[ROS-O] patches

face_detector/CMakeLists.txt

@@ -22,7 +22,7 @@ find_package(catkin REQUIRED COMPONENTS
         tf
 )
 
-find_package(Boost REQUIRED COMPONENTS system thread)
+find_package(Boost REQUIRED COMPONENTS thread)
 find_package(OpenCV)
 find_package(yaml-cpp REQUIRED)
 

face_detector/src/face_detection.cpp

@@ -316,14 +316,15 @@ class FaceDetector
         approximate_depth_sync_.reset(new ApproximateDepthSync(ApproximateDepthPolicy(queue_size),
                                       image_sub_, depth_image_sub_, c1_info_sub_, c2_info_sub_));
         approximate_depth_sync_->registerCallback(boost::bind(&FaceDetector::imageCBAllDepth,
-            this, _1, _2, _3, _4));
+            this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
       }
       else
       {
         exact_depth_sync_.reset(new ExactDepthSync(ExactDepthPolicy(queue_size),
                                 image_sub_, depth_image_sub_, c1_info_sub_, c2_info_sub_));
         exact_depth_sync_->registerCallback(boost::bind(&FaceDetector::imageCBAllDepth,
-                                            this, _1, _2, _3, _4));
+                                            this, boost::placeholders::_1, boost::placeholders::_2,
+                                            boost::placeholders::_3, boost::placeholders::_4));
       }
     }
     else
@@ -345,14 +346,15 @@ class FaceDetector
         approximate_disp_sync_.reset(new ApproximateDispSync(ApproximateDispPolicy(queue_size),
                                      image_sub_, disp_image_sub_, c1_info_sub_, c2_info_sub_));
         approximate_disp_sync_->registerCallback(boost::bind(&FaceDetector::imageCBAllDisp,
-            this, _1, _2, _3, _4));
+            this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
       }
       else
       {
         exact_disp_sync_.reset(new ExactDispSync(ExactDispPolicy(queue_size),
                                image_sub_, disp_image_sub_, c1_info_sub_, c2_info_sub_));
         exact_disp_sync_->registerCallback(boost::bind(&FaceDetector::imageCBAllDisp,
-                                           this, _1, _2, _3, _4));
+                                           this, boost::placeholders::_1, boost::placeholders::_2,
+                                           boost::placeholders::_3, boost::placeholders::_4));
       }
     }
 
@@ -716,7 +718,9 @@ class FaceDetector
           else
           {
             max_id_++;
-            pos.object_id = static_cast<std::ostringstream*>(&(std::ostringstream() << max_id_))->str();
+            std::ostringstream oss;
+            oss << max_id_;
+            pos.object_id = oss.str();
             ROS_INFO_STREAM_NAMED("face_detector", "Didn't find face to match, starting new ID " << pos.object_id);
           }
           result_.face_positions.push_back(pos);

leg_detector/include/leg_detector/laser_processor.h

@@ -73,7 +73,7 @@ struct CompareSample
 {
   CompareSample() {}
 
-  inline bool operator()(const Sample* a, const Sample* b)
+  inline bool operator()(const Sample* a, const Sample* b) const
   {
     return (a->index <  b->index);
   }

leg_detector/package.xml

@@ -8,7 +8,7 @@
   <url>http://ros.org/wiki/leg_detector</url>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>liborocos-bfl</depend>
+  <depend>bfl</depend>
   <depend>dynamic_reconfigure</depend>
   <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>

leg_detector/src/leg_detector.cpp

@@ -302,15 +302,13 @@ class LegDetector
 
     if (use_seeds_)
     {
-      people_notifier_.registerCallback(boost::bind(&LegDetector::peopleCallback, this, _1));
+      people_notifier_.registerCallback([this](auto msg){ peopleCallback(msg); });
       people_notifier_.setTolerance(ros::Duration(0.01));
     }
-    laser_notifier_.registerCallback(boost::bind(&LegDetector::laserCallback, this, _1));
+    laser_notifier_.registerCallback([this](auto scan){ laserCallback(scan); });
     laser_notifier_.setTolerance(ros::Duration(0.01));
 
-    dynamic_reconfigure::Server<leg_detector::LegDetectorConfig>::CallbackType f;
-    f = boost::bind(&LegDetector::configure, this, _1, _2);
-    server_.setCallback(f);
+    server_.setCallback([this](auto& config, uint32_t level){ configure(config, level); });
 
     feature_id_ = 0;
   }
@@ -731,9 +729,12 @@ class LegDetector
 
       memcpy(tmp_mat.data, f.data(), f.size()*sizeof(float));
 
-      float probability = 0.5 -
-                          forest->predict(tmp_mat, cv::noArray(), cv::ml::RTrees::PREDICT_SUM) /
-                          forest->getRoots().size();
+      cv::Mat votes;
+
+      forest->getVotes(tmp_mat, votes, 0);
+      // first row of columns cotains class labels. Here -1 and 1.
+      // second row then contains the number of trees voting for this class.
+      float probability = static_cast<float>(votes.at<int>(1, 1)) / static_cast<float>(forest->getRoots().size());
 
       tf::Stamped<tf::Point> loc((*i)->center(), scan->header.stamp, scan->header.frame_id);
       try

people_tracking_filter/package.xml

@@ -11,8 +11,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <depend>bfl</depend>
   <depend>geometry_msgs</depend>
-  <depend>liborocos-bfl-dev</depend>
   <depend>message_filters</depend>
   <depend>people_msgs</depend>
   <depend>roscpp</depend>

people_velocity_tracker/scripts/tracker.py

@@ -123,9 +123,9 @@ def spin(self):
         while not rospy.is_shutdown():
             # Remove People Older Than timeout param
             now = rospy.Time.now()
-            for p in self.people.values():
+            for p in list(self.people.values()):
                 if now - p.age() > self.TIMEOUT:
-                    del self.people[p.id()]
+                    del self.people[p.get_id()]
             self.publish()
             rate.sleep()
 
@@ -134,7 +134,7 @@ def publish(self):
         pl = People()
         pl.header.frame_id = None
 
-        for p in self.people.values():
+        for p in list(self.people.values()):
             p.publish_markers(self.mpub)
             frame, person = p.get_person()
             pl.header.frame_id = frame