add valgrind debug

Makefile

-include ../ar_sandbox_lib/dep.mk
 
 API_PATH=../ar_sandbox_lib
 CFLAGS=-std=c++11 -Wall -Wextra -g
 CCP=g++
 
-all: app
-
-app: app.o
-	$(CCP) $^ -o $@ -L$(API_PATH)/build -lsandbox $(DEP_SANDBOX)
-
-%.o: %.cpp
-	$(CCP) $(CFLAGS) -I$(API_PATH)/inc -c $< -o $@ 
+all: 
+	$(MAKE) -C app
 
 run:
-	./app
+	$(MAKE) run -C app
 
 setup:
 	$(API_PATH)/app/SandboxSetup/SandboxSetup
 
+debug:
+	$(MAKE) debug -C app
+
 clean:
-	rm -f *.o app
+	$(MAKE) clean -C app

app/Makefile

+include ../../ar_sandbox_lib/dep.mk
+
+API_PATH=../../ar_sandbox_lib
+CFLAGS=-std=c++11 -Wall -Wextra -g
+CCP=g++
+
+all: app
+
+app: app.o
+	$(CCP) $^ -o $@ -L$(API_PATH)/build -lsandbox $(DEP_SANDBOX)
+
+%.o: %.cpp
+	$(CCP) $(CFLAGS) -I$(API_PATH)/inc -c $< -o $@ 
+
+run:
+	./app
+
+debug:
+	$(shell cd ../valgrind_profiles && valgrind --tool=callgrind --dump-instr=yes --simulate-cache=yes --collect-jumps=yes --collect-atstart=no --instr-atstart=no ../app/app)
+
+clean:
+	rm -f *.o app

app.cpp → app/app.cpp

 
 #include "app.h"
-
+#include <valgrind/callgrind.h>
 
 Sandbox sandbox;
 void (*apps[1])() = {showLevel};
 
 int main(int argc, char *argv[])
 {
-    if(sandbox.loadConfig()){
+    if(sandbox.loadConfigFrom("../sandbox_conf.yaml")){
         std::cout << "Failed to load the configuration" << std::endl;
         return 1;
     }
@@ -35,17 +35,55 @@ void showLevel(){
     cv::namedWindow(windowName, CV_WINDOW_NORMAL);
     cv::setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
 
+
+//
+// Debug
+//
+
+/*
+    sandbox.captureFrame();
+    cv::Mat depth = sandbox.getDepthFrame();
+    cv::Mat colored = colorizeDepth(depth, top, sandboxHeight);
+    cv::Mat res;
+    cv::cvtColor(colored, res, CV_BGR2RGB);
+    
+    CALLGRIND_START_INSTRUMENTATION;
+    CALLGRIND_TOGGLE_COLLECT;
+    
+    res = sandbox.adjustProjection(res);
+    
+    CALLGRIND_TOGGLE_COLLECT;
+    CALLGRIND_STOP_INSTRUMENTATION;
+
+    cv::imshow(windowName, res);
+
+*/  
+
+
+//
+// Default
+//
+
+
     do{
+        sandbox.captureFrame();
         cv::Mat depth = sandbox.getDepthFrame();
         cv::Mat colored = colorizeDepth(depth, top, sandboxHeight);
         cv::Mat res;
         cv::cvtColor(colored, res, CV_BGR2RGB);
 
         res = sandbox.adjustProjection(res);
+
         cv::imshow(windowName, res);
 
     } while (cv::waitKey(10) != ESCAPE_CHAR);
-    
+
+
+
+//
+// End
+//
+
     cv::destroyAllWindows();
 }
 

app.h → app/app.h

 #ifndef MY_APPS_H
 #define MY_APPS_H
 
-#include "../ar_sandbox_lib/inc/sandbox.h"
+#include <sandbox.h>
 #include <opencv2/opencv.hpp>
 
 #define ESCAPE_CHAR 27