Updates to vicalib

[dmirota]

A collection of changes including improvements in grid detection, build automation, and cross-platform compilation.

[crheckman]

@mcguire-steve: could you please test this in linux? I'll test in Mac.

@dmirota thank you for your PR!

[mcguire-steve]

Initial review / summary of things that I had to do to get to a point where I could build:
CMakeLists:
Changing case really does matter here - as well as the CONFIG directive.
I had to add OpenCV4 support here
Adding HAL_INCLUDE_DIRS to PROJ_INCLUDE_DIRS
Pangolin is incorrectly added to LINK_LIBS, not PROJ_INCLUDE_DIRS
With HAL_EXPORT, exporting via the local CMake project cache no longer works and requires something like +add_definitions(-DHAL_EXPORT=) to build on Linux

include/vicalib/gl-line-strip.h:
Pangolin is not built against the features/new_pangolin branch (pangolin/gl.h become pangolin/gl/gl.h)

vicalib-engine.cc:
CV_BGR2GRAY becomes cv::COLOR_BGR2GRAY

vicalib-task.cc:
Same thing with Pangolin

Lastly, I think there might have been changes to Calibu as well:
/home/smcguire/test/vicalib/src/vicalib-task.cc: In member function ‘void visual_inertial_calibration::VicalibTask::AddImageMeasurements(const std::vector&)’:
/home/smcguire/test/vicalib/src/vicalib-task.cc:263:76: error: no matching function for call to ‘calibu::ConicFinder::Find(gnu_cxx::alloc_traits<std::allocatorcalibu::ImageProcessing, calibu::ImageProcessing>::value_type&, std::shared_ptr<calibu::CameraInterface >&)’
263 | conic_finder[ii].Find(image_processing[ii], input_cameras[ii].camera);
| ^
In file included from /home/smcguire/test/vicalib/include/vicalib/vicalib-task.h:28,
from /home/smcguire/test/vicalib/src/vicalib-task.cc:1:
/home/smcguire/research/Calibu/include/calibu/conics/ConicFinder.h:55:10: note: candidate: ‘void calibu::ConicFinder::Find(const calibu::ImageProcessing&)’
55 | void Find(const ImageProcessing& imgs);
| ^~~~
/home/smcguire/research/Calibu/include/calibu/conics/ConicFinder.h:55:10: note: candidate expects 1 argument, 2 provided
/home/smcguire/test/vicalib/src/vicalib-task.cc:320:49: error: too many arguments to function ‘std::vector calibu::PosePnPRansac(std::shared_ptr<calibu::CameraInterface >, const std::vector<Eigen::Matrix<double, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 2, 1> > >&, const std::vector<Eigen::Matrix<double, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1> > >&, const std::vector&, int, float, Sophus::SE3d*)’
320 | &t_cw[ii], calib_frame_ == -1);
| ^
In file included from /home/smcguire/test/vicalib/src/vicalib-task.cc:8:
/home/smcguire/research/Calibu/include/calibu/pose/Pnp.h:30:22: note: declared here
30 | std::vector PosePnPRansac(

Is this built against Calibu master?

[crheckman]

Hey Steve, there is a calibu PR that you need for this to work; did you use that? Thanks for doing all this! Chris

On Sun, Apr 26, 2020 at 12:22 AM Steve McGuire ***@***.***> wrote: Initial review / summary of things that I had to do to get to a point where I could build: CMakeLists: Changing case really does matter here - as well as the CONFIG directive. I had to add OpenCV4 support here Adding HAL_INCLUDE_DIRS to PROJ_INCLUDE_DIRS Pangolin is incorrectly added to LINK_LIBS, not PROJ_INCLUDE_DIRS With HAL_EXPORT, exporting via the local CMake project cache no longer works and requires something like +add_definitions(-DHAL_EXPORT=) to build on Linux include/vicalib/gl-line-strip.h: Pangolin is not built against the features/new_pangolin branch (pangolin/gl.h become pangolin/gl/gl.h) vicalib-engine.cc: CV_BGR2GRAY becomes cv::COLOR_BGR2GRAY vicalib-task.cc: Same thing with Pangolin Lastly, I think there might have been changes to Calibu as well: /home/smcguire/test/vicalib/src/vicalib-task.cc: In member function ‘void visual_inertial_calibration::VicalibTask::AddImageMeasurements(const std::vector&)’: /home/smcguire/test/vicalib/src/vicalib-task.cc:263:76: error: no matching function for call to ‘calibu::ConicFinder::Find( *gnu_cxx::alloc_traits<std::allocatorcalibu::ImageProcessing, calibu::ImageProcessing>::value_type&, std::shared_ptr<calibu::CameraInterface >&)’ 263 | conic_finder[ii].Find(image_processing[ii], input_cameras[ii].camera); | ^ In file included from /home/smcguire/test/vicalib/include/vicalib/vicalib-task.h:28, from /home/smcguire/test/vicalib/src/vicalib-task.cc:1: /home/smcguire/research/Calibu/include/calibu/conics/ConicFinder.h:55:10: note: candidate: ‘void calibu::ConicFinder::Find(const calibu::ImageProcessing&)’ 55 | void Find(const ImageProcessing& imgs); | ^~~~ /home/smcguire/research/Calibu/include/calibu/conics/ConicFinder.h:55:10: note: candidate expects 1 argument, 2 provided /home/smcguire/test/vicalib/src/vicalib-task.cc:320:49: error: too many arguments to function ‘std::vector calibu::PosePnPRansac(std::shared_ptr<calibu::CameraInterface >, const std::vector<Eigen::Matrix<double, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 2, 1> > >&, const std::vector<Eigen::Matrix<double, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1> > >&, const std::vector&, int, float, Sophus::SE3d*)’ 320 | &t_cw[ii], calib_frame_ == -1); | ^ In file included from /home/smcguire/test/vicalib/src/vicalib-task.cc:8: /home/smcguire/research/Calibu/include/calibu/pose/Pnp.h:30:22: note: declared here 30 | std::vector PosePnPRansac(* Is this built against Calibu master? — You are receiving this because you were assigned. Reply to this email directly, view it on GitHub <#56 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACEXUBMLWI4ETMEUOQIXEZTROPHJLANCNFSM4LYONWGA> .

-- http://www.ristoffer.ch

[dmirota]

The linux build is work on Travis https://travis-ci.com/github/dmirota/vicalib/jobs/324614396 . I'm still working on Windows and Mac

[dmirota]

Ubuntu 16.04 gcc, macOS 14 clang, and Windows Server, version 1809 using Visual Studio 2015 are all building Travis https://travis-ci.com/github/dmirota/vicalib/builds/163036825 . I will be merging the changes into my master.

[schmidtp1]

What is the status of this PR? @crheckman, @mcguire-steve? thanks!