Merge branch 'develop' into feature/android
* develop: style: remove CAM_MODELS=? complie prams fix(mac): remove tools complie on mac fix(win): calib models complie fix(models): move value fix(calibmodels): may be merge problem before cause the useless code fix(models): unused debug tag fix(complie): 4.x cv error fix(cv): 4.x error , add macro shield part fix(cv): 4.x error , shield the old algorithm temporarily when complie
This commit is contained in:
John Zhao
commit
01abf3d346
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@ -316,12 +316,6 @@ if(NOT WITH_GLOG)
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DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
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)
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endif()
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# if(WITH_CAM_MODELS)
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# install(FILES
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# ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/glog/logging.h
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# DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/glog
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# )
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# endif()
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install(FILES
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${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/callbacks.h
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15
Makefile
15
Makefile
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@ -34,12 +34,7 @@ SUDO ?= sudo
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CAM_MODELS ?=
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CMAKE_BUILD_EXTRA_OPTIONS :=
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ifeq ($(CAM_MODELS),)
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CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=OFF
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else
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CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
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endif
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CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
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.DEFAULT_GOAL := all
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@ -106,7 +101,7 @@ init:
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build:
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@$(call echo,Make $@)
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ifeq ($(HOST_OS),Win)
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@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
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@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS))
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else
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@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
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endif
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@ -176,7 +171,13 @@ samples: install
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tools: install
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@$(call echo,Make $@)
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ifeq ($(HOST_OS),Mac)
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$(error "Can't make tools on $(HOST_OS)")
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else
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@$(call cmake_build,./tools/_build)
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endif
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.PHONY: tools
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@ -34,9 +34,11 @@ option(WITH_BOOST "Include Boost support" ON)
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option(WITH_GLOG "Include glog support" OFF)
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# packages
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if(WITH_API)
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include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
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if(WITH_OPENCV4)
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set(WITH_CAM_MODELS OFF)
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endif()
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else()
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# Disable WITH_CAM_MODELS if WITH_API is OFF
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set(WITH_CAM_MODELS OFF)
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@ -80,10 +80,6 @@ const T randomNormal(const T &sigma) {
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return x1 * w * sigma;
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}
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unsigned long long timeInMicroseconds(void); // NOLINT
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double timeInSeconds(void);
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void colorDepthImage(
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cv::Mat &imgDepth, cv::Mat &imgColoredDepth, float minRange, // NOLINT
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float maxRange);
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@ -107,8 +103,6 @@ void LLtoUTM(
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void UTMtoLL(
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double utmNorthing, double utmEasting, const std::string &utmZone, // NOLINT
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double &latitude, double &longitude); // NOLINT
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long int timestampDiff(uint64_t t1, uint64_t t2); // NOLINT
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}
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#endif // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_
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@ -276,7 +276,8 @@ void EquidistantCamera::estimateIntrinsics(
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double f0 = 0.0;
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for (size_t i = 0; i < imagePoints.size(); ++i) {
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std::vector<Eigen::Vector2d> center(boardSize.height);
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double radius[boardSize.height]; // NOLINT
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int arrayLength = boardSize.height;
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double *radius = new double[arrayLength];
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for (int r = 0; r < boardSize.height; ++r) {
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std::vector<cv::Point2d> circle;
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for (int c = 0; c < boardSize.width; ++c) {
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@ -320,6 +321,7 @@ void EquidistantCamera::estimateIntrinsics(
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}
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}
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}
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delete[] radius;
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}
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if (f0 <= 0.0 && minReprojErr >= std::numeric_limits<double>::max()) {
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@ -16,6 +16,7 @@
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#include <set>
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#ifdef _WIN32
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#include <winsock.h>
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#define M_PI (3.14159265358979323846)
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#else
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#include <time.h>
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#endif
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@ -109,69 +110,8 @@ getFILETIMEoffset() {
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return (t);
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}
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int clock_gettime(int X, struct timespec *tp) {
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LARGE_INTEGER t;
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FILETIME f;
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double microseconds;
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static LARGE_INTEGER offset;
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static double frequencyToMicroseconds;
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static int initialized = 0;
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static BOOL usePerformanceCounter = 0;
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if (!initialized) {
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LARGE_INTEGER performanceFrequency;
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initialized = 1;
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usePerformanceCounter = QueryPerformanceFrequency(&performanceFrequency);
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if (usePerformanceCounter) {
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QueryPerformanceCounter(&offset);
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frequencyToMicroseconds =
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static_cast<double>(performanceFrequency.QuadPart / 1000000.);
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} else {
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offset = getFILETIMEoffset();
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frequencyToMicroseconds = 10.;
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}
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}
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if (usePerformanceCounter) {
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QueryPerformanceCounter(&t);
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} else {
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GetSystemTimeAsFileTime(&f);
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t.QuadPart = f.dwHighDateTime;
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t.QuadPart <<= 32;
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t.QuadPart |= f.dwLowDateTime;
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}
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t.QuadPart -= offset.QuadPart;
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microseconds = static_cast<double>(t.QuadPart / frequencyToMicroseconds);
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t.QuadPart = microseconds;
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tp->tv_sec = t.QuadPart / 1000000;
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tp->tv_nsec = (t.QuadPart % 1000000) * 1000;
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return (0);
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}
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#endif
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unsigned long long timeInMicroseconds(void) { // NOLINT
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struct timespec tp;
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#ifdef __APPLE__
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tp = orwl_gettime();
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#else
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clock_gettime(CLOCK_REALTIME, &tp);
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#endif
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return tp.tv_sec * 1000000 + tp.tv_nsec / 1000;
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}
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double timeInSeconds(void) {
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struct timespec tp;
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#ifdef __APPLE__
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tp = orwl_gettime();
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#else
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clock_gettime(CLOCK_REALTIME, &tp);
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#endif
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return static_cast<double>(tp.tv_sec) +
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static_cast<double>(tp.tv_nsec) / 1000000000.0;
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}
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float colormapAutumn[128][3] = {
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{1.0f, 0.f, 0.f}, {1.0f, 0.007874f, 0.f}, {1.0f, 0.015748f, 0.f},
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{1.0f, 0.023622f, 0.f}, {1.0f, 0.031496f, 0.f}, {1.0f, 0.03937f, 0.f},
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@ -745,23 +685,4 @@ void UTMtoLL(
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longitude = LongOrigin + longitude / M_PI * 180.0;
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}
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long int timestampDiff(uint64_t t1, uint64_t t2) { // NOLINT
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if (t2 > t1) {
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uint64_t d = t2 - t1;
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if (d > std::numeric_limits<long int>::max()) { // NOLINT
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return std::numeric_limits<long int>::max(); // NOLINT
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} else {
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return d;
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}
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} else {
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uint64_t d = t1 - t2;
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if (d > std::numeric_limits<long int>::max()) { // NOLINT
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return std::numeric_limits<long int>::min(); // NOLINT
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} else {
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return -static_cast<long int>(d); // NOLINT
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}
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}
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}
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}
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@ -339,13 +339,6 @@ void RectifyProcessor::InitParams(
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generateCameraFromIntrinsicsEquidistant(in_left);
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camodocal::CameraPtr camera_odo_ptr_right =
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generateCameraFromIntrinsicsEquidistant(in_right);
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auto calib_infos_temp =
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stereoRectify(camera_odo_ptr_left,
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camera_odo_ptr_right,
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in_left,
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in_right,
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ex_right_to_left);
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*calib_infos = *calib_infos_temp;
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auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
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camera_odo_ptr_right,
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in_left,
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@ -460,8 +460,8 @@ void Synthetic::InitProcessors() {
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auto &&rectify_processor_ocv =
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std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
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RECTIFY_PROC_PERIOD);
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rectify_processor = rectify_processor_ocv;
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Q = rectify_processor_ocv->Q;
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rectify_processor = rectify_processor_ocv;
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#ifdef WITH_CAM_MODELS
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} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
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rectify_processor_imp =
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