREFIX}/src"
+# COMPONENT "sources")
+
+
+# package settings
+set(CPACK_PACKAGE_NAME "${RTC_NAME}")
+set(CPACK_PACKAGE_VERSION_MAJOR "${RTC_VERSION_MAJOR}")
+set(CPACK_PACKAGE_VERSION_MINOR "${RTC_VERSION_MINOR}")
+set(CPACK_PACKAGE_VERSION_PATCH "${RTC_VERSION_PATCH}")
+set(CPACK_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
+set(CPACK_PACKAGE_VENDOR "${RTC_VENDOR}")
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "${RTC_DESCRIPTION}")
+set(CPACK_PACKAGE_CONTACT "${RTC_MAINTAINER}")
+
+set(CPACK_RESOURCE_FILE_LICENSE
+ "${CMAKE_CURRENT_SOURCE_DIR}/cpack_resources/License.txt")
+set(CPACK_PACKAGE_DESCRIPTION_FILE
+ "${CMAKE_CURRENT_SOURCE_DIR}/cpack_resources/Description.txt")
+
+set(CPACK_COMPONENTS_ALL applications documents sources)
+set(CPACK_COMPONENT_APPLICATIONS_DISPLAY_NAME "Applications")
+set(CPACK_COMPONENT_APPLICATIONS_DESCRIPTION "RT-Component applications")
+set(CPACK_COMPONENT_APPLICATIONS_DISABLED FALSE)
+
+set(CPACK_COMPONENT_DOCUMENTS_DISPLAY_NAME "Documents")
+set(CPACK_COMPONENT_DOCUMENTS_DESCRIPTION "RT-Component documents")
+set(CPACK_COMPONENT_DOCUMENTS_DISABLED TRUE)
+
+set(CPACK_COMPONENT_SOURCES_DISPLAY_NAME "Source files")
+set(CPACK_COMPONENT_SOURCES_DESCRIPTION "RT-Component source files")
+set(CPACK_COMPONENT_SOURCES_DISABLED TRUE)
+
+if(WIN32)
+ set(CPACK_GENERATOR "WIX")
+
+ # Windows WiX package settings
+
+ set(CPACK_WIX_XSL "@CMAKE_CURRENT_BINARY_DIR@/wix.xsl")
+ set(CPACK_WIX_LANG "ja-jp")
+ set(CPACK_RESOURCE_FILE_LICENSE
+ "@CMAKE_CURRENT_SOURCE_DIR@/cpack_resources/License.rtf")
+ configure_file(
+ "${CMAKE_CURRENT_SOURCE_DIR}/cpack_resources/wix.xsl.in"
+ "${CMAKE_CURRENT_BINARY_DIR}/wix.xsl" @ONLY)
+
+ set(CPACK_PACKAGE_FILE_NAME
+ "rtc${OPENRTM_VERSION}-${PACKAGE_NAME}${PACKAGE_VERSION}")
+
+else()
+ set(CPACK_GENERATOR "${LINUX_PACKAGE_GENERATOR}")
+
+ if(CPACK_GENERATOR STREQUAL "DEB")
+ # Linux Debian package settings
+
+ set(CPACK_DEBIAN_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION}")
+ set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "i386")
+ set(CPACK_DEBIAN_PACKAGE_SECTION "main")
+ set(CPACK_DEBIAN_PACKAGE_PRIORITY "extra")
+ set(CPACK_DEBIAN_PACKAGE_DEPENDS "openrtm-aist (>= 1.0.0)")
+
+ set(CPACK_PACKAGE_FILE_NAME
+ "rtc${OPENRTM_VERSION}-${PACKAGE_NAME}_${CPACK_DEBIAN_PACKAGE_VERSION}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+
+ elseif(CPACK_GENERATOR STREQUAL "RPM")
+ # Linux RPM package settings
+
+ set(CPACK_RPM_PACKAGE_RELEASE "1.fc10")
+ set(CPACK_RPM_PACKAGE_ARCHITECTURE "i386")
+ set(CPACK_RPM_PACKAGE_GROUP "Development/Libraries")
+ set(CPACK_RPM_PACKAGE_LICENSE "LGPL")
+ set(CPACK_RPM_PACKAGE_REQUIRES "OpenRTM-aist >= 1.0.0")
+
+ set(CPACK_PACKAGE_FILE_NAME
+ "rtc${OPENRTM_VERSION}-${PACKAGE_NAME}-${PACKAGE_VERSION}-${CPACK_RPM_PACKAGE_RELEASE}.${CPACK_RPM_PACKAGE_ARCHITECTURE}")
+
+ endif()
+endif()
+
+message(STATUS "Package type: ${CPACK_GENERATOR}")
+message(STATUS "Package name: ${CPACK_PACKAGE_FILE_NAME}")
+
+include(CPack)
+
+if (SolutionDir)
+ SET (calib_python_file
+ ${PROJECT_SOURCE_DIR}/TkCalibGUIComp.py
+ ${PROJECT_SOURCE_DIR}/tkcalibgui.py
+ ${PROJECT_BINARY_DIR}/CalibrationService_idl.py)
+
+ foreach(target ${calib_python_file})
+ add_custom_command(
+ TARGET ${PROJECT_NAME} POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy
+ ${target} ${SolutionDir}/bin
+ )
+ endforeach()
+
+ SET (calib_python_dir
+ idl
+ ImageCalibService
+ ImageCalibService__POA)
+
+ foreach(target ${calib_python_dir})
+ add_custom_command(
+ TARGET ${PROJECT_NAME} POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E make_directory ${SolutionDir}/bin/${target}
+ )
+ endforeach()
+
+ foreach(target ${calib_python_dir})
+ add_custom_command(
+ TARGET ${PROJECT_NAME} POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy_directory
+ ${target} ${SolutionDir}/bin/${target}
+ )
+ endforeach()
+endif (SolutionDir)
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/COPYING
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/COPYING (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/COPYING 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
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+ Developers that use the GNU GPL protect your rights with two steps:
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Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/COPYING.LESSER
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/COPYING.LESSER (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/COPYING.LESSER 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
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+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CalibrationService.idl
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CalibrationService.idl (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CalibrationService.idl 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,22 @@
+#ifndef CALIBRATION_SERVICE_IDL
+#define CALIBRATION_SERVICE_IDL
+
+#include "InterfaceDataTypes.idl"
+
+module ImageCalibService
+{
+ typedef sequence<RTC::CameraImage> ImageList;
+ interface CalibrationService
+ {
+ void setImageNumber(in short num);
+ short getImageNumber();
+ RTC::CameraImage captureCalibImage(in short num);
+ RTC::CameraImage getCalibImage(in short num);
+ ImageList getCalibImages();
+ boolean removeCalibImage(in short num);
+ RTC::CameraInfo getCalibParameter();
+ };
+};
+
+#endif /* CALIBRATION_SERVICE_IDL */
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/README.TkCalibGUI
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/README.TkCalibGUI (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/README.TkCalibGUI 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,130 @@
+======================================================================
+ RTComponent: TkCalibGUI specificatioin
+
+ OpenRTM-aist-1.0.0
+ Date: $Date$
+
+ This file is generated by rtc-template with the following argments.
+
+# rtc-template -bpython --module-name=TkCalibGUI
+# --module-desc='Image Calibration GUI' --module-version=1.1.0 --module-vendor=AIST
+# --module-category=Category --module-comp-type=STATIC
+# --module-act-type=PERIODIC --module-max-inst=1
+# --inport=checker_image:RTC::CameraImage
+# --consumer-idl=/home/openrtm/opt/ImageProcessing/opencv/components/TkCalibGUI/CalibrationService.idl
+# --consumer=CameraCalibrationService:CalibrationService:ImageCalibService::CalibrationService
+
+
+======================================================================
+ Basic Information
+======================================================================
+# <rtc-template block="module">
+Module Name: TkCalibGUI
+Description: Image Calibration GUI
+Version: 1.1.0
+Vendor: AIST
+Category: Category
+Kind: DataFlowComponent
+Comp. Type: STATIC
+Act. Type: PERIODIC
+MAX Inst.: 1
+Lang: Python
+Lang Type:
+
+# </rtc-template>
+
+
+======================================================================
+ Activity definition
+======================================================================
+
+[on_initialize] implemented
+
+[on_finalize]
+
+[on_startup]
+
+[on_shutdown]
+
+[on_activated]
+
+[on_deactivated]
+
+[on_execute] implemented
+
+[on_aborting]
+
+[on_error]
+
+[on_reset]
+
+[on_state_update]
+
+[on_rate_changed]
+
+======================================================================
+ InPorts definition
+======================================================================
+# <rtc-template block="inport">
+
+ Name: checker_image
+ PortNumber: 0
+ Description:
+ PortType:
+ DataType: RTC::CameraImage
+ MaxOut:
+ [Data Elements]
+ Name:
+ Type:
+ Number:
+ Semantics:
+ Unit:
+ Frequency:
+ Operation Cycle:
+ RangeLow:
+ RangeHigh:
+ DefaultValue:
+
+
+# </rtc-template>
+
+======================================================================
+ OutPorts definition
+======================================================================
+# <rtc-template block="outport">
+
+
+# </rtc-template>
+
+
+======================================================================
+ Service Port definition
+======================================================================
+# <rtc-template block="serviceport">
+ PortName: CameraCalibrationService
+ Description:
+ Interface:
+ [Service Consumer Interfaces]
+ Name: CalibrationService
+ Type: ImageCalibService::CalibrationService
+ Description:
+ Argument:
+ Return Value:
+ Exception:
+ PreCondition:
+ PostCondition:
+# </rtc-template>
+
+======================================================================
+ Configuration definition
+======================================================================
+# <rtc-template block="configuration">
+# </rtc-template>
+
+This software is developed at the National Institute of Advanced
+Industrial Science and Technology. Approval number H23PRO-????. This
+software is licensed under the Lesser General Public License. See
+COPYING.LESSER.
+
+This area is reserved for future OpenRTM.
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/RTC.xml
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/RTC.xml (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/RTC.xml 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<rtc:RtcProfile rtc:version="0.2" rtc:id="RTC:AIST:Category:TkCalibGUI:1.1.0" xmlns:rtcExt="http://www.openrtp.org/namespaces/rtc_ext" xmlns:rtcDoc="http://www.openrtp.org/namespaces/rtc_doc" xmlns:rtc="http://www.openrtp.org/namespaces/rtc" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <rtc:BasicInfo xsi:type="rtcExt:basic_info_ext" rtcExt:saveProject="TkCalibGUI" rtc:updateDate="2013-12-25T14:29:57+09:00" rtc:creationDate="2013-12-06T13:01:38+09:00" rtc:version="1.1.0" rtc:vendor="AIST" rtc:maxInstances="1" rtc:executionType="PeriodicExecutionContext" rtc:executionRate="1000.0" rtc:description="Image Calibration GUI" rtc:category="Category" rtc:componentKind="DataFlowComponent" rtc:activityType="PERIODIC" rtc:componentType="STATIC" rtc:name="TkCalibGUI"/>
+ <rtc:Actions>
+ <rtc:OnInitialize xsi:type="rtcDoc:action_status_doc" rtc:implemented="true"/>
+ <rtc:OnFinalize xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnStartup xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnShutdown xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnActivated xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnDeactivated xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnAborting xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnError xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnReset xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnExecute xsi:type="rtcDoc:action_status_doc" rtc:implemented="true"/>
+ <rtc:OnStateUpdate xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnRateChanged xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnAction xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ <rtc:OnModeChanged xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
+ </rtc:Actions>
+ <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="LEFT" rtcExt:variableName="img_check" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::CameraImage" rtc:name="checker_image" rtc:portType="DataInPort"/>
+ <rtc:ServicePorts xsi:type="rtcExt:serviceport_ext" rtcExt:position="LEFT" rtc:name="CameraCalibrationService">
+ <rtc:ServiceInterface xsi:type="rtcExt:serviceinterface_ext" rtcExt:variableName="" rtc:path="/usr/include/openrtm-1.1/rtm/idl" rtc:type="ImageCalibService::CalibrationService" rtc:idlFile="/home/openrtm/opt/ImageProcessing/opencv/components/TkCalibGUI/CalibrationService.idl" rtc:instanceName="" rtc:direction="Required" rtc:name="CalibrationService"/>
+ </rtc:ServicePorts>
+ <rtc:Language xsi:type="rtcExt:language_ext" rtc:kind="Python"/>
+</rtc:RtcProfile>
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUI.conf
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUI.conf (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUI.conf 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,139 @@
+# -*- sh -*-
+#------------------------------------------------------------
+# Configuration file for TkCalibGUI
+#
+# This configuration file name should be specified in rtc.conf (or other
+# configuration file specified by -f option) by "config_file" property.
+#
+# Category.TkCalibGUI.config_file: TkCalibGUI.conf
+# or
+# Category.TkCalibGUI0.config_file: TkCalibGUI0.conf
+# Category.TkCalibGUI1.config_file: TkCalibGUI1.conf
+# Category.TkCalibGUI2.config_file: TkCalibGUI2.conf
+#
+# ------------------------------------------------------------
+# An example configuration file for TkCalibGUI
+#
+# See details in the following reference manual
+#
+
+# Execution context configuration
+# exec_cxt.periodic.type: PeriodicExecutionContext
+# exec_cxt.periodic.rate: 1000
+#
+#
+# configuration.active_config: mode0
+
+# Additional configuration-set example named "mode0"
+#
+# conf.mode0.int_param0: 0
+# conf.mode0.int_param1: 1
+# conf.mode0.double_param0: 0.99
+# conf.mode0.double_param1: -0.99
+# conf.mode0.str_param0: default
+# conf.mode0.str_param1: default set in conf file
+# conf.mode0.vector_param0: 0.0,0.1,0.2,0.3,0.4,0.5,0.6
+#
+# Other configuration set named "mode1"
+#
+# conf.mode1.int_param0: 0
+# conf.mode1.int_param1: 1
+# conf.mode1.double_param0: 0.99
+# conf.mode1.double_param1: -0.99
+# conf.mode1.str_param0: default
+# conf.mode1.str_param1: default set in conf file
+# conf.mode1.vector_param0: 0.0,0.1,0.2,0.3,0.4,0.5,0.6
+
+
+
+
+
+##============================================================
+## Component configuration reference
+##
+
+##============================================================
+## Active configuration-set
+##============================================================
+##
+## Initial active configuration-set. The following "mode0" is a
+## configuration-set name. A configuration-set named "mode0" should be
+## appear in this configuration file as follows.
+##
+## configuration.active_config: mode0
+##
+# conf.mode0.param0: hoge
+# conf.mode0.param1: fuga
+# conf.mode0.param2: munya
+
+##============================================================
+## GUI control option for RTSystemEditor
+##============================================================
+## Available GUI control options [__widget__]:
+##
+## - text: text box [default].
+## - slider.<step>: Horizontal slider. <step> is step for the slider.
+## A range constraints option is required.
+## - spin: Spin button. A range constraitns option is required.
+## - radio: Radio button. An enumeration constraints is required.
+## - checkbox: Checkbox control. An enumeration constraints is
+## required. The parameter has to be able to accept a
+## comma separated list.
+## - orderd_list: Orderd list control. An enumeration constraint is
+## required. The parameter has to be able to accept a
+## comma separated list. In this control, Enumerated
+## elements can appear one or more times in the given list.
+##
+## Available GUI control constraint options [__constraints__]:
+##
+## - none: blank
+## - direct value: 100 (constant value)
+## - range: <, >, <=, >= can be used.
+## - enumeration: (enum0, enum1, ...)
+## - array: <constraints0>, ,constraints1>, ... for only array value
+## - hash: {key0: value0, key1:, value0, ...}
+##
+## examples:
+# conf.__widget__.int_param0: slider.10
+# conf.__widget__.int_param1: spin
+# conf.__widget__.double_param0: slider.10
+# conf.__widget__.double_param1: text
+# conf.__widget__.str_param0: radio
+# conf.__widget__.vector_param0: checkbox
+# conf.__widget__.vector_param1: orderd_list
+
+
+# conf.__constraints__.int_param0: 0<=x<=150
+# conf.__constraints__.int_param1: 0<=x<=1000
+# conf.__constraints__.double_param0: 0<=x<=100
+# conf.__constraints__.double_param1:
+# conf.__constraints__.str_param0: (default,mode0,mode1)
+# conf.__constraints__.vector_param0: (dog,monky,pheasant,cat)
+# conf.__constraints__.vector_param1: (pita,gora,switch)
+
+##============================================================
+## Execution context settings
+##============================================================
+##
+## Periodic type ExecutionContext
+##
+## Other availabilities in OpenRTM-aist
+##
+## - ExtTrigExecutionContext: External triggered EC. It is embedded in
+## OpenRTM library.
+## - OpenHRPExecutionContext: External triggred paralell execution
+## EC. It is embedded in OpenRTM
+## library. This is usually used with
+## OpenHRP3.
+## - RTPreemptEC: Real-time execution context for Linux
+## RT-preemptive pathed kernel.
+## - ArtExecutionContext: Real-time execution context for ARTLinux
+## (http://sourceforge.net/projects/art-linux/)
+##
+# exec_cxt.periodic.type: PeriodicExecutionContext
+
+##
+## The execution cycle of ExecutionContext
+##
+exec_cxt.periodic.rate:1000.0
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUIComp.py
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUIComp.py (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUIComp.py 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,376 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# -*- Python -*-
+
+"""
+ @file TkCalibGUIComp.py
+ @brief Image Calibration GUI
+ @date $Date$
+
+
+"""
+import os
+import sys
+import socket
+import getopt
+import re
+import time
+sys.path.append(".")
+
+# Import RTM module
+import RTC
+import OpenRTM_aist
+from omniORB import CORBA
+
+import tkcalibgui
+import CalibrationService_idl
+from rtshell import rtdel
+
+# Import Service implementation class
+# <rtc-template block="service_impl">
+
+# </rtc-template>
+
+# Import Service stub modules
+# <rtc-template block="consumer_import">
+import ImageCalibService, ImageCalibService__POA
+
+# </rtc-template>
+
+# This module's spesification
+# <rtc-template block="module_spec">
+tkcalibgui_spec = ["implementation_id", "TkCalibGUI",
+ "type_name", "TkCalibGUI",
+ "description", "Image Calibration GUI",
+ "version", "1.1.0",
+ "vendor", "AIST",
+ "category", "Category",
+ "activity_type", "STATIC",
+ "max_instance", "1",
+ "language", "Python",
+ "lang_type", "SCRIPT",
+ ""]
+# </rtc-template>
+
+##
+# @class TkCalibGUI
+# @brief Image Calibration GUI
+#
+#
+class TkCalibGUI(OpenRTM_aist.DataFlowComponentBase):
+
+ ##
+ # @brief constructor
+ # @param manager Maneger Object
+ #
+ def __init__(self, manager):
+ OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
+
+ self._d_img_check = RTC.CameraImage(RTC.Time(0,0),0,0,0,"",0.0,[])
+ """
+ """
+ self._checker_imageIn = OpenRTM_aist.InPort("checker_image", self._d_img_check)
+
+ """
+ """
+ self._CameraCalibrationServicePort = OpenRTM_aist.CorbaPort("CameraCalibrationService")
+
+ """
+ """
+ self._CalibrationService = OpenRTM_aist.CorbaConsumer(interfaceType=ImageCalibService.CalibrationService)
+
+ # initialize of configuration-data.
+ # <rtc-template block="init_conf_param">
+
+ # </rtc-template>
+
+
+
+ ##
+ #
+ # The initialize action (on CREATED->ALIVE transition)
+ # formaer rtc_init_entry()
+ #
+ # @return RTC::ReturnCode_t
+ #
+ #
+ def onInitialize(self):
+ # Bind variables and configuration variable
+
+ # Set InPort buffers
+ self.addInPort("checker_image",self._checker_imageIn)
+
+ # Set OutPort buffers
+
+ # Set service provider to Ports
+
+ # Set service consumers to Ports
+ self._CameraCalibrationServicePort.registerConsumer("CalibrationService", "ImageCalibService::CalibrationService", self._CalibrationService)
+
+ # Set CORBA Service Ports
+ self.addPort(self._CameraCalibrationServicePort)
+
+ self.pic_num = 0
+ return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The finalize action (on ALIVE->END transition)
+ # # formaer rtc_exiting_entry()
+ # #
+ # # @return RTC::ReturnCode_t
+ #
+ # #
+ def onFinalize(self):
+ self.gui.quit()
+ return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The startup action when ExecutionContext startup
+ # # former rtc_starting_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onStartup(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The shutdown action when ExecutionContext stop
+ # # former rtc_stopping_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onShutdown(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The activated action (Active state entry action)
+ # # former rtc_active_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ def onActivated(self, ec_id):
+
+ self.gui.setConsumerPointer(self._CalibrationService._ptr())
+
+ return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The deactivated action (Active state exit action)
+ # # former rtc_active_exit()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onDeactivated(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ ##
+ #
+ # The execution action that is invoked periodically
+ # former rtc_active_do()
+ #
+ # @param ec_id target ExecutionContext Id
+ #
+ # @return RTC::ReturnCode_t
+ #
+ #
+ def onExecute(self, ec_id):
+
+ try:
+ if CORBA.is_nil(self._CalibrationService._ptr()):
+# print "TkCalibGUI : [nil] object reference is not assigned."
+ return RTC.RTC_OK
+ elif self._CalibrationService._ptr()._non_existent():
+# print "TkCalibGUI : provider is inactive."
+ return RTC.RTC_OK
+ except Exception as e:
+ print "TkCalibGUI : " + str(e)
+ return RTC.RTC_OK
+
+ if self._checker_imageIn.isNew():
+ _image = self._checker_imageIn.read()
+
+ # チェスボード撮影枚数確認
+ try:
+ num = self._CalibrationService._ptr().getImageNumber()
+ except Exception as e:
+# print "TkCalibGUI : getImageNumber() : " + str(e)
+ return RTC.RTC_OK
+
+ if self.pic_num != num:
+ self.pic_num = num
+
+ # 撮影枚数変更に伴うGUI再描画
+ self.gui.redraw_gui(num)
+
+ self.gui.set_image( _image.pixels, _image.width, _image.height)
+ return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The aborting action when main logic error occurred.
+ # # former rtc_aborting_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onAborting(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The error action in ERROR state
+ # # former rtc_error_do()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onError(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The reset action that is invoked resetting
+ # # This is same but different the former rtc_init_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onReset(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The state update action that is invoked after onExecute() action
+ # # no corresponding operation exists in OpenRTm-aist-0.2.0
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+
+ # #
+ #def onStateUpdate(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The action that is invoked when execution context's rate is changed
+ # # no corresponding operation exists in OpenRTm-aist-0.2.0
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onRateChanged(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ def set_gui(self, gui):
+ self.gui = gui
+
+ def set_tree(self, tree):
+ self.tree = tree
+
+ def get_tree(self):
+ return self.tree
+
+def get_options(pid, opts):
+ o_option = False
+ for o, a in opts:
+ if o == "-o":
+ index = a.find("naming.formats")
+ if index != -1:
+ # naming.formatsのオプション指定あり
+ index = a.find("%p")
+ comp_option = a[:index] + str(pid) + a[index+2:]
+ o_option = True
+
+ if o_option == False:
+ # naming.formatsのオプション指定が無いので追加する
+ comp_option = "naming.formats:cvcalib{0}/%n.rtc".format(pid)
+
+ return comp_option
+
+def usage():
+ print "usage: TkCalibGUIComp.py [-o naming.formats]"
+
+def main():
+ calibgui = tkcalibgui.TkCalibGUI()
+
+ pid = os.getpid()
+ rt_dir = "/localhost/cvcalib{0}/".format(pid)
+ try:
+ opts, args = getopt.getopt(sys.argv[1:], "o:f:")
+ except getopt.GetoptError, err:
+ print usage()
+ return
+
+ comp_option = get_options(pid, opts)
+ sys.argv += ["-o", comp_option]
+ sys.argv += ["-o", "manager.shutdown_on_nortcs:NO"]
+ sys.argv += ["-o", "manager.shutdown_auto:NO"]
+
+ mgr = OpenRTM_aist.Manager.init(sys.argv)
+ mgr.activateManager()
+ orb = mgr.getORB()
+
+ # Register component
+ profile = OpenRTM_aist.Properties(defaults_str=tkcalibgui_spec)
+ mgr.registerFactory(profile,
+ TkCalibGUI,
+ OpenRTM_aist.Delete)
+ # Create a component
+ comp = mgr.createComponent("TkCalibGUI")
+ comp.set_gui(calibgui)
+ calibgui.set_on_update(comp.set_tree)
+ mgr.runManager(True)
+
+ calibgui.set_options(orb, rt_dir, comp_option)
+ calibgui.mainloop()
+
+ while True:
+ comp_list = mgr.getComponents()
+ # is finished?
+ if len(comp_list) == 0:
+ break
+ time.sleep(0.9)
+
+ # Delete context
+ tree = comp.get_tree()
+ rtdel.main([str(rt_dir)], tree)
+ mgr.shutdown()
+
+if __name__ == "__main__":
+ main()
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/CMakeLists.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/CMakeLists.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,18 @@
+set(PKG_DEPS "openrtm-aist")
+set(PKG_LIBS -l${PROJECT_NAME_LOWER})
+set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}.pc)
+configure_file(${PROJECT_NAME_LOWER}.pc.in ${pkg_conf_file} @ONLY)
+install(FILES ${pkg_conf_file}
+ DESTINATION ${LIB_INSTALL_DIR}/pkgconfig/ COMPONENT component)
+
+# Install CMake modules
+set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config.cmake.in
+ ${cmake_config} @ONLY)
+set(cmake_version_config
+ ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake.in
+ ${cmake_version_config} @ONLY)
+set(cmake_mods ${cmake_config} ${cmake_version_config})
+install(FILES ${cmake_mods} DESTINATION ${SHARE_INSTALL_DIR} COMPONENT library)
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/License.rtf
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/License.rtf (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/License.rtf 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,7 @@
+{\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}}
+{\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par
+=======\par
+\par
+This is an installer created using CPack (http://www.cmake.org). No license provided.\par
+\par
+}
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/cpack_options.cmake.in
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/cpack_options.cmake.in (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/cpack_options.cmake.in 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,94 @@
+set(CPACK_PACKAGE_NAME "@PROJECT_NAME@")
+set(CPACK_PACKAGE_VERSION_MAJOR "@PROJECT_VERSION_MAJOR@")
+set(CPACK_PACKAGE_VERSION_MINOR "@PROJECT_VERSION_MINOR@")
+set(CPACK_PACKAGE_VERSION_PATCH "@PROJECT_VERSION_REVISION@")
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "@PROJECT_DESCRIPTION@")
+set(CPACK_PACKAGE_VENDOR "@PROJECT_VENDOR@")
+set(CPACK_PACKAGE_INSTALL_DIRECTORY "@PROJECT_NAME@@PROJECT_VERSION_MAJOR@@PROJECT_VERSION_MINOR@@PROJECT_VERSION_REVISION@")
+set(CPACK_PACKAGE_FILE_NAME "@PROJECT_NAME at -@PROJECT_VERSION@")
+set(CPACK_RESOURCE_FILE_LICENSE "@PROJECT_SOURCE_DIR@/COPYING.LESSER")
+
+set(CPACK_COMPONENTS_ALL component)
+set(CPACK_COMPONENT_COMPONENT_DISPLAY_NAME "Applications")
+set(CPACK_COMPONENT_COMPONENT_DESCRIPTION
+ "Component library and stand-alone executable")
+if(INSTALL_HEADERS)
+ set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} headers)
+ set(CPACK_COMPONENT_HEADERS_DISPLAY_NAME "Header files")
+ set(CPACK_COMPONENT_HEADERS_DESCRIPTION
+ "Header files from the component.")
+ set(CPACK_COMPONENT_HEADERS_DEPENDS component)
+endif(INSTALL_HEADERS)
+if(INSTALL_IDL)
+ set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} idl)
+ set(CPACK_COMPONENT_IDL_DISPLAY_NAME "IDL files")
+ set(CPACK_COMPONENT_IDL_DESCRIPTION
+ "IDL files for the component's services.")
+ set(CPACK_COMPONENT_IDL_DEPENDS component)
+endif(INSTALL_IDL)
+set(INSTALL_EXAMPLES @BUILD_EXAMPLES@)
+if(INSTALL_EXAMPLES)
+ set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} examples)
+ set(CPACK_COMPONENT_EXAMPLES_DISPLAY_NAME "Examples")
+ set(CPACK_COMPONENT_EXAMPLES_DESCRIPTION
+ "Sample configuration files and other component resources.")
+ set(CPACK_COMPONENT_EXAMPLES_DEPENDS component)
+endif(INSTALL_EXAMPLES)
+set(INSTALL_DOCUMENTATION @BUILD_DOCUMENTATION@)
+if(INSTALL_DOCUMENTATION)
+ set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} documentation)
+ set(CPACK_COMPONENT_DOCUMENTATION_DISPLAY_NAME "Documentation")
+ set(CPACK_COMPONENT_DOCUMENTATION_DESCRIPTION
+ "Component documentation")
+ set(CPACK_COMPONENT_DOCUMENTATION_DEPENDS component)
+endif(INSTALL_DOCUMENTATION)
+if(INSTALL_SOURCES)
+ set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} sources)
+ set(CPACK_COMPONENT_SOURCES_DISPLAY_NAME "Source files")
+ set(CPACK_COMPONENT_SOURCES_DESCRIPTION
+ "Source files from the component.")
+endif(INSTALL_SOURCES)
+
+IF (WIN32)
+
+ # Windows WiX package settings
+
+ set(CPACK_WIX_XSL "@CMAKE_CURRENT_BINARY_DIR@/wix.xsl")
+ set(CPACK_WIX_LANG "ja-jp")
+ set(CPACK_RESOURCE_FILE_LICENSE
+ "@CMAKE_CURRENT_SOURCE_DIR@/cmake/License.rtf")
+ configure_file(
+ "@CMAKE_CURRENT_SOURCE_DIR@/cmake/wix.xsl.in"
+ "@CMAKE_CURRENT_BINARY_DIR@/wix.xsl" @ONLY)
+
+ set(CPACK_PACKAGE_FILE_NAME
+ "@PROJECT_NAME@@PROJECT_VERSION_MAJOR@@PROJECT_VERSION_MINOR@@PROJECT_VERSION_REVISION@")
+
+
+ #
+ #
+ #
+ set(CPACK_NSIS_MUI_ICON "@PROJECT_SOURCE_DIR@/cmake\\rt_middleware_logo.ico")
+ set(CPACK_NSIS_MUI_UNIICON "@PROJECT_SOURCE_DIR@/cmake\\rt_middleware_logo.ico")
+ set(CPACK_PACKAGE_ICON "@PROJECT_SOURCE_DIR@/cmake\\rt_middleware_logo.bmp")
+ set(CPACK_NSIS_HELP_LINK "http://www.openrtm.org")
+ set(CPACK_NSIS_URL_INFO_ABOUT "http://www.openrtm.org")
+ set(CPACK_NSIS_MODIFY_PATH ON)
+ set(CPACK_PACKAGE_EXECUTABLES @PROJECT_EXECUTABLES@)
+ if(INSTALL_DOCUMENTATION)
+ set(CPACK_NSIS_MENU_LINKS
+ "@CMAKE_INSTALL_PREFIX@/share/doc/@PROJECT_NAME_LOWER at -@PROJECT_VERSION_MAJOR@/html/index.html"
+ "Component documentation")
+ endif(INSTALL_DOCUMENTATION)
+ string(REPLACE "/@PROJECT_NAME@" "" install_prefix_root
+ "@CMAKE_INSTALL_PREFIX@")
+ file(TO_NATIVE_PATH "${install_prefix_root}" install_prefix_root)
+ set(CPACK_NSIS_INSTALL_ROOT "${install_prefix_root}")
+ set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS
+ " Rename \"$INSTDIR\\share\\@PROJECT_NAME_LOWER at -@PROJECT_VERSION_MAJOR@\\@PROJECT_NAME_LOWER at -config.cmake\" \"$INSTDIR\\@PROJECT_NAME_LOWER at -config.cmake\"
+ Rename \"$INSTDIR\\share\\@PROJECT_NAME_LOWER at -@PROJECT_VERSION_MAJOR@\\@PROJECT_NAME_LOWER at -config-version.cmake\" \"$INSTDIR\\@PROJECT_NAME_LOWER at -config-version.cmake\"")
+ set(CPACK_NSIS_EXTRA_UNINSTALL_COMMANDS
+ " Delete \"$INSTDIR\\@PROJECT_NAME_LOWER at -config.cmake\"
+ Delete \"$INSTDIR\\@PROJECT_NAME_LOWER at -config-version.cmake\"")
+ENDIF (WIN32)
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui-config-version.cmake.in
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui-config-version.cmake.in (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui-config-version.cmake.in 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,10 @@
+set(PACKAGE_VERSION @PROJECT_VERSION@)
+if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
+ set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
+ set(PACKAGE_VERSION_COMPATIBLE TRUE)
+ if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION)
+ set(PACKAGE_VERSION_EXACT TRUE)
+ endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION)
+endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui-config.cmake.in
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui-config.cmake.in (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui-config.cmake.in 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,54 @@
+# TkCalibGUI CMake config file
+#
+# This file sets the following variables:
+# TkCalibGUI_FOUND - Always TRUE.
+# TkCalibGUI_INCLUDE_DIRS - Directories containing the TkCalibGUI include files.
+# TkCalibGUI_IDL_DIRS - Directories containing the TkCalibGUI IDL files.
+# TkCalibGUI_LIBRARIES - Libraries needed to use TkCalibGUI.
+# TkCalibGUI_DEFINITIONS - Compiler flags for TkCalibGUI.
+# TkCalibGUI_VERSION - The version of TkCalibGUI found.
+# TkCalibGUI_VERSION_MAJOR - The major version of TkCalibGUI found.
+# TkCalibGUI_VERSION_MINOR - The minor version of TkCalibGUI found.
+# TkCalibGUI_VERSION_REVISION - The revision version of TkCalibGUI found.
+# TkCalibGUI_VERSION_CANDIDATE - The candidate version of TkCalibGUI found.
+
+message(STATUS "Found TkCalibGUI- at PROJECT_VERSION@")
+set(TkCalibGUI_FOUND TRUE)
+
+find_package(<dependency> REQUIRED)
+
+#set(TkCalibGUI_INCLUDE_DIRS
+# "@CMAKE_INSTALL_PREFIX@/include/@PROJECT_NAME_LOWER at -@PROJECT_VERSION_MAJOR@"
+# ${<dependency>_INCLUDE_DIRS}
+# )
+#
+#set(TkCalibGUI_IDL_DIRS
+# "@CMAKE_INSTALL_PREFIX@/include/@PROJECT_NAME_LOWER at -@PROJECT_VERSION_MAJOR@/idl")
+set(TkCalibGUI_INCLUDE_DIRS
+ "@CMAKE_INSTALL_PREFIX@/include/@CPACK_PACKAGE_FILE_NAME@"
+ ${<dependency>_INCLUDE_DIRS}
+ )
+set(TkCalibGUI_IDL_DIRS
+ "@CMAKE_INSTALL_PREFIX@/include/@CPACK_PACKAGE_FILE_NAME@/idl")
+
+
+if(WIN32)
+ set(TkCalibGUI_LIBRARIES
+ "@CMAKE_INSTALL_PREFIX@/@LIB_INSTALL_DIR@/@CMAKE_SHARED_LIBRARY_PREFIX@@PROJECT_NAME_LOWER@@CMAKE_STATIC_LIBRARY_SUFFIX@"
+ ${<dependency>_LIBRARIES}
+ )
+else(WIN32)
+ set(TkCalibGUI_LIBRARIES
+ "@CMAKE_INSTALL_PREFIX@/@LIB_INSTALL_DIR@/@CMAKE_SHARED_LIBRARY_PREFIX@@PROJECT_NAME_LOWER@@CMAKE_SHARED_LIBRARY_SUFFIX@"
+ ${<dependency>_LIBRARIES}
+ )
+endif(WIN32)
+
+set(TkCalibGUI_DEFINITIONS ${<dependency>_DEFINITIONS})
+
+set(TkCalibGUI_VERSION @PROJECT_VERSION@)
+set(TkCalibGUI_VERSION_MAJOR @PROJECT_VERSION_MAJOR@)
+set(TkCalibGUI_VERSION_MINOR @PROJECT_VERSION_MINOR@)
+set(TkCalibGUI_VERSION_REVISION @PROJECT_VERSION_REVISION@)
+set(TkCalibGUI_VERSION_CANDIDATE @PROJECT_VERSION_CANDIDATE@)
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui.pc.in
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui.pc.in (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/tkcalibgui.pc.in 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,13 @@
+# This file was generated by CMake for @PROJECT_NAME@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+libdir=${prefix}/@LIB_INSTALL_DIR@
+includedir=${prefix}/include
+
+Name: @PROJECT_NAME@
+Description: @PROJECT_DESCRIPTION@
+Version: @PROJECT_VERSION@
+Requires: @PKG_DEPS@
+Libs: -L${libdir} @PKG_LIBS@
+Cflags: -I${includedir}/@PROJECT_NAME_LOWER at -@PROJECT_VERSION_MAJOR@
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/uninstall_target.cmake.in
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/uninstall_target.cmake.in (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/uninstall_target.cmake.in 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,18 @@
+if(NOT EXISTS "@PROJECT_BINARY_DIR@/install_manifest.txt")
+ message(FATAL_ERROR "Cannot find install manifest: \"@PROJECT_BINARY_DIR@/install_manifest.txt\"")
+endif(NOT EXISTS "@PROJECT_BINARY_DIR@/install_manifest.txt")
+
+file(READ "@PROJECT_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+foreach(file ${files})
+ message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+ if(EXISTS "$ENV{DESTDIR}${file}")
+ exec_program("@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+ OUTPUT_VARIABLE rm_out RETURN_VALUE rm_retval)
+ if(NOT "${rm_retval}" STREQUAL 0)
+ message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+ endif(NOT "${rm_retval}" STREQUAL 0)
+ else(EXISTS "$ENV{DESTDIR}${file}")
+ message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+ endif(EXISTS "$ENV{DESTDIR}${file}")
+endforeach(file)
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/utils.cmake
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/utils.cmake (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake/utils.cmake 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,32 @@
+# Dissect the version specified in PROJECT_VERSION, placing the major,
+# minor, revision and candidate components in PROJECT_VERSION_MAJOR, etc.
+# _prefix: The prefix string for the version variable names.
+macro(DISSECT_VERSION)
+ # Find version components
+ string(REGEX REPLACE "^([0-9]+).*" "\\1"
+ PROJECT_VERSION_MAJOR "${PROJECT_VERSION}")
+ string(REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1"
+ PROJECT_VERSION_MINOR "${PROJECT_VERSION}")
+ string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+)" "\\1"
+ PROJECT_VERSION_REVISION "${PROJECT_VERSION}")
+ string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.[0-9]+(.*)" "\\1"
+ PROJECT_VERSION_CANDIDATE "${PROJECT_VERSION}")
+endmacro(DISSECT_VERSION)
+
+# Filter a list to remove all strings matching the regex in _pattern. The
+# output is placed in the variable pointed at by _output.
+macro(FILTER_LIST _list _pattern _output)
+ set(${_output})
+ foreach(_item ${${_list}})
+ if("${_item}" MATCHES ${_pattern})
+ set(${_output} ${${_output}} ${_item})
+ endif("${_item}" MATCHES ${_pattern})
+ endforeach(_item)
+endmacro(FILTER_LIST)
+
+macro(MAP_ADD_STR _list _str _output)
+ set(${_output})
+ foreach(_item ${${_list}})
+ set(${_output} ${${_output}} ${_str}${_item})
+ endforeach(_item)
+endmacro(MAP_ADD_STR)
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake_modules/FindOpenRTMPython.cmake
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake_modules/FindOpenRTMPython.cmake (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cmake_modules/FindOpenRTMPython.cmake 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,107 @@
+
+set(OMNIORB_FOUND FALSE)
+set(OPENRTM_FOUND FALSE)
+
+
+if(UNIX)
+ include(FindPkgConfig)
+
+ # omniORB
+ pkg_check_modules(OMNIORB REQUIRED "omniORB4")
+ if(NOT OMNIORB_DIR)
+ if(OMNIORB_FOUND)
+ set(OMNIORB_DIR "${OMNIORB_PREFIX}")
+ endif()
+ set(OMNIORB_DIR "${OMNIORB_DIR}" CACHE PATH "omniORB root directory")
+ endif()
+
+ # OpenRTM-aist
+ pkg_check_modules(OPENRTM REQUIRED "openrtm-aist")
+ if(NOT OPENRTM_DIR)
+ if(OPENRTM_FOUND)
+ set(OPENRTM_DIR "${OPENRTM_PREFIX}")
+ endif()
+ set(OPENRTM_DIR "${OPENRTM_DIR}" CACHE PATH "OpenRTM-aist root directory")
+ endif()
+
+ string(REGEX REPLACE "([0-9]+)\\.([0-9]+)\\.([0-9]+)" "\\1"
+ OPENRTM_VERSION_MAJOR "${OPENRTM_VERSION}")
+ string(REGEX REPLACE "([0-9]+)\\.([0-9]+)\\.([0-9]+)" "\\2"
+ OPENRTM_VERSION_MINOR "${OPENRTM_VERSION}")
+ string(REGEX REPLACE "([0-9]+)\\.([0-9]+)\\.([0-9]+)" "\\3"
+ OPENRTM_VERSION_PATCH "${OPENRTM_VERSION}")
+
+ # IDL Compiler
+ set(OPENRTM_IDLC "omniidl")
+ set(OPENRTM_IDLFLAGS "-bpython")
+
+endif(UNIX)
+
+if(WIN32)
+ # omniORB
+ if(NOT OMNIORB_DIR)
+ if(NOT $ENV{OMNI_ROOT} STREQUAL "")
+ set(OMNIORB_DIR "$ENV{OMNI_ROOT}")
+ set(OMNIORB_FOUND TRUE)
+ endif()
+ set(OMNIORB_DIR "${OMNIORB_DIR}" CACHE PATH "omniORB root directory")
+ if(NOT OMNIORB_FOUND)
+ message(FATAL_ERROR "omniORB not found.")
+ endif()
+ endif()
+
+ # omniORB version
+ file(GLOB _vers RELATIVE "${OMNIORB_DIR}" "${OMNIORB_DIR}/THIS_IS_OMNIORB*")
+ if("${_vers}" STREQUAL "")
+ message(FATAL_ERROR "omniORB version file not found.")
+ endif()
+
+ if("${_vers}" MATCHES "THIS_IS_OMNIORB")
+ set(OMNIORB_VERSION "${_vers}")
+ string(REGEX REPLACE "THIS_IS_OMNIORB_" ""
+ OMNIORB_VERSION "${OMNIORB_VERSION}")
+ string(REGEX REPLACE "[_]" "."
+ OMNIORB_VERSION "${OMNIORB_VERSION}")
+ string(REGEX REPLACE "[.]" ""
+ OMNIORB_VERSION_NUM "${OMNIORB_VERSION}")
+ endif()
+
+ # OpenRTM-aist
+ if(NOT OPENRTM_DIR)
+ if(NOT $ENV{RTM_ROOT} STREQUAL "")
+ set(OPENRTM_DIR "$ENV{RTM_ROOT}")
+ set(OPENRTM_FOUND TRUE)
+ endif()
+ set(OPENRTM_DIR "${OPENRTM_DIR}" CACHE PATH "OpenRTM-aist root directory")
+ if(NOT OPENRTM_FOUND)
+ message(FATAL_ERROR "OpenRTM-aist not found.")
+ endif()
+ endif()
+
+ # OpenRTM-aist version
+ set(OPENRTM_VERSION "${OPENRTM_DIR}")
+ string(REGEX REPLACE ".*OpenRTM-aist/" "" OPENRTM_VERSION "${OPENRTM_VERSION}")
+ string(REGEX REPLACE "([0-9]+)\\.([0-9]+)" "\\1" OPENRTM_VERSION_MAJOR "${OPENRTM_VERSION}")
+ string(REGEX REPLACE "([0-9]+)\\.([0-9]+)" "\\2" OPENRTM_VERSION_MINOR "${OPENRTM_VERSION}")
+ set(OPENRTM_VERSION_PATCH "0")
+ set(OPENRTM_VERSION "${OPENRTM_VERSION_MAJOR}.${OPENRTM_VERSION_MINOR}.${OPENRTM_VERSION_PATCH}")
+
+ # IDL Compiler
+ set(OPENRTM_IDLC "omniidl")
+ set(OPENRTM_IDLFLAGS -bpython)
+
+endif(WIN32)
+
+message(STATUS "FindOpenRTMPython setup done.")
+
+message(STATUS " OMNIORB_DIR=${OMNIORB_DIR}")
+message(STATUS " OMNIORB_VERSION=${OMNIORB_VERSION}")
+
+message(STATUS " OPENRTM_DIR=${OPENRTM_DIR}")
+message(STATUS " OPENRTM_VERSION=${OPENRTM_VERSION}")
+message(STATUS " OPENRTM_VERSION_MAJOR=${OPENRTM_VERSION_MAJOR}")
+message(STATUS " OPENRTM_VERSION_MINOR=${OPENRTM_VERSION_MINOR}")
+message(STATUS " OPENRTM_VERSION_PATCH=${OPENRTM_VERSION_PATCH}")
+
+message(STATUS " OPENRTM_IDLC=${OPENRTM_IDLC}")
+message(STATUS " OPENRTM_IDLFLAGS=${OPENRTM_IDLFLAGS}")
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/Description.txt
===================================================================
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/License.rtf
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/License.rtf (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/License.rtf 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,7 @@
+{\rtf1\ansi\ansicpg932\deff0\deflang1033\deflangfe1041{\fonttbl{\f0\froman\fprq1\fcharset128 \'82\'6c\'82\'72 \'82\'6f\'83\'53\'83\'56\'83\'62\'83\'4e;}}
+{\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\lang1041\f0\fs20 LICENSE\par
+=======\par
+\par
+This is an installer created using CPack (http://www.cmake.org). No license provided.\par
+\par
+}
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/License.txt
===================================================================
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/wix.xsl.in
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/wix.xsl.in (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/cpack_resources/wix.xsl.in 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,91 @@
+<?xml version="1.0" encoding="utf-8"?>
+<xsl:stylesheet version="1.0"
+ xmlns:xsl="http://www.w3.org/1999/XSL/Transform"
+ xmlns:wix="http://schemas.microsoft.com/wix/2006/wi">
+ <xsl:output indent="yes" method="xml"/>
+
+ <xsl:template match="/wix:Wix">
+ <Wix xmlns="http://schemas.microsoft.com/wix/2006/wi">
+ <Product xmlns="http://schemas.microsoft.com/wix/2006/wi" Id="AF0C394F-8B37-4F3E-B141-8572FDBB468A" Name="@RTC_NAME@ @PACKAGE_VERSION@" Language="1041" Codepage="932" Version="@PACKAGE_VERSION@" Manufacturer="@RTC_VENDOR@" UpgradeCode="FCB05B9A-7E78-4271-B4AE-4029D433A168">
+ <Package InstallerVersion="300" Compressed="yes" Languages='1041' SummaryCodepage='932' />
+ <Media Id="1" Cabinet="@RTC_NAME at .cab" EmbedCab="yes" />
+ <Directory Id="TARGETDIR" Name="SourceDir" >
+ <Directory Id="ProgramFilesFolder" Name="PFILE" >
+ <Directory Id="OPENRTM_DIR" Name="OpenRTM-aist" >
+ <Directory Id="INSTALLLOCATION" Name="@OPENRTM_VERSION_MAJOR at .@OPENRTM_VERSION_MINOR@" />
+ </Directory>
+ </Directory>
+ </Directory>
+
+ <Feature Id="APPLICATIONS" Title="@CPACK_COMPONENT_APPLICATIONS_DISPLAY_NAME@" Level="1" Description="@CPACK_COMPONENT_APPLICATIONS_DESCRIPTION@" >
+ <!-- Start Ripping through the xml -->
+ <xsl:apply-templates select="wix:Fragment/wix:DirectoryRef/wix:Component[contains(wix:File/@Source, '@PACKAGE_NAME@@PACKAGE_VERSION@\RTC.xml')]" />
+ <xsl:apply-templates select="wix:Fragment/wix:DirectoryRef/wix:Component[contains(wix:File/@Source, '@PACKAGE_NAME@@PACKAGE_VERSION@\@RTC_NAME at .py')]" />
+ <xsl:apply-templates select="wix:Fragment/wix:DirectoryRef/wix:Component[contains(wix:File/@Source, '@PACKAGE_NAME@@PACKAGE_VERSION@') and contains(wix:File/@Source, '_idl_example.py')]" />
+ <xsl:apply-templates select="wix:Fragment/wix:DirectoryRef/wix:Component[contains(wix:File/@Source, '@PACKAGE_NAME@@PACKAGE_VERSION@') and contains(wix:File/@Source, '_idl.py')]" />
+ <xsl:apply-templates select="wix:Fragment/wix:DirectoryRef/wix:Component[contains(wix:File/@Source, '@PACKAGE_NAME@@PACKAGE_VERSION@') and contains(wix:File/@Source, '__init__.py')]" />
+ </Feature>
+
+ <Feature Id="DOCUMENTS" Title="@CPACK_COMPONENT_DOCUMENTS_DISPLAY_NAME@" Level="1" Absent="allow" Description="@CPACK_COMPONENT_DOCUMENTS_DESCRIPTION@" >
+ <!-- Start Ripping through the xml -->
+ <xsl:apply-templates select="wix:Fragment/wix:DirectoryRef/wix:Component[contains(wix:File/@Source, '@PACKAGE_NAME@@PACKAGE_VERSION@\doc')]" />
+ </Feature>
+
+ <Feature Id="SOURCES" Title="@CPACK_COMPONENT_SOURCES_DISPLAY_NAME@" Level="1" Absent="allow" Description="@CPACK_COMPONENT_SOURCES_DESCRIPTION@" >
+ <!-- Start Ripping through the xml -->
+ <xsl:apply-templates select="wix:Fragment/wix:DirectoryRef/wix:Component[contains(wix:File/@Source, '@PACKAGE_NAME@@PACKAGE_VERSION@\src')]" />
+ </Feature>
+
+ <!--Tack on your specific wix options-->
+ <UIRef Id="WixUI_FeatureTree" />
+ <UIRef Id="WixUI_ErrorProgressText" />
+ <WixVariable Id="WixUILicenseRtf" Value="@CPACK_RESOURCE_FILE_LICENSE@"/>
+ <!-- TODO: Add Wix Specific Dialogs and features. -->
+ <!-- TODO: Add artwork -->
+ <!-- TODO: Add ... -->
+
+ </Product>
+
+ <!--Output the fragment info which heat generates-->
+ <xsl:copy-of select="wix:Fragment[wix:DirectoryRef/wix:Component]" />
+ <xsl:apply-templates select="wix:Fragment[wix:DirectoryRef/@Id!='TARGETDIR' and wix:DirectoryRef/wix:Directory]" />
+
+ </Wix>
+ </xsl:template>
+
+ <xsl:template match="wix:Fragment[wix:DirectoryRef/wix:Directory]" >
+ <xsl:copy>
+ <xsl:apply-templates select="wix:DirectoryRef" />
+ </xsl:copy>
+ </xsl:template>
+
+ <xsl:template match="wix:DirectoryRef" >
+ <xsl:copy>
+ <xsl:choose>
+ <xsl:when test="wix:Directory[@Name='components']" >
+ <xsl:attribute name="Id">INSTALLLOCATION</xsl:attribute>
+ </xsl:when>
+ <xsl:otherwise>
+ <xsl:attribute name="Id"><xsl:value-of select="@Id" /></xsl:attribute>
+ </xsl:otherwise>
+ </xsl:choose>
+ <xsl:apply-templates />
+ </xsl:copy>
+ </xsl:template>
+
+ <xsl:template match="wix:Directory" >
+ <xsl:copy>
+ <xsl:attribute name="Id"><xsl:value-of select="@Id" /></xsl:attribute>
+ <xsl:attribute name="Name"><xsl:value-of select="@Name" /></xsl:attribute>
+ </xsl:copy>
+ </xsl:template>
+
+ <xsl:template match="wix:Component">
+ <xsl:element name="ComponentRef" xmlns="http://schemas.microsoft.com/wix/2006/wi" >
+ <xsl:attribute name="Id">
+ <xsl:value-of select="@Id" />
+ </xsl:attribute>
+ </xsl:element>
+ </xsl:template>
+
+</xsl:stylesheet>
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/CMakeLists.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/CMakeLists.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,40 @@
+cmake_policy(SET CMP0002 OLD)
+
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+ # Search for Sphinx
+ #set(SPHINX_PATH "" CACHE PATH
+ # "Path to the directory containing the sphinx-build program")
+ #find_program(SPHINX_BUILD sphinx-build PATHS ${SPHINX_PATH})
+ #if(NOT SPHINX_BUILD)
+ # message(FATAL_ERROR
+ # "Sphinx was not found. Set SPHINX_PATH to the directory containing the sphinx-build executable, or disable BUILD_DOCUMENTATION.")
+ #endif(NOT SPHINX_BUILD)
+
+ set(html_dir "${CMAKE_CURRENT_BINARY_DIR}/html")
+ set(doxygen_dir "${html_dir}/doxygen")
+ file(MAKE_DIRECTORY ${html_dir})
+ file(MAKE_DIRECTORY ${doxygen_dir})
+
+ # Doxygen part
+ set(doxyfile "${CMAKE_CURRENT_BINARY_DIR}/doxyfile")
+ configure_file(doxyfile.in ${doxyfile})
+ add_custom_target(doxygen_doc ${DOXYGEN_EXECUTABLE} ${doxyfile})
+
+ # Sphinx part
+ #set(conf_dir "${CMAKE_CURRENT_BINARY_DIR}/conf")
+ #file(MAKE_DIRECTORY "${conf_dir}")
+ #file(MAKE_DIRECTORY "${conf_dir}/_static")
+ #set(conf_py "${conf_dir}/conf.py")
+ #configure_file(conf.py.in ${conf_py})
+ #add_custom_target(sphinx_doc ALL sphinx-build -b html -c ${conf_dir}
+ # ${CMAKE_CURRENT_SOURCE_DIR}/content ${CMAKE_CURRENT_BINARY_DIR}/html
+ # DEPENDS doxygen_doc)
+ #install(DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/html" DESTINATION
+ # "components/share/doc/${PROJECT_NAME_LOWER}-${PROJECT_VERSION_MAJOR}"
+ # COMPONENT documentation)
+else(DOXYGEN_FOUND)
+ message(FATAL_ERROR
+ "Doxygen was not found. Cannot build documentation. Disable BUILD_DOCUMENTATION to continue")
+endif(DOXYGEN_FOUND)
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/conf.py.in
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/conf.py.in (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/conf.py.in 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,216 @@
+# -*- coding: utf-8 -*-
+#
+# TkCalibGUI documentation build configuration file, created by
+# sphinx-quickstart on Mon Aug 8 11:28:05 2011.
+#
+# This file is execfile()d with the current directory set to its containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys, os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration -----------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be extensions
+# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
+extensions = ['breathe']
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.txt'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'@PROJECT_NAME@'
+copyright = u'@PROJECT_COPYRIGHT_YEAR@, @PROJECT_AUTHOR@'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = '@PROJECT_VERSION_MAJOR at .@PROJECT_VERSION_MINOR@'
+# The full version, including alpha/beta/rc tags.
+release = '@PROJECT_VERSION@'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = ['_build']
+
+# The reST default role (used for this markup: `text`) to use for all documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+
+# -- Options for HTML output ---------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages. See the documentation for
+# a list of builtin themes.
+html_theme = 'default'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further. For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents. If None, it defaults to
+# "<project> v<release> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar. Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it. The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = '@PROJECT_NAME at doc'
+
+
+# -- Options for LaTeX output --------------------------------------------------
+
+# The paper size ('letter' or 'a4').
+#latex_paper_size = 'letter'
+
+# The font size ('10pt', '11pt' or '12pt').
+#latex_font_size = '10pt'
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title, author, documentclass [howto/manual]).
+latex_documents = [
+ ('index', '@PROJECT_NAME at .tex', u'@PROJECT_NAME@ Documentation',
+ u'@PROJECT_AUTHOR@', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Additional stuff for the LaTeX preamble.
+#latex_preamble = ''
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output --------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+ ('index', '@PROJECT_NAME@', u'@PROJECT_NAME@ Documentation',
+ [u'@PROJECT_AUTHOR@'], 1)
+]
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/index.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/index.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/index.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,141 @@
+TkCalibGUIName - English
+========================
+
+.. toctree::
+ :hidden:
+
+ index_j
+
+
+Introduction
+============
+
+
+For a full list of classes and functions, see the `API documentation`_.
+
+.. _`API Documentation`:
+ doxygen/html/index.html
+
+Requirements
+============
+
+TkCalibGUI uses the `CMake build system`. You will need at least version
+2.8 to be able to build the component.
+
+.. _`CMAke build system`:
+ http://www.cmake.org
+
+
+Installation
+============
+
+Binary
+------
+
+Users of Windows can install the component using the binary installer. This
+will install the component and all its necessary dependencies. It is the
+recommended method of installation in Windows.
+
+- Download the installer from the website.
+- Double-click the executable file to begin installation.
+- Follow the instructions to install the component.
+- You may need to restart your computer for environment variable changes
+ to take effect before using the component.
+
+The component can be launched by double-clicking the
+``TkCalibGUIComp`` executable. The ``TkCalibGUI`` library
+is available for loading into a manager, using the initialisation function
+``TkCalibGUIInit``.
+
+From source
+-----------
+
+Follow these steps to install TkCalibGUI from source in any operating
+system:
+
+- Download the source, either from the repository or a source archive,
+ and extract it somewhere::
+
+ tar -xvzf TkCalibGUI-1.0.0.tar.gz
+
+- Change to the directory containing the extracted source::
+
+ cd TkCalibGUI-1.0.0
+
+- Create a directory called ``build``::
+
+ mkdir build
+
+- Change to that directory::
+
+ cd build
+
+- Run cmake or cmake-gui::
+
+ cmake ../
+
+- If no errors occurred, run make::
+
+ make
+
+- Finally, install the component. Ensure the necessary permissions to
+ install into the chosen prefix are available::
+
+ make install
+
+- The install destination can be changed by executing ccmake and changing
+ the variable ``CMAKE_INSTALL_PREFIX``::
+
+ ccmake ../
+
+The component is now ready for use. See the next section for instructions on
+configuring the component.
+
+TkCalibGUI can be launched in stand-alone mode by executing the
+``TkCalibGUIComp`` executable (installed into ``${prefix}/components/bin``).
+Alternatively, ``libTkCalibGUI.so`` can be loaded into a manager, using the
+initialisation function ``TkCalibGUIInit``. This shared object can be found in
+``${prefix}/components/lib`` or ``${prefix}/components/lib64``.
+
+
+Configuration
+=============
+
+The available configuration parameters are described below:
+
+================ ================== ================ ======
+Parameter Data type Default Value Effect
+================ ================== ================ ======
+================ ================== ================ ======
+
+Ports
+=====
+
+The ports provided by the component are described below:
+
+=============== =========== ============================== =======
+Name Type Data type Purpose
+=============== =========== ============================== =======
+checker_image InPort RTC::CameraImage
+CalibrationService ServicePort ImageCalibService::CalibrationService
+=============== =========== ============================== =======
+
+Examples
+========
+
+An example configuration file is provided in the
+``${prefix}/components/share/TkCalibGUI/examples/conf/`` directory.
+
+Changelog
+=========
+
+
+
+License
+=======
+
+This software is developed at the National Institute of Advanced
+Industrial Science and Technology. Approval number H23PRO-????. This
+software is licensed under the Lesser General Public License. See
+COPYING.LESSER.
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/index_j.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/index_j.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/content/index_j.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,131 @@
+TkCalibGUI - 日本語
+=======================
+
+
+はじめに
+========
+
+クラスについては、 `APIドキュメンテーション`_ に参照してください。
+
+.. _`APIドキュメンテーション`:
+ doxygen/html/index.html
+
+条件
+====
+
+TkCalibGUIはOpenRTM-aist 1.0.0以上のC++版が必要です。
+
+TkCalibGUIは CMake_ を使います。CMake 2.8以上が必要です。
+
+.. _CMAke:
+ http://www.cmake.org
+
+インストール
+============
+
+インストーラ
+------------
+
+Windowsのユーザはインストーラパッケージを使用してコンポーネントをインストール
+することができます。これはコンポーネント及びそのすべての必要なライブラリを
+インストールします。Windowsでインストールする場合、インストーラの使用を推奨してます。
+
+- インストーラをダウンロードしてください。
+- インストールを始めるためにインストーラをダブルクリックしてください。
+- 指示にしたがってコンポーネントをインストールしてください。
+- 環境変数の変更を適用するため、コンポーネントを使用する前にコンピューターを
+ 再起動する必要があるかもしれません。
+
+TkCalibGUIは ``TkCalibGUIComp`` の実行をダブルクリックして実行することが
+できます。あるいは、 ``TkCalibGUI`` を初期化関数の ``TkCalibGUIInit`` を利用して、
+マネージャにロードすることができます。
+
+ソースから
+----------
+
+ソースを使う場合は以下の手順でインストールしてください。
+
+- ソースをダウンロードして解凍してください::
+
+ tar -xvzf TkCalibGUI-1.0.0.tar.gz
+
+- 解凍されたフォルダに入ってください::
+
+ cd TkCalibGUI-1.0.0
+
+- ``build`` フォルダを作ってください::
+
+ mkdir build
+
+- `` build`` フォルダに入ってください::
+
+ cd build
+
+- CMakeを実行してください::
+
+ cmake ../
+
+- エラーが出無い場合、makeを実行してください::
+
+ make
+
+- ``make install`` でコンポーネントをインストールしてください。選択された
+ インストール場所に書き込み権限があるかを確認してください::
+
+ ``make install``
+
+- インストールする場所はccmakeを実行して ``CMAKE_INSTALL_PREFIX`` を
+ 設定することで変更が可能です。
+
+ ccmake ../
+
+ここまでで、コンポーネントが使えるようになりました。コンフィグレーションは次のセクションを
+参照してください。
+
+TkCalibGUIは ``TkCalibGUIComp`` を実行（ ``${prefix}/components/bin`` に
+インストールされます）することでスタンドアローンモードで実行することができます。
+あるいは、 ``libTkCalibGUI.so`` を初期化関数の ``TkCalibGUIInit`` を利用して、
+マネージャにロードすることができます。このライブラリは ``${prefix}/components/lib``
+または ``${prefix}/components/lib64`` にインストールされます。
+
+
+コンフィグレーション
+====================
+
+使えるコンフィグレーションパラメータは以下のテーブルを参照
+してください。
+
+================ ================== ================ ====
+パラメータ データ型 デフォルト値 意味
+================ ================== ================ ====
+================ ================== ================ ====
+
+ポート
+======
+
+コンポーネントによって提供されるポートは以下のテーブルで述べられています。
+
+=============== =========== ============================== ====
+ポート名 ポート型 データ型 意味
+=============== =========== ============================== ====
+checker_image InPort RTC::CameraImage
+CalibrationService ServicePort ImageCalibService::CalibrationService
+=============== =========== ============================== ====
+
+例
+==
+
+例のrtc.confファイルは ``${prefix}/components/share/TkCalibGUI/examples/conf/``
+フォルダにインストールされています。
+
+Changelog
+=========
+
+
+License
+=======
+
+このソフトウェアは産業技術総合研究所で開発されています。承認番号はH23PRO-????
+です。このソフトウェアは Lesser General Public License (LGPL) ライセンスとして
+公開されてます。COPYING.LESSER を参照してください。
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/doxyfile.in
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/doxyfile.in (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/doc/doxyfile.in 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,297 @@
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING = UTF-8
+PROJECT_NAME = "@PROJECT_NAME@"
+PROJECT_NUMBER = @PROJECT_VERSION@
+OUTPUT_DIRECTORY = "@doxygen_dir@"
+CREATE_SUBDIRS = NO
+OUTPUT_LANGUAGE = English
+BRIEF_MEMBER_DESC = YES
+REPEAT_BRIEF = YES
+ABBREVIATE_BRIEF = "The $name class" \
+ "The $name widget" \
+ "The $name file" \
+ is \
+ provides \
+ specifies \
+ contains \
+ represents \
+ a \
+ an \
+ the
+ALWAYS_DETAILED_SEC = NO
+INLINE_INHERITED_MEMB = NO
+FULL_PATH_NAMES = YES
+STRIP_FROM_PATH =
+STRIP_FROM_INC_PATH = @PROJECT_SOURCE_DIR@/include
+SHORT_NAMES = NO
+JAVADOC_AUTOBRIEF = YES
+QT_AUTOBRIEF = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS = YES
+SEPARATE_MEMBER_PAGES = NO
+TAB_SIZE = 2
+ALIASES =
+OPTIMIZE_OUTPUT_FOR_C = NO
+OPTIMIZE_OUTPUT_JAVA = NO
+OPTIMIZE_FOR_FORTRAN = NO
+OPTIMIZE_OUTPUT_VHDL = NO
+EXTENSION_MAPPING =
+BUILTIN_STL_SUPPORT = NO
+CPP_CLI_SUPPORT = NO
+SIP_SUPPORT = NO
+IDL_PROPERTY_SUPPORT = YES
+DISTRIBUTE_GROUP_DOC = NO
+SUBGROUPING = YES
+TYPEDEF_HIDES_STRUCT = NO
+SYMBOL_CACHE_SIZE = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL = YES
+EXTRACT_PRIVATE = NO
+EXTRACT_STATIC = NO
+EXTRACT_LOCAL_CLASSES = YES
+EXTRACT_LOCAL_METHODS = NO
+EXTRACT_ANON_NSPACES = NO
+HIDE_UNDOC_MEMBERS = NO
+HIDE_UNDOC_CLASSES = NO
+HIDE_FRIEND_COMPOUNDS = NO
+HIDE_IN_BODY_DOCS = NO
+INTERNAL_DOCS = NO
+CASE_SENSE_NAMES = NO
+HIDE_SCOPE_NAMES = NO
+SHOW_INCLUDE_FILES = YES
+FORCE_LOCAL_INCLUDES = NO
+INLINE_INFO = YES
+SORT_MEMBER_DOCS = YES
+SORT_BRIEF_DOCS = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES = NO
+SORT_BY_SCOPE_NAME = NO
+GENERATE_TODOLIST = YES
+GENERATE_TESTLIST = YES
+GENERATE_BUGLIST = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS =
+MAX_INITIALIZER_LINES = 30
+SHOW_USED_FILES = YES
+SHOW_DIRECTORIES = YES
+SHOW_FILES = YES
+SHOW_NAMESPACES = YES
+FILE_VERSION_FILTER =
+LAYOUT_FILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET = YES
+WARNINGS = YES
+WARN_IF_UNDOCUMENTED = YES
+WARN_IF_DOC_ERROR = YES
+WARN_NO_PARAMDOC = NO
+WARN_FORMAT = "$file:$line: $text"
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT = "@PROJECT_SOURCE_DIR@" \
+ "@PROJECT_SOURCE_DIR@/doc"
+INPUT_ENCODING = UTF-8
+FILE_PATTERNS = *.h \
+ *.hpp \
+ *.doxy
+RECURSIVE = YES
+EXCLUDE = "@PROJECT_SOURCE_DIR@/cmake" \
+ "@PROJECT_SOURCE_DIR@/build"
+EXCLUDE_SYMLINKS = YES
+EXCLUDE_PATTERNS =
+EXCLUDE_SYMBOLS =
+EXAMPLE_PATH =
+EXAMPLE_PATTERNS = *
+EXAMPLE_RECURSIVE = NO
+IMAGE_PATH =
+INPUT_FILTER =
+FILTER_PATTERNS =
+FILTER_SOURCE_FILES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER = YES
+INLINE_SOURCES = NO
+STRIP_CODE_COMMENTS = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION = NO
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS = NO
+VERBATIM_HEADERS = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX = YES
+COLS_IN_ALPHA_INDEX = 5
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML = YES
+HTML_OUTPUT = html
+HTML_FILE_EXTENSION = .html
+HTML_HEADER =
+HTML_FOOTER =
+HTML_STYLESHEET =
+HTML_COLORSTYLE_HUE = 220
+HTML_COLORSTYLE_SAT = 100
+HTML_COLORSTYLE_GAMMA = 80
+HTML_TIMESTAMP = YES
+HTML_ALIGN_MEMBERS = YES
+HTML_DYNAMIC_SECTIONS = NO
+GENERATE_DOCSET = YES
+DOCSET_FEEDNAME = "Doxygen generated docs"
+DOCSET_BUNDLE_ID = @PROJECT_NAME_LOWER at .@PROJECT_AUTHOR_SHORT@
+DOCSET_PUBLISHER_ID = @PROJECT_NAME_LOWER at .@PROJECT_AUTHOR_SHORT at .Publisher
+DOCSET_PUBLISHER_NAME = @PROJECT_AUTHOR@/@PROJECT_VENDOR@
+GENERATE_HTMLHELP = YES
+CHM_FILE = "@PROJECT_NAME at -@PROJECT_VERSION_MAJOR at .@PROJECT_VERSION_MINOR at .chm"
+HHC_LOCATION = "@HTML_HELP_COMPILER@"
+GENERATE_CHI = NO
+CHM_INDEX_ENCODING =
+BINARY_TOC = NO
+TOC_EXPAND = NO
+GENERATE_QHP = NO
+QCH_FILE =
+QHP_NAMESPACE = @PROJECT_NAME_LOWER at .@PROJECT_AUTHOR_SHORT at .Project
+QHP_VIRTUAL_FOLDER = doc
+QHP_CUST_FILTER_NAME =
+QHP_CUST_FILTER_ATTRS =
+QHP_SECT_FILTER_ATTRS =
+QHG_LOCATION =
+GENERATE_ECLIPSEHELP = NO
+ECLIPSE_DOC_ID = @PROJECT_NAME_LOWER at .@PROJECT_AUTHOR_SHORT at .Project
+DISABLE_INDEX = NO
+ENUM_VALUES_PER_LINE = 4
+GENERATE_TREEVIEW = NO
+USE_INLINE_TREES = NO
+TREEVIEW_WIDTH = 250
+EXT_LINKS_IN_WINDOW = NO
+FORMULA_FONTSIZE = 10
+FORMULA_TRANSPARENT = YES
+SEARCHENGINE = YES
+SERVER_BASED_SEARCH = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX = NO
+LATEX_OUTPUT = latex
+LATEX_CMD_NAME = latex
+MAKEINDEX_CMD_NAME = makeindex
+COMPACT_LATEX = NO
+PAPER_TYPE = a4wide
+EXTRA_PACKAGES =
+LATEX_HEADER =
+PDF_HYPERLINKS = YES
+USE_PDFLATEX = YES
+LATEX_BATCHMODE = NO
+LATEX_HIDE_INDICES = NO
+LATEX_SOURCE_CODE = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF = NO
+RTF_OUTPUT = rtf
+COMPACT_RTF = NO
+RTF_HYPERLINKS = NO
+RTF_STYLESHEET_FILE =
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN = NO
+MAN_OUTPUT = man
+MAN_EXTENSION = .3
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML = NO
+XML_OUTPUT = xml
+XML_SCHEMA =
+XML_DTD =
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD = NO
+PERLMOD_LATEX = NO
+PERLMOD_PRETTY = YES
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING = YES
+MACRO_EXPANSION = NO
+EXPAND_ONLY_PREDEF = NO
+SEARCH_INCLUDES = YES
+INCLUDE_PATH =
+INCLUDE_FILE_PATTERNS = *.h
+PREDEFINED =
+EXPAND_AS_DEFINED =
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+TAGFILES =
+GENERATE_TAGFILE =
+ALLEXTERNALS = NO
+EXTERNAL_GROUPS = YES
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS = YES
+MSCGEN_PATH =
+HIDE_UNDOC_RELATIONS = YES
+HAVE_DOT = YES
+DOT_NUM_THREADS = 0
+DOT_FONTNAME = FreeSans.ttf
+DOT_FONTSIZE = 10
+DOT_FONTPATH =
+CLASS_GRAPH = YES
+COLLABORATION_GRAPH = YES
+GROUP_GRAPHS = YES
+UML_LOOK = NO
+TEMPLATE_RELATIONS = NO
+INCLUDE_GRAPH = YES
+INCLUDED_BY_GRAPH = YES
+CALL_GRAPH = NO
+CALLER_GRAPH = NO
+GRAPHICAL_HIERARCHY = YES
+DIRECTORY_GRAPH = YES
+DOT_IMAGE_FORMAT = png
+DOT_PATH =
+DOTFILE_DIRS =
+DOT_GRAPH_MAX_NODES = 50
+MAX_DOT_GRAPH_DEPTH = 0
+DOT_TRANSPARENT = NO
+DOT_MULTI_TARGETS = NO
+GENERATE_LEGEND = YES
+DOT_CLEANUP = YES
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/BasicDataType.idl
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/BasicDataType.idl (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/BasicDataType.idl 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,189 @@
+// -*- IDL -*-
+/*!
+ * @file DataType.idl
+ * @brief Basic Data Type definition
+ * @date $Date: 2007-01-09 15:36:29 $
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2003-2006
+ * Task-intelligence Research Group,
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id: BasicDataType.idl 1580 2009-12-07 08:54:10Z kurihara $
+ *
+ */
+
+#ifndef BasicDataType_idl
+#define BasicDataType_idl
+
+module RTC {
+ //------------------------------------------------------------
+ // Basic data type definition
+ //------------------------------------------------------------
+ struct Time
+ {
+ unsigned long sec; // sec
+ unsigned long nsec; // nano sec
+ };
+
+ struct TimedState
+ {
+ Time tm;
+ short data;
+ };
+
+ struct TimedShort
+ {
+ Time tm;
+ short data;
+ };
+
+ struct TimedLong
+ {
+ Time tm;
+ long data;
+ };
+
+ struct TimedUShort
+ {
+ Time tm;
+ unsigned short data;
+ };
+
+ struct TimedULong
+ {
+ Time tm;
+ unsigned long data;
+ };
+
+ struct TimedFloat
+ {
+ Time tm;
+ float data;
+ };
+
+ struct TimedDouble
+ {
+ Time tm;
+ double data;
+ };
+
+ struct TimedChar
+ {
+ Time tm;
+ char data;
+ };
+
+ struct TimedWChar
+ {
+ Time tm;
+ wchar data;
+ };
+
+ struct TimedBoolean
+ {
+ Time tm;
+ boolean data;
+ };
+
+ struct TimedOctet
+ {
+ Time tm;
+ octet data;
+ };
+
+ struct TimedString
+ {
+ Time tm;
+ string data;
+ };
+
+
+ struct TimedWString
+ {
+ Time tm;
+ wstring data;
+ };
+
+
+ /*!
+ * Sequence data type
+ */
+ struct TimedShortSeq
+ {
+ Time tm;
+ sequence<short> data;
+ };
+
+ struct TimedLongSeq
+ {
+ Time tm;
+ sequence<long> data;
+ };
+
+ struct TimedUShortSeq
+ {
+ Time tm;
+ sequence<unsigned short> data;
+ };
+
+ struct TimedULongSeq
+ {
+ Time tm;
+ sequence<unsigned long> data;
+ };
+
+ struct TimedFloatSeq
+ {
+ Time tm;
+ sequence<float> data;
+ };
+
+ struct TimedDoubleSeq
+ {
+ Time tm;
+ sequence<double> data;
+ };
+
+ struct TimedCharSeq
+ {
+ Time tm;
+ sequence<char> data;
+ };
+
+ struct TimedWCharSeq
+ {
+ Time tm;
+ sequence<wchar> data;
+ };
+
+ struct TimedBooleanSeq
+ {
+ Time tm;
+ sequence<boolean> data;
+ };
+
+ struct TimedOctetSeq
+ {
+ Time tm;
+ sequence<octet> data;
+ };
+
+ struct TimedStringSeq
+ {
+ Time tm;
+ sequence<string> data;
+ };
+
+ struct TimedWStringSeq
+ {
+ Time tm;
+ sequence<wstring> data;
+ };
+
+};
+
+#endif // end of BasicDataType_idl
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/CMakeLists.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/CMakeLists.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,56 @@
+set(idls ${CMAKE_CURRENT_SOURCE_DIR}/CalibrationService.idl ${CMAKE_CURRENT_SOURCE_DIR}/InterfaceDataTypes.idl ${CMAKE_CURRENT_SOURCE_DIR}/BasicDataType.idl ${CMAKE_CURRENT_SOURCE_DIR}/ExtendedDataTypes.idl )
+
+install(FILES ${idls} DESTINATION ${INC_INSTALL_DIR}/idl
+ COMPONENT idl)
+
+macro(_IDL_OUTPUTS _idl _dir _result)
+ set(${_result} ${_dir}/${_idl}SK.cc ${_dir}/${_idl}.hh
+ ${_dir}/${_idl}DynSK.cc)
+endmacro(_IDL_OUTPUTS)
+
+macro(_COMPILE_IDL _idl_file)
+ if(NOT WIN32)
+ execute_process(COMMAND rtm-config --prefix OUTPUT_VARIABLE OPENRTM_DIR
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ execute_process(COMMAND rtm-config --idlflags OUTPUT_VARIABLE OPENRTM_IDLFLAGS
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ separate_arguments(OPENRTM_IDLFLAGS)
+ execute_process(COMMAND rtm-config --idlc OUTPUT_VARIABLE OPENRTM_IDLC
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ set(_rtm_skelwrapper_command "rtm-skelwrapper")
+ else(NOT WIN32)
+ set(_rtm_skelwrapper_command "rtm-skelwrapper.py")
+ endif(NOT WIN32)
+ get_filename_component(_idl ${_idl_file} NAME_WE)
+ set(_idl_srcs_var ${_idl}_SRCS)
+ _IDL_OUTPUTS(${_idl} ${CMAKE_CURRENT_BINARY_DIR} ${_idl_srcs_var})
+
+ add_custom_command(OUTPUT ${${_idl_srcs_var}}
+ COMMAND python ${OPENRTM_DIR}/bin/${_rtm_skelwrapper_command} --include-dir= --skel-suffix=Skel --stub-suffix=Stub --idl-file=${_idl}.idl
+ COMMAND ${OPENRTM_IDLC} ${OPENRTM_IDLFLAGS} ${_idl_file}
+ WORKING_DIRECTORY ${CURRENT_BINARY_DIR}
+ DEPENDS ${_idl_file}
+ COMMENT "Compiling ${_idl_file}" VERBATIM)
+ add_custom_target(${_idl}_TGT DEPENDS ${${_idl_srcs_var}})
+ set(ALL_IDL_SRCS ${ALL_IDL_SRCS} ${${_idl_srcs_var}})
+ if(NOT TARGET ALL_IDL_TGT)
+ add_custom_target(ALL_IDL_TGT)
+ endif(NOT TARGET ALL_IDL_TGT)
+ add_dependencies(ALL_IDL_TGT ${_idl}_TGT)
+endmacro(_COMPILE_IDL)
+
+# Module exposed to the user
+macro(OPENRTM_COMPILE_IDL_FILES)
+ foreach(idl ${ARGN})
+ _COMPILE_IDL(${idl})
+ endforeach(idl)
+endmacro(OPENRTM_COMPILE_IDL_FILES)
+
+
+OPENRTM_COMPILE_IDL_FILES(${idls})
+set(ALL_IDL_SRCS ${ALL_IDL_SRCS} PARENT_SCOPE)
+FILTER_LIST(ALL_IDL_SRCS "hh$" idl_headers)
+install(FILES ${idl_headers}
+ DESTINATION ${INC_INSTALL_DIR}/${PROJECT_NAME_LOWER}/idl
+ COMPONENT headers)
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/CalibrationService.idl
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/CalibrationService.idl (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/CalibrationService.idl 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,22 @@
+#ifndef CALIBRATION_SERVICE_IDL
+#define CALIBRATION_SERVICE_IDL
+
+#include "InterfaceDataTypes.idl"
+
+module ImageCalibService
+{
+ typedef sequence<RTC::CameraImage> ImageList;
+ interface CalibrationService
+ {
+ void setImageNumber(in short num);
+ short getImageNumber();
+ RTC::CameraImage captureCalibImage(in short num);
+ RTC::CameraImage getCalibImage(in short num);
+ ImageList getCalibImages();
+ boolean removeCalibImage(in short num);
+ RTC::CameraInfo getCalibParameter();
+ };
+};
+
+#endif /* CALIBRATION_SERVICE_IDL */
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/ExtendedDataTypes.idl
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/ExtendedDataTypes.idl (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/ExtendedDataTypes.idl 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,699 @@
+// -*- IDL -*-
+/*!
+ * @file ExtendedDataTypes.idl
+ * @brief Extended data types for robotics applications.
+ * @date $Date: $
+ * @author Geoffrey Biggs <geoffrey.biggs at aist.go.jp>
+ *
+ * Copyright (C) 2009
+ * RT Synthesis Research Group
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ */
+
+#ifndef ExtendedDataTypes_idl
+#define ExtendedDataTypes_idl
+
+#include "BasicDataType.idl"
+
+module RTC {
+ /*!
+ * @struct RGBColour
+ * @brief Red/green/blue colour specification, with values between 0.0 for
+ * none and 1.0 for full.
+ */
+ struct RGBColour
+ {
+ double r;
+ double g;
+ double b;
+ };
+
+ //------------------------------------------------------------
+ // 2D data types
+ //------------------------------------------------------------
+
+ /*!
+ * @struct Point2D
+ * @brief Point in 2D cartesian space.
+ */
+ struct Point2D
+ {
+ /// X coordinate in metres.
+ double x;
+ /// Y coordinate in metres.
+ double y;
+ };
+
+ /*!
+ * @struct Vector2D
+ * @brief Vector in 2D cartesian space.
+ */
+ struct Vector2D
+ {
+ /// X value in metres.
+ double x;
+ /// Y value in metres.
+ double y;
+ };
+
+ /*!
+ * @struct Pose2D
+ * @brief Pose in 2D cartesian space.
+ */
+ struct Pose2D
+ {
+ /// 2D position.
+ Point2D position;
+ /// Heading in radians.
+ double heading;
+ };
+
+ /*!
+ * @struct Velocity2D
+ * @brief Velocities in 2D cartesian space.
+ */
+ struct Velocity2D
+ {
+ /// Velocity along the x axis in metres per second.
+ double vx;
+ /// Velocity along the y axis in metres per second.
+ double vy;
+ /// Yaw velocity in radians per second.
+ double va;
+ };
+
+ /*!
+ * @struct Acceleration2D
+ * @brief Accelerations in 2D cartesian space.
+ */
+ struct Acceleration2D
+ {
+ /// Acceleration along the x axis, in metres per second per second.
+ double ax;
+ /// Acceleration along the y axis, in metres per second per second.
+ double ay;
+ };
+
+ /*!
+ * @struct PoseVel2D
+ * @brief Pose and velocity in 2D cartesian space.
+ */
+ struct PoseVel2D
+ {
+ Pose2D pose;
+ Velocity2D velocities;
+ };
+
+ /*!
+ * @struct Size2D
+ * @brief Size in 2D cartesian space.
+ */
+ struct Size2D
+ {
+ /// Length in metres.
+ double l;
+ /// Width in metres.
+ double w;
+ };
+
+ /*!
+ * @struct Geometry2D
+ * @brief Geometry information for a device in 2D cartesian space.
+ */
+ struct Geometry2D
+ {
+ /// Pose of the device's base point in its parent device's (e.g. the robot's)
+ /// coordinate space.
+ Pose2D pose;
+ /// Size of the device, taken with the origin at its base point.
+ Size2D size;
+ };
+
+ /*!
+ * @struct Covariance2D
+ * @brief Covariance matrix for a 2D pose.
+ */
+ struct Covariance2D
+ {
+ /// (0, 0) value of the covariance matrix.
+ double xx;
+ /// (0, 1) value of the covariance matrix.
+ double xy;
+ /// (0, 2) value of the covariance matrix.
+ double xt;
+ /// (1, 1) value of the covariance matrix.
+ double yy;
+ /// (1, 2) value of the covariance matrix.
+ double yt;
+ /// (2, 2) value of the covariance matrix.
+ double tt;
+ };
+
+ /*!
+ * @struct PointCovariance2D
+ * @brief Covariance matrix for a 2D point.
+ */
+ struct PointCovariance2D
+ {
+ /// (0, 0) value of the covariance matrix.
+ double xx;
+ /// (0, 1) value of the covariance matrix.
+ double xy;
+ /// (1, 1) value of the covariance matrix.
+ double yy;
+ };
+
+ /*!
+ * @struct Carlike
+ * @brief Control specification for a car-like robot.
+ */
+ struct Carlike
+ {
+ /// Speed in metres per second.
+ double speed;
+ /// Steering angle in radians.
+ double steeringAngle;
+ };
+
+ /*!
+ * @struct SpeedHeading2D
+ * @brief Control specification for a robot capable of moving in a given direction in 2D space.
+ */
+ struct SpeedHeading2D
+ {
+ /// Speed in metres per second.
+ double speed;
+ /// Direction of travel in radians from the x axis.
+ double heading;
+ };
+
+ //------------------------------------------------------------
+ // 3D data types
+ //------------------------------------------------------------
+
+ /*!
+ * @struct Point3D
+ * @brief Point in 3D cartesian space.
+ */
+ struct Point3D
+ {
+ /// X coordinate in metres.
+ double x;
+ /// Y coordinate in metres.
+ double y;
+ /// Z coordinate in metres.
+ double z;
+ };
+
+ /*!
+ * @struct Vector3D
+ * @brief Vector in 3D cartesian space.
+ */
+ struct Vector3D
+ {
+ /// X value in metres.
+ double x;
+ /// Y value in metres.
+ double y;
+ /// Z value in metres.
+ double z;
+ };
+
+ /*!
+ * @struct Orientation3D
+ * @brief Orientation in 3D cartesian space.
+ */
+ struct Orientation3D
+ {
+ /// Roll angle in radians.
+ double r;
+ /// Pitch angle in radians.
+ double p;
+ /// Yaw angle in radians.
+ double y;
+ };
+
+ /*!
+ * @struct Pose3D
+ * @brief Pose in 3D cartesian space.
+ */
+ struct Pose3D
+ {
+ /// 3D position.
+ Point3D position;
+ /// 3D orientation.
+ Orientation3D orientation;
+ };
+
+ /*!
+ * @struct Velocity3D
+ * @brief Velocities in 3D cartesian space.
+ */
+ struct Velocity3D
+ {
+ /// Velocity along the x axis in metres per second.
+ double vx;
+ /// Velocity along the y axis in metres per second.
+ double vy;
+ /// Velocity along the z axis in metres per second.
+ double vz;
+ /// Roll velocity in radians per second.
+ double vr;
+ /// Pitch velocity in radians per second.
+ double vp;
+ /// Yaw velocity in radians per second.
+ double va;
+ };
+
+ /*!
+ * @struct AngularVelocity3D
+ * @brief Angular velocities in 3D cartesian space.
+ */
+ struct AngularVelocity3D
+ {
+ /// Velocity around the x axis, in radians per second.
+ double avx;
+ /// Velocity around the y axis, in radians per second.
+ double avy;
+ /// Velocity around the z axis, in radians per second.
+ double avz;
+ };
+
+ /*!
+ * @struct Acceleration3D
+ * @brief Accelerations in 3D cartesian space.
+ */
+ struct Acceleration3D
+ {
+ /// Acceleration along the x axis, in metres per second per second.
+ double ax;
+ /// Acceleration along the y axis, in metres per second per second.
+ double ay;
+ /// Acceleration along the z axis, in metres per second per second.
+ double az;
+ };
+
+ /*!
+ * @struct AngularAcceleration3D
+ * @brief Angular accelerations in 3D cartesian space.
+ */
+ struct AngularAcceleration3D
+ {
+ /// Acceleration around the x axis, in radians per second per second.
+ double aax;
+ /// Acceleration around the y axis, in radians per second per second.
+ double aay;
+ /// Acceleration around the z axis, in radians per second per second.
+ double aaz;
+ };
+
+ /*!
+ * @struct PoseVel3D
+ * @brief Pose and velocity in 3D cartesian space.
+ */
+ struct PoseVel3D
+ {
+ Pose3D pose;
+ Velocity3D velocities;
+ };
+
+ /*!
+ * @struct Size3D
+ * @brief Size in 3D cartesian space.
+ */
+ struct Size3D
+ {
+ /// Length in metres.
+ double l;
+ /// Width in metres.
+ double w;
+ /// Height in metres.
+ double h;
+ };
+
+ /*!
+ * @struct Geoemtry3D
+ * @brief Geometry information for a device in 3D cartesian space.
+ */
+ struct Geometry3D
+ {
+ /// Pose of the device's base point in its parent device's (e.g. the robot's)
+ /// coordinate space.
+ Pose3D pose;
+ /// Size of the device, taken with the origin at its base point.
+ Size3D size;
+ };
+
+ /*!
+ * @struct Covariance3D
+ * @brief Covariance matrix for a 3D pose.
+ */
+ struct Covariance3D
+ {
+ /// (0, 0) value of the covariance matrix.
+ double xx;
+ /// (0, 1) value of the covariance matrix.
+ double xy;
+ /// (0, 2) value of the covariance matrix.
+ double xz;
+ /// (0, 3) value of the covariance matrix.
+ double xr;
+ /// (0, 4) value of the covariance matrix.
+ double xp;
+ /// (0, 5) value of the covariance matrix.
+ double xa;
+ /// (1, 1) value of the covariance matrix.
+ double yy;
+ /// (1, 2) value of the covariance matrix.
+ double yz;
+ /// (1, 3) value of the covariance matrix.
+ double yr;
+ /// (1, 4) value of the covariance matrix.
+ double yp;
+ /// (1, 5) value of the covariance matrix.
+ double ya;
+ /// (2, 2) value of the covariance matrix.
+ double zz;
+ /// (2, 3) value of the covariance matrix.
+ double zr;
+ /// (2, 4) value of the covariance matrix.
+ double zp;
+ /// (2, 5) value of the covariance matrix.
+ double za;
+ /// (3, 3) value of the covariance matrix.
+ double rr;
+ /// (3, 4) value of the covariance matrix.
+ double rp;
+ /// (3, 5) value of the covariance matrix.
+ double ra;
+ /// (4, 4) value of the covariance matrix.
+ double pp;
+ /// (4, 5) value of the covariance matrix.
+ double pa;
+ /// (5, 5) value of the covariance matrix.
+ double aa;
+ };
+
+ /*!
+ * @struct SpeedHeading3D
+ * @brief Control specification for a robot capable of moving in a given direction in 3D space.
+ */
+ struct SpeedHeading3D
+ {
+ /// Speed in metres per second.
+ double speed;
+ /// Direction of travel.
+ Orientation3D direction;
+ };
+
+ /*!
+ * @struct OAP
+ * @brief Orientation, approach and position vectors.
+ */
+ struct OAP
+ {
+ Vector3D orientation;
+ Vector3D approach;
+ Vector3D position;
+ };
+
+ //------------------------------------------------------------
+ // Timed data types
+ //------------------------------------------------------------
+
+ /*!
+ * @struct TimedRGBColour
+ * @brief Time-stamped version of RGBColour.
+ */
+ struct TimedRGBColour
+ {
+ Time tm;
+ RGBColour data;
+ };
+
+ /*!
+ * @struct TimedPoint2D
+ * @brief Time-stamped version of Point2D.
+ */
+ struct TimedPoint2D
+ {
+ Time tm;
+ Point2D data;
+ };
+
+ /*!
+ * @struct TimedVector2D
+ * @brief Time-stamped version of Vector2D.
+ */
+ struct TimedVector2D
+ {
+ Time tm;
+ Vector2D data;
+ };
+
+ /*!
+ * @struct TimedPose2D
+ * @brief Time-stamped version of Pose2D.
+ */
+ struct TimedPose2D
+ {
+ Time tm;
+ Pose2D data;
+ };
+
+ /*!
+ * @struct TimedVelocity2D
+ * @brief Time-stamped version of Velocity2D.
+ */
+ struct TimedVelocity2D
+ {
+ Time tm;
+ Velocity2D data;
+ };
+
+ /*!
+ * @struct TimedAcceleration2D
+ * @brief Time-stamped version of Acceleration2D.
+ */
+ struct TimedAcceleration2D
+ {
+ Time tm;
+ Acceleration2D data;
+ };
+
+ /*!
+ * @struct TimedPoseVel2D
+ * @brief Time-stamped version of PoseVel2D.
+ */
+ struct TimedPoseVel2D
+ {
+ Time tm;
+ PoseVel2D data;
+ };
+
+ /*!
+ * @struct TimedSize2D
+ * @brief Time-stamped version of Size2D.
+ */
+ struct TimedSize2D
+ {
+ Time tm;
+ Size2D data;
+ };
+
+ /*!
+ * @struct TimedGeometry2D
+ * @brief Time-stamped version of Geometry2D.
+ */
+ struct TimedGeometry2D
+ {
+ Time tm;
+ Geometry2D data;
+ };
+
+ /*!
+ * @struct TimedCovariance2D
+ * @brief Time-stamped version of Covariance2D.
+ */
+ struct TimedCovariance2D
+ {
+ Time tm;
+ Covariance2D data;
+ };
+
+ /*!
+ * @struct TimedPointCovariance2D
+ * @brief Time-stamped version of PointCovariance2D.
+ */
+ struct TimedPointCovariance2D
+ {
+ Time tm;
+ PointCovariance2D data;
+ };
+
+ /*!
+ * @struct TimedCarlike
+ * @brief Time-stamped version of Carlike.
+ */
+ struct TimedCarlike
+ {
+ Time tm;
+ Carlike data;
+ };
+
+ /*!
+ * @struct TimedSpeedHeading2D
+ * @brief Time-stamped version of SpeedHeading2D.
+ */
+ struct TimedSpeedHeading2D
+ {
+ Time tm;
+ SpeedHeading2D data;
+ };
+
+ /*!
+ * @struct TimedPoint3D
+ * @brief Time-stamped version of Point3D.
+ */
+ struct TimedPoint3D
+ {
+ Time tm;
+ Point3D data;
+ };
+
+ /*!
+ * @struct TimedVector3D
+ * @brief Time-stamped version of Vector3D.
+ */
+ struct TimedVector3D
+ {
+ Time tm;
+ Vector3D data;
+ };
+
+ /*!
+ * @struct TimedOrientation3D
+ * @brief Time-stamped version of Orientation3D.
+ */
+ struct TimedOrientation3D
+ {
+ Time tm;
+ Orientation3D data;
+ };
+
+ /*!
+ * @struct TimedPose3D
+ * @brief Time-stamped version of Pose3D.
+ */
+ struct TimedPose3D
+ {
+ Time tm;
+ Pose3D data;
+ };
+
+ /*!
+ * @struct TimedVelocity3D
+ * @brief Time-stamped version of Velocity3D.
+ */
+ struct TimedVelocity3D
+ {
+ Time tm;
+ Velocity3D data;
+ };
+
+ /*!
+ * @struct TimedAngularVelocity3D
+ * @brief Time-stamped version of AngularVelocity3D.
+ */
+ struct TimedAngularVelocity3D
+ {
+ Time tm;
+ AngularVelocity3D data;
+ };
+
+ /*!
+ * @struct TimedAcceleration3D
+ * @brief Time-stamped version of Acceleration3D.
+ */
+ struct TimedAcceleration3D
+ {
+ Time tm;
+ Acceleration3D data;
+ };
+
+ /*!
+ * @struct TimedAngularAcceleration3D
+ * @brief Time-stamped version of AngularAcceleration3D.
+ */
+ struct TimedAngularAcceleration3D
+ {
+ Time tm;
+ AngularAcceleration3D data;
+ };
+
+ /*!
+ * @struct TimedPoseVel3D
+ * @brief Time-stamped version of PoseVel3D.
+ */
+ struct TimedPoseVel3D
+ {
+ Time tm;
+ PoseVel3D data;
+ };
+
+ /*!
+ * @struct TimedSize3D
+ * @brief Time-stamped version of Size3D.
+ */
+ struct TimedSize3D
+ {
+ Time tm;
+ Size3D data;
+ };
+
+ /*!
+ * @struct TimedGeometry3D
+ * @brief Time-stamped version of Geometry3D.
+ */
+ struct TimedGeometry3D
+ {
+ Time tm;
+ Geometry3D data;
+ };
+
+ /*!
+ * @struct TimedCovariance3D
+ * @brief Time-stamped version of Covariance3D.
+ */
+ struct TimedCovariance3D
+ {
+ Time tm;
+ Covariance3D data;
+ };
+
+ /*!
+ * @struct TimedSpeedHeading3D
+ * @brief Time-stamped version of SpeedHeading3D.
+ */
+ struct TimedSpeedHeading3D
+ {
+ Time tm;
+ SpeedHeading3D data;
+ };
+
+ /*!
+ * @struct TimedOAP
+ * @brief Time-stamped version of OAP.
+ */
+ struct TimedOAP
+ {
+ Time tm;
+ OAP data;
+ };
+};
+
+#endif // ExtendedDataTypes_idl
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/InterfaceDataTypes.idl
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/InterfaceDataTypes.idl (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idl/InterfaceDataTypes.idl 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,923 @@
+// -*- IDL -*-
+/*!
+ * @file InterfaceDataTypes.idl
+ * @brief Interface-specific data types for robot device interfaces.
+ * @date $Date: $
+ * @author Geoffrey Biggs <geoffrey.biggs at aist.go.jp>
+ *
+ * Copyright (C) 2009
+ * RT Synthesis Research Group
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ */
+
+#ifndef InterfaceDataTypes_idl
+#define InterfaceDataTypes_idl
+
+#include "BasicDataType.idl"
+#include "ExtendedDataTypes.idl"
+
+module RTC {
+ //------------------------------------------------------------
+ // ActArray
+ //------------------------------------------------------------
+
+ /*!
+ * @struct ActArrayActuatorPos
+ * @brief Stores the position of a single actuator.
+ */
+ struct ActArrayActuatorPos
+ {
+ /// Time stamp.
+ Time tm;
+ /// Zero-based index of the actuator.
+ unsigned short index;
+ /// Position of the actuator in metres or radians.
+ double position;
+ };
+
+ /*!
+ * @struct ActArrayActuatorSpeed
+ * @brief Stores the speed of a single actuator.
+ */
+ struct ActArrayActuatorSpeed
+ {
+ /// Time stamp.
+ Time tm;
+ /// Zero-based index of the actuator.
+ unsigned short index;
+ /// Speed of the actuator in metres per second or radians per second.
+ double speed;
+ };
+
+ /*!
+ * @struct ActArrayActuatorCurrent
+ * @brief Stores the current draw of a single actuator.
+ */
+ struct ActArrayActuatorCurrent
+ {
+ /// Time stamp.
+ Time tm;
+ /// Zero-based index of the actuator.
+ unsigned short index;
+ /// Current of the actuator in amps.
+ double current;
+ };
+
+ /*!
+ * @enum ActArrayActuatorStatus
+ * @brief Describes the status of an actuator.
+ */
+ enum ActArrayActuatorStatus {ACTUATOR_STATUS_IDLE,
+ ACTUATOR_STATUS_MOVING,
+ ACTUATOR_STATUS_BRAKED,
+ ACTUATOR_STATUS_STALLED};
+
+ /*!
+ * @struct Actuator
+ * @brief State information of a single actuator.
+ */
+ struct Actuator
+ {
+ /// Current position of the actuator, in metres (for linear actuators) or radians (for
+ /// rotary actuators).
+ double position;
+ /// Current speed of the actuator, in metres per second or radians per second.
+ double speed;
+ /// Current acceleration of the actuator, in metres per second or radians per second.
+ double accel;
+ /// Current draw of the actuator, in amps.
+ double current;
+ /// Status of the actuator.
+ ActArrayActuatorStatus status;
+ };
+
+ /*!
+ * @typedef ActuatorList
+ * @brief List of Actuator elements.
+ */
+ typedef sequence<Actuator> ActuatorList;
+ /*!
+ * @struct ActArrayState
+ * @brief State of all actuators in an array.
+ */
+ struct ActArrayState
+ {
+ /// Time stamp.
+ Time tm;
+ /// Sequence of actuator states, one for each actuator.
+ ActuatorList actuators;
+ };
+
+ /*!
+ * @enum ActArrayActuatorType
+ * @brief Describes the type of an actuator.
+ */
+ enum ActArrayActuatorType {ACTARRAY_ACTUATORTYPE_LINEAR,
+ ACTARRAY_ACTUATORTYPE_ROTARY};
+
+ /*!
+ * @struct ActArrayActuatorGeometry
+ * @brief Describes the geometry of an individual actuator.
+ */
+ struct ActArrayActuatorGeometry
+ {
+ /// Type of the actuator.
+ ActArrayActuatorType type;
+ /// Lenght of the actuator's link to the next actuator. For linear actuators, this is the
+ /// length when at 0 position.
+ double length;
+ /// Orientation of the actuator when it is in its rest position. When combined with the
+ /// length of the actuator's link, this will give the position in space of the next actuator
+ /// in the array in the coordinate space of this actuator (i.e. it is the direction to the
+ /// next actuator).
+ Orientation3D orientation;
+ /// The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear.
+ Vector3D axis;
+ /// Minimum range of motion of the actuator, in metres or radians.
+ double minRange;
+ /// Centre point of the actuator's range of motion, in metres or radians.
+ double centre;
+ /// Maximum range of motion of the actuator, in metres or radians.
+ double maxRange;
+ /// Home position of the actuator, in metres or radians.
+ double homePosition;
+ /// True if the actuator has brakes.
+ boolean hasBrakes;
+ };
+
+ /*!
+ * @typedef ActArrayActuatorGeometryList
+ * @brief List of ActArrayActuatorGeometry elements.
+ */
+ typedef sequence<ActArrayActuatorGeometry> ActArrayActuatorGeometryList;
+
+ /*!
+ * @struct ActArrayGeometry
+ * @brief Geometry of an actuator array.
+ */
+ struct ActArrayGeometry
+ {
+ /// Geometry of the overall array.
+ Geometry3D arrayGeometry;
+ /// Geometry of the individual actuators.
+ ActArrayActuatorGeometryList actuatorGeometry;
+ };
+
+ //------------------------------------------------------------
+ // Bumper
+ //------------------------------------------------------------
+
+ /*!
+ * @struct BumperGeometry
+ * @brief Geometry of a single bumper.
+ */
+ struct BumperGeometry
+ {
+ /// Pose of the bumper's base point in the array's coordinate space.
+ Pose3D pose;
+ /// Size of the bumper.
+ Size3D size;
+ /// Radius of curvature of the bump sensor in metres. Zero if the bumper is a straight line.
+ double roc;
+ };
+
+ /*!
+ * @typedef BumperGeometryList
+ */
+ typedef sequence<BumperGeometry> BumperGeometryList;
+
+ /*!
+ * @struct BumperArrayGeometry
+ * @brief Geometry of an array of bump sensors.
+ */
+ struct BumperArrayGeometry
+ {
+ /// Geometry of the entire array.
+ Geometry3D arrayGeometry;
+ /// Geometry of each individual bumper.
+ BumperGeometryList bumperGeometry;
+ };
+
+ //------------------------------------------------------------
+ // Camera
+ //------------------------------------------------------------
+
+ /*!
+ * @struct CameraImage
+ * @brief Stores an image from a camera or camera-like device.
+ */
+ struct CameraImage
+ {
+ /// Time stamp.
+ Time tm;
+ /// Image pixel width.
+ unsigned short width;
+ /// Image pixel height.
+ unsigned short height;
+ /// Bits per pixel.
+ unsigned short bpp;
+ /// Image format (e.g. bitmap, jpeg, etc.).
+ string format;
+ /// Scale factor for images, such as disparity maps, where the integer pixel value should be divided by this factor to get the real pixel value.
+ double fDiv;
+ /// Raw pixel data.
+ sequence<octet> pixels;
+ };
+
+ /*!
+ * @struct CameraInfo
+ * @brief Information about an image-producing device.
+ */
+ struct CameraInfo
+ {
+ /// Focal length (x, y) in metres.
+ Vector2D focalLength;
+ /// Principal point of the camera.
+ Point2D principalPoint;
+ /// Radial distortion coefficient 1.
+ double k1;
+ /// Radial distortion coefficient 2.
+ double k2;
+ /// Tangential distortion coefficient 1.
+ double p1;
+ /// Tangential distortion coefficient 2.
+ double p2;
+ };
+
+ //------------------------------------------------------------
+ // Fiducial
+ //------------------------------------------------------------
+
+ /*!
+ * @struct FiducialInfo
+ * @brief Information about a single fiducial.
+ */
+ struct FiducialInfo
+ {
+ /// Identification number.
+ unsigned long id;
+ /// Detected pose.
+ Pose3D pose;
+ /// Uncertainty in the pose.
+ Pose3D poseUncertainty;
+ /// Detected size.
+ Size3D size;
+ /// Uncertainty in the size.
+ Size3D sizeUncertainty;
+ };
+
+ /*!
+ * @typedef FiducialInfoList
+ */
+ typedef sequence<FiducialInfo> FiducialInfoList;
+
+ /*!
+ * @struct Fiducials
+ * @brief Time-stamped list of detected fiducials.
+ */
+ struct Fiducials
+ {
+ /// Time stamp.
+ Time tm;
+ /// List of detected fiducials.
+ FiducialInfoList fiducialsList;
+ };
+
+ /*!
+ * @struct FiducialFOV
+ * @brief Field of view of a fiducial tracker.
+ */
+ struct FiducialFOV
+ {
+ /// Minimum range in metres at which fiducials can be detected.
+ double minRange;
+ /// Maximum range in metres at which fiducials can be detected.
+ double maxRange;
+ /// Receptive angle in radians of the sensor (centred about the forward direction).
+ double viewAngle;
+ };
+
+ //------------------------------------------------------------
+ // GPS
+ //------------------------------------------------------------
+
+ /*!
+ * @struct GPSTime
+ * @brief Time since epoch as reported by a GPS device.
+ */
+ struct GPSTime
+ {
+ /// Seconds value.
+ unsigned long sec;
+ /// Microseconds value.
+ unsigned long msec;
+ };
+
+ /*!
+ * @enum GPSFixType
+ */
+ enum GPSFixType {GPS_FIX_NONE,
+ GPS_FIX_NORMAL,
+ GPS_FIX_DGPS};
+
+ /*!
+ * @struct GPSData
+ * @brief Data as returned by a common GPS device.
+ */
+ struct GPSData
+ {
+ /// Time stamp.
+ Time tm;
+ /// GPS time, according to the device.
+ GPSTime timeFromGPS;
+ /// Latitude in degrees.
+ double latitude;
+ /// Longitude in degrees.
+ double longitude;
+ /// Altitude above the ellisoid in metres.
+ double altitude;
+ /// One standard deviation in the horizontal position error, in metres.
+ double horizontalError;
+ /// One standard deviation in the vertical position error, in metres.
+ double verticalError;
+ /// Estimated heading from true north in radians.
+ double heading;
+ /// Estimated horizontal speed in metres per second.
+ double horizontalSpeed;
+ /// Estimated vertical speed in metres per second.
+ double verticalSpeed;
+ /// Number of satellites in view.
+ unsigned short numSatellites;
+ /// The type of position fix this is.
+ GPSFixType fixType;
+ };
+
+ //------------------------------------------------------------
+ // Gripper
+ //------------------------------------------------------------
+
+ /*!
+ * @enum GripperStatus
+ * @brief Describes the status of a gripper.
+ */
+ enum GripperStatus {GRIPPER_STATE_OPEN,
+ GRIPPER_STATE_CLOSED,
+ GRIPPER_STATE_MOVING,
+ GRIPPER_STATE_UNKNOWN};
+
+ /*!
+ * @struct GripperState
+ * @brief State of a gripper.
+ */
+ struct GripperState
+ {
+ /// Time stamp.
+ Time tm;
+ /// Status of the gripper.
+ GripperStatus status;
+ };
+
+ /*!
+ * @struct GripperGeometry
+ * @brief Geometry of a gripper, including both the outside and inside sizes.
+ */
+ struct GripperGeometry
+ {
+ /// Geometry of the exterior of the gripper when open, in parent coordinate space.
+ Geometry3D exterior;
+ /// Geometry of the interior of the gripper when open, in gripper coordinate space.
+ Geometry3D interior;
+ };
+
+ //------------------------------------------------------------
+ // INS
+ //------------------------------------------------------------
+
+ /*!
+ * @struct INSData
+ * @brief Data returned by an inertial navigation system.
+ */
+ struct INSData
+ {
+ /// Time stamp.
+ Time tm;
+ /// Latitude in degrees.
+ double latitude;
+ /// Longitude in degrees.
+ double longitude;
+ /// Altitude in metres.
+ double altitude;
+ /// Height above mean sea level in metres.
+ double heightAMSL;
+ /// Velocity east/north/up.
+ Velocity3D velocityENU;
+ /// Orientation, where east is 0.
+ Orientation3D orientation;
+ };
+
+ //------------------------------------------------------------
+ // Limb
+ //------------------------------------------------------------
+
+ /*!
+ * @enum LimbStatus
+ */
+ enum LimbStatus {LIMB_STATUS_IDLE,
+ LIMB_STATUS_BRAKED,
+ LIMB_STATUS_MOVING,
+ LIMB_STATUS_OOR,
+ LIMB_STATUS_COLLISION};
+
+ /*!
+ * @struct LimbState
+ * @brief Time-stamped state of a limb.
+ */
+ struct LimbState
+ {
+ /// Time stamp.
+ Time tm;
+ /// Orientation, approach and position of the end-effector.
+ OAP oapMatrix;
+ /// Current status of the limb.
+ LimbStatus status;
+ };
+
+ //------------------------------------------------------------
+ // Localise
+ //------------------------------------------------------------
+
+ /*!
+ * @struct Hypothesis2D
+ * @brief A pose hypothesis in 2D space.
+ */
+ struct Hypothesis2D
+ {
+ /// Mean of the localisation hypothesis.
+ Pose2D mean;
+ /// Covariance matrix of the mean pose.
+ Covariance2D covariance;
+ /// Weight of this hypothesis for mixing.
+ double weight;
+ };
+
+ /*!
+ * @typedef Hypothesis2DList
+ */
+ typedef sequence<Hypothesis2D> Hypothesis2DList;
+
+ /*!
+ * @struct Hypotheses2D
+ * @brief Time-stamped list of localisation hypotheses in 2D space.
+ */
+ struct Hypotheses2D
+ {
+ /// Time stamp.
+ Time tm;
+ /// List of hypotheses.
+ Hypothesis2DList hypotheses;
+ };
+
+ /*!
+ * @struct Hypothesis3D
+ * @brief A pose hypothesis in 3D space.
+ */
+ struct Hypothesis3D
+ {
+ /// Mean of the localisation hypothesis.
+ Pose3D mean;
+ /// Covariance matrix of the mean pose.
+ Covariance3D covariance;
+ /// Weight of this hypothesis for mixing.
+ double weight;
+ };
+
+ /*!
+ * @typedef Hypothesis3DList
+ */
+ typedef sequence<Hypothesis3D> Hypothesis3DList;
+
+ /*!
+ * @struct Hypotheses3D
+ * @brief Time-stamped list of localisation hypotheses in 3D space.
+ */
+ struct Hypotheses3D
+ {
+ /// Time stamp.
+ Time tm;
+ /// List of hypotheses.
+ Hypothesis3DList hypotheses;
+ };
+
+ //------------------------------------------------------------
+ // Map
+ //------------------------------------------------------------
+
+ /*!
+ * @struct OGMapConfig
+ * @brief Configuration of a occupancy-grip map.
+ */
+ struct OGMapConfig
+ {
+ /// Scale on the x axis (metres per cell).
+ double xScale;
+ /// Scale on the y axis (metres per cell).
+ double yScale;
+ /// Number of cells along the x axis.
+ unsigned long width;
+ /// Number of cells along the y axis.
+ unsigned long height;
+ /// Pose of the cell at (0, 0) in the real world.
+ Pose2D origin;
+ };
+
+ /*!
+ * @typedef OGMapCells
+ */
+ typedef sequence<octet> OGMapCells;
+
+ /*!
+ * @struct OGMapTile
+ * @brief A tile from an occupancy-grid map.
+ */
+ struct OGMapTile
+ {
+ /// X coordinate of the (0, 0) cell of this tile in the whole map.
+ unsigned long column;
+ /// Y coordinate of the (0, 0) cell of this tile in the whole map.
+ unsigned long row;
+ /// Number of cells along the x axis in this tile;
+ unsigned long width;
+ /// Number of cells along the y axis in this tile;
+ unsigned long height;
+ /// Tile cells in (row, column) order.
+ OGMapCells cells;
+ };
+
+ /*!
+ * @struct PointFeature
+ * @brief A size-less point feature.
+ */
+ struct PointFeature
+ {
+ /// Probability of the feature.
+ double probability;
+ /// Position of the feature.
+ Point2D position;
+ /// Covariance matrix of the position.
+ PointCovariance2D covariance;
+ };
+ /*!
+ * @typedef PointFeatureList
+ */
+ typedef sequence<PointFeature> PointFeatureList;
+
+ /*!
+ * @struct PoseFeature
+ * @brief A size-less point feature with orientation.
+ */
+ struct PoseFeature
+ {
+ /// Probability of the feature.
+ double probability;
+ /// Pose of the feature.
+ Pose2D position;
+ /// Covariance matrix of the pose.
+ Covariance2D covariance;
+ };
+ /*!
+ * @typedef PoseFeatureList
+ */
+ typedef sequence<PoseFeature> PoseFeatureList;
+
+ /*!
+ * @struct LineFeature
+ * @brief A line feature.
+ */
+ struct LineFeature
+ {
+ /// Probability of the feature.
+ double probability;
+ /// Length of the line vector in metres.
+ double rho;
+ /// Angle of the line vector from the x axis in radians.
+ double alpha;
+ /// Covariance matrix of rho and alpha.
+ PointCovariance2D covariance;
+ /// Start point of the line segment.
+ Point2D start;
+ /// End point of the line segment.
+ Point2D end;
+ /// True if the start point of the line has been sighted (i.e. it is inside seen space).
+ boolean startSighted;
+ /// True if the end point of the line has been sighted (i.e. it is inside seen space).
+ boolean endSighted;
+ };
+ /*!
+ * @typedef LineFeatureList
+ */
+ typedef sequence<LineFeature> LineFeatureList;
+
+ /*!
+ * @struct Features
+ * Set of features in a map.
+ */
+ struct Features
+ {
+ /// Time stamp.
+ Time tm;
+ /// Point features.
+ PointFeatureList pointFeatures;
+ /// Pose features.
+ PoseFeatureList poseFeatures;
+ /// Line features.
+ LineFeatureList lineFeatures;
+ };
+
+ //------------------------------------------------------------
+ // Multicamera
+ //------------------------------------------------------------
+
+ /*!
+ * @typedef MulticameraImageList
+ */
+ typedef sequence<CameraImage> MulticameraImageList;
+ /*!
+ * @struct MulticameraImages
+ * @brief Images from a set of cameras.
+ */
+ struct MultiCameraImages
+ {
+ /// Time stamp.
+ Time tm;
+ /// Image list.
+ MulticameraImageList images;
+ };
+
+ /*!
+ * @typedef MulticameraInfoList
+ */
+ typedef sequence<CameraInfo> MulticameraInfoList;
+
+ /*!
+ * @typedef MulticameraGeometryList
+ */
+ typedef sequence<Geometry3D> MulticameraGeometryList;
+
+ /*!
+ * @struct MulticameraGeometry
+ * @brief Geometry of a multi-camera system, such as a stereo camera.
+ */
+ struct MulticameraGeometry
+ {
+ /// Overall geometry of the camera system.
+ Geometry3D geometry;
+ /// Geometry of each camera.
+ MulticameraGeometryList cameraGeometries;
+ };
+
+ //------------------------------------------------------------
+ // Paths
+ //------------------------------------------------------------
+
+ /*!
+ * @struct Waypoint2D
+ * @brief A waypoint in 2D space, including constraints.
+ */
+ struct Waypoint2D
+ {
+ /// Location of the waypoint.
+ Pose2D target;
+ /// How far away from the waypoint is considered success (radius in metres).
+ double distanceTolerance;
+ /// How much off the target heading is considered success (in radians).
+ double headingTolerance;
+ /// Target time to arrive at the waypoint by.
+ Time timeLimit;
+ /// Maximum sped to travel at while heading to the waypoint.
+ Velocity2D maxSpeed;
+ };
+
+ /*!
+ * @typedef Waypoint2DList
+ */
+ typedef sequence<Waypoint2D> Waypoint2DList;
+
+ /*!
+ * @struct Path2D
+ * @brief A time-stamped path in 2D space.
+ */
+ struct Path2D
+ {
+ /// Time stamp.
+ Time tm;
+ /// The sequence of waypoints that make up the path.
+ Waypoint2DList waypoints;
+ };
+
+ /*!
+ * @struct Waypoint3D
+ * @brief A waypoint in 3D space, including constraints.
+ */
+ struct Waypoint3D
+ {
+ /// Location of the waypoint.
+ Pose3D target;
+ /// How far away from the waypoint is considered success (radius in metres).
+ double distanceTolerance;
+ /// How much off the target heading is considered success (in radians).
+ double headingTolerance;
+ /// Target time to arrive at the waypoint by.
+ Time timeLimit;
+ /// Maximum sped to travel at while heading to the waypoint.
+ Velocity3D maxSpeed;
+ };
+
+ /*!
+ * @typedef Waypoint3DList
+ */
+ typedef sequence<Waypoint3D> Waypoint3DList;
+
+ /*!
+ * @struct Path3D
+ * @brief A time-stamped path in 3D space.
+ */
+ struct Path3D
+ {
+ /// Time stamp.
+ Time tm;
+ /// The sequence of waypoints that make up the path.
+ Waypoint3DList waypoints;
+ };
+
+ //------------------------------------------------------------
+ // PointCloud
+ //------------------------------------------------------------
+
+ /*!
+ * @struct PointCloudPoint
+ * @brief A point in a point cloud.
+ */
+ struct PointCloudPoint
+ {
+ /// The position of the point.
+ Point3D point;
+ /// The colour of the point, if any.
+ RGBColour colour;
+ };
+
+ /*!
+ * @typedef PointCloudPointList
+ */
+ typedef sequence<PointCloudPoint> PointCloudPointList;
+
+ /*!
+ * @struct PointCloud
+ * @brief A cloud of points in 3D space.
+ */
+ struct PointCloud
+ {
+ /// Time stamp.
+ Time tm;
+ /// The points in the cloud.
+ PointCloudPointList points;
+ };
+
+ //------------------------------------------------------------
+ // PanTilt
+ //------------------------------------------------------------
+
+ /*!
+ * @struct PanTiltAngles
+ * @brief Pan and tilt values of a pan-tilt unit.
+ */
+ struct PanTiltAngles
+ {
+ /// Time stamp.
+ Time tm;
+ /// Pan value in radians.
+ double pan;
+ /// Tilt value in radians.
+ double tilt;
+ };
+
+ /*!
+ * @struct PanTiltState
+ * @brief Status of a pan-tilt unit.
+ */
+ struct PanTiltState
+ {
+ /// Time stamp.
+ Time tm;
+ /// Pan and tilt angles.
+ PanTiltAngles angles;
+ /// Speed at which the pan-tilt unit is changing its pan angle in radians per second.
+ double panSpeed;
+ /// Speed at which the pan-tilt unit is changing its tilt angle in radians per second.
+ double tiltSpeed;
+ };
+
+ //------------------------------------------------------------
+ // Ranger
+ //------------------------------------------------------------
+
+ /*!
+ * @typedef ElementGeometryList
+ */
+ typedef sequence<Geometry3D> ElementGeometryList;
+
+ /*!
+ * @struct RangerGeometry
+ * @brief Geometry of a ranger device. A range sensor may be a single device returning multiple
+ * ranges (such as a laser scanner), or an array of sensing elements each returning a single
+ * range value (such as an array of sonar sensors). If there is only one sensing element in the
+ * device, the device should be considered a laser scanner type. If there are multiple
+ * elements, the device should be considered an array of single-range-value sensors.
+ */
+ struct RangerGeometry
+ {
+ /// Overall geometry of the ranger device, such as the centroid of an array of sonar sensors.
+ Geometry3D geometry;
+ /// Geometry of each individual sensing element. The range values should be considered
+ /// measured from each of these.
+ ElementGeometryList elementGeometries;
+ };
+
+ /*!
+ * @struct RangerConfig
+ * @brief The configuration of a ranger device.
+ */
+ struct RangerConfig
+ {
+ /// Minimum scannable angle in radians.
+ double minAngle;
+ /// Maximum scannable angle in radians.
+ double maxAngle;
+ /// Angular resolution in radians.
+ double angularRes;
+ /// Minimum scannable range in metres.
+ double minRange;
+ /// Maximum scannable range in metres.
+ double maxRange;
+ /// Range resolution in metres.
+ double rangeRes;
+ /// Scanning frequency in Hertz.
+ double frequency;
+ };
+
+ /*!
+ * @typedef RangeList
+ */
+ typedef sequence<double> RangeList;
+
+ /*!
+ * @struct RangeData
+ * @brief Range readings from a range sensor.
+ */
+ struct RangeData
+ {
+ /// Time stamp.
+ Time tm;
+ /// Range values in metres.
+ RangeList ranges;
+ /// Geometry of the ranger at the time the scan data was measured.
+ RangerGeometry geometry;
+ /// Configuration of the ranger at the time the scan data was measured.
+ RangerConfig config;
+ };
+
+ /*!
+ * @typedef IntensityList
+ */
+ typedef sequence<double> IntensityList;
+
+ /*!
+ * @struct IntensityData
+ * @brief Intensity readings from a range sensor.
+ */
+ struct IntensityData
+ {
+ /// Time stamp.
+ Time tm;
+ /// Intensity values normalised to between 0 and 1.
+ IntensityList intensities;
+ /// Geometry of the ranger at the time the scan data was measured.
+ RangerGeometry geometry;
+ /// Configuration of the ranger at the time the scan data was measured.
+ RangerConfig config;
+ };
+
+ //------------------------------------------------------------
+ // RFID
+ //------------------------------------------------------------
+
+ /*!
+ * @typedef RFIDTagData
+ */
+ typedef sequence<octet> RFIDTagData;
+};
+
+#endif // InterfaceDataTypes_idl
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idlcompile.bat
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idlcompile.bat (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idlcompile.bat 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,10 @@
+echo off
+setlocal
+for %%I in (python.exe) do if exist %%~$path:I set f=%%~$path:I
+if exist %f% do (
+ %f:python.exe=%omniidl.exe -bpython -I"%RTM_ROOT%rtm\idl" -I"/usr/include/openrtm-1.1/rtm/idl" idl/CalibrationService.idl
+) else do (
+ echo "python.exe" can not be found.
+ echo Please modify PATH environmental variable for python command.
+)
+endlocal
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idlcompile.sh
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idlcompile.sh (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/idlcompile.sh 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,2 @@
+#!/bin/sh
+omniidl -bpython -I"%RTM_ROOT%rtm\idl" -I"/usr/include/openrtm-1.1/rtm/idl" idl/CalibrationService.idl
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/CMakeLists.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/CMakeLists.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,4 @@
+add_subdirectory(TkCalibGUI)
+
+MAP_ADD_STR(hdrs "${PROJECT_NAME}/" headers)
+set(headers ${headers} PARENT_SCOPE)
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/TkCalibGUI/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/TkCalibGUI/CMakeLists.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/include/TkCalibGUI/CMakeLists.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,7 @@
+set(hdrs TkCalibGUI.h
+ PARENT_SCOPE
+ )
+
+install(FILES ${hdrs} DESTINATION ${INC_INSTALL_DIR}/${PROJECT_NAME_LOWER}
+ COMPONENT library)
+
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/rtc.conf
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/rtc.conf (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/rtc.conf 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,437 @@
+#------------------------------------------------------------
+# RT-Component manager configuration
+#
+# See details in the following reference manual or web page.
+# http://www.openrtm.org/openrtm/en/content/configuration
+# http://www.openrtm.org/openrtm/ja/content/rtcconf%E8%A8%AD%E5%AE%9A%E9%A0%85%E7%9B%AE%E4%B8%80%E8%A6%A7
+# http://www.openrtm.org/openrtm/ko/content/rtcconf-%EC%84%A4%EC%A0%95-%ED%95%AD%EB%AA%A9-%EC%9D%BC%EB%9E%8C
+#
+
+#------------------------------------------------------------
+# Typically used configuration parameters
+#
+# corba.name_servers: localhost, 192.168.0.1
+# corba.endpoints: <interface addess>, <interface addess>
+# logger.enable: YES
+# logger.file_name: ./rtc%p.log
+# logger.log_level: NORMAL
+#
+# The following properties should be specified in component specific
+# configuration files.
+# exec_cxt.periodic.type: PeriodicExecutionContext
+# exec_cxt.periodic.rate: 1000
+
+# Component specific configruation files:
+# If you want to load component specific configuration file, please
+# uncomment the following line.
+#
+# Category.TkCalibGUI.config_file: TkCalibGUI.conf
+# or
+# Category.TkCalibGUI0.config_file: TkCalibGUI0.conf
+# Category.TkCalibGUI1.config_file: TkCalibGUI1.conf
+# Category.TkCalibGUI2.config_file: TkCalibGUI2.conf
+#
+#------------------------------------------------------------
+
+Category.TkCalibGUI.config_file: TkCalibGUI.conf
+
+#
+# Please delete the following part if you are familiar with OpenRTM's
+# configuration parameters.
+#
+##----------------------------------------------------------------------
+##
+## RT-Component manager configurations
+##
+##----------------------------------------------------------------------
+
+##------------------------------------------------------------
+## Configuration version (optional)
+##
+# config.version: 1.0
+
+##------------------------------------------------------------
+## OpenRTM-aist version (optional)
+##
+# openrtm.version: 1.0.0
+
+##------------------------------------------------------------
+## The name of manager (default = manager)
+##
+# manager.name: manager
+
+##------------------------------------------------------------
+## Master manager
+## - manager.is_master: YES/NO, This process made a master or not.
+## - manager.corba_servant: YES/NO, create manager's corba service or not
+## - corba.master_manager: <host_name>:<port>, master manager's location
+# manager.is_master: YES
+# manager.corba_servant: YES
+# corba.master_manager: localhost:2810
+
+##------------------------------------------------------------
+## Manager auto shutdown options
+## - manager.shutdown_on_nortcs: YES/NO,
+## process will be shutdown in case no rtc exists when rtc is deleted.
+## - manager.shutdown_auto:
+## process will be shutdown in case no rtc exists on periodic check.
+# manager.shutdown_on_nortcs: YES
+# manager.shutdown_auto: YES
+# manager.auto_shutdown_duration: 10.0
+
+##============================================================
+## CORBA configuration
+##============================================================
+##
+## CORBA ORB's arguments
+##
+## ORB specific command line options given to ORB_init().
+## See your ORB documentation.
+##
+## Example:
+## corba.args: -ORBInitialHost myhost -ORBInitialPort 8888
+##
+##
+# corba.args:
+
+##
+## ORB endpoint
+##
+## If you have two or more network interfaces, ORB endpoint address and/or
+## port have to be specified. If hostname or port number is abbreviated,
+## default interface or port number is used. At least one colon ':'
+## is needed when you specify this option.
+##
+## Examples:
+## corba.endpoint: myhost: (use myhost and default port)
+## corba.endpoint: :9876 (use default addr and port 9876)
+## corba.endpoint: myhost:9876 (use myhost and port 9876)
+##
+# corba.endpoint:
+
+##
+## Multiple endpoint options (experimental)
+##
+## Multiple endpoint addresses and ports can be specified using this option.
+##
+## Example:
+## corba.endpoints: 192.168.1.10:1111, 192.168.10.11:2222
+## corba.endpoints: 192.168.1.10, 192.168.10.11
+## corba.endpoints: all
+##
+# corba.endpoints:
+
+
+##
+## CORBA name server setting
+##
+## Multiple name servers can be specified separating by comma.
+## If port number is abbreviated, default port number is used.
+## The default port number is depend on ORB implementation.
+##
+## Examples:
+## corba.nameservers: openrtm.aist.go.jp:9876
+## corba.nameservers: rtm0.aist.go.jp, rtm1.aist.go.jp, rtm2.aist.go.jp
+##
+# corba.nameservers: localhost
+
+##
+## IOR host address replacement by guessed endpoint from routing (experimental)
+##
+## This option replaces a host address with an endpoint that is guessed
+## by route information to nameserver's address. This option may be
+## effective for CORBA implementation that does not supports IOR's
+## multiple profile or alternate IIOP address. However, since other
+## object references that are obtained from RT-Components or other are
+## not modified by this rule, other RTCs that are connected to this RTC
+## have to also support IOR multiple profile feature. When this option
+## is used, corba.endpoints option should also be specified with
+## multiple endpoints.
+##
+# corba.nameservice.replace_endpoint: NO
+
+##
+## IOR alternate IIOP addresses
+##
+## This option adds alternate IIOP addresses into the IOR Profiles.
+## IOR can include additional endpoints for a servant. It is almost
+## same as "corba.endpoints" option, but this option does not create
+## actual endpoint on the ORB. (corba.endpoints try to create actual
+## endpoint, and if it cannot be created, error will be returned.)
+## This option just add alternate IIOP endpoint address information to
+## an IOR.
+##
+## This option can be used when RTCs are located inside of NAT or
+## router. Generally speaking, RTCs in a private network cannot
+## connect to RTCs in the global network, because global client cannot
+## reach to private servants. However, if route (or NAT) is properly
+## configured for port forwarding, global RTCs can reach to RTCs in
+## private network.
+##
+## A setting example is as follows.
+## 1) Configure your router properly for port-forwarding.
+## ex. global 2810 port is forwarded to private 2810
+## 2) Set the following options in rtc.conf
+## corba.nameservers: my.global.nameserver.com <- name server in global network
+## corba.endpoints: :2810 <- actual port number
+## corba.additional_ior_addresses: w.x.y.z:2810 <- routers global IP addr/port
+## 3) Launch global RTCs and private RTC, and connect them.
+##
+# corba.alternate_iiop_addresses: addr:port
+
+##============================================================
+## Naming configurations
+##============================================================
+##
+## Enable/Disable naming functions
+##
+# naming.enable: YES
+
+##
+## Naming Types
+##
+## Now only "corba" is supported.
+##
+# naming.type: corba
+
+##
+## Naming format
+##
+## The name format of components that is bound to naming services.
+## The delimiter between names is "/".
+## The delimiter between name and kind is ".".
+##
+## example: (OpenRTM-aist-0.2.0 style)
+## %h.host_cxt/%M.mgr_cxt/%c.cat_cxt/%m.mod_cxt/%n.rtc
+## This is formatted according to the following replacement rules.
+##
+## %n: The instance name of the component.
+## %t: The type name of the component.
+## %m: The module name of the component.
+## %v: The version of the component.
+## %V: The component vendor.
+## %c: The category of the component.
+## %h: The hostname.
+## %M: The manager name.
+## %p: PID of the manager.
+##
+# naming.formats: %h.host/%n.rtc
+
+##
+## Auto update to Naming Server
+##
+# naming.update.enable: YES
+##
+## Update interval [s] for auto update
+##
+# naming.update.interval: 10.0
+##
+## Rebind references in auto update
+##
+# naming.update.rebind: NO
+
+## End of Naming configuration section
+##------------------------------------------------------------
+
+##============================================================
+## Module management
+##============================================================
+##
+## Loadable module search path list
+##
+## Manager searches loadable modules from the specified search path list.
+## Path list elements should be separated by comma.
+## Path delimiter is '/' on UNIX, and '\\' on Windows
+## Valid path examples:
+## manager.modules.load_path: C:/Program Files/OpenRTM-aist, \
+## C:\\Program Files\\OpenRTM-aist
+## manager.modules.load_path: /usr/lib, /usr/local/lib, \
+## /usr/local/lib/OpenRTM-aist/libs
+##
+# manager.modules.load_path: ./
+
+##
+## Preload module list
+##
+## Manager can load loadable modules before starting up.
+## Loadable modules, which is specified only as its file name, is searched
+## in each module load path specified in the "manager.modules.load_path".
+## If the "manager.modules.abs_path_allowed" option is YES, loadable file
+## can be specified as full-path name,
+##
+## Valid settings:
+## manager.modules.preload: ConsoleIn.dll, ConsoleOut.dll
+## manager.modules.preload: ConsoleIn.so, ConsoleOut.so
+## manager.modules.abs_path_allowed: YES
+## manager.modules.preload: /usr/lib/OpenRTM-aist/ConsoleIn.so
+##
+# manager.modules.preload:
+
+##
+## Permission flag of absolute module path
+##
+## If this option is "YES", absolute path specification for module is allowed.
+##
+# manager.modules.abs_path_allowed: YES
+
+##
+## The following options are not implemented yet.
+##
+## manager.modules.config_ext:
+## manager.modules.config_path:
+## manager.modules.detect_loadable:
+## manager.modules.init_func_suffix:
+## manager.modules.init_func_prefix:
+## manager.modules.download_allowed:
+## manager.modules.download_dir:
+## manager.modules.download_cleanup:
+##
+
+##
+## Advance component creation
+##
+## This option specifies components' names (module name) creating in advance
+## before starting the manager's event-loop. The components' factories should
+## be registered by manager.module.preload option or statically linked to the
+## manager.
+##
+## Example:
+## manager.components.precreate: ConsoleIn, ConsoleOut, SeqIn, SeqOut
+##
+# manager.components.precreate:
+
+
+##============================================================
+## Logger configurations
+##============================================================
+##
+## Enable/Disable logger [YES/NO]
+# logger.enable: YES
+
+##
+## Log file name (default = ./rtc%p.log)
+##
+## %p: PID
+##
+# logger.file_name: ./rtc%p.log
+
+##
+## Log date format (default = %b %d %H:%M:%S)
+##
+## The following strftime(3) like format expression is available.
+## If no prefix is needed, use "No" or "Disable".
+##
+## %a abbreviated weekday name
+## %A full weekday name
+## %b abbreviated month name
+## %B full month name
+## %c the standard date and time string
+## %d day of the month, as a number (1-31)
+## %H hour, 24 hour format (0-23)
+## %I hour, 12 hour format (1-12)
+## %j day of the year, as a number (1-366)
+## %m month as a number (1-12).
+## Note: some versions of Microsoft Visual C++ may use values that range
+## from 0-11.
+## %M minute as a number (0-59)
+## %p locale's equivalent of AM or PM
+## %Q millisecond as a number (0-999) from ver 1.1
+## %q microsecond as a number (0-999) from ver 1.1
+## %S second as a number (0-59)
+## %U week of the year, sunday as the first day
+## %w weekday as a decimal (0-6, sunday=0)
+## %W week of the year, monday as the first day
+## %x standard date string
+## %X standard time string
+## %y year in decimal, without the century (0-99)
+## %Y year in decimal, with the century
+## %Z time zone name
+## %% a percent sign
+##
+##
+## logger.date_format: No
+## logger.date_format: Disable
+## logger.date_format: [%Y-%m-%dT%H.%M.%S%Z] // W3C standard format
+## logger.date_format: [%b %d %H:%M:%S] // Syslog format
+## logger.date_format: [%a %b %d %Y %H:%M:%S %Z] // RFC2822 format
+## logger.date_format: [%a %b %d %H:%M:%S %Z %Y] // data command format
+## logger.date_format: [%Y-%m-%d %H.%M.%S]
+##
+# logger.date_format: %b %d %H:%M:%S
+
+##
+## Log level (default = NORMAL)
+##
+## The following LogLevels are allowed.
+## SILENT, ERROR, WARN, NORMAL, INFO, DEBUG, TRACE, VERBOSE, PARANOID
+##
+##
+## SILENT : completely silent
+## ERROR : includes (ERROR)
+## WARN : includes (ERROR, WARN)
+## INFO : includes (ERROR, WARN, INFO)
+## NORMAL : includes (ERROR, WARN, INFO, NORMAL)
+## DEBUG : includes (ERROR, WARN, INFO, NORMAL, DEBUG)
+## TRACE : includes (ERROR, WARN, INFO, NORMAL, DEBUG, TRACE)
+## VERBOSE : includes (ERROR, WARN, INFO, NORMAL, DEBUG, TRACE, VERBOSE)
+## PARANOID: includes (ERROR, WARN, INFO, NORMAL, DEBUG, TRACE, VERBOSE, PARA)
+##
+## Warning!!!
+## "TRACE", "VERBOSE", "PARANOID" logging level will create a huge log file!!
+## "PARANOID" log level will tangle the log file.
+##
+# logger.log_level: NORMAL
+
+##============================================================
+## Timer configuration
+##============================================================
+##
+## Enable/disable timer function
+##
+# timer.enable: YES
+
+##
+## Timer clock tick setting [s]
+##
+# timer.tick: 0.1
+
+##============================================================
+## Execution context settings
+##============================================================
+##
+## Periodic type ExecutionContext
+##
+## Other availabilities in OpenRTM-aist
+##
+## - ExtTrigExecutionContext: External triggered EC. It is embedded in
+## OpenRTM library.
+## - OpenHRPExecutionContext: External triggred paralell execution
+## EC. It is embedded in OpenRTM
+## library. This is usually used with
+## OpenHRP3.
+## - RTPreemptEC: Real-time execution context for Linux
+## RT-preemptive pathed kernel.
+## - ArtExecutionContext: Real-time execution context for ARTLinux
+## (http://sourceforge.net/projects/art-linux/)
+##
+# exec_cxt.periodic.type: PeriodicExecutionContext
+
+##
+## The execution cycle of ExecutionContext
+##
+# exec_cxt.periodic.rate: 1000
+
+##============================================================
+## SDO service settings
+##============================================================
+##
+## SDO service provider settings
+##
+# sdo.service.provider.available_services: [read only]
+# sdo.service.provider.enabled_services: ALL
+# sdo.service.provider.providing_services: [read only]
+##
+## SDO service consumer settings
+##
+# sdo.service.consumer.available_services: [read only]
+# sdo.service.consumer.enabled_services: ALL
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/src/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/src/CMakeLists.txt (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/src/CMakeLists.txt 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,57 @@
+set(comp_srcs TkCalibGUI.cpp )
+set(standalone_srcs TkCalibGUIComp.cpp)
+
+if (DEFINED OPENRTM_INCLUDE_DIRS)
+ string(REGEX REPLACE "-I" ";"
+ OPENRTM_INCLUDE_DIRS "${OPENRTM_INCLUDE_DIRS}")
+ string(REGEX REPLACE " ;" ";"
+ OPENRTM_INCLUDE_DIRS "${OPENRTM_INCLUDE_DIRS}")
+endif (DEFINED OPENRTM_INCLUDE_DIRS)
+
+if (DEFINED OPENRTM_LIBRARY_DIRS)
+ string(REGEX REPLACE "-L" ";"
+ OPENRTM_LIBRARY_DIRS "${OPENRTM_LIBRARY_DIRS}")
+ string(REGEX REPLACE " ;" ";"
+ OPENRTM_LIBRARY_DIRS "${OPENRTM_LIBRARY_DIRS}")
+endif (DEFINED OPENRTM_LIBRARY_DIRS)
+
+if (DEFINED OPENRTM_LIBRARIES)
+ string(REGEX REPLACE "-l" ";"
+ OPENRTM_LIBRARIES "${OPENRTM_LIBRARIES}")
+ string(REGEX REPLACE " ;" ";"
+ OPENRTM_LIBRARIES "${OPENRTM_LIBRARIES}")
+endif (DEFINED OPENRTM_LIBRARIES)
+
+include_directories(${PROJECT_SOURCE_DIR}/include)
+include_directories(${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME})
+include_directories(${PROJECT_BINARY_DIR})
+include_directories(${PROJECT_BINARY_DIR}/idl)
+include_directories(${OPENRTM_INCLUDE_DIRS})
+include_directories(${OMNIORB_INCLUDE_DIRS})
+add_definitions(${OPENRTM_CFLAGS})
+add_definitions(${OMNIORB_CFLAGS})
+
+MAP_ADD_STR(comp_hdrs "../" comp_headers)
+
+link_directories(${OPENRTM_LIBRARY_DIRS})
+link_directories(${OMNIORB_LIBRARY_DIRS})
+
+add_library(${PROJECT_NAME} ${LIB_TYPE} ${comp_srcs}
+ ${comp_headers} ${ALL_IDL_SRCS})
+set_target_properties(${PROJECT_NAME} PROPERTIES PREFIX "")
+set_source_files_properties(${ALL_IDL_SRCS} PROPERTIES GENERATED 1)
+add_dependencies(${PROJECT_NAME} ALL_IDL_TGT)
+target_link_libraries(${PROJECT_NAME} ${OPENRTM_LIBRARIES})
+
+add_executable(${PROJECT_NAME}Comp ${standalone_srcs}
+ ${comp_srcs} ${comp_headers} ${ALL_IDL_SRCS})
+target_link_libraries(${PROJECT_NAME}Comp ${OPENRTM_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}Comp
+ EXPORT ${PROJECT_NAME}
+ RUNTIME DESTINATION ${BIN_INSTALL_DIR} COMPONENT component
+ LIBRARY DESTINATION ${LIB_INSTALL_DIR} COMPONENT component
+ ARCHIVE DESTINATION ${LIB_INSTALL_DIR} COMPONENT component)
+install(EXPORT ${PROJECT_NAME}
+ DESTINATION ${LIB_INSTALL_DIR}/${PROJECT_NAME}
+ FILE ${PROJECT_NAME}Depends.cmake)
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/tkcalibgui.py
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/tkcalibgui.py (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/tkcalibgui.py 2014-03-18 02:46:05 UTC (rev 133)
@@ -0,0 +1,1358 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# -*- Python -*-
+
+"""
+ @file tkcalibgui.py
+ @brief calibration gui
+ @date $Date$
+
+
+"""
+from Tkinter import *
+import ttk
+from PIL import Image, ImageTk
+import time
+import sys
+import os.path
+from cv2.cv import *
+from io import BytesIO
+from StringIO import StringIO
+from rtshell import rtcat, rtcon
+from threading import Thread
+
+WIN_DEFAULT_CAMERA = {
+ "DirectShowCamComp" : ":m_FIN_OUTPORT",
+ "OpenCVCameraComp" : ":out",
+ "PGRCameraComp" : ":outputImage"
+ }
+LINUX_DEFAULT_CAMERA = {
+ "OpenCVCameraComp" : ":out",
+ "PGRCameraComp" : ":outputImage"
+ }
+GUI_COMP = "TkCalibGUI"
+CALIB_COMP = "ImageCalibration"
+
+class TkCalibGUI(Frame):
+ def __init__(self, width=640, height=480, master=None):
+ Frame.__init__(self, master)
+ self.img_w = width
+ self.img_h = height
+ self.window_w = 1050
+ self.window_h = 550
+ self.frame_w = self.window_w - self.img_w - 50
+ self.prev_time = 0.0
+ self.curr_time = 0.0
+ self.fps = 0.0
+ self.pic_num = 5 # 保存画像枚数
+ self.buttons = [] # 保存・確認・取消ボタン
+ self.save_btn_state = [] # 保存ボタンの状態保存用
+ self.view_flg = True # カメラ画像を表示する
+ self.comp_all_found = False
+
+ self.result_mes = StringVar()
+ self.result_mes.set("")
+
+ # for image processing
+ self.flip_tb = False # Flip the image vertically (top to bottom).
+ self.flip_lr = False # Flip image horizontally (left to right).
+ self.invert = False # Invert (negate) the image.
+ self.print_fps = True
+
+ self.option_add('*font', '* 11')
+ self.option_add('*LabelFrame.font', '* 11')
+ self.option_add('*Button.font', '* 11')
+
+ self.init(master)
+
+ def init(self, master):
+ self.check_lang()
+ self.check_camera_comp()
+ # Top level frame
+ self.master.minsize(self.window_w, self.window_h)
+ self.master.title(self.msg1)
+ self.fr = Frame(master, width=self.frame_w).pack()
+ self.set_top_message()
+ # left pane
+ self.create_left()
+ # right top pane
+ self.create_right()
+ return
+
+ def check_lang(self):
+ import locale
+ loc = locale.setlocale(locale.LC_ALL, "")
+ if "ja_JP" or "Japanese_Japan" in loc:
+ self.msg1 = "カメラキャリブレーション"
+ self.msg2 = "＊チェッカーパターンを異なる姿勢で{0}枚撮影（保存ボタン押下）して下さい" .format(self.pic_num)
+ self.msg3 = "保存"
+ self.msg4 = "確認"
+ self.msg5 = "取消し"
+ self.msg6 = "カメラ映像表示"
+ self.msg7 = "結果表示"
+ self.msg8 = "結果保存"
+ self.msg9 = "枚目"
+ self.msg10 = "カメラコンポーネント"
+ self.msg11 = "RTSystemEditorで手動にてコンポーネントを接続して下さい"
+ self.err_msg1 = "保存画像のいずれかが不鮮明で、結果を算出できません"
+ self.err_msg2 = u"コンポーネントが見つかりません"
+ self.err_msg3 = "自動接続できませんでした"
+ else:
+ self.msg1 = "Camera Calibration"
+ self.msg2 = "* Please press the save button in {0} different poses the checkered pattern." .format(self.pic_num)
+ self.msg3 = "Save"
+ self.msg4 = "Check"
+ self.msg5 = "Cancel"
+ self.msg6 = "View Camera Image"
+ self.msg7 = "View Results"
+ self.msg8 = "Save Results"
+ self.msg9 = "piece"
+ self.msg10 = "Camera component"
+ self.msg11 = "Connect the component manually in RTSystemEditor."
+ self.err_msg1 = "One of the stored image is blurry, you can not calculate the result."
+ self.err_msg2 = "Component not found."
+ self.err_msg3 = "Could not automatically connect."
+ return
+
+ # check build camera component
+ def check_camera_comp(self):
+ camera_list = self.get_avail_camera_list()
+ self.select_camera_list = self.get_comp_path(camera_list)
+
+ def get_comp_path(self, comp_name):
+ import platform
+ os_name = platform.system()
+ path_list = self.get_search_path()
+ comp_path = {}
+ for i in range(len(comp_name)):
+ for j in range(len(path_list)):
+ path = path_list[j] + comp_name[i]
+ if os_name == "Windows":
+ path += ".exe"
+ if os.path.isfile(path):
+ print "find path = {0}".format(path)
+ base, ext = os.path.splitext(comp_name[i])
+ # basename : path
+ comp_path[base] = path_list[j]
+ break
+ if len(comp_path) == 0:
+ comp_path[self.err_msg2] = ""
+ return comp_path
+
+ def create_left(self):
+ self.frameL_base = Frame(self.fr, width=self.frame_w)
+ self.frameL_base.pack(side = LEFT, padx=3, fill=Y)
+ logo = Image.open(BytesIO(RTMLogo().get_image()))
+ self.cam_img = ImageTk.PhotoImage(logo)
+ self.cam_img_label = Label(self.frameL_base, image=self.cam_img)
+ self.cam_img_label.pack(side = TOP)
+ self.create_flip_button(self.frameL_base)
+
+ def create_right(self):
+ self.frameR_base = Frame(self.fr, width=self.frame_w)
+ self.frameR_base.pack(side = LEFT, padx=3, fill=Y)
+ self.create_camera_combo(self.frameR_base)
+
+ # left pane
+ def create_flip_button(self, frame):
+ fr = LabelFrame(frame, text="Flip image",
+ relief=GROOVE, bd=2)
+ fr.pack(fill=Y, pady=3, ipadx=3, ipady=3)
+ b0 = Button(fr, text="Flip (top to bottom)",
+ state = DISABLED, width=20,
+ command = self.flip_top_bottom)
+ b0.grid(column=1, row=1, padx=3)
+ b1 = Button(fr, text="Flip (left to right)",
+ state = DISABLED, width=20,
+ command = self.flip_left_right)
+ b1.grid(column=2, row=1, padx=3)
+ self.flip_button = {'tb': b0, 'lr': b1}
+
+ def flip_top_bottom(self):
+ tmp = self.flip_tb
+ self.flip_tb = not tmp
+
+ def flip_left_right(self):
+ tmp = self.flip_lr
+ self.flip_lr = not tmp
+
+ # right pane (1)
+ def create_camera_combo(self, frame):
+ self.fix1 = LabelFrame(frame, text="Select Camera",
+ relief=GROOVE, bd=2)
+ self.fix1.pack(fill=X, ipadx=3, ipady=3)
+ lb = Label(self.fix1, text=self.msg10)
+ lb.grid(column=0, row=0, padx=3)
+ self.box = ttk.Combobox(self.fix1, values=self.select_camera_list.keys(), state='readonly',
+ width=30, height=2)
+ self.box.grid(column=1, row=0, padx=3, pady=3)
+ self.box.bind("<<ComboboxSelected>>", self.change_camera)
+ self.comp_btn = Button(self.fix1, text="OK", state = DISABLED,
+ command = self.camera_selected)
+ self.comp_btn.grid(column = 2, row = 0)
+
+ # [callback] camera select button
+ def camera_selected(self):
+ self.comp_btn.config(state = DISABLED)
+ if self.comp_all_found:
+ # automatically connect the components
+ ret = self.connect_components_auto()
+ if not ret:
+ self.connect_components_manually()
+ self.comp_all_found = False
+ else:
+ # manually connect the components
+ self.connect_components_manually()
+
+ # right pane (2)
+ fr = Frame(self.frameR_base, width=self.frame_w)
+ fr.pack(ipadx=3, ipady=3, fill=X)
+ self.create_state_transition_button(fr)
+ # right pane (3)
+ self.frameR_var = Frame(self.frameR_base, width=self.frame_w)
+ self.frameR_var.pack(fill=X)
+ self.create_capture_button(self.frameR_var)
+ # right pane (4)
+ self.create_result_view(self.frameR_var)
+ self.on_update(self.tree)
+
+ # right top pane (2)
+ def create_state_transition_button(self, frame):
+ import platform
+ os_name = platform.system()
+
+ fr = LabelFrame(frame, text="Component", labelanchor=NW,
+ relief=GROOVE, bd=2)
+ fr.pack(fill=X, ipadx=3, ipady=3)
+
+ if self.comp_all_found:
+ # all
+ act_state = "All Activate"
+ deact_state = "All Deactivate"
+ exit_state = "All Exit"
+ act_button = NORMAL
+ else:
+ # myself
+ act_state = "Activate"
+ deact_state = "Deactivate"
+ exit_state = "Exit"
+ act_button = DISABLED
+
+ if os_name == "Windows":
+ btn_w = 16
+ else:
+ btn_w = 13
+ b0 = Button(fr, text=act_state,
+ state = act_button, width=btn_w,
+ command = self.activate_comp)
+ b0.grid(column=1, row=1, padx=3)
+ b1 = Button(fr, text=deact_state,
+ state = DISABLED, width=btn_w,
+ command = self.deactivate_comp)
+ b1.grid(column=2, row=1, padx=3)
+ b2 = Button(fr, text=exit_state,
+ state = NORMAL, width=btn_w,
+ command = self.exit_comp)
+ b2.grid(column=3, row=1, padx=3)
+ self.comp_button = {'activate': b0,
+ 'deactivate': b1, 'exit': b2}
+
+ # right top pane (3)
+ def create_capture_button(self, frame):
+ import platform
+ os_name = platform.system()
+ self.fr_cap = LabelFrame(frame, text="Capture", labelanchor=NW,
+ relief=GROOVE, bd=2)
+ self.fr_cap.pack(fill=X, ipady=3)
+
+ if os_name == "Windows":
+ btn_w = 10
+ else:
+ btn_w = 9
+ for i in range(self.pic_num):
+ l0 = Label(self.fr_cap, padx = 25,
+ text="{0:d} {1}: ".format(i+1, self.msg9))
+ l0.grid(column = 0, row = i)
+ b0 = Button(self.fr_cap, text=self.msg3,
+ state = DISABLED, width = btn_w,
+ command = self.save_cmd(i))
+ b0.grid(column=1, row=i, padx=2)
+ b1 = Button(self.fr_cap, text=self.msg4,
+ state = DISABLED, width = btn_w,
+ command = self.check_cmd(i))
+ b1.grid(column=2, row=i, padx=2)
+ b2 = Button(self.fr_cap, text=self.msg5,
+ state = DISABLED, width = btn_w,
+ command = self.cancel_cmd(i))
+ b2.grid(column=3, row=i, padx=2)
+ self.buttons.append({'label': l0, 'save': b0,
+ 'check': b1, 'cancel': b2})
+
+ # After saving all the images, enable "View Results" button.
+ self.save_btn_state.append(0)
+
+ self.view_cam_btn = Button(self.fr_cap, text=self.msg6, state = DISABLED,
+ width=34, command=self.camera_on)
+ self.view_cam_btn.grid(column = 1, row = self.pic_num+1, columnspan = 3)
+
+ # right top pane (4)
+ def create_result_view(self, frame):
+ self.fr_result = LabelFrame(frame, text=self.msg7,
+ relief=GROOVE, bd=2, width=self.frame_w)
+ self.fr_result.pack(padx=3, ipadx=3, ipady=3, fill=X)
+ l = Label(self.fr_result, width=50, height=10, relief=SUNKEN, anchor=NW,
+ bg="white", textvariable = self.result_mes, justify=LEFT)
+ l.pack() # width/height 文字数・行数指定
+ self.result_btn = Button(self.fr_result, text=self.msg7,
+ width=8, state = DISABLED,
+ command=self.get_result)
+ self.result_btn.pack(pady = 3)
+
+ def set_top_message(self):
+ self.variable_mes = StringVar()
+ Label(self.fr, textvariable=self.variable_mes, fg="blue", font=20).pack(pady=10)
+ self.variable_mes.set(self.msg2)
+
+ def get_avail_camera_list(self):
+ import platform
+ os_name = platform.system()
+ if os_name == "Windows":
+ self.default_camera = WIN_DEFAULT_CAMERA
+ else:
+ self.default_camera = LINUX_DEFAULT_CAMERA
+ camera_list = self.default_camera.keys()
+ return camera_list
+
+ def get_search_path(self):
+ import platform
+ os_name = platform.system()
+ ret_path = []
+ curdir = os.getcwd() + "/"
+ ret_path.append(curdir)
+ if os_name == "Windows":
+ env = os.environ.get("RTM_ROOT")
+ if env != None:
+ path = env + "examples\\C++\\opencv-rtcs\\"
+ ret_path.append(path.replace('\\', '/'))
+ else:
+ tmp = (
+ "/usr/share/openrtm-1.1/components/c++/opencv-rtcs/",
+ "/usr/bin/", "/usr/X11R6/bin/",
+ "/usr/local/bin/", "/bin/",
+ "/opt/bin/", "/opt/local/bin/",
+ "/sbin/", "/usr/sbin/")
+ for e in tmp:
+ ret_path.append(e)
+ return ret_path
+
+ def camera_on(self):
+ self.CameraEnable(True)
+
+ def CameraEnable(self, enable):
+ if enable:
+ self.view_flg = True
+ else:
+ self.view_flg = False
+
+ # [callback] camera select combobox
+ def change_camera(self, event):
+ camera = event.widget.get()
+ if camera.find("Comp") != -1:
+ self.camera_comp = camera
+ self.comp_all_found = True
+ else:
+ # camera not found
+ self.set_warning_msg()
+ self.comp_btn.config(state = NORMAL)
+
+ def set_warning_msg(self):
+ Label(self.fix1, text=self.msg11, fg="red").grid(column = 0, row = 1, columnspan = 3)
+
+ def set_calib_not_found_msg(self):
+ Label(self.fix1, text=CALIB_COMP+self.err_msg2, fg="red").grid(column = 0, row = 2, columnspan = 3)
+
+ def connect_components_auto(self):
+ import platform
+ import subprocess
+ os_name = platform.system()
+ # Remove the last four characters of "Comp".
+ camera_comp = self.camera_comp[:-4]
+ camera_rtc = self.rt_dir + camera_comp + "0.rtc"
+ camera_path = self.select_camera_list[self.camera_comp]
+
+ calib_rtc = self.rt_dir + CALIB_COMP + "0.rtc"
+ tk_rtc = self.rt_dir + GUI_COMP + "0.rtc"
+
+ # External components start
+ name = []
+ if os_name == "Windows":
+ # camera
+ comp_name = camera_path + self.camera_comp + ".exe"
+ print "windows: comp_name = {0}".format(comp_name)
+ subprocess.Popen([comp_name, "-o", self.comp_option])
+ camera_outport = self.default_camera[self.camera_comp]
+
+ # ImageCalibration
+ comp_name = "{0}Comp".format(CALIB_COMP)
+ name.append(comp_name)
+ lists = self.get_comp_path(name)
+ if len(lists) == 0:
+ self.set_warning_msg()
+ self.set_calib_not_found_msg()
+ return False
+ else:
+ # Environment variable exists
+ val = lists.get(comp_name, "")
+ if val == "":
+ self.set_warning_msg()
+ self.set_calib_not_found_msg()
+ return False
+ else:
+ calib_path = val
+ comp_name = calib_path + comp_name
+ subprocess.Popen([comp_name, "-o", self.comp_option])
+ else:
+ # camera
+ comp_name = camera_path + self.camera_comp
+ subprocess.Popen([comp_name, "-o", self.comp_option])
+ camera_outport = self.default_camera[self.camera_comp]
+
+ # ImageCalibration
+ comp_name = "{0}Comp".format(CALIB_COMP)
+ name.append(comp_name)
+ lists = self.get_comp_path(name)
+ val = lists.get(comp_name, "")
+ if val == "":
+ self.set_warning_msg()
+ self.set_calib_not_found_msg()
+ return False
+ else:
+ calib_path = val
+ comp_name = calib_path + comp_name
+ subprocess.Popen([comp_name, "-o", self.comp_option])
+
+ # Component startup check
+ self.comp_startup_check(tk_rtc)
+ self.comp_startup_check(camera_rtc)
+ tree = self.comp_startup_check(calib_rtc)
+
+ ret1 = rtcon.main([str(camera_rtc)+str(camera_outport), str(calib_rtc)+":original_image"], tree)
+ ret2 = rtcon.main([str(calib_rtc)+":checker_image", str(tk_rtc)+":checker_image"], tree)
+ ret3 = rtcon.main([str(calib_rtc)+":CameraCalibrationService", str(tk_rtc)+":CameraCalibrationService"], tree)
+ if ret1==1 or ret2==1 or ret3==1:
+ Label(self.fix1, text=self.err_msg3, fg="red").grid(column = 0, row = 1, columnspan = 3)
+ Label(self.fix1, text=self.msg11, fg="red").grid(column = 0, row = 2, columnspan = 3)
+ return False
+
+ self.set_comp_name(camera_rtc, calib_rtc, tk_rtc, tree)
+ return True
+
+ def connect_components_manually(self):
+ tk_rtc = self.rt_dir + GUI_COMP + "0.rtc"
+ self.tree = self.comp_startup_check(tk_rtc)
+ self.rtc_list = [tk_rtc]
+
+ def comp_startup_check(self, name):
+ import rtctree.tree
+ import rtctree.path
+ judge = " not found."
+ # generate rtctree
+ path, port = rtctree.path.parse_path(name)
+ path = path[:-1]
+ filter = [path]
+ for cnt in range(0, 10):
+ tree = rtctree.tree.RTCTree(paths=path, orb=self.orb, filter=filter)
+ ret, result = rtcat.main([str(name)], tree)
+ if ret == 0:
+ judge = " found."
+ break
+ time.sleep(1)
+ print name + judge
+ return tree
+
+ # [callback] activate button
+ def activate_comp(self):
+ self.comp_button['activate'].config(state = DISABLED)
+ self.comp_button['deactivate'].config(state = DISABLED)
+ self.comp_button['exit'].config(state = DISABLED)
+ self.flip_button['tb'].config(state = NORMAL)
+ self.flip_button['lr'].config(state = NORMAL)
+ self.CameraEnable(True)
+
+ # Start a thread to observe the transition state of the component.
+ self.comp_transition_thread = CompTransitionThread('Activate a component.', self.rtc_list, self.tree)
+ self.comp_transition_thread.start()
+ self.check_activate()
+
+ def check_activate(self):
+ if not self.comp_transition_thread.running:
+ self.comp_button['deactivate'].config(state = NORMAL)
+ self.comp_button['exit'].config(state = NORMAL)
+ else:
+ self.master.after(100, self.check_activate)
+
+ # [callback] deactivate button
+ def deactivate_comp(self):
+ self.comp_button['activate'].config(state = DISABLED)
+ self.comp_button['deactivate'].config(state = DISABLED)
+ self.comp_button['exit'].config(state = DISABLED)
+ self.flip_button['tb'].config(state = DISABLED)
+ self.flip_button['lr'].config(state = DISABLED)
+ self.CameraEnable(False)
+
+ # Start a thread to observe the transition state of the component.
+ self.comp_transition_thread = CompTransitionThread('Deactivate a component.', self.rtc_list, self.tree)
+ self.comp_transition_thread.start()
+ self.check_deactivate()
+
+ def check_deactivate(self):
+ if not self.comp_transition_thread.running:
+ self.comp_button['activate'].config(state = NORMAL)
+ self.comp_button['exit'].config(state = NORMAL)
+ else:
+ self.master.after(100, self.check_deactivate)
+
+ # [callback] exit button
+ def exit_comp(self):
+ self.comp_button['activate'].config(state = DISABLED)
+ self.comp_button['deactivate'].config(state = DISABLED)
+ self.comp_button['exit'].config(state = DISABLED)
+
+ # Start a thread to observe the transition state of the component.
+ self.comp_transition_thread = CompTransitionThread('Exit', self.rtc_list, self.tree)
+ self.comp_transition_thread.start()
+ self.exit_state = True
+ self.check_exit()
+
+ def check_exit(self):
+ if not self.comp_transition_thread.running:
+ self.exit_state = False
+ else:
+ self.master.after(10, self.check_exit)
+
+ # [callback] save button
+ def save_cmd(self, n):
+ return lambda : self.save_img(n)
+
+ def save_img(self, num):
+ self.buttons[num]['save'].config(state = DISABLED)
+ self.buttons[num]['check'].config(state = NORMAL)
+ self.buttons[num]['cancel'].config(state = NORMAL)
+ self.consumer.captureCalibImage(num)
+ self.save_btn_state[num] = 1
+ if not 0 in self.save_btn_state:
+ self.result_btn.config(state = NORMAL)
+
+ # [callback] check button
+ def check_cmd(self, n):
+ return lambda : self.check_img(n)
+
+ def check_img(self, num):
+ cameraImage = self.consumer.getCalibImage(num)
+ width = cameraImage.width
+ height = cameraImage.height
+ image = cameraImage.pixels
+ pilImage = Image.frombuffer("L", (width, height), image, "raw", "L", 0, 1)
+ self.cam_img.paste(pilImage)
+ self.view_cam_btn.config(state = NORMAL)
+ self.CameraEnable(False)
+
+ # [callback] cancel button
+ def cancel_cmd(self, n):
+ return lambda : self.cancel_img(n)
+
+ def cancel_img(self, num):
+ cameraImage = self.consumer.removeCalibImage(num)
+ self.buttons[num]['save'].config(state = NORMAL)
+ self.buttons[num]['check'].config(state = DISABLED)
+ self.buttons[num]['cancel'].config(state = DISABLED)
+ self.save_btn_state[num] = 0
+ self.result_mes.set("")
+ self.result_btn.config(state = DISABLED)
+ self.CameraEnable(True)
+
+ # [callback] get result button
+ def get_result(self):
+ self.cameraInfo = self.consumer.getCalibParameter()
+ if self.cameraInfo.focalLength.x == 0.0:
+ self.result_mes.set(self.err_msg1)
+ return
+
+ param_str = []
+ param_str.append("cameraInfo\n")
+ param_str.append("focalLength.x = %f\n" % self.cameraInfo.focalLength.x)
+ param_str.append("focalLength.y = %f\n" % self.cameraInfo.focalLength.y)
+ param_str.append("principalPoint.x = %f\n" % self.cameraInfo.principalPoint.x)
+ param_str.append("principalPoint.y = %f\n" % self.cameraInfo.principalPoint.y)
+ param_str.append("Radial distortion(k1) = %f\n" % self.cameraInfo.k1)
+ param_str.append("Radial distortion(k2) = %f\n" % self.cameraInfo.k2)
+ param_str.append("Tangential distortion(p1) = %f\n" % self.cameraInfo.p1)
+ param_str.append("Tangential distortion(p2) = %f" % self.cameraInfo.p2)
+ mes_str = param_str[0]
+ for i in range(1, len(param_str)):
+ mes_str += param_str[i]
+ self.result_mes.set(mes_str)
+ self.result_btn.config(state = DISABLED)
+
+ def calc_fps(self):
+ self.prev_time = self.curr_time
+ self.curr_time = time.time()
+ self.fps = (self.fps * 0.9) + (0.1 / (self.curr_time - self.prev_time))
+ return self.fps
+
+ def set_comp_name(self, camera, calib, gui, tree):
+ self.camera_rtc = camera
+ self.calib_rtc = calib
+ self.tk_rtc = gui
+ self.tree = tree
+ self.rtc_list = [self.camera_rtc, self.calib_rtc, self.tk_rtc]
+
+ def redraw_frameR(self):
+ self.fr_cap.destroy()
+ self.fr_result.destroy()
+ self.buttons = []
+ self.create_capture_button(self.frameR_var)
+ self.create_result_view(self.frameR_var)
+
+#------------------------------------------------------------
+# public function
+
+ def setConsumerPointer(self, consumer):
+ self.consumer = consumer
+
+ def set_image(self, image, width, height):
+ if self.view_flg:
+ self.flip_button['tb'].config(state = NORMAL)
+ self.flip_button['lr'].config(state = NORMAL)
+ else:
+ self.flip_button['tb'].config(state = DISABLED)
+ self.flip_button['lr'].config(state = DISABLED)
+ return
+ import ImageOps
+ import ImageDraw
+ # Getting PIL image from buffer, converting RGB->BGR
+ self.pilImage = Image.frombuffer("RGB", (width, height), image, "raw", "BGR")
+ # Resize if size is different
+ if self.img_w != width or self.img_h != height:
+ self.pilImage = ImageOps.fit(self.pilImage, (self.img_w, self.img_h))
+ # Flip if the flag is True
+ if self.flip_tb:
+ self.pilImage = ImageOps.flip(self.pilImage)
+ if self.flip_lr:
+ self.pilImage = ImageOps.mirror(self.pilImage)
+ # Invert color
+ if self.invert:
+ self.pilImage = ImageOps.invert(self.pilImage)
+ # Print FPS
+ if self.print_fps:
+ draw = ImageDraw.Draw(self.pilImage)
+ fps_str = "%2.2f [fps]" % self.calc_fps()
+ draw.text((self.img_w - 70, self.img_h - 12), fps_str)
+ # Finally paste image to the label
+ self.cam_img.paste(self.pilImage)
+
+ def redraw_gui(self, num):
+ if self.pic_num != num:
+ # Remove all saved images
+ self.consumer.removeCalibImage(-1)
+ self.pic_num = num
+ print "tkcalibgui.py : redraw_gui : pic_num changed = %d" % self.pic_num
+ self.check_lang()
+ self.variable_mes.set(self.msg2)
+ self.redraw_frameR()
+ self.result_mes.set("")
+
+ # Save button enable
+ for i in range(self.pic_num):
+ self.buttons[i]['save'].config(state = NORMAL)
+
+ def set_options(self, orb, rt_dir, comp_option):
+ self.orb = orb
+ self.rt_dir = rt_dir
+ self.comp_option = comp_option
+
+ def set_on_update(self, func):
+ self.on_update = func
+
+#============================================================
+# Thread class
+from rtshell import rtact, rtdeact, rtdis, rtexit, state_control_base
+
+class CompTransitionThread(Thread):
+ def __init__(self, msg, rtc_list, tree):
+ Thread.__init__(self)
+ self.msg = msg
+ self.rtc_list = rtc_list
+ self.tree = tree
+ self.running = False
+
+ if self.msg.find("Activate") != -1:
+ # Activate
+ self.action = rtact.activate_action
+ self.cmd = "rtact"
+ else:
+ # Deactivate or Exit
+ self.action = rtdeact.deactivate_action
+ self.cmd = "rtdeact"
+
+ def run(self):
+ comp_cnt = len(self.rtc_list)
+ self.running = True
+ for i in range(comp_cnt):
+ self.check_comp(self.cmd, self.rtc_list[i], self.msg, self.action)
+
+ if self.msg == "Exit":
+ for i in range(comp_cnt):
+ # rtdis
+ self.check_comp('rtdis', self.rtc_list[i], None, None)
+
+ for i in range(comp_cnt):
+ # rtexit
+ self.check_comp('rtexit', self.rtc_list[i], None, None)
+ self.running = False
+
+ def check_comp(self, cmd, rtc, msg, action):
+ for cnt in range(0, 10):
+ if cmd == "rtdis":
+ ret = rtdis.main([str(rtc)], self.tree)
+ elif cmd == "rtexit":
+ ret = rtexit.main([str(rtc)], self.tree)
+ else:
+ # activate, deactivate
+ ret = state_control_base.base_main(msg, action, [str(rtc)], self.tree)
+ if ret == 0:
+ print "{0}:{1} OK!".format(cmd, str(rtc))
+ break
+ else:
+ print "{0}:{1} NG!".format(cmd, str(rtc))
+ return ret
+
+class RTMLogo:
+ logo = """iVBORw0KGgoAAAANSUhEUgAAAoAAAAHgCAIAAAC6s0uzAAAgAElEQVR4nOzdd7wk
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+ def __init__(self):
+ import binascii
+ self.buff = ''
+ for l in self.logo.split("\n"):
+ self.buff += binascii.a2b_base64(l)
+ def get_image(self):
+ return self.buff
+
+
+
+if __name__ == "__main__":
+ RTMLogo()
+# f = TkCalibGUI()
+# f.mainloop()
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