├── screenshots ├── 1.png ├── 2.png ├── 3.png ├── 4.png ├── 5.png └── 6.png ├── camLaserCalib ├── src │ ├── Marker.cpp │ ├── EllipseDetector.cpp │ ├── MarkerDetector.cpp │ ├── Ellipse.cpp │ ├── camLaserCalib_node.cpp │ ├── pcl_util.cpp │ └── camLaserCalib.cpp ├── include │ ├── Ellipse.h │ ├── Marker.h │ ├── MarkerDetector.h │ ├── EllipseDetector.h │ ├── pcl_util.h │ └── camLaserCalib.h ├── cfg │ ├── camLaserCalib.cfg~ │ ├── cam_laser_calib.cfg │ └── cam_laser_calib.cfg~ ├── launch │ ├── calibration.launch~ │ ├── calibration.launch │ └── rqt_rviz_ogre.log ├── package.xml ├── CMakeLists.txt └── camLaserCalib.rviz ├── solvepnp ├── param │ ├── calib.yml │ └── calib.yml~ ├── CMakeLists.txt ├── src │ └── solvepnp.cpp └── imageCloudPoints.txt ├── README.md └── LICENSE /screenshots/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/screenshots/1.png -------------------------------------------------------------------------------- /screenshots/2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/screenshots/2.png -------------------------------------------------------------------------------- /screenshots/3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/screenshots/3.png -------------------------------------------------------------------------------- /screenshots/4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/screenshots/4.png -------------------------------------------------------------------------------- /screenshots/5.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/screenshots/5.png -------------------------------------------------------------------------------- /screenshots/6.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/screenshots/6.png -------------------------------------------------------------------------------- /camLaserCalib/src/Marker.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/camLaserCalib/src/Marker.cpp -------------------------------------------------------------------------------- /camLaserCalib/include/Ellipse.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/camLaserCalib/include/Ellipse.h -------------------------------------------------------------------------------- /camLaserCalib/include/Marker.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/camLaserCalib/include/Marker.h -------------------------------------------------------------------------------- /camLaserCalib/src/EllipseDetector.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/camLaserCalib/src/EllipseDetector.cpp -------------------------------------------------------------------------------- /camLaserCalib/src/MarkerDetector.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/camLaserCalib/src/MarkerDetector.cpp -------------------------------------------------------------------------------- /camLaserCalib/include/MarkerDetector.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yuzhou42/camera-laser-calibration/HEAD/camLaserCalib/include/MarkerDetector.h -------------------------------------------------------------------------------- /camLaserCalib/src/Ellipse.cpp: -------------------------------------------------------------------------------- 1 | #include "Ellipse.h" 2 | 3 | 4 | EllipseN::EllipseN(void) 5 | { 6 | m_rotation.eye(); 7 | m_translation.zeros(); 8 | 9 | } 10 | 11 | EllipseN::~EllipseN(void) 12 | { 13 | } 14 | 15 | -------------------------------------------------------------------------------- /camLaserCalib/cfg/camLaserCalib.cfg~: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "camLaserCalib" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("close_range", double_t, 0, "close_range", 1, 0.5, 5); 9 | gen.add("far_range", double_t, 0, "far_range", 3, 1, 5); 10 | gen.add("left_range", double_t, 0, "left_range", 1, 0.5, 5); 11 | gen.add("right_range", double_t, 0, "right_range", 1, 0.5, 5); 12 | 13 | exit(gen.generate(PACKAGE, "camLaserCalib", "camLaserCalib")) 14 | -------------------------------------------------------------------------------- /camLaserCalib/launch/calibration.launch~: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /camLaserCalib/launch/calibration.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /camLaserCalib/cfg/cam_laser_calib.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "cam_laser_calib" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("x_min", double_t, 0, "x_min", -1.4, -10, 10); 9 | gen.add("x_max", double_t, 0, "x_max", 0.8, -10, 10); 10 | gen.add("y_min", double_t, 0, "y_min", 1.8, -10, 10); 11 | gen.add("y_max", double_t, 0, "y_max", 2.8, -10, 10); 12 | gen.add("z_min", double_t, 0, "z_min", -1.0, -10, 10); 13 | gen.add("z_max", double_t, 0, "z_max", 0.4, -10, 10); 14 | 15 | exit(gen.generate(PACKAGE, "cam_laser_calib", "CamLaserCalib")) 16 | -------------------------------------------------------------------------------- /camLaserCalib/cfg/cam_laser_calib.cfg~: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "cam_laser_calib" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("x_min", double_t, 0, "x_min", -1.4, -10, 10); 9 | gen.add("x_max", double_t, 0, "x_max", 0.8, -10, 10); 10 | gen.add("y_min", double_t, 0, "y_min", 1.8, -10, 10); 11 | gen.add("y_max", double_t, 0, "y_max", 2.8, -10, 10); 12 | gen.add("z_min", double_t, 0, "z_min", -1.0, -10, 10); 13 | gen.add("z_max", double_t, 0, "z_max", 0.2, -10, 10); 14 | 15 | exit(gen.generate(PACKAGE, "cam_laser_calib", "CamLaserCalib")) 16 | -------------------------------------------------------------------------------- /solvepnp/param/calib.yml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | CameraExtrinsicMat: !!opencv-matrix 3 | rows: 4 4 | cols: 4 5 | dt: d 6 | data: [0.9985185054452752, -0.0002205635539018046, -0.05441273412586991, 0.3170828446258461, 7 | 0.008274206720860815, 0.988978224823703, 0.1478296598375895, 0.05609607635508704, 8 | 0.05378040336846108, -0.148060873211918, 0.9875148839573255, 0.02133645246103623, 9 | 0., 0., 0., 1. ] 10 | CameraMat: !!opencv-matrix 11 | rows: 3 12 | cols: 3 13 | dt: d 14 | data: [458.596068, 0.000000, 259.527816, 15 | 0.000000, 456.139433 ,198.555600, 16 | 0.000000 ,0.000000, 1.000000] 17 | DistCoeff: !!opencv-matrix 18 | rows: 1 19 | cols: 5 20 | dt: d 21 | data: [ -0.022247, 0.073679,-0.000323 ,0.001078 ,0.000000] 22 | ImageSize: [ 516, 388 ] 23 | 24 | 25 | -------------------------------------------------------------------------------- /solvepnp/param/calib.yml~: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | CameraExtrinsicMat: !!opencv-matrix 3 | rows: 4 4 | cols: 4 5 | dt: d 6 | data: [0.9985185054452752, -0.0002205635539018046, -0.05441273412586991, 0.3170828446258461, 7 | 0.008274206720860815, 0.988978224823703, 0.1478296598375895, 0.05609607635508704, 8 | 0.05378040336846108, -0.148060873211918, 0.9875148839573255, 0.02133645246103623, 9 | 0., 0., 0., 1. ] 10 | CameraMat: !!opencv-matrix 11 | rows: 3 12 | cols: 3 13 | dt: d 14 | data: [458.596068, 0.000000, 259.527816, 15 | 0.000000, 456.139433 ,198.555600, 16 | 0.000000 ,0.000000, 1.000000] 17 | DistCoeff: !!opencv-matrix 18 | rows: 1 19 | cols: 5 20 | dt: d 21 | data: [ -0.022247, 0.073679,-0.000323 ,0.001078 ,0.000000] 22 | ImageSize: [ 516, 388 ] 23 | ReprojectionError: 5.3725477808143074e-01 24 | 25 | -------------------------------------------------------------------------------- /camLaserCalib/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | cam_laser_calib 4 | 0.0.0 5 | The od package 6 | 7 | i 8 | 9 | BSD 10 | catkin 11 | 12 | pcl_conversions 13 | pcl_ros 14 | roscpp 15 | sensor_msgs 16 | tf_conversions 17 | libpcl_all_dev 18 | message_filters 19 | tf2 20 | laser_geometry 21 | geometry_msgs 22 | dynamic_reconfigure 23 | cv_bridge 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /solvepnp/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | CMAKE_MINIMUM_REQUIRED(VERSION 2.8) 2 | SET(PROJECT_NAME solvepnp) 3 | PROJECT(${PROJECT_NAME}) 4 | SET( CMAKE_BUILD_TYPE Debug ) 5 | SET( CMAKE_CXX_COMPILER "g++" ) 6 | SET( CMAKE_CXX_FLAGS "-std=c++0x" ) 7 | 8 | SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") 9 | set( EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin ) 10 | SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 11 | 12 | # add OpenCV library 13 | find_package(OpenCV REQUIRED) 14 | if(OpenCV_FOUND) 15 | #MESSAGE(STATUS "\n ~~~~~~~~OpenCV_FOUND~~~~~~~~~~\n") 16 | include_directories(${OpenCV_INCLUDE_DIRS}) 17 | # message("OpenCV_INCLUDE_DIRS : " ${OpenCV_INCLUDE_DIRS}"\n" ) 18 | message("OpenCV_VERSION : " ${OpenCV_VERSION} \n ) 19 | link_directories(${OpenCV_LIBRARY_DIRS}) 20 | endif() 21 | 22 | LIST(APPEND LINK_LIBS 23 | ${OpenCV_LIBS} #this should be OpenCV_LIBS or it will not work 24 | ) 25 | LIST(APPEND SOURCEFILES 26 | src/solvepnp.cpp 27 | ) 28 | add_executable(solvepnp ${SOURCEFILES}) 29 | target_link_libraries(solvepnp ${LINK_LIBS}) 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /camLaserCalib/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(cam_laser_calib) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | pcl_conversions 6 | pcl_ros 7 | roscpp 8 | sensor_msgs 9 | geometry_msgs 10 | message_filters 11 | tf_conversions 12 | tf 13 | laser_geometry 14 | dynamic_reconfigure 15 | cv_bridge 16 | ) 17 | 18 | generate_dynamic_reconfigure_options( 19 | cfg/cam_laser_calib.cfg 20 | ) 21 | find_package(Boost REQUIRED COMPONENTS system) 22 | find_package(Eigen3 REQUIRED) 23 | find_package(OpenCV REQUIRED) 24 | find_package(PkgConfig REQUIRED) 25 | catkin_package() 26 | 27 | include_directories( 28 | include 29 | ${catkin_INCLUDE_DIRS} 30 | ${EIGEN3_INCLUDE_DIR} 31 | ${OpenCV_INCLUDE_DIRS} 32 | ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake 33 | ) 34 | 35 | add_executable(cam_laser_calib_node 36 | src/camLaserCalib_node.cpp 37 | src/camLaserCalib.cpp 38 | src/pcl_util.cpp 39 | src/Marker.cpp 40 | src/MarkerDetector.cpp 41 | 42 | 43 | include/camLaserCalib.h 44 | include/pcl_util.h 45 | include/Marker.h 46 | include/MarkerDetector.h) 47 | 48 | add_dependencies(cam_laser_calib_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 49 | target_link_libraries(cam_laser_calib_node 50 | ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} 51 | ) 52 | -------------------------------------------------------------------------------- /camLaserCalib/include/EllipseDetector.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | //#include 3 | //#include 4 | //#include 5 | #include 6 | #include "Ellipse.h" 7 | // #include 8 | 9 | using namespace cv; 10 | using std::pair; 11 | 12 | class EllipseDetector 13 | { 14 | public: 15 | EllipseDetector(void); 16 | ~EllipseDetector(void); 17 | void processFrame(const Mat& _frame); 18 | 19 | private: 20 | bool findEllipses(const Mat& _frame, vector& _detectedEllipses); 21 | void findEllipseContours(const Mat& _imgThreshold, vector>& _contours, int _minContourPointsAllowed); 22 | void findEllipseCandidates(const vector>& _contours, vector& _detectedEllipses); 23 | void sortEllipses( vector& _detectedEllipses); 24 | void rankX(vector& _detectedE); 25 | void rankY(vector& _detectedE); 26 | void estimatePosition(vector& _detectedEllipses); 27 | void color_filter(Mat& _imgHsv); 28 | private: 29 | float m_minContourLengthAllowed; 30 | vector m_ellipseCorners2d; 31 | vector m_ellipseCorners3d; 32 | Mat m_camMat; 33 | Mat m_distCoeff; 34 | public: 35 | //Mat m_imgGray; 36 | //Mat m_imgThreshold; 37 | Mat m_imgHsv; 38 | Mat m_imgCanny; 39 | vector> m_contours; 40 | vector< Point > hull; 41 | double t_fx,t_fy,t_cx,t_cy; 42 | size_t pairNum; 43 | //FILE *fp; 44 | public: 45 | vector m_ellipses; 46 | vector m_ellipsesRight; 47 | vector m_ellipsesLeft; 48 | }; 49 | -------------------------------------------------------------------------------- /camLaserCalib/src/camLaserCalib_node.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include "camLaserCalib.h" 3 | #include 4 | #include 5 | using namespace message_filters; 6 | using namespace sensor_msgs; 7 | using namespace std; 8 | Parameter param; 9 | 10 | void Callback(cam_laser_calib::CamLaserCalibConfig &config, uint32_t level) 11 | { 12 | param.x_min = config.x_min; 13 | param.x_max = config.x_max; 14 | param.y_min = config.y_min; 15 | param.y_max = config.y_max; 16 | param.z_min = config.z_min; 17 | param.z_max = config.z_max; 18 | } 19 | int main(int argc, char** argv) 20 | { 21 | ros::init(argc, argv, "cam_laser_calib"); 22 | if(argc!=3) 23 | { 24 | cerr< laser32(nh, CamLaserCalib.strSub_pc2_.c_str(), 1); 33 | message_filters::Subscriber img(nh,CamLaserCalib.strSub_img_.c_str() , 1); 34 | typedef sync_policies::ApproximateTime MySyncPolicy; 35 | Synchronizer sync(MySyncPolicy(10), img, laser32); 36 | sync.registerCallback(boost::bind(&camLaserCalib::CamLaserCalib::img_pc2_Callback, &CamLaserCalib, _1, _2)); 37 | /*************************** dynamic_reconfigure ***********************************/ 38 | dynamic_reconfigure::Server server; 39 | dynamic_reconfigure::Server::CallbackType f; 40 | f = boost::bind(&Callback, _1, _2); 41 | server.setCallback(f); 42 | ros::Rate loop(5); 43 | while(ros::ok()) 44 | { 45 | ros::spinOnce(); 46 | CamLaserCalib.cfgCallback(param); 47 | } 48 | 49 | return 0; 50 | } 51 | -------------------------------------------------------------------------------- /camLaserCalib/include/pcl_util.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | // !PCL 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | 14 | //!MSgs 15 | #include 16 | #include 17 | #include 18 | 19 | //!opencv 20 | #include 21 | #include 22 | 23 | typedef pcl::PointXYZ PointT; 24 | typedef pcl::PointXYZRGB PointCT; 25 | typedef pcl::PointCloud Cloud; 26 | typedef pcl::PointCloud ColorCloud; 27 | 28 | #include "pcl_util.h" 29 | //! Message transform 30 | void ROS2PCL(const sensor_msgs::PointCloudConstPtr packet, 31 | Cloud::Ptr cloud_out); 32 | 33 | //! get rectangle area of point clouds 34 | void subrectangle(Cloud::Ptr cloud_in, 35 | Cloud::Ptr cloud_out, 36 | double cut_max_x, 37 | double cut_min_x, 38 | double cut_max_y, 39 | double cut_min_y, 40 | double cut_max_z, 41 | double cut_min_z); 42 | 43 | //! Plane Extraction 44 | bool GetPlane(Cloud::Ptr cloud_in, 45 | ColorCloud::Ptr cloudPlane, 46 | PointCT ¢roid_point, 47 | pcl::ModelCoefficients::Ptr coeffs, 48 | pcl::PointIndices::Ptr indices, double threshold); 49 | 50 | //!draw point cloud with image color 51 | void drawPointcloudColor(Cloud::Ptr cloud_in, 52 | ColorCloud::Ptr cloud_out, 53 | const cv::Mat& img, 54 | const cv::Mat& R, 55 | const cv::Mat& T, 56 | const cv::Mat& cameraMat, 57 | const cv::Mat& distCoeff, 58 | const cv::Size& imageSize); 59 | -------------------------------------------------------------------------------- /solvepnp/src/solvepnp.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #define CAMERAMAT "CameraMat" 8 | #define DISTCOEFF "DistCoeff" 9 | using namespace cv; 10 | using namespace std; 11 | Point3f cloudPoint; 12 | Point2f imgPoint; 13 | vector cloudPoints; 14 | vector imgPoints; 15 | 16 | Mat R; 17 | Mat T; 18 | Mat camMat; 19 | Mat distCoeff; 20 | 21 | void estimatePose() 22 | { 23 | Mat rvec, tvec,inliers; 24 | cv::solvePnPRansac( cloudPoints, imgPoints, camMat, cv::Mat(), rvec, tvec, false, 100, 1.0, 100, inliers ); 25 | Rodrigues(rvec, R); 26 | cv::Mat T(3, 4, R.type()); // T is 4x4 27 | T( cv::Range(0,3), cv::Range(0,3) ) = R * 1; // copies R into T 28 | T( cv::Range(0,3), cv::Range(3,4) ) = tvec * 1; // copies tvec into T 29 | cout<<"R:"<>camMat; 44 | fs[DISTCOEFF]>>distCoeff; 45 | } 46 | 47 | int readData(string filename) 48 | { 49 | ifstream imageCloudPoints; 50 | imageCloudPoints.open(filename); 51 | if(!imageCloudPoints) 52 | { 53 | std::cerr<<"can't open imageCloudPoints file!"< 18 | 19 | # Test data 20 | The test data can be found [here](https://drive.google.com/open?id=1D8UdXUjMLe6_LDUoY68yLEMGVh87Yrv2). This rosbag has two topics: 21 | image topic: /camera/image_color 22 | laser topic: /velodyne32/velodyne_points 23 | Run the bag file: 24 | ``` 25 | $rosbag play 2016-12-22-14-03-09.bag -l 26 | ``` 27 | Follow the "Usage" step to test the package. 28 | # Usage 29 | ## 1. camera calibtation 30 | Ignore this step if you are using the test data. 31 | ``` 32 | $rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.061 image:=/camera/image_color camera:=/camera 33 | ``` 34 | Change the size/square/image/camera with your own parameters. Write the camera calibration result in the cam_laser_calib/src/solvepnp/param/calib.yml file. 35 | ## 2. Get the point pair of the QR code center 36 | ### 2.1 build and run 37 | Create a ros workspace named cam_laser_calib. 38 | ``` 39 | $cd cam_laser_calib/src 40 | $git clone git@github.com:NicoChou/camera-laser-calibration.git 41 | $cd .. 42 | $catkin_make 43 | $roslaunch cam_laser_calib calibration.launch 44 | ``` 45 | Change the "onlyDrawPointsColor" parameter value in launch file to false. Replace the point cloud and image topics with your own topic name. 46 | ``` 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | ``` 63 | ### 2.2 Choose rectangle cutting area of point cloud 64 | The rqt_reconfigure is used to dynamic config the rectangle cutting area of point clouds. 65 | ``` 66 | $rosrun rqt_reconfigure rqt_reconfigure 67 | ``` 68 | rqt_reconfigure 69 | 70 | ![rqt_reconfigure](https://github.com/NicoChou/camera-laser-calibration/raw/master/screenshots/3.png) 71 | 72 | Before cut the point cloud 73 | 74 | 75 | 76 | After cut the point cloud 77 | 78 | 79 | 80 | Estimated plane 81 | 82 | 83 | 84 | Adjust the parameter and wirite them into the cam_laser_calib/src/camLaserCalib/cfg/cam_laser_calib.cfg file. 85 | Shutdown the program and recompile the package. 86 | ``` 87 | $cd cam_laser_calib/ 88 | $catkin_make 89 | ``` 90 | ### 2.3 Get the points pair of QR code center 91 | ``` 92 | $roslaunch cam_laser_calib calibration.launch 93 | ``` 94 | After this step, write the point pairs of QR code center under both laser coordinate and image coordinate to cam_laser_calib/src/solvepnp/imageCloudPoints.txt file. 95 | ## 3. Calculate the calibration matrix 96 | Use the solvePnP method in openCV to get the calibration matrix. 97 | ``` 98 | $cd cam_laser_calib/src/solvepnp/build 99 | $make 100 | $../bin/solvepnp 101 | ``` 102 | Copy the T matrix shown in the terminal to cam_laser_calib/src/solvepnp/param/calib.yml file to replace the CameraExtrinsicMat. 103 | ## 4. Use the calibration matrix to draw point clouds with image color 104 | At this step, the onlyDrawPointsColor parameter in "calibration.launch" file can be changed to true, and then you will be able to get the color point cloud as the first figure. 105 | 106 | 107 | 108 | -------------------------------------------------------------------------------- /camLaserCalib/include/camLaserCalib.h: -------------------------------------------------------------------------------- 1 | #ifndef CAMLASERCALIB_H 2 | #define CAMLASERCALIB_H 3 | 4 | #include 5 | #include "pcl_util.h" 6 | //! Msg 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include "laser_geometry/laser_geometry.h" 14 | // !PCL 15 | #include 16 | #include 17 | #include 18 | #include 19 | //!opencv 20 | #include 21 | #include 22 | #include 23 | #include 24 | //!MarkerDetector 25 | #include "MarkerDetector.h" 26 | 27 | using namespace std; 28 | using namespace pcl; 29 | using namespace cv; 30 | 31 | /*! 32 | * parameter used to get the rectangle cut area of point cloud 33 | * laset coordinate:x~left,y~front,z~up 34 | * camera coordinate:x~left,y~down,z~front 35 | * so we shoud align the two coordinate to before we get the calibtation matrix 36 | */ 37 | struct Parameter 38 | { 39 | double x_min; 40 | double x_max; 41 | double y_min; 42 | double y_max; 43 | double z_min; 44 | double z_max; 45 | }; 46 | namespace camLaserCalib { 47 | 48 | class CamLaserCalib 49 | { 50 | public: 51 | /*! 52 | * Constructor. 53 | */ 54 | CamLaserCalib (ros::NodeHandle nodehandle, const string& imgCloudPointsFile, const string& calibFile); 55 | /*! 56 | * Deconstructor. 57 | */ 58 | virtual ~CamLaserCalib () {} 59 | /*! 60 | * image and laser topic callback function using message filter 61 | */ 62 | void img_pc2_Callback(const sensor_msgs::ImageConstPtr& img,const sensor_msgs::PointCloud2ConstPtr& pc2); 63 | /*! 64 | * dynamic param callback function 65 | */ 66 | void cfgCallback(const Parameter cfg); 67 | /*! 68 | * grab cv::mat from image topic 69 | */ 70 | void grabImg(const sensor_msgs::ImageConstPtr& img); 71 | /*! 72 | * get qrcode center coordinate from image 73 | */ 74 | void getImgPoint(); 75 | /*! 76 | * get the calibration param from calib.yml file 77 | */ 78 | int readCalibPara(string filename); 79 | /*! 80 | * publish point cloud message 81 | */ 82 | void publishCloud(); 83 | //! ROS Subscribe point cloud message 84 | string strSub_pc2_; 85 | //! ROS Subscribe image message 86 | string strSub_img_; 87 | 88 | private: 89 | 90 | /*! 91 | * Read the parameters. 92 | */ 93 | void readParameters(); 94 | //! dynamic config parameters 95 | Parameter cfg_; 96 | //! MarkerDetect 97 | MarkerDetector markCapture_; 98 | //! ROS nodehandle 99 | ros::NodeHandle nodehandle_; 100 | //! ROS Publisher 101 | ros::Publisher pub_pc2_cut_; //cut area of point cloud 102 | ros::Publisher pub_plane_; //estimated plane of the cutted point cloud area 103 | ros::Publisher pub_imgColorPc_;//the color point cloud 104 | ros::Time pc2Time_; //pulish message topic time 105 | //! pcl pointcloud 106 | Cloud::Ptr pc_; //transform pointcloud2(pc2) to pointcloud(pc) 107 | Cloud::Ptr pc_cut_; //rectangle cloud 108 | ColorCloud::Ptr cloudPlane_; //estamted plane 109 | ColorCloud::Ptr imgColorCloud_; //color cloud points draw with image color 110 | PointCT cloudPoint_; //cloud point center of the board 111 | //! pcl Parameters 112 | double distance_threshold_; //param used to get the point cloud plane 113 | pcl::ModelCoefficients::Ptr coefficients_; //pcl plane param 114 | pcl::PointIndices::Ptr inlierIndices_; //pcl plane inlier indices 115 | //!image message 116 | cv::Mat img_; //grab image 117 | Point2f imgPoint_; //image point center of the board 118 | //!image calibration param 119 | cv::Mat cameraExtrinsicMat_; //camera laser calibration param 120 | cv::Mat cameraMat_; //camera internal parameter 121 | cv::Mat distCoeff_; //camera distortion parameter 122 | cv::Size imageSize_; //image size 123 | cv::Mat R_; //lasr to image rotation matrix 124 | cv::Mat T_; //lasr to image translation matrix 125 | bool onlyDrawPointsColor_; //change in launch file.flag to judge if just draw points color or estimated ceter points of QR code board in both coordinates 126 | //!read and write param file 127 | string calibFile_; //cameta laser calibration file 128 | ofstream imageCloudPoints_; //QR code board center points in image and laser coordinate 129 | }; 130 | 131 | } 132 | #endif // CAMLASERCALIB_H 133 | -------------------------------------------------------------------------------- /camLaserCalib/src/pcl_util.cpp: -------------------------------------------------------------------------------- 1 | #include "pcl_util.h" 2 | using namespace cv; 3 | void ROS2PCL(const sensor_msgs::PointCloudConstPtr packet, 4 | Cloud::Ptr cloud_out) 5 | { 6 | //------------------Transform into pcl::pointcloud-------------------// 7 | sensor_msgs::PointCloud2 cloud_2; 8 | sensor_msgs::convertPointCloudToPointCloud2(*packet, cloud_2); 9 | 10 | pcl::PCLPointCloud2 cloud_pc2; 11 | pcl_conversions::toPCL(cloud_2, cloud_pc2); 12 | 13 | pcl::fromPCLPointCloud2(cloud_pc2, *cloud_out); 14 | } 15 | 16 | void subrectangle(Cloud::Ptr cloud_in, 17 | Cloud::Ptr cloud_out, 18 | double cut_max_x, 19 | double cut_min_x, 20 | double cut_max_y, 21 | double cut_min_y, 22 | double cut_max_z, 23 | double cut_min_z) 24 | { 25 | Cloud::Ptr cloud(new Cloud); 26 | for (size_t i = 0; i < cloud_in->points.size(); i++) 27 | { 28 | 29 | if(cloud_in->points[i].x >= cut_min_x&&cloud_in->points[i].x <= cut_max_x&& 30 | cloud_in->points[i].y >= cut_min_y&&cloud_in->points[i].y <= cut_max_y&& 31 | cloud_in->points[i].z >= cut_min_z&&cloud_in->points[i].z <= cut_max_z) 32 | { 33 | cloud->push_back(cloud_in->points[i]); 34 | } 35 | } 36 | *cloud_out = *cloud; 37 | return; 38 | } 39 | 40 | bool GetPlane(Cloud::Ptr cloud_in, 41 | ColorCloud::Ptr cloudPlane, 42 | PointCT ¢roid_point, 43 | pcl::ModelCoefficients::Ptr coeffs, 44 | pcl::PointIndices::Ptr indices, 45 | double threshold) 46 | { 47 | 48 | if (cloud_in->size() <= 20) 49 | return EXIT_FAILURE; 50 | ColorCloud::Ptr cloudPlaneTemp(new ColorCloud); 51 | PointCT centroid_point_tmp; 52 | pcl::SACSegmentation segmentation; 53 | segmentation.setInputCloud(cloud_in); 54 | segmentation.setModelType(pcl::SACMODEL_PLANE); 55 | segmentation.setMethodType(pcl::SAC_RANSAC); 56 | segmentation.setDistanceThreshold(threshold); 57 | segmentation.setOptimizeCoefficients(true); 58 | segmentation.segment(*indices,*coeffs); 59 | // std::cerr<<"indices->indices.size() "<indices.size()<::const_iterator pit = indices->indices.begin(); pit != indices->indices.end(); ++pit) 61 | { 62 | 63 | PointCT point; 64 | point.x = cloud_in->points[*pit].x; 65 | point.y = cloud_in->points[*pit].y; 66 | point.z = cloud_in->points[*pit].z; 67 | point.r = 255; 68 | point.g = 255; 69 | point.b = 0; 70 | 71 | cloudPlaneTemp->points.push_back(point); 72 | centroid_point_tmp.x += cloud_in->points[*pit].x; 73 | centroid_point_tmp.y += cloud_in->points[*pit].y; 74 | centroid_point_tmp.z += cloud_in->points[*pit].z; 75 | 76 | 77 | } 78 | centroid_point_tmp.x /= indices->indices.size(); 79 | centroid_point_tmp.y /= indices->indices.size(); 80 | centroid_point_tmp.z /= indices->indices.size(); 81 | centroid_point_tmp.r = 200; 82 | centroid_point_tmp.g = 0; 83 | centroid_point_tmp.b = 0; 84 | cloudPlaneTemp->points.push_back(centroid_point_tmp); 85 | centroid_point = centroid_point_tmp; 86 | *cloudPlane = *cloudPlaneTemp; 87 | } 88 | void drawPointcloudColor(Cloud::Ptr cloud_in, 89 | ColorCloud::Ptr cloud_out, 90 | const cv::Mat& img, 91 | const cv::Mat& R, 92 | const cv::Mat& T, 93 | const cv::Mat& cameraMat, 94 | const cv::Mat& distCoeff, 95 | const cv::Size& imageSize) 96 | { 97 | ColorCloud::Ptr cloud_out_temp(new ColorCloud); 98 | PointCT drawPoint; 99 | int w = imageSize.width; 100 | int h = imageSize.height; 101 | for (size_t i = 0; i < cloud_in->points.size(); i++) 102 | { 103 | cv::Mat point(3, 1, CV_64F); 104 | point.at(0) = cloud_in->points[i].x; 105 | point.at(1) = -cloud_in->points[i].z; 106 | point.at(2) = cloud_in->points[i].y; 107 | // point = point * invR.t() + invT.t(); 108 | //point = invR.t()*point + invT; 109 | point = R * point + T; 110 | if(point.at(2)>0) 111 | { 112 | double tmpx = point.at(0) / point.at(2); 113 | double tmpy = point.at(1)/point.at(2); 114 | cv::Point2d imagepoint; 115 | // double r2 = tmpx * tmpx + tmpy * tmpy; 116 | // double tmpdist = 1 + distCoeff.at(0) * r2 117 | // + distCoeff.at(1) * r2 * r2 118 | // + distCoeff.at(4) * r2 * r2 * r2; 119 | // imagepoint.x = tmpx * tmpdist 120 | // + 2 * distCoeff.at(2) * tmpx * tmpy 121 | // + distCoeff.at(3) * (r2 + 2 * tmpx * tmpx); 122 | // imagepoint.y = tmpy * tmpdist 123 | // + distCoeff.at(2) * (r2 + 2 * tmpy * tmpy) 124 | // + 2 * distCoeff.at(3) * tmpx * tmpy; 125 | 126 | imagepoint.x = tmpx; 127 | imagepoint.y = tmpy; 128 | 129 | imagepoint.x = cameraMat.at(0,0) * imagepoint.x + cameraMat.at(0,2); 130 | imagepoint.y = cameraMat.at(1,1) * imagepoint.y + cameraMat.at(1,2); 131 | int px = int(imagepoint.x + 0.5); 132 | int py = int(imagepoint.y + 0.5); 133 | if(0 <= px && px < w && 0 <= py && py < h) 134 | { 135 | //int pid = py * w + px; 136 | drawPoint.x = cloud_in->points[i].x; 137 | drawPoint.y = cloud_in->points[i].y; 138 | drawPoint.z = cloud_in->points[i].z; 139 | drawPoint.b = img.at(py,px)[0]; 140 | drawPoint.g = img.at(py,px)[1]; 141 | drawPoint.r = img.at(py,px)[2]; 142 | cloud_out_temp->points.push_back(drawPoint); 143 | }//if cloud poind belongs to image 144 | }//if z>0 145 | }//itertor cloud 146 | *cloud_out = *cloud_out_temp; 147 | } 148 | -------------------------------------------------------------------------------- /camLaserCalib/src/camLaserCalib.cpp: -------------------------------------------------------------------------------- 1 | #include "camLaserCalib.h" 2 | using namespace camLaserCalib; 3 | using namespace std; 4 | using namespace cv; 5 | #define CAMERAEXTRINSICMAT "CameraExtrinsicMat" 6 | #define CAMERAMAT "CameraMat" 7 | #define DISTCOEFF "DistCoeff" 8 | #define IMAGESIZE "ImageSize" 9 | 10 | CamLaserCalib::CamLaserCalib(ros::NodeHandle nodehandle, const string& imgCloudPointsFile, const string& calibFile) 11 | : nodehandle_(nodehandle), 12 | pc_(new Cloud), 13 | pc_cut_(new Cloud), 14 | cloudPlane_(new ColorCloud), 15 | imgColorCloud_(new ColorCloud), 16 | coefficients_(new ModelCoefficients), 17 | inlierIndices_(new PointIndices), 18 | imageCloudPoints_(imgCloudPointsFile.c_str()), 19 | calibFile_(calibFile) 20 | { 21 | readParameters(); 22 | pub_plane_ = nodehandle_.advertise ("/plane", 1); 23 | pub_pc2_cut_ = nodehandle_.advertise ("/cloudCut", 1); 24 | pub_imgColorPc_ = nodehandle_.advertise ("/imgColorCloud", 1); 25 | } 26 | 27 | void CamLaserCalib::readParameters() 28 | { 29 | readCalibPara(calibFile_.c_str()); 30 | nodehandle_.param("strSub_pc2", strSub_pc2_, string("/velodyne32/velodyne_points")); 31 | nodehandle_.param("strSub_img", strSub_img_, string("/camera/image_color")); 32 | nodehandle_.param("onlyDrawPointsColor", onlyDrawPointsColor_, true); 33 | nodehandle_.param("DistanceThreshold", distance_threshold_, double(0.05)); //ransac DistanceThreshold 34 | } 35 | void CamLaserCalib::cfgCallback(const Parameter cfg) 36 | { 37 | cfg_ = cfg; 38 | } 39 | void CamLaserCalib::img_pc2_Callback(const sensor_msgs::ImageConstPtr& img,const sensor_msgs::PointCloud2ConstPtr& pc2) 40 | { 41 | /************************** get image data **************************/ 42 | grabImg(img); 43 | markCapture_.processFrame(img_); 44 | /******************** process point cloud *********************/ 45 | pc2Time_ = pc2->header.stamp; 46 | sensor_msgs::PointCloudPtr cloud1(new sensor_msgs::PointCloud); 47 | sensor_msgs::convertPointCloud2ToPointCloud(*pc2, *cloud1); 48 | ROS2PCL(cloud1, pc_); 49 | //************************** draw point colud **************************// 50 | drawPointcloudColor(pc_,imgColorCloud_,img_,R_,T_,cameraMat_, distCoeff_,imageSize_); 51 | 52 | if(!onlyDrawPointsColor_) 53 | { 54 | /************************** process image **************************/ 55 | if(!markCapture_.m_markers.size()) 56 | return; 57 | getImgPoint(); 58 | /******************** process point cloud *********************/ 59 | //step 1: Cut Area 60 | subrectangle(pc_, pc_cut_, 61 | cfg_.x_max,cfg_.x_min,cfg_.y_max,cfg_.y_min,cfg_.z_max,cfg_.z_min); 62 | 63 | //step 2: Get Plane 64 | GetPlane(pc_cut_,cloudPlane_,cloudPoint_,coefficients_,inlierIndices_,distance_threshold_); 65 | 66 | /***************************** save QR code board center points in file*****************************************/ 67 | imageCloudPoints_<< cloudPoint_.x <<" "<< cloudPoint_.y <<" "<< cloudPoint_.z<<" "<< imgPoint_.x <<" "<image 86 | cv_ptr->image.copyTo(img_); 87 | } 88 | void CamLaserCalib::getImgPoint() 89 | { 90 | //get the cross point from four corner points: http://blog.csdn.net/yangtrees/article/details/7965983 91 | vector points = markCapture_.m_markers[0].m_points; 92 | double a0 = points[0].y- points[2].y; 93 | double b0 = points[2].x- points[0].x; 94 | double c0 = points[0].x * points[2].y - points[2].x * points[0].y; 95 | 96 | double a1 = points[1].y- points[3].y; 97 | double b1 = points[3].x- points[1].x; 98 | double c1 = points[1].x * points[3].y - points[3].x * points[1].y; 99 | 100 | double d = a0 * b1 - a1 * b0; 101 | imgPoint_.x = (b0 * c1 - b1 * c0)/d; 102 | imgPoint_.y = (a1 * c0 - a0 * c1)/d; 103 | circle(img_,imgPoint_, 3, Scalar(0,0,255), 2, 8); 104 | // show marker in image 105 | for(int i=0; i>cameraMat_; 127 | fs[DISTCOEFF]>>distCoeff_; 128 | fs[CAMERAEXTRINSICMAT]>>cameraExtrinsicMat_; 129 | fs[IMAGESIZE]>>imageSize_; 130 | // R_ = cameraExtrinsicMat_(cv::Rect(0,0,3,3)).t(); 131 | // T_ = -R_*cameraExtrinsicMat_(cv::Rect(3,0,1,3)); 132 | R_ = cameraExtrinsicMat_(cv::Rect(0,0,3,3)); 133 | T_ = cameraExtrinsicMat_(cv::Rect(3,0,1,3)); 134 | cout<<"cameraMat:"< 49 | Value: true 50 | - Alpha: 1 51 | Autocompute Intensity Bounds: true 52 | Autocompute Value Bounds: 53 | Max Value: 10 54 | Min Value: -10 55 | Value: true 56 | Axis: Z 57 | Channel Name: intensity 58 | Class: rviz/PointCloud2 59 | Color: 255; 255; 255 60 | Color Transformer: Intensity 61 | Decay Time: 0 62 | Enabled: false 63 | Invert Rainbow: false 64 | Max Color: 255; 255; 255 65 | Max Intensity: 213 66 | Min Color: 0; 0; 0 67 | Min Intensity: 0 68 | Name: cloudCut 69 | Position Transformer: XYZ 70 | Queue Size: 10 71 | Selectable: true 72 | Size (Pixels): 3 73 | Size (m): 0.05 74 | Style: Flat Squares 75 | Topic: /cloudCut 76 | Use Fixed Frame: true 77 | Use rainbow: true 78 | Value: false 79 | - Alpha: 1 80 | Autocompute Intensity Bounds: true 81 | Autocompute Value Bounds: 82 | Max Value: 10 83 | Min Value: -10 84 | Value: true 85 | Axis: Z 86 | Channel Name: intensity 87 | Class: rviz/PointCloud2 88 | Color: 255; 255; 255 89 | Color Transformer: Intensity 90 | Decay Time: 0 91 | Enabled: true 92 | Invert Rainbow: false 93 | Max Color: 255; 255; 255 94 | Max Intensity: 222 95 | Min Color: 0; 0; 0 96 | Min Intensity: 0 97 | Name: velodyne32 98 | Position Transformer: XYZ 99 | Queue Size: 10 100 | Selectable: true 101 | Size (Pixels): 3 102 | Size (m): 0.05 103 | Style: Flat Squares 104 | Topic: /velodyne32/velodyne_points 105 | Use Fixed Frame: true 106 | Use rainbow: true 107 | Value: true 108 | - Alpha: 1 109 | Autocompute Intensity Bounds: true 110 | Autocompute Value Bounds: 111 | Max Value: 10 112 | Min Value: -10 113 | Value: true 114 | Axis: Z 115 | Channel Name: intensity 116 | Class: rviz/PointCloud2 117 | Color: 255; 255; 255 118 | Color Transformer: RGB8 119 | Decay Time: 0 120 | Enabled: true 121 | Invert Rainbow: false 122 | Max Color: 255; 255; 255 123 | Max Intensity: 4096 124 | Min Color: 0; 0; 0 125 | Min Intensity: 0 126 | Name: plane 127 | Position Transformer: XYZ 128 | Queue Size: 10 129 | Selectable: true 130 | Size (Pixels): 3 131 | Size (m): 0.05 132 | Style: Flat Squares 133 | Topic: /plane 134 | Use Fixed Frame: true 135 | Use rainbow: true 136 | Value: true 137 | - Class: rviz/Axes 138 | Enabled: true 139 | Length: 0.5 140 | Name: Axes 141 | Radius: 0.05 142 | Reference Frame: 143 | Value: true 144 | - Class: rviz/Image 145 | Enabled: true 146 | Image Topic: /camera/image_color 147 | Max Value: 1 148 | Median window: 5 149 | Min Value: 0 150 | Name: Image 151 | Normalize Range: true 152 | Queue Size: 2 153 | Transport Hint: raw 154 | Value: true 155 | Enabled: true 156 | Global Options: 157 | Background Color: 48; 48; 48 158 | Fixed Frame: velodyne32 159 | Frame Rate: 30 160 | Name: root 161 | Tools: 162 | - Class: rviz/Interact 163 | Hide Inactive Objects: true 164 | - Class: rviz/MoveCamera 165 | - Class: rviz/Select 166 | - Class: rviz/FocusCamera 167 | - Class: rviz/Measure 168 | - Class: rviz/SetInitialPose 169 | Topic: /initialpose 170 | - Class: rviz/SetGoal 171 | Topic: /move_base_simple/goal 172 | - Class: rviz/PublishPoint 173 | Single click: true 174 | Topic: /clicked_point 175 | Value: true 176 | Views: 177 | Current: 178 | Class: rviz/Orbit 179 | Distance: 21.0373 180 | Enable Stereo Rendering: 181 | Stereo Eye Separation: 0.06 182 | Stereo Focal Distance: 1 183 | Swap Stereo Eyes: false 184 | Value: false 185 | Focal Point: 186 | X: 2.05187 187 | Y: 4.8517 188 | Z: -4.91021 189 | Name: Current View 190 | Near Clip Distance: 0.01 191 | Pitch: 0.619801 192 | Target Frame: velodyne32 193 | Value: Orbit (rviz) 194 | Yaw: 4.2416 195 | Saved: ~ 196 | Window Geometry: 197 | Displays: 198 | collapsed: false 199 | Height: 1000 200 | Hide Left Dock: false 201 | Hide Right Dock: true 202 | Image: 203 | collapsed: false 204 | QMainWindow State: 000000ff00000000fd00000004000000000000019900000361fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000205000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000233000001560000001600fffffffb0000000a0049006d006100670065000000021b0000006e0000000000000000000000010000010f00000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000361000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004bf0000003bfc0100000002fb0000000800540069006d00650100000000000004bf000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003200000036100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 205 | Selection: 206 | collapsed: false 207 | Time: 208 | collapsed: false 209 | Tool Properties: 210 | collapsed: false 211 | Views: 212 | collapsed: true 213 | Width: 1215 214 | X: 1431 215 | Y: 24 216 | -------------------------------------------------------------------------------- /solvepnp/imageCloudPoints.txt: -------------------------------------------------------------------------------- 1 | 0.248288 2.08192 2.77543e-05 358.737 278.168 2 | 0.251109 2.08189 0.00058328 358.655 278.087 3 | 0.245546 2.0822 -0.000280902 358.513 278.021 4 | 0.247906 2.08224 -0.000442553 358.27 277.873 5 | 0.24569 2.08222 5.33785e-05 358.066 277.923 6 | 0.248328 2.08236 0.000483883 357.808 278.089 7 | 0.245036 2.08241 0.000542377 357.806 278.091 8 | 0.242803 2.08192 0.00025163 357.541 278.207 9 | 0.242555 2.08096 0.000568459 357.209 278.348 10 | 0.240522 2.0802 0.00104626 356.83 278.217 11 | 0.237217 2.08001 0.00212479 356.056 278.067 12 | 0.231497 2.07933 0.000697739 355.285 278.152 13 | 0.225865 2.07975 0.000771726 354.741 278.115 14 | 0.229193 2.07941 0.00119014 353.613 278.122 15 | 0.221895 2.07949 0.000780989 352.893 278.103 16 | 0.217507 2.07995 0.000689933 352.136 278.476 17 | 0.209193 2.08002 -0.000369462 351.107 278.143 18 | 0.207755 2.07973 0.0008505 350.204 278.727 19 | 0.201197 2.07905 -0.00012659 349.261 278.318 20 | 0.199007 2.07976 0.00161699 348.331 278.655 21 | 0.199749 2.07932 0.00330815 347.627 278.422 22 | 0.194577 2.07959 0.00146409 346.868 278.304 23 | 0.192711 2.08006 0.000639532 346.384 278.651 24 | 0.193845 2.08078 0.00101653 346.291 278.621 25 | 0.194015 2.08055 0.000194065 346.307 278.437 26 | 0.192847 2.08219 0.0010506 346.224 278.326 27 | 0.188753 2.08327 0.000238288 346.132 278.291 28 | 0.191876 2.08276 3.69733e-05 345.937 278.283 29 | 0.187778 2.08363 0.000742044 345.629 278.305 30 | 0.18867 2.08327 0.000339559 345.06 278.405 31 | 0.182864 2.08291 0.000448923 344.554 278.736 32 | 0.180168 2.08316 7.38676e-05 344.156 278.749 33 | 0.173812 2.08244 0.000175217 343.478 278.468 34 | 0.177636 2.08098 0.000301728 342.827 278.634 35 | 0.170321 2.08081 0.000701464 341.882 278.539 36 | 0.167123 2.08001 0.00173372 340.701 278.725 37 | 0.161167 2.08079 0.00331492 339.683 278.392 38 | 0.160334 2.07981 0.00172006 338.773 278.716 39 | 0.15382 2.07957 0.00111912 338.103 278.713 40 | 0.154297 2.07883 0.00229715 337.454 278.598 41 | 0.152029 2.07897 0.00544279 336.979 278.715 42 | 0.14698 2.07797 0.00521124 336.3 278.869 43 | 0.142999 2.07731 0.00679887 335.208 278.652 44 | 0.139796 2.07692 0.00888999 334.308 279.027 45 | 0.129385 2.0769 0.0111132 332.77 278.981 46 | 0.125272 2.07738 0.017849 330.966 278.757 47 | 0.111877 2.07694 0.0190091 329.199 278.657 48 | 0.108449 2.07698 0.0194993 327.434 278.663 49 | 0.100284 2.07709 0.0203764 325.779 278.721 50 | 0.088899 2.07799 0.0185005 324.01 278.559 51 | 0.0815289 2.07921 0.0188054 322.346 278.46 52 | 0.0764725 2.07944 0.0185601 320.421 278.154 53 | 0.0664286 2.08118 0.0200001 318.643 277.883 54 | 0.0571543 2.08119 0.013058 317.32 277.892 55 | 0.052282 2.08222 0.00892353 315.98 277.663 56 | 0.0453124 2.08386 0.0110003 314.114 277.501 57 | 0.0357242 2.08489 0.00851904 312.175 277.483 58 | 0.0289015 2.08498 0.00255629 310.355 277.424 59 | 0.0211037 2.08681 0.00164862 308.787 277.429 60 | 0.0158857 2.08845 0.000472753 307.043 277.538 61 | 0.00534893 2.09021 0.000202542 305.358 277.612 62 | -0.00213031 2.09306 0.000863688 303.44 277.632 63 | -0.00855633 2.09573 0.000587185 301.695 277.499 64 | -0.0172917 2.09732 -0.000937855 300.008 277.512 65 | -0.0254096 2.10021 0.000653768 298.461 277.522 66 | -0.0329317 2.10392 0.000448076 297.011 277.411 67 | -0.0394682 2.10559 0.000303068 295.404 277.278 68 | -0.0445675 2.10753 0.000275062 293.786 277.327 69 | -0.0510174 2.10973 -0.00012515 292.876 277.487 70 | -0.0556093 2.112 0.000221554 291.341 277.678 71 | -0.0613017 2.1138 0.000490977 290.6 277.883 72 | -0.0632687 2.11495 0.00025341 289.648 277.927 73 | -0.0651111 2.11644 0.000378392 289.141 278.411 74 | -0.0672926 2.11747 0.000725172 288.947 278.633 75 | -0.0627026 2.11881 -5.94304e-05 288.829 278.819 76 | -0.0655032 2.11816 0.000474163 288.716 278.754 77 | -0.0637278 2.11685 4.1546e-05 288.623 278.593 78 | -0.0632729 2.11409 -0.000598526 288.549 278.448 79 | -0.0660682 2.11147 0.000599776 288.321 278.266 80 | -0.070205 2.11289 0.00145258 287.478 277.411 81 | -0.0698025 2.11345 0.00264562 286.972 277.035 82 | -0.0687812 2.11642 0.00395072 286.916 276.569 83 | -0.0709729 2.11773 0.00343373 287.165 276.426 84 | -0.0707826 2.11925 0.00398115 287.095 276.188 85 | -0.070843 2.12149 0.00428178 287.128 275.847 86 | -0.0678713 2.12425 0.00469726 287.198 275.993 87 | -0.0692664 2.12561 0.00391632 287.391 276.314 88 | -0.0672968 2.12536 0.00332785 287.548 276.573 89 | -0.068601 2.12607 0.0044282 287.626 276.689 90 | -0.0675823 2.12462 0.00354743 287.493 277.092 91 | -0.071819 2.12328 0.00177745 287.42 277.61 92 | -0.0729619 2.12086 0.00040545 287.318 278.005 93 | -0.0782051 2.11788 -0.000292124 286.169 278.147 94 | -0.0881858 2.11538 -0.000431915 284.737 278.593 95 | -0.101298 2.11275 -0.000331085 282.217 278.858 96 | -0.114562 2.1093 -0.00622741 279.302 279.263 97 | -0.130264 2.10863 -0.00807235 275.609 280.19 98 | -0.144934 2.10519 -0.0119229 272.22 281.53 99 | -0.161137 2.10058 -0.0118969 268.584 282.021 100 | -0.174519 2.09382 -0.0125658 265 282.456 101 | -0.189 2.08908 -0.0121453 262.017 282.329 102 | -0.202143 2.08649 -0.0123013 259.446 282.343 103 | -0.21058 2.0867 -0.0119968 257.174 282.383 104 | -0.219592 2.08669 -0.0119648 255.453 282.108 105 | -0.226399 2.08712 -0.0117619 253.892 281.818 106 | -0.233785 2.0874 -0.0110012 252.065 281.679 107 | -0.24414 2.08794 -0.00973812 250.591 281.643 108 | -0.251811 2.08731 -0.00899537 248.706 281.697 109 | -0.261286 2.08643 -0.0108623 246.455 281.793 110 | -0.27149 2.08429 -0.0116086 244.268 281.844 111 | -0.28195 2.08276 -0.0116803 241.77 281.814 112 | -0.292872 2.08205 -0.011214 239.113 282.003 113 | -0.302402 2.08154 -0.0124822 236.775 282.03 114 | -0.313556 2.08094 -0.0134005 234.641 282.227 115 | -0.320557 2.0802 -0.0153883 232.852 282.351 116 | -0.329186 2.08013 -0.0158212 231.43 282.255 117 | -0.337117 2.0792 -0.0157844 229.775 282.449 118 | -0.344162 2.07759 -0.017003 228.025 282.544 119 | -0.350385 2.0762 -0.0189615 226.617 282.535 120 | -0.358929 2.07439 -0.0191922 225.348 282.531 121 | -0.363759 2.07261 -0.0205403 223.832 282.681 122 | -0.373811 2.0712 -0.0206526 222.176 282.853 123 | -0.38111 2.06935 -0.0218071 220.841 283.053 124 | -0.387552 2.06786 -0.0217249 219.382 282.93 125 | -0.392933 2.06702 -0.0227093 217.492 282.768 126 | -0.401522 2.06736 -0.0199731 215.935 282.895 127 | -0.408956 2.06631 -0.0199288 214.244 282.915 128 | -0.417058 2.06512 -0.0199908 212.418 282.826 129 | -0.42466 2.06491 -0.0200784 210.623 282.912 130 | -0.431028 2.0636 -0.0202122 208.963 283.267 131 | -0.439379 2.06227 -0.0214038 207.385 283.94 132 | -0.4451 2.0605 -0.021466 205.824 283.952 133 | -0.44934 2.05926 -0.0210199 204.969 283.859 134 | -0.452563 2.05773 -0.0204217 203.707 283.525 135 | -0.454196 2.05714 -0.0199482 203.095 283.497 136 | -0.456948 2.05731 -0.0187801 202.439 283.482 137 | -0.461014 2.0564 -0.0186257 201.756 283.351 138 | -0.465148 2.05516 -0.0189298 200.713 283.265 139 | -0.469092 2.05521 -0.0183378 199.932 283.294 140 | -0.471484 2.05422 -0.0182155 198.917 282.996 141 | -0.476763 2.05292 -0.0172366 198.095 283.161 142 | -0.47864 2.05129 -0.0179759 197.665 282.855 143 | -0.480809 2.04963 -0.0174451 196.686 282.806 144 | -0.484683 2.047 -0.0178328 195.906 282.567 145 | -0.488843 2.04421 -0.0170413 194.985 282.505 146 | -0.49388 2.04208 -0.0168235 193.737 282.173 147 | -0.496999 2.03974 -0.0176151 193.187 282.315 148 | -0.500669 2.03903 -0.0176791 192.034 282.437 149 | -0.504319 2.03834 -0.0182368 191.483 282.597 150 | -0.504701 2.03723 -0.0188816 191.023 283.073 151 | -0.508239 2.03728 -0.0187221 190.529 283.125 152 | -0.514722 2.03832 -0.0185191 189.015 283.498 153 | -0.520862 2.04016 -0.0182675 187.605 283.707 154 | -0.529426 2.04095 -0.0175845 185.826 283.648 155 | -0.53239 2.04243 -0.0175421 184.374 283.703 156 | -0.536377 2.04376 -0.0175148 183.723 283.507 157 | -0.53988 2.04385 -0.0173623 183.045 283.39 158 | -0.543393 2.04308 -0.0177684 182.249 283.541 159 | -0.546969 2.04239 -0.0175123 181.604 283.807 160 | -0.550985 2.04163 -0.0178667 180.482 283.781 161 | -0.554573 2.04072 -0.0180444 179.693 284 162 | -0.555585 2.03964 -0.0175002 179.307 283.949 163 | -0.557477 2.03757 -0.0167043 178.878 283.153 164 | -0.560187 2.03773 -0.0164961 178.177 282.91 165 | -0.56355 2.03774 -0.0148059 177.587 282.305 166 | -0.568825 2.03746 -0.0145233 176.781 282.439 167 | -0.573242 2.03844 -0.0135189 175.357 282.036 168 | -0.580071 2.03957 -0.0132049 174.641 281.724 169 | -0.585009 2.03998 -0.0131268 172.976 281.547 170 | -0.589083 2.04064 -0.0127787 172.284 281.154 171 | -0.592264 2.04114 -0.0123805 171.045 281.092 172 | -0.597104 2.04178 -0.0122165 170.48 281.165 173 | -0.601405 2.04207 -0.0116648 169.349 281.293 174 | -0.605418 2.0451 -0.0115545 168.713 281.165 175 | -0.611373 2.04525 -0.0122742 167.302 281.174 176 | -0.613267 2.04571 -0.0118289 166.878 281.381 177 | -0.613562 2.04555 -0.0134033 166.297 281.675 178 | -0.612305 2.04482 -0.0145522 166.396 281.826 179 | -0.606743 2.04472 -0.0145432 166.779 281.961 180 | -0.601208 2.0438 -0.0145785 168.261 282.237 181 | -0.593043 2.04278 -0.0141737 170.072 282.049 182 | -0.586891 2.04324 -0.0150264 171.736 282.002 183 | -0.581941 2.04448 -0.0142969 172.558 281.717 184 | -0.574719 2.04559 -0.0143352 173.757 281.783 185 | -0.569459 2.04675 -0.014328 175.658 281.794 186 | -0.559597 2.04854 -0.0131614 177.615 281.692 187 | -0.549668 2.0509 -0.0137473 179.744 281.505 188 | -0.539873 2.05363 -0.0121126 182.018 281.336 189 | -0.52889 2.05625 -0.00965387 184.418 280.958 190 | -0.517336 2.05845 -0.00795445 187.164 280.157 191 | -0.506034 2.05979 -0.00588129 189.953 280.04 192 | -0.492533 2.06098 -0.00599503 192.776 279.776 193 | -0.479704 2.06272 -0.00609156 195.695 279.737 194 | -0.465185 2.06341 -0.0055675 198.582 279.664 195 | -0.453573 2.06478 -0.00488805 201.69 279.503 196 | -0.437842 2.06586 -0.00564048 205.005 279.442 197 | -0.424481 2.06712 -0.00566994 208.126 279.301 198 | -0.4133 2.06913 -0.00326397 210.752 279.421 199 | -0.400073 2.07129 -0.00303458 214.002 279.33 200 | -0.388971 2.07335 -0.00400932 216.515 279.27 201 | -0.374286 2.07547 -0.00597232 218.895 279.602 202 | -0.360262 2.07643 -0.00565655 222.221 279.619 203 | -0.343231 2.07735 -0.0054964 225.548 279.555 204 | -0.328459 2.07903 -0.00512518 228.771 279.665 205 | -0.31312 2.08009 -0.00461448 232.061 279.772 206 | -0.297261 2.08084 -0.00600175 235.484 279.932 207 | -0.280904 2.08167 -0.00521773 239.114 280.007 208 | -0.265384 2.08323 -0.00661596 244.422 279.96 209 | -0.250606 2.08526 -0.00561928 248.289 280.162 210 | -0.233192 2.08878 -0.00588181 252.163 280.111 211 | -0.216102 2.09254 -0.00521052 255.93 280.224 212 | -0.199784 2.0968 -0.00489633 259.724 280.666 213 | -0.179034 2.10176 -0.00498259 263.45 280.926 214 | -0.166754 2.10837 0.000659439 267.527 280.837 215 | -0.151435 2.11176 0.00100061 271.404 280.673 216 | -0.131713 2.11339 -0.000472077 275.053 280.52 217 | -0.115343 2.11412 -0.000130339 278.756 280.013 218 | -0.0999944 2.11448 0.000687648 281.705 279.795 219 | -0.0841606 2.11425 0.00057377 284.651 279.6 220 | -0.0721462 2.11399 -9.91637e-05 287.714 279.696 221 | -0.0621637 2.11514 0.000117571 290.111 280.347 222 | -0.0489473 2.11609 -5.93051e-05 292.364 280.722 223 | -0.0407738 2.1162 0.000528598 294.848 281.03 224 | -0.029411 2.11583 0.00118931 297.393 281.358 225 | -0.0152829 2.11413 0.000276871 299.985 281.363 226 | -0.00594636 2.11269 0.00069857 302.266 281.554 227 | 0.00699995 2.11211 0.000422028 304.513 281.407 228 | 0.0166283 2.11166 -0.000434051 306.686 281.381 229 | 0.0247384 2.11172 0.000335148 308.588 281.153 230 | 0.034846 2.11107 0.000993352 310.514 281.014 231 | 0.0436595 2.11062 0.00064901 312.395 280.665 232 | 0.0506931 2.11099 0.000804998 314.272 280.66 233 | 0.061354 2.11168 1.38555e-05 316.362 280.827 234 | 0.0726783 2.11266 0.000854561 318.633 281.101 235 | 0.0837725 2.11395 0.000111451 320.901 281.487 236 | 0.094745 2.11383 -0.000271558 323.261 281.839 237 | 0.106519 2.11357 -0.00114666 325.981 281.991 238 | 0.118146 2.11283 -0.00250908 328.47 281.87 239 | 0.130821 2.1117 0.00036188 331.065 281.28 240 | 0.14036 2.10964 0.000307041 333.216 280.857 241 | 0.149536 2.10728 -0.000239559 335.255 280.857 242 | 0.158446 2.10667 -0.000217889 337.175 281.304 243 | 0.164436 2.10536 -7.89038e-05 338.761 281.478 244 | 0.171971 2.10402 -0.00216083 340.083 281.963 245 | 0.178188 2.10054 -0.00783036 341.266 281.939 246 | 0.183765 2.09862 -0.00938934 342.149 281.963 247 | 0.183604 2.09718 -0.0076877 342.84 281.724 248 | 0.186369 2.09455 -0.00716968 343.688 281.812 249 | 0.189902 2.09416 -0.00700145 344.156 281.536 250 | 0.193441 2.09246 -0.00775519 344.831 281.57 251 | 0.198707 2.0918 -0.0111412 345.753 281.793 252 | 0.203088 2.09156 -0.0130172 346.101 281.776 253 | 0.203332 2.09113 -0.0147571 346.38 282.125 254 | 0.204166 2.09097 -0.0142812 346.144 282.318 255 | 0.201239 2.09107 -0.0151456 345.783 282.479 256 | 0.198538 2.09128 -0.0155916 345.58 282.588 257 | 0.19651 2.09277 -0.0165621 345.186 282.875 258 | -------------------------------------------------------------------------------- /camLaserCalib/launch/rqt_rviz_ogre.log: -------------------------------------------------------------------------------- 1 | 14:18:34: Creating resource group General 2 | 14:18:34: Creating resource group Internal 3 | 14:18:34: Creating resource group Autodetect 4 | 14:18:34: SceneManagerFactory for type 'DefaultSceneManager' registered. 5 | 14:18:34: Registering ResourceManager for type Material 6 | 14:18:34: Registering ResourceManager for type Mesh 7 | 14:18:34: Registering ResourceManager for type Skeleton 8 | 14:18:34: MovableObjectFactory for type 'ParticleSystem' registered. 9 | 14:18:34: OverlayElementFactory for type Panel registered. 10 | 14:18:34: OverlayElementFactory for type BorderPanel registered. 11 | 14:18:34: OverlayElementFactory for type TextArea registered. 12 | 14:18:34: Registering ResourceManager for type Font 13 | 14:18:34: ArchiveFactory for archive type FileSystem registered. 14 | 14:18:34: ArchiveFactory for archive type Zip registered. 15 | 14:18:34: ArchiveFactory for archive type EmbeddedZip registered. 16 | 14:18:34: DDS codec registering 17 | 14:18:34: FreeImage version: 3.15.4 18 | 14:18:34: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details 19 | 14:18:34: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti 20 | 14:18:34: Registering ResourceManager for type HighLevelGpuProgram 21 | 14:18:34: Registering ResourceManager for type Compositor 22 | 14:18:34: MovableObjectFactory for type 'Entity' registered. 23 | 14:18:34: MovableObjectFactory for type 'Light' registered. 24 | 14:18:34: MovableObjectFactory for type 'BillboardSet' registered. 25 | 14:18:34: MovableObjectFactory for type 'ManualObject' registered. 26 | 14:18:34: MovableObjectFactory for type 'BillboardChain' registered. 27 | 14:18:34: MovableObjectFactory for type 'RibbonTrail' registered. 28 | 14:18:34: *-*-* OGRE Initialising 29 | 14:18:34: *-*-* Version 1.8.1 (Byatis) 30 | 14:18:34: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.8.0/RenderSystem_GL 31 | 14:18:34: Installing plugin: GL RenderSystem 32 | 14:18:34: OpenGL Rendering Subsystem created. 33 | 14:18:34: Plugin successfully installed 34 | 14:18:34: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.8.0/Plugin_OctreeSceneManager 35 | 14:18:34: Installing plugin: Octree Scene Manager 36 | 14:18:34: Plugin successfully installed 37 | 14:18:34: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.8.0/Plugin_ParticleFX 38 | 14:18:34: Installing plugin: ParticleFX 39 | 14:18:34: Particle Emitter Type 'Point' registered 40 | 14:18:34: Particle Emitter Type 'Box' registered 41 | 14:18:34: Particle Emitter Type 'Ellipsoid' registered 42 | 14:18:34: Particle Emitter Type 'Cylinder' registered 43 | 14:18:34: Particle Emitter Type 'Ring' registered 44 | 14:18:34: Particle Emitter Type 'HollowEllipsoid' registered 45 | 14:18:34: Particle Affector Type 'LinearForce' registered 46 | 14:18:34: Particle Affector Type 'ColourFader' registered 47 | 14:18:34: Particle Affector Type 'ColourFader2' registered 48 | 14:18:34: Particle Affector Type 'ColourImage' registered 49 | 14:18:34: Particle Affector Type 'ColourInterpolator' registered 50 | 14:18:34: Particle Affector Type 'Scaler' registered 51 | 14:18:34: Particle Affector Type 'Rotator' registered 52 | 14:18:34: Particle Affector Type 'DirectionRandomiser' registered 53 | 14:18:34: Particle Affector Type 'DeflectorPlane' registered 54 | 14:18:34: Plugin successfully installed 55 | 14:18:34: CPU Identifier & Features 56 | 14:18:34: ------------------------- 57 | 14:18:34: * CPU ID: GenuineIntel: Intel(R) Core(TM) i5-4210U CPU @ 1.70GHz 58 | 14:18:34: * SSE: yes 59 | 14:18:34: * SSE2: yes 60 | 14:18:34: * SSE3: yes 61 | 14:18:34: * MMX: yes 62 | 14:18:34: * MMXEXT: yes 63 | 14:18:34: * 3DNOW: no 64 | 14:18:34: * 3DNOWEXT: no 65 | 14:18:34: * CMOV: yes 66 | 14:18:34: * TSC: yes 67 | 14:18:34: * FPU: yes 68 | 14:18:34: * PRO: yes 69 | 14:18:34: * HT: no 70 | 14:18:34: ------------------------- 71 | 14:18:34: ****************************** 72 | *** Starting GLX Subsystem *** 73 | ****************************** 74 | 14:18:34: Registering ResourceManager for type Texture 75 | 14:18:34: GLRenderSystem::_createRenderWindow "OgreWindow(0)", 1x1 windowed miscParams: externalGLControl= macAPI=carbon parentWindowHandle=79691777 76 | 14:18:34: GLXWindow::create used FBConfigID = 103 77 | 14:18:34: GL_VERSION = 3.0 Mesa 10.3.2 78 | 14:18:34: GL_VENDOR = Intel Open Source Technology Center 79 | 14:18:34: GL_RENDERER = Mesa DRI Intel(R) Haswell Mobile 80 | 14:18:34: GL_EXTENSIONS = GL_ARB_multisample GL_EXT_abgr GL_EXT_bgra GL_EXT_blend_color GL_EXT_blend_minmax GL_EXT_blend_subtract GL_EXT_copy_texture GL_EXT_polygon_offset GL_EXT_subtexture GL_EXT_texture_object GL_EXT_vertex_array GL_EXT_compiled_vertex_array GL_EXT_texture GL_EXT_texture3D GL_IBM_rasterpos_clip GL_ARB_point_parameters GL_EXT_draw_range_elements GL_EXT_packed_pixels GL_EXT_point_parameters GL_EXT_rescale_normal GL_EXT_separate_specular_color GL_EXT_texture_edge_clamp GL_SGIS_generate_mipmap GL_SGIS_texture_border_clamp GL_SGIS_texture_edge_clamp GL_SGIS_texture_lod GL_ARB_framebuffer_sRGB GL_ARB_multitexture GL_EXT_framebuffer_sRGB GL_IBM_multimode_draw_arrays GL_IBM_texture_mirrored_repeat GL_3DFX_texture_compression_FXT1 GL_ARB_texture_cube_map GL_ARB_texture_env_add GL_ARB_transpose_matrix GL_EXT_blend_func_separate GL_EXT_fog_coord GL_EXT_multi_draw_arrays GL_EXT_secondary_color GL_EXT_texture_env_add GL_EXT_texture_filter_anisotropic GL_EXT_texture_lod_bias GL_INGR_blend_func_separate GL_NV_blend_square GL_NV_light_max_exponent GL_NV_texgen_reflection GL_NV_texture_env_combine4 GL_S3_s3tc GL_SUN_multi_draw_arrays GL_ARB_texture_border_clamp GL_ARB_texture_compression GL_EXT_framebuffer_object GL_EXT_texture_compression_s3tc GL_EXT_texture_env_combine GL_EXT_texture_env_dot3 GL_MESA_window_pos GL_NV_packed_depth_stencil GL_NV_texture_rectangle GL_ARB_depth_texture GL_ARB_occlusion_query GL_ARB_shadow GL_ARB_texture_env_combine GL_ARB_texture_env_crossbar GL_ARB_texture_env_dot3 GL_ARB_texture_mirrored_repeat GL_ARB_window_pos GL_EXT_stencil_two_side GL_EXT_texture_cube_map GL_NV_depth_clamp GL_APPLE_packed_pixels GL_APPLE_vertex_array_object GL_ARB_draw_buffers GL_ARB_fragment_program GL_ARB_fragment_shader GL_ARB_shader_objects GL_ARB_vertex_program GL_ARB_vertex_shader GL_ATI_draw_buffers GL_ATI_texture_env_combine3 GL_ATI_texture_float GL_EXT_shadow_funcs GL_EXT_stencil_wrap GL_MESA_pack_invert GL_NV_primitive_restart GL_ARB_depth_clamp GL_ARB_fragment_program_shadow GL_ARB_half_float_pixel GL_ARB_occlusion_query2 GL_ARB_point_sprite GL_ARB_shading_language_100 GL_ARB_sync GL_ARB_texture_non_power_of_two GL_ARB_vertex_buffer_object GL_ATI_blend_equation_separate GL_EXT_blend_equation_separate GL_OES_read_format GL_ARB_color_buffer_float GL_ARB_pixel_buffer_object GL_ARB_texture_compression_rgtc GL_ARB_texture_float GL_ARB_texture_rectangle GL_EXT_packed_float GL_EXT_pixel_buffer_object GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_rgtc GL_EXT_texture_rectangle GL_EXT_texture_sRGB GL_EXT_texture_shared_exponent GL_ARB_framebuffer_object GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXT_packed_depth_stencil GL_APPLE_object_purgeable GL_ARB_vertex_array_object GL_ATI_separate_stencil GL_EXT_draw_buffers2 GL_EXT_draw_instanced GL_EXT_gpu_program_parameters GL_EXT_texture_array GL_EXT_texture_integer GL_EXT_texture_sRGB_decode GL_EXT_timer_query GL_OES_EGL_image GL_ARB_copy_buffer GL_ARB_depth_buffer_float GL_ARB_draw_instanced GL_ARB_half_float_vertex GL_ARB_instanced_arrays GL_ARB_map_buffer_range GL_ARB_texture_rg GL_ARB_texture_swizzle GL_ARB_vertex_array_bgra GL_EXT_texture_swizzle GL_EXT_vertex_array_bgra GL_NV_conditional_render GL_AMD_conservative_depth GL_AMD_draw_buffers_blend GL_AMD_seamless_cubemap_per_texture GL_ARB_ES2_compatibility GL_ARB_blend_func_extended GL_ARB_debug_output GL_ARB_draw_buffers_blend GL_ARB_draw_elements_base_vertex GL_ARB_explicit_attrib_location GL_ARB_fragment_coord_conventions GL_ARB_provoking_vertex GL_ARB_sample_shading GL_ARB_sampler_objects GL_ARB_seamless_cube_map GL_ARB_shader_texture_lod GL_ARB_texture_cube_map_array GL_ARB_texture_gather GL_ARB_texture_multisample GL_ARB_texture_query_lod GL_ARB_texture_rgb10_a2ui GL_ARB_uniform_buffer_object GL_ARB_vertex_type_2_10_10_10_rev GL_EXT_provoking_vertex GL_EXT_texture_snorm GL_MESA_texture_signed_rgba GL_ARB_get_program_binary GL_ARB_robustness GL_ARB_separate_shader_objects GL_ARB_shader_bit_encoding GL_ARB_texture_compression_bptc GL_ARB_timer_query GL_ANGLE_texture_compression_dxt3 GL_ANGLE_texture_compression_dxt5 GL_ARB_compressed_texture_pixel_storage GL_ARB_conservative_depth GL_ARB_internalformat_query GL_ARB_map_buffer_alignment GL_ARB_shader_atomic_counters GL_ARB_shading_language_420pack GL_ARB_shading_language_packing GL_ARB_texture_storage GL_EXT_framebuffer_multisample_blit_scaled GL_EXT_transform_feedback GL_AMD_shader_trinary_minmax GL_ARB_ES3_compatibility GL_ARB_clear_buffer_object GL_ARB_copy_image GL_ARB_explicit_uniform_location GL_ARB_invalidate_subdata GL_ARB_texture_query_levels GL_ARB_texture_storage_multisample GL_ARB_texture_view GL_ARB_vertex_attrib_binding GL_KHR_debug GL_ARB_buffer_storage GL_ARB_clear_texture GL_ARB_multi_bind GL_ARB_seamless_cubemap_per_texture GL_ARB_texture_mirror_clamp_to_edge GL_ARB_vertex_type_10f_11f_11f_rev GL_EXT_shader_integer_mix GL_ARB_conditional_render_inverted GL_ARB_derivative_control 81 | 14:18:34: Supported GLX extensions: GLX_ARB_create_context GLX_ARB_create_context_profile GLX_ARB_create_context_robustness GLX_ARB_fbconfig_float GLX_ARB_framebuffer_sRGB GLX_ARB_get_proc_address GLX_ARB_multisample GLX_EXT_import_context GLX_EXT_visual_info GLX_EXT_visual_rating GLX_EXT_framebuffer_sRGB GLX_EXT_create_context_es2_profile GLX_MESA_copy_sub_buffer GLX_MESA_multithread_makecurrent GLX_MESA_query_renderer GLX_MESA_swap_control GLX_OML_swap_method GLX_OML_sync_control GLX_SGI_make_current_read GLX_SGI_swap_control GLX_SGI_video_sync GLX_SGIS_multisample GLX_SGIX_fbconfig GLX_SGIX_pbuffer GLX_SGIX_visual_select_group GLX_EXT_texture_from_pixmap GLX_INTEL_swap_event 82 | 14:18:34: *************************** 83 | 14:18:34: *** GL Renderer Started *** 84 | 14:18:34: *************************** 85 | 14:18:34: Registering ResourceManager for type GpuProgram 86 | 14:18:34: GLSL support detected 87 | 14:18:34: GL: Using GL_EXT_framebuffer_object for rendering to textures (best) 88 | 14:18:34: FBO PF_UNKNOWN depth/stencil support: D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 89 | 14:18:34: FBO PF_A8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 90 | 14:18:34: FBO PF_R5G6B5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 91 | 14:18:34: FBO PF_B5G6R5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 92 | 14:18:34: FBO PF_A4R4G4B4 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 93 | 14:18:34: FBO PF_A1R5G5B5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 94 | 14:18:34: FBO PF_R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 95 | 14:18:34: FBO PF_B8G8R8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 96 | 14:18:34: FBO PF_A8R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 97 | 14:18:34: FBO PF_B8G8R8A8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 98 | 14:18:34: FBO PF_A2R10G10B10 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 99 | 14:18:34: FBO PF_A2B10G10R10 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 100 | 14:18:34: FBO PF_FLOAT16_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 101 | 14:18:34: FBO PF_FLOAT32_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 102 | 14:18:34: FBO PF_X8R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 103 | 14:18:34: FBO PF_X8B8G8R8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 104 | 14:18:34: FBO PF_SHORT_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 105 | 14:18:34: FBO PF_R3G3B2 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 106 | 14:18:34: FBO PF_FLOAT16_R depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 107 | 14:18:34: FBO PF_FLOAT32_R depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D16S1 D16S4 D16S8 D16S16 D24S0 D24S1 D24S4 D24S8 D24S16 D32S0 D32S1 D32S4 D32S8 D32S16 Packed-D24S8 108 | 14:18:34: [GL] : Valid FBO targets PF_UNKNOWN PF_A8 PF_R5G6B5 PF_B5G6R5 PF_A4R4G4B4 PF_A1R5G5B5 PF_R8G8B8 PF_B8G8R8 PF_A8R8G8B8 PF_B8G8R8A8 PF_A2R10G10B10 PF_A2B10G10R10 PF_FLOAT16_RGBA PF_FLOAT32_RGBA PF_X8R8G8B8 PF_X8B8G8R8 PF_SHORT_RGBA PF_R3G3B2 PF_FLOAT16_R PF_FLOAT32_R 109 | 14:18:34: RenderSystem capabilities 110 | 14:18:34: ------------------------- 111 | 14:18:34: RenderSystem Name: OpenGL Rendering Subsystem 112 | 14:18:34: GPU Vendor: intel 113 | 14:18:34: Device Name: Mesa DRI Intel(R) Haswell Mobile 114 | 14:18:34: Driver Version: 3.0.0.0 115 | 14:18:34: * Fixed function pipeline: yes 116 | 14:18:34: * Hardware generation of mipmaps: no 117 | 14:18:34: * Texture blending: yes 118 | 14:18:34: * Anisotropic texture filtering: yes 119 | 14:18:34: * Dot product texture operation: yes 120 | 14:18:34: * Cube mapping: yes 121 | 14:18:34: * Hardware stencil buffer: yes 122 | 14:18:34: - Stencil depth: 8 123 | 14:18:34: - Two sided stencil support: yes 124 | 14:18:34: - Wrap stencil values: yes 125 | 14:18:34: * Hardware vertex / index buffers: yes 126 | 14:18:34: * Vertex programs: yes 127 | 14:18:34: * Number of floating-point constants for vertex programs: 4096 128 | 14:18:34: * Number of integer constants for vertex programs: 0 129 | 14:18:34: * Number of boolean constants for vertex programs: 0 130 | 14:18:34: * Fragment programs: yes 131 | 14:18:34: * Number of floating-point constants for fragment programs: 4096 132 | 14:18:34: * Number of integer constants for fragment programs: 0 133 | 14:18:34: * Number of boolean constants for fragment programs: 0 134 | 14:18:34: * Geometry programs: no 135 | 14:18:34: * Number of floating-point constants for geometry programs: 0 136 | 14:18:34: * Number of integer constants for geometry programs: 0 137 | 14:18:34: * Number of boolean constants for geometry programs: 0 138 | 14:18:34: * Supported Shader Profiles: arbfp1 arbvp1 glsl 139 | 14:18:34: * Texture Compression: yes 140 | 14:18:34: - DXT: yes 141 | 14:18:34: - VTC: no 142 | 14:18:34: - PVRTC: no 143 | 14:18:34: * Scissor Rectangle: yes 144 | 14:18:34: * Hardware Occlusion Query: yes 145 | 14:18:34: * User clip planes: yes 146 | 14:18:34: * VET_UBYTE4 vertex element type: yes 147 | 14:18:34: * Infinite far plane projection: yes 148 | 14:18:34: * Hardware render-to-texture: yes 149 | 14:18:34: * Floating point textures: yes 150 | 14:18:34: * Non-power-of-two textures: yes 151 | 14:18:34: * Volume textures: yes 152 | 14:18:34: * Multiple Render Targets: 8 153 | 14:18:34: - With different bit depths: yes 154 | 14:18:34: * Point Sprites: yes 155 | 14:18:34: * Extended point parameters: yes 156 | 14:18:34: * Max Point Size: 255 157 | 14:18:34: * Vertex texture fetch: yes 158 | 14:18:34: * Number of world matrices: 0 159 | 14:18:34: * Number of texture units: 32 160 | 14:18:34: * Stencil buffer depth: 8 161 | 14:18:34: * Number of vertex blend matrices: 0 162 | 14:18:34: - Max vertex textures: 32 163 | 14:18:34: - Vertex textures shared: yes 164 | 14:18:34: * Render to Vertex Buffer : no 165 | 14:18:34: * GL 1.5 without VBO workaround: no 166 | 14:18:34: * Frame Buffer objects: yes 167 | 14:18:34: * Frame Buffer objects (ARB extension): no 168 | 14:18:34: * Frame Buffer objects (ATI extension): no 169 | 14:18:34: * PBuffer support: yes 170 | 14:18:34: * GL 1.5 without HW-occlusion workaround: no 171 | 14:18:34: * Separate shader objects: no 172 | 14:18:34: DefaultWorkQueue('Root') initialising on thread 7fb5a1c89740. 173 | 14:18:34: DefaultWorkQueue('Root')::WorkerFunc - thread 7fb54a198700 starting. 174 | 14:18:34: DefaultWorkQueue('Root')::WorkerFunc - thread 7fb54a999700 starting. 175 | 14:18:34: DefaultWorkQueue('Root')::WorkerFunc - thread 7fb549997700 starting. 176 | 14:18:34: Particle Renderer Type 'billboard' registered 177 | 14:18:34: SceneManagerFactory for type 'OctreeSceneManager' registered. 178 | 14:18:34: DefaultWorkQueue('Root')::WorkerFunc - thread 7fb549196700 starting. 179 | 14:18:34: Creating resource group rviz 180 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media' of type 'FileSystem' to resource group 'rviz' 181 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media/textures' of type 'FileSystem' to resource group 'rviz' 182 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media/fonts' of type 'FileSystem' to resource group 'rviz' 183 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media/models' of type 'FileSystem' to resource group 'rviz' 184 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media/materials' of type 'FileSystem' to resource group 'rviz' 185 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media/materials/scripts' of type 'FileSystem' to resource group 'rviz' 186 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media/materials/glsl120' of type 'FileSystem' to resource group 'rviz' 187 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media/materials/glsl120/nogp' of type 'FileSystem' to resource group 'rviz' 188 | 14:18:34: Added resource location '/opt/ros/indigo/share/rviz/ogre_media/materials/scripts120' of type 'FileSystem' to resource group 'rviz' 189 | 14:18:34: Parsing scripts for resource group Autodetect 190 | 14:18:34: Finished parsing scripts for resource group Autodetect 191 | 14:18:34: Creating resources for group Autodetect 192 | 14:18:34: All done 193 | 14:18:34: Parsing scripts for resource group General 194 | 14:18:34: Finished parsing scripts for resource group General 195 | 14:18:34: Creating resources for group General 196 | 14:18:34: All done 197 | 14:18:34: Parsing scripts for resource group Internal 198 | 14:18:34: Finished parsing scripts for resource group Internal 199 | 14:18:34: Creating resources for group Internal 200 | 14:18:34: All done 201 | 14:18:34: Parsing scripts for resource group rviz 202 | 14:18:34: Parsing script glsl120.program 203 | 14:18:34: Parsing script nogp.program 204 | 14:18:34: Parsing script point_cloud_point.material 205 | 14:18:34: Parsing script indexed_8bit_image.material 206 | 14:18:34: Parsing script default_pick_and_depth.material 207 | 14:18:34: Parsing script point_cloud_tile.material 208 | 14:18:34: Parsing script point_cloud_sphere.material 209 | 14:18:34: Parsing script point_cloud_flat_square.material 210 | 14:18:34: Parsing script point_cloud_box.material 211 | 14:18:34: Parsing script point_cloud_square.material 212 | 14:18:34: Parsing script arial.fontdef 213 | 14:18:34: Finished parsing scripts for resource group rviz 214 | 14:18:34: Creating resources for group rviz 215 | 14:18:34: All done 216 | 14:18:34: GLRenderSystem::_createRenderWindow "OgreWindow(1)", 100x30 windowed miscParams: externalGLControl= macAPI=carbon parentWindowHandle=75497532 217 | 14:18:34: GLXWindow::create used FBConfigID = 103 218 | 14:18:35: Mesh: Loading rviz_sphere.mesh. 219 | 14:18:35: Texture: SelectionRect0Texture: Loading 1 faces(PF_R8G8B8A8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,1x1x1. 220 | 14:18:35: Mesh: Loading rviz_cylinder.mesh. 221 | 14:18:35: Mesh: Loading rviz_cone.mesh. 222 | 14:18:36: Texture: ROSImageTexture0: Loading 1 faces(PF_A8R8G8B8,420x300x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,420x300x1. 223 | 14:18:36: Texture: ROSImageTexture1: Loading 1 faces(PF_A8R8G8B8,420x300x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,420x300x1. 224 | 14:18:37: GLRenderSystem::_createRenderWindow "OgreWindow(2)", 683x307 windowed miscParams: externalGLControl= macAPI=carbon parentWindowHandle=75497761 225 | 14:18:37: GLXWindow::create used FBConfigID = 103 226 | 14:18:37: Texture: ROSImageTexture0: Loading 1 faces(PF_A8R8G8B8,420x300x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,420x300x1. 227 | 14:18:38: GLRenderSystem::_createRenderWindow "OgreWindow(3)", 683x307 windowed miscParams: externalGLControl= macAPI=carbon parentWindowHandle=75497803 228 | 14:18:38: GLXWindow::create used FBConfigID = 103 229 | 14:18:38: Texture: ROSImageTexture1: Loading 1 faces(PF_A8R8G8B8,420x300x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,420x300x1. 230 | 14:18:38: Texture: MapPaletteTexture0: Loading 1 faces(PF_A8B8G8R8,256x1x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,256x1x1. 231 | 14:18:38: Texture: MapPaletteTexture1: Loading 1 faces(PF_A8B8G8R8,256x1x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,256x1x1. 232 | 14:18:38: Texture: ROSImageTexture1: Loading 1 faces(PF_A8R8G8B8,420x300x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,420x300x1. 233 | 14:18:39: GLSL compiled: 234 | 14:18:39: GLSL compiled: 235 | 14:18:39: Vertex Program:rviz/glsl120/nogp/billboard.vert Fragment Program:rviz/glsl120/flat_color.frag GLSL link result : 236 | 14:18:39: GLSL compiled: 237 | 14:18:39: Fragment Program:rviz/glsl120/black.frag GLSL link result : 238 | 14:19:03: Texture: ROSImageTexture0: Loading 1 faces(PF_A8R8G8B8,420x300x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,420x300x1. 239 | 14:19:24: Texture: ROSImageTexture0: Loading 1 faces(PF_A8R8G8B8,420x300x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,420x300x1. 240 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. We, the Free Software Foundation, use the 18 | GNU General Public License for most of our software; it applies also to 19 | any other work released this way by its authors. You can apply it to 20 | your programs, too. 21 | 22 | When we speak of free software, we are referring to freedom, not 23 | price. Our General Public Licenses are designed to make sure that you 24 | have the freedom to distribute copies of free software (and charge for 25 | them if you wish), that you receive source code or can get it if you 26 | want it, that you can change the software or use pieces of it in new 27 | free programs, and that you know you can do these things. 28 | 29 | To protect your rights, we need to prevent others from denying you 30 | these rights or asking you to surrender the rights. Therefore, you have 31 | certain responsibilities if you distribute copies of the software, or if 32 | you modify it: responsibilities to respect the freedom of others. 33 | 34 | For example, if you distribute copies of such a program, whether 35 | gratis or for a fee, you must pass on to the recipients the same 36 | freedoms that you received. You must make sure that they, too, receive 37 | or can get the source code. And you must show them these terms so they 38 | know their rights. 39 | 40 | Developers that use the GNU GPL protect your rights with two steps: 41 | (1) assert copyright on the software, and (2) offer you this License 42 | giving you legal permission to copy, distribute and/or modify it. 43 | 44 | For the developers' and authors' protection, the GPL clearly explains 45 | that there is no warranty for this free software. For both users' and 46 | authors' sake, the GPL requires that modified versions be marked as 47 | changed, so that their problems will not be attributed erroneously to 48 | authors of previous versions. 49 | 50 | Some devices are designed to deny users access to install or run 51 | modified versions of the software inside them, although the manufacturer 52 | can do so. This is fundamentally incompatible with the aim of 53 | protecting users' freedom to change the software. The systematic 54 | pattern of such abuse occurs in the area of products for individuals to 55 | use, which is precisely where it is most unacceptable. Therefore, we 56 | have designed this version of the GPL to prohibit the practice for those 57 | products. If such problems arise substantially in other domains, we 58 | stand ready to extend this provision to those domains in future versions 59 | of the GPL, as needed to protect the freedom of users. 60 | 61 | Finally, every program is threatened constantly by software patents. 62 | States should not allow patents to restrict development and use of 63 | software on general-purpose computers, but in those that do, we wish to 64 | avoid the special danger that patents applied to a free program could 65 | make it effectively proprietary. To prevent this, the GPL assures that 66 | patents cannot be used to render the program non-free. 67 | 68 | The precise terms and conditions for copying, distribution and 69 | modification follow. 70 | 71 | TERMS AND CONDITIONS 72 | 73 | 0. Definitions. 74 | 75 | "This License" refers to version 3 of the GNU General Public License. 76 | 77 | "Copyright" also means copyright-like laws that apply to other kinds of 78 | works, such as semiconductor masks. 79 | 80 | "The Program" refers to any copyrightable work licensed under this 81 | License. Each licensee is addressed as "you". "Licensees" and 82 | "recipients" may be individuals or organizations. 83 | 84 | To "modify" a work means to copy from or adapt all or part of the work 85 | in a fashion requiring copyright permission, other than the making of an 86 | exact copy. The resulting work is called a "modified version" of the 87 | earlier work or a work "based on" the earlier work. 88 | 89 | A "covered work" means either the unmodified Program or a work based 90 | on the Program. 91 | 92 | To "propagate" a work means to do anything with it that, without 93 | permission, would make you directly or secondarily liable for 94 | infringement under applicable copyright law, except executing it on a 95 | computer or modifying a private copy. Propagation includes copying, 96 | distribution (with or without modification), making available to the 97 | public, and in some countries other activities as well. 98 | 99 | To "convey" a work means any kind of propagation that enables other 100 | parties to make or receive copies. Mere interaction with a user through 101 | a computer network, with no transfer of a copy, is not conveying. 102 | 103 | An interactive user interface displays "Appropriate Legal Notices" 104 | to the extent that it includes a convenient and prominently visible 105 | feature that (1) displays an appropriate copyright notice, and (2) 106 | tells the user that there is no warranty for the work (except to the 107 | extent that warranties are provided), that licensees may convey the 108 | work under this License, and how to view a copy of this License. If 109 | the interface presents a list of user commands or options, such as a 110 | menu, a prominent item in the list meets this criterion. 111 | 112 | 1. Source Code. 113 | 114 | The "source code" for a work means the preferred form of the work 115 | for making modifications to it. "Object code" means any non-source 116 | form of a work. 117 | 118 | A "Standard Interface" means an interface that either is an official 119 | standard defined by a recognized standards body, or, in the case of 120 | interfaces specified for a particular programming language, one that 121 | is widely used among developers working in that language. 122 | 123 | The "System Libraries" of an executable work include anything, other 124 | than the work as a whole, that (a) is included in the normal form of 125 | packaging a Major Component, but which is not part of that Major 126 | Component, and (b) serves only to enable use of the work with that 127 | Major Component, or to implement a Standard Interface for which an 128 | implementation is available to the public in source code form. A 129 | "Major Component", in this context, means a major essential component 130 | (kernel, window system, and so on) of the specific operating system 131 | (if any) on which the executable work runs, or a compiler used to 132 | produce the work, or an object code interpreter used to run it. 133 | 134 | The "Corresponding Source" for a work in object code form means all 135 | the source code needed to generate, install, and (for an executable 136 | work) run the object code and to modify the work, including scripts to 137 | control those activities. However, it does not include the work's 138 | System Libraries, or general-purpose tools or generally available free 139 | programs which are used unmodified in performing those activities but 140 | which are not part of the work. For example, Corresponding Source 141 | includes interface definition files associated with source files for 142 | the work, and the source code for shared libraries and dynamically 143 | linked subprograms that the work is specifically designed to require, 144 | such as by intimate data communication or control flow between those 145 | subprograms and other parts of the work. 146 | 147 | The Corresponding Source need not include anything that users 148 | can regenerate automatically from other parts of the Corresponding 149 | Source. 150 | 151 | The Corresponding Source for a work in source code form is that 152 | same work. 153 | 154 | 2. Basic Permissions. 155 | 156 | All rights granted under this License are granted for the term of 157 | copyright on the Program, and are irrevocable provided the stated 158 | conditions are met. This License explicitly affirms your unlimited 159 | permission to run the unmodified Program. The output from running a 160 | covered work is covered by this License only if the output, given its 161 | content, constitutes a covered work. This License acknowledges your 162 | rights of fair use or other equivalent, as provided by copyright law. 163 | 164 | You may make, run and propagate covered works that you do not 165 | convey, without conditions so long as your license otherwise remains 166 | in force. You may convey covered works to others for the sole purpose 167 | of having them make modifications exclusively for you, or provide you 168 | with facilities for running those works, provided that you comply with 169 | the terms of this License in conveying all material for which you do 170 | not control copyright. Those thus making or running the covered works 171 | for you must do so exclusively on your behalf, under your direction 172 | and control, on terms that prohibit them from making any copies of 173 | your copyrighted material outside their relationship with you. 174 | 175 | Conveying under any other circumstances is permitted solely under 176 | the conditions stated below. Sublicensing is not allowed; section 10 177 | makes it unnecessary. 178 | 179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law. 180 | 181 | No covered work shall be deemed part of an effective technological 182 | measure under any applicable law fulfilling obligations under article 183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or 184 | similar laws prohibiting or restricting circumvention of such 185 | measures. 186 | 187 | When you convey a covered work, you waive any legal power to forbid 188 | circumvention of technological measures to the extent such circumvention 189 | is effected by exercising rights under this License with respect to 190 | the covered work, and you disclaim any intention to limit operation or 191 | modification of the work as a means of enforcing, against the work's 192 | users, your or third parties' legal rights to forbid circumvention of 193 | technological measures. 194 | 195 | 4. Conveying Verbatim Copies. 196 | 197 | You may convey verbatim copies of the Program's source code as you 198 | receive it, in any medium, provided that you conspicuously and 199 | appropriately publish on each copy an appropriate copyright notice; 200 | keep intact all notices stating that this License and any 201 | non-permissive terms added in accord with section 7 apply to the code; 202 | keep intact all notices of the absence of any warranty; and give all 203 | recipients a copy of this License along with the Program. 204 | 205 | You may charge any price or no price for each copy that you convey, 206 | and you may offer support or warranty protection for a fee. 207 | 208 | 5. Conveying Modified Source Versions. 209 | 210 | You may convey a work based on the Program, or the modifications to 211 | produce it from the Program, in the form of source code under the 212 | terms of section 4, provided that you also meet all of these conditions: 213 | 214 | a) The work must carry prominent notices stating that you modified 215 | it, and giving a relevant date. 216 | 217 | b) The work must carry prominent notices stating that it is 218 | released under this License and any conditions added under section 219 | 7. This requirement modifies the requirement in section 4 to 220 | "keep intact all notices". 221 | 222 | c) You must license the entire work, as a whole, under this 223 | License to anyone who comes into possession of a copy. This 224 | License will therefore apply, along with any applicable section 7 225 | additional terms, to the whole of the work, and all its parts, 226 | regardless of how they are packaged. This License gives no 227 | permission to license the work in any other way, but it does not 228 | invalidate such permission if you have separately received it. 229 | 230 | d) If the work has interactive user interfaces, each must display 231 | Appropriate Legal Notices; however, if the Program has interactive 232 | interfaces that do not display Appropriate Legal Notices, your 233 | work need not make them do so. 234 | 235 | A compilation of a covered work with other separate and independent 236 | works, which are not by their nature extensions of the covered work, 237 | and which are not combined with it such as to form a larger program, 238 | in or on a volume of a storage or distribution medium, is called an 239 | "aggregate" if the compilation and its resulting copyright are not 240 | used to limit the access or legal rights of the compilation's users 241 | beyond what the individual works permit. Inclusion of a covered work 242 | in an aggregate does not cause this License to apply to the other 243 | parts of the aggregate. 244 | 245 | 6. Conveying Non-Source Forms. 246 | 247 | You may convey a covered work in object code form under the terms 248 | of sections 4 and 5, provided that you also convey the 249 | machine-readable Corresponding Source under the terms of this License, 250 | in one of these ways: 251 | 252 | a) Convey the object code in, or embodied in, a physical product 253 | (including a physical distribution medium), accompanied by the 254 | Corresponding Source fixed on a durable physical medium 255 | customarily used for software interchange. 256 | 257 | b) Convey the object code in, or embodied in, a physical product 258 | (including a physical distribution medium), accompanied by a 259 | written offer, valid for at least three years and valid for as 260 | long as you offer spare parts or customer support for that product 261 | model, to give anyone who possesses the object code either (1) a 262 | copy of the Corresponding Source for all the software in the 263 | product that is covered by this License, on a durable physical 264 | medium customarily used for software interchange, for a price no 265 | more than your reasonable cost of physically performing this 266 | conveying of source, or (2) access to copy the 267 | Corresponding Source from a network server at no charge. 268 | 269 | c) Convey individual copies of the object code with a copy of the 270 | written offer to provide the Corresponding Source. This 271 | alternative is allowed only occasionally and noncommercially, and 272 | only if you received the object code with such an offer, in accord 273 | with subsection 6b. 274 | 275 | d) Convey the object code by offering access from a designated 276 | place (gratis or for a charge), and offer equivalent access to the 277 | Corresponding Source in the same way through the same place at no 278 | further charge. You need not require recipients to copy the 279 | Corresponding Source along with the object code. If the place to 280 | copy the object code is a network server, the Corresponding Source 281 | may be on a different server (operated by you or a third party) 282 | that supports equivalent copying facilities, provided you maintain 283 | clear directions next to the object code saying where to find the 284 | Corresponding Source. Regardless of what server hosts the 285 | Corresponding Source, you remain obligated to ensure that it is 286 | available for as long as needed to satisfy these requirements. 287 | 288 | e) Convey the object code using peer-to-peer transmission, provided 289 | you inform other peers where the object code and Corresponding 290 | Source of the work are being offered to the general public at no 291 | charge under subsection 6d. 292 | 293 | A separable portion of the object code, whose source code is excluded 294 | from the Corresponding Source as a System Library, need not be 295 | included in conveying the object code work. 296 | 297 | A "User Product" is either (1) a "consumer product", which means any 298 | tangible personal property which is normally used for personal, family, 299 | or household purposes, or (2) anything designed or sold for incorporation 300 | into a dwelling. In determining whether a product is a consumer product, 301 | doubtful cases shall be resolved in favor of coverage. For a particular 302 | product received by a particular user, "normally used" refers to a 303 | typical or common use of that class of product, regardless of the status 304 | of the particular user or of the way in which the particular user 305 | actually uses, or expects or is expected to use, the product. A product 306 | is a consumer product regardless of whether the product has substantial 307 | commercial, industrial or non-consumer uses, unless such uses represent 308 | the only significant mode of use of the product. 309 | 310 | "Installation Information" for a User Product means any methods, 311 | procedures, authorization keys, or other information required to install 312 | and execute modified versions of a covered work in that User Product from 313 | a modified version of its Corresponding Source. The information must 314 | suffice to ensure that the continued functioning of the modified object 315 | code is in no case prevented or interfered with solely because 316 | modification has been made. 317 | 318 | If you convey an object code work under this section in, or with, or 319 | specifically for use in, a User Product, and the conveying occurs as 320 | part of a transaction in which the right of possession and use of the 321 | User Product is transferred to the recipient in perpetuity or for a 322 | fixed term (regardless of how the transaction is characterized), the 323 | Corresponding Source conveyed under this section must be accompanied 324 | by the Installation Information. But this requirement does not apply 325 | if neither you nor any third party retains the ability to install 326 | modified object code on the User Product (for example, the work has 327 | been installed in ROM). 328 | 329 | The requirement to provide Installation Information does not include a 330 | requirement to continue to provide support service, warranty, or updates 331 | for a work that has been modified or installed by the recipient, or for 332 | the User Product in which it has been modified or installed. Access to a 333 | network may be denied when the modification itself materially and 334 | adversely affects the operation of the network or violates the rules and 335 | protocols for communication across the network. 336 | 337 | Corresponding Source conveyed, and Installation Information provided, 338 | in accord with this section must be in a format that is publicly 339 | documented (and with an implementation available to the public in 340 | source code form), and must require no special password or key for 341 | unpacking, reading or copying. 342 | 343 | 7. Additional Terms. 344 | 345 | "Additional permissions" are terms that supplement the terms of this 346 | License by making exceptions from one or more of its conditions. 347 | Additional permissions that are applicable to the entire Program shall 348 | be treated as though they were included in this License, to the extent 349 | that they are valid under applicable law. If additional permissions 350 | apply only to part of the Program, that part may be used separately 351 | under those permissions, but the entire Program remains governed by 352 | this License without regard to the additional permissions. 353 | 354 | When you convey a copy of a covered work, you may at your option 355 | remove any additional permissions from that copy, or from any part of 356 | it. (Additional permissions may be written to require their own 357 | removal in certain cases when you modify the work.) You may place 358 | additional permissions on material, added by you to a covered work, 359 | for which you have or can give appropriate copyright permission. 360 | 361 | Notwithstanding any other provision of this License, for material you 362 | add to a covered work, you may (if authorized by the copyright holders of 363 | that material) supplement the terms of this License with terms: 364 | 365 | a) Disclaiming warranty or limiting liability differently from the 366 | terms of sections 15 and 16 of this License; or 367 | 368 | b) Requiring preservation of specified reasonable legal notices or 369 | author attributions in that material or in the Appropriate Legal 370 | Notices displayed by works containing it; or 371 | 372 | c) Prohibiting misrepresentation of the origin of that material, or 373 | requiring that modified versions of such material be marked in 374 | reasonable ways as different from the original version; or 375 | 376 | d) Limiting the use for publicity purposes of names of licensors or 377 | authors of the material; or 378 | 379 | e) Declining to grant rights under trademark law for use of some 380 | trade names, trademarks, or service marks; or 381 | 382 | f) Requiring indemnification of licensors and authors of that 383 | material by anyone who conveys the material (or modified versions of 384 | it) with contractual assumptions of liability to the recipient, for 385 | any liability that these contractual assumptions directly impose on 386 | those licensors and authors. 387 | 388 | All other non-permissive additional terms are considered "further 389 | restrictions" within the meaning of section 10. If the Program as you 390 | received it, or any part of it, contains a notice stating that it is 391 | governed by this License along with a term that is a further 392 | restriction, you may remove that term. If a license document contains 393 | a further restriction but permits relicensing or conveying under this 394 | License, you may add to a covered work material governed by the terms 395 | of that license document, provided that the further restriction does 396 | not survive such relicensing or conveying. 397 | 398 | If you add terms to a covered work in accord with this section, you 399 | must place, in the relevant source files, a statement of the 400 | additional terms that apply to those files, or a notice indicating 401 | where to find the applicable terms. 402 | 403 | Additional terms, permissive or non-permissive, may be stated in the 404 | form of a separately written license, or stated as exceptions; 405 | the above requirements apply either way. 406 | 407 | 8. Termination. 408 | 409 | You may not propagate or modify a covered work except as expressly 410 | provided under this License. Any attempt otherwise to propagate or 411 | modify it is void, and will automatically terminate your rights under 412 | this License (including any patent licenses granted under the third 413 | paragraph of section 11). 414 | 415 | However, if you cease all violation of this License, then your 416 | license from a particular copyright holder is reinstated (a) 417 | provisionally, unless and until the copyright holder explicitly and 418 | finally terminates your license, and (b) permanently, if the copyright 419 | holder fails to notify you of the violation by some reasonable means 420 | prior to 60 days after the cessation. 421 | 422 | Moreover, your license from a particular copyright holder is 423 | reinstated permanently if the copyright holder notifies you of the 424 | violation by some reasonable means, this is the first time you have 425 | received notice of violation of this License (for any work) from that 426 | copyright holder, and you cure the violation prior to 30 days after 427 | your receipt of the notice. 428 | 429 | Termination of your rights under this section does not terminate the 430 | licenses of parties who have received copies or rights from you under 431 | this License. If your rights have been terminated and not permanently 432 | reinstated, you do not qualify to receive new licenses for the same 433 | material under section 10. 434 | 435 | 9. Acceptance Not Required for Having Copies. 436 | 437 | You are not required to accept this License in order to receive or 438 | run a copy of the Program. Ancillary propagation of a covered work 439 | occurring solely as a consequence of using peer-to-peer transmission 440 | to receive a copy likewise does not require acceptance. However, 441 | nothing other than this License grants you permission to propagate or 442 | modify any covered work. These actions infringe copyright if you do 443 | not accept this License. Therefore, by modifying or propagating a 444 | covered work, you indicate your acceptance of this License to do so. 445 | 446 | 10. Automatic Licensing of Downstream Recipients. 447 | 448 | Each time you convey a covered work, the recipient automatically 449 | receives a license from the original licensors, to run, modify and 450 | propagate that work, subject to this License. You are not responsible 451 | for enforcing compliance by third parties with this License. 452 | 453 | An "entity transaction" is a transaction transferring control of an 454 | organization, or substantially all assets of one, or subdividing an 455 | organization, or merging organizations. If propagation of a covered 456 | work results from an entity transaction, each party to that 457 | transaction who receives a copy of the work also receives whatever 458 | licenses to the work the party's predecessor in interest had or could 459 | give under the previous paragraph, plus a right to possession of the 460 | Corresponding Source of the work from the predecessor in interest, if 461 | the predecessor has it or can get it with reasonable efforts. 462 | 463 | You may not impose any further restrictions on the exercise of the 464 | rights granted or affirmed under this License. For example, you may 465 | not impose a license fee, royalty, or other charge for exercise of 466 | rights granted under this License, and you may not initiate litigation 467 | (including a cross-claim or counterclaim in a lawsuit) alleging that 468 | any patent claim is infringed by making, using, selling, offering for 469 | sale, or importing the Program or any portion of it. 470 | 471 | 11. Patents. 472 | 473 | A "contributor" is a copyright holder who authorizes use under this 474 | License of the Program or a work on which the Program is based. The 475 | work thus licensed is called the contributor's "contributor version". 476 | 477 | A contributor's "essential patent claims" are all patent claims 478 | owned or controlled by the contributor, whether already acquired or 479 | hereafter acquired, that would be infringed by some manner, permitted 480 | by this License, of making, using, or selling its contributor version, 481 | but do not include claims that would be infringed only as a 482 | consequence of further modification of the contributor version. For 483 | purposes of this definition, "control" includes the right to grant 484 | patent sublicenses in a manner consistent with the requirements of 485 | this License. 486 | 487 | Each contributor grants you a non-exclusive, worldwide, royalty-free 488 | patent license under the contributor's essential patent claims, to 489 | make, use, sell, offer for sale, import and otherwise run, modify and 490 | propagate the contents of its contributor version. 491 | 492 | In the following three paragraphs, a "patent license" is any express 493 | agreement or commitment, however denominated, not to enforce a patent 494 | (such as an express permission to practice a patent or covenant not to 495 | sue for patent infringement). To "grant" such a patent license to a 496 | party means to make such an agreement or commitment not to enforce a 497 | patent against the party. 498 | 499 | If you convey a covered work, knowingly relying on a patent license, 500 | and the Corresponding Source of the work is not available for anyone 501 | to copy, free of charge and under the terms of this License, through a 502 | publicly available network server or other readily accessible means, 503 | then you must either (1) cause the Corresponding Source to be so 504 | available, or (2) arrange to deprive yourself of the benefit of the 505 | patent license for this particular work, or (3) arrange, in a manner 506 | consistent with the requirements of this License, to extend the patent 507 | license to downstream recipients. "Knowingly relying" means you have 508 | actual knowledge that, but for the patent license, your conveying the 509 | covered work in a country, or your recipient's use of the covered work 510 | in a country, would infringe one or more identifiable patents in that 511 | country that you have reason to believe are valid. 512 | 513 | If, pursuant to or in connection with a single transaction or 514 | arrangement, you convey, or propagate by procuring conveyance of, a 515 | covered work, and grant a patent license to some of the parties 516 | receiving the covered work authorizing them to use, propagate, modify 517 | or convey a specific copy of the covered work, then the patent license 518 | you grant is automatically extended to all recipients of the covered 519 | work and works based on it. 520 | 521 | A patent license is "discriminatory" if it does not include within 522 | the scope of its coverage, prohibits the exercise of, or is 523 | conditioned on the non-exercise of one or more of the rights that are 524 | specifically granted under this License. You may not convey a covered 525 | work if you are a party to an arrangement with a third party that is 526 | in the business of distributing software, under which you make payment 527 | to the third party based on the extent of your activity of conveying 528 | the work, and under which the third party grants, to any of the 529 | parties who would receive the covered work from you, a discriminatory 530 | patent license (a) in connection with copies of the covered work 531 | conveyed by you (or copies made from those copies), or (b) primarily 532 | for and in connection with specific products or compilations that 533 | contain the covered work, unless you entered into that arrangement, 534 | or that patent license was granted, prior to 28 March 2007. 535 | 536 | Nothing in this License shall be construed as excluding or limiting 537 | any implied license or other defenses to infringement that may 538 | otherwise be available to you under applicable patent law. 539 | 540 | 12. No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------