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

CMakeLists.txt

@@ -316,12 +316,6 @@ if(NOT WITH_GLOG)
     DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
   )
 endif()
-# if(WITH_CAM_MODELS)
-#   install(FILES
-#     ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/glog/logging.h
-#     DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/glog
-#   )
-# endif()
 
 install(FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/callbacks.h

Makefile

@@ -34,12 +34,7 @@ SUDO ?= sudo
 
 CAM_MODELS ?=
 
-CMAKE_BUILD_EXTRA_OPTIONS :=
-ifeq ($(CAM_MODELS),)
-	CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=OFF
-else
 CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
-endif
 
 .DEFAULT_GOAL := all
 
@@ -106,7 +101,7 @@ init:
 build:
 	@$(call echo,Make $@)
 ifeq ($(HOST_OS),Win)
-	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
+	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS))
 else
 	@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
 endif
@@ -176,7 +171,13 @@ samples: install
 
 tools: install
 	@$(call echo,Make $@)
+ifeq ($(HOST_OS),Mac)
+	$(error "Can't make tools on $(HOST_OS)")
+else
 	@$(call cmake_build,./tools/_build)
+endif
+	
+	
 
 .PHONY: tools
 

cmake/Option.cmake

@@ -34,9 +34,11 @@ option(WITH_BOOST "Include Boost support" ON)
 option(WITH_GLOG "Include glog support" OFF)
 
 # packages
-
 if(WITH_API)
   include(${CMAKE_CURRENT_LIST_DIR}/DetectOpenCV.cmake)
+  if(WITH_OPENCV4)
+    set(WITH_CAM_MODELS OFF)
+  endif()
 else()
   # Disable WITH_CAM_MODELS if WITH_API is OFF
   set(WITH_CAM_MODELS OFF)

src/mynteye/api/camodocal/include/camodocal/gpl/gpl.h

@@ -80,10 +80,6 @@ const T randomNormal(const T &sigma) {
   return x1 * w * sigma;
 }
 
-unsigned long long timeInMicroseconds(void);  // NOLINT
-
-double timeInSeconds(void);
-
 void colorDepthImage(
     cv::Mat &imgDepth, cv::Mat &imgColoredDepth, float minRange,  // NOLINT
     float maxRange);
@@ -107,8 +103,6 @@ void LLtoUTM(
 void UTMtoLL(
     double utmNorthing, double utmEasting, const std::string &utmZone,  // NOLINT
     double &latitude, double &longitude);  // NOLINT
-
-long int timestampDiff(uint64_t t1, uint64_t t2);  // NOLINT
 }
 
 #endif  // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_

src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc

@@ -276,7 +276,8 @@ void EquidistantCamera::estimateIntrinsics(
   double f0 = 0.0;
   for (size_t i = 0; i < imagePoints.size(); ++i) {
     std::vector<Eigen::Vector2d> center(boardSize.height);
-    double radius[boardSize.height];  // NOLINT
+    int arrayLength = boardSize.height;
+    double *radius = new double[arrayLength];
     for (int r = 0; r < boardSize.height; ++r) {
       std::vector<cv::Point2d> circle;
       for (int c = 0; c < boardSize.width; ++c) {
@@ -320,6 +321,7 @@ void EquidistantCamera::estimateIntrinsics(
         }
       }
     }
+    delete[] radius;
   }
 
   if (f0 <= 0.0 && minReprojErr >= std::numeric_limits<double>::max()) {

src/mynteye/api/camodocal/src/gpl/gpl.cc

@@ -16,6 +16,7 @@
 #include <set>
 #ifdef _WIN32
 #include <winsock.h>
+#define M_PI (3.14159265358979323846)
 #else
 #include <time.h>
 #endif
@@ -109,69 +110,8 @@ getFILETIMEoffset() {
   return (t);
 }
 
-int clock_gettime(int X, struct timespec *tp) {
-  LARGE_INTEGER t;
-  FILETIME f;
-  double microseconds;
-  static LARGE_INTEGER offset;
-  static double frequencyToMicroseconds;
-  static int initialized = 0;
-  static BOOL usePerformanceCounter = 0;
-
-  if (!initialized) {
-    LARGE_INTEGER performanceFrequency;
-    initialized = 1;
-    usePerformanceCounter = QueryPerformanceFrequency(&performanceFrequency);
-    if (usePerformanceCounter) {
-      QueryPerformanceCounter(&offset);
-      frequencyToMicroseconds =
-      static_cast<double>(performanceFrequency.QuadPart / 1000000.);
-    } else {
-      offset = getFILETIMEoffset();
-      frequencyToMicroseconds = 10.;
-    }
-  }
-  if (usePerformanceCounter) {
-    QueryPerformanceCounter(&t);
-  } else {
-    GetSystemTimeAsFileTime(&f);
-    t.QuadPart = f.dwHighDateTime;
-    t.QuadPart <<= 32;
-    t.QuadPart |= f.dwLowDateTime;
-  }
-
-  t.QuadPart -= offset.QuadPart;
-  microseconds = static_cast<double>(t.QuadPart / frequencyToMicroseconds);
-  t.QuadPart = microseconds;
-  tp->tv_sec = t.QuadPart / 1000000;
-  tp->tv_nsec = (t.QuadPart % 1000000) * 1000;
-  return (0);
-}
 #endif
 
-unsigned long long timeInMicroseconds(void) {  // NOLINT
-  struct timespec tp;
-#ifdef __APPLE__
-  tp = orwl_gettime();
-#else
-  clock_gettime(CLOCK_REALTIME, &tp);
-#endif
-
-  return tp.tv_sec * 1000000 + tp.tv_nsec / 1000;
-}
-
-double timeInSeconds(void) {
-  struct timespec tp;
-#ifdef __APPLE__
-  tp = orwl_gettime();
-#else
-  clock_gettime(CLOCK_REALTIME, &tp);
-#endif
-
-  return static_cast<double>(tp.tv_sec) +
-         static_cast<double>(tp.tv_nsec) / 1000000000.0;
-}
-
 float colormapAutumn[128][3] = {
     {1.0f, 0.f, 0.f},       {1.0f, 0.007874f, 0.f}, {1.0f, 0.015748f, 0.f},
     {1.0f, 0.023622f, 0.f}, {1.0f, 0.031496f, 0.f}, {1.0f, 0.03937f, 0.f},
@@ -745,23 +685,4 @@ void UTMtoLL(
   longitude = LongOrigin + longitude / M_PI * 180.0;
 }
 
-long int timestampDiff(uint64_t t1, uint64_t t2) {  // NOLINT
-  if (t2 > t1) {
-    uint64_t d = t2 - t1;
-
-    if (d > std::numeric_limits<long int>::max()) {  // NOLINT
-      return std::numeric_limits<long int>::max();  // NOLINT
-    } else {
-      return d;
-    }
-  } else {
-    uint64_t d = t1 - t2;
-
-    if (d > std::numeric_limits<long int>::max()) {  // NOLINT
-      return std::numeric_limits<long int>::min();  // NOLINT
-    } else {
-      return -static_cast<long int>(d);  // NOLINT
-    }
-  }
-}
 }

src/mynteye/api/processor/rectify_processor.cc

@@ -339,13 +339,6 @@ void RectifyProcessor::InitParams(
       generateCameraFromIntrinsicsEquidistant(in_left);
   camodocal::CameraPtr camera_odo_ptr_right =
       generateCameraFromIntrinsicsEquidistant(in_right);
-  auto calib_infos_temp =
-      stereoRectify(camera_odo_ptr_left,
-                    camera_odo_ptr_right,
-                    in_left,
-                    in_right,
-                    ex_right_to_left);
-  *calib_infos = *calib_infos_temp;
   auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
         camera_odo_ptr_right,
         in_left,

src/mynteye/api/synthetic.cc

@@ -460,8 +460,8 @@ void Synthetic::InitProcessors() {
     auto &&rectify_processor_ocv =
         std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
                                               RECTIFY_PROC_PERIOD);
-    rectify_processor = rectify_processor_ocv;
     Q = rectify_processor_ocv->Q;
+    rectify_processor = rectify_processor_ocv;
 #ifdef WITH_CAM_MODELS
   } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
     rectify_processor_imp =