From 55856862c50b6aad4f1bc772537c097da8a313cd Mon Sep 17 00:00:00 2001
From: Maurice Fallon <maurice.fallon@ed.ac.uk>
Date: Sat, 22 Aug 2015 21:37:05 +0100
Subject: [PATCH] clean up

---
 README.md                       | 33 ++++++++++++++++++++++++++-------
 src/icpcuda-app/icpcuda-app.cpp | 10 +++++-----
 2 files changed, 31 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index 9e2c4cf..7efa2cf 100644
--- a/README.md
+++ b/README.md
@@ -1,24 +1,43 @@
 # ICPCUDA-pod
 ICPCUDA-pod
 
-Might need to addjust
+Uses ICPCUDA to estimate motion (and velocity)
+
+Depends on bot_core types, kinect types and Consise args
+
+Compile as follows:
+
+:
+
+   cd ICPCUDA-pod
+   git submodule update --init --recursive
+   make
+
+You might need to adjust you detected cuda architecture:
 
 :
 
    cd pod-build
    ccmake .
 
-Then set CUDA_ARCH_BIN to 30
-
-Then make with one core:
+Then set CUDA_ARCH_BIN to 30. Then continue to make with one core :
 
 :
-   cd ..
+   cd ICPCUDA-pod
    make -j 1
 
 
 Test program:
 
-ICP  ~/logs/kinect/rgbd_dataset_freiburg1_desk/ -v
+:
+   ICP  ~/logs/kinect/rgbd_dataset_freiburg1_desk/ -v
+
+LCM applications:
+
+:
+   se-icpcuda
+
+
+You might need to run with sudo permisions on first run
+
 
-Mihgt need to run with sudo permisions on first run
diff --git a/src/icpcuda-app/icpcuda-app.cpp b/src/icpcuda-app/icpcuda-app.cpp
index f8a0faf..e555da0 100644
--- a/src/icpcuda-app/icpcuda-app.cpp
+++ b/src/icpcuda-app/icpcuda-app.cpp
@@ -37,7 +37,7 @@ class App{
   private:
     const CommandLineConfig cl_cfg_;    
     boost::shared_ptr<lcm::LCM> lcm_;
-    void imagesHandler(const lcm::ReceiveBuffer* rbuf, const std::string& channel, const  bot_core::images_t* msg);
+    //void imagesHandler(const lcm::ReceiveBuffer* rbuf, const std::string& channel, const  bot_core::images_t* msg);
     void kinectHandler(const lcm::ReceiveBuffer* rbuf, const std::string& channel, const  kinect::frame_msg_t* msg);
 
     uint64_t loadDepth(cv::Mat1w & depth);
@@ -66,7 +66,7 @@ class App{
 
 App::App(boost::shared_ptr<lcm::LCM> &lcm_, const CommandLineConfig& cl_cfg_) : 
        lcm_(lcm_), cl_cfg_(cl_cfg_){
-  lcm_->subscribe("CAMERA",&App::imagesHandler,this);
+  //lcm_->subscribe("CAMERA",&App::imagesHandler,this);
   lcm_->subscribe("KINECT_FRAME",&App::kinectHandler,this);
 
   cudaDeviceProp prop;
@@ -279,9 +279,9 @@ void App::writeRawFile(cv::Mat1w & depth){
   else cout << "Unable to open file";
 }
 
-void App::imagesHandler(const lcm::ReceiveBuffer* rbuf,
-     const std::string& channel, const  bot_core::images_t* msg){
-}
+//void App::imagesHandler(const lcm::ReceiveBuffer* rbuf,
+//     const std::string& channel, const  bot_core::images_t* msg){
+//}
 
 
 void App::kinectHandler(const lcm::ReceiveBuffer* rbuf,