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Add miniglog

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This commit is contained in:
Kalman 2018-11-16 16:30:13 +08:00
parent 8331b8415d
commit 2096f93a92
80 changed files with 1948 additions and 313 deletions
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42
CMakeLists.txt
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@ -44,9 +44,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# packages # packages
LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build) find_package(Threads QUIET)
find_package(glog REQUIRED)
message(STATUS "Found glog: ${glog_VERSION}") macro(target_link_threads NAME)
if(THREADS_HAVE_PTHREAD_ARG)
target_compile_options(PUBLIC ${NAME} "-pthread")
endif()
if(CMAKE_THREAD_LIBS_INIT)
target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}")
endif()
endmacro()
if(WITH_API) if(WITH_API)
include(cmake/DetectOpenCV.cmake) include(cmake/DetectOpenCV.cmake)
@ -106,20 +113,28 @@ set(MYNTEYE_CMAKE_LIBDIR "${CMAKE_INSTALL_PREFIX}/lib")
set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}") set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
## main ## main
if(WITH_GLOG)
add_executable(main src/main.cc) add_executable(main src/main.cc)
target_link_libraries(main glog::glog) target_link_libraries(main glog::glog)
target_include_directories(main PRIVATE target_include_directories(main PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_BINARY_DIR}/include ${CMAKE_CURRENT_BINARY_DIR}/include
) )
endif()
## libmynteye ## libmynteye
if(NOT WITH_GLOG)
set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
unset(__MINIGLOG_FLAGS)
endif()
set(MYNTEYE_PUBLIC_H set(MYNTEYE_PUBLIC_H
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.h
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/global.h
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/glog_init.h ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/logger.h
${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h ${CMAKE_CURRENT_BINARY_DIR}/include/mynteye/mynteye.h
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/types.h
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h
@ -136,6 +151,11 @@ if(WITH_API)
${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h ${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
) )
endif() endif()
if(NOT WITH_GLOG)
list(APPEND MYNTEYE_PUBLIC_H
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
)
endif()
if(OS_WIN) if(OS_WIN)
set(UVC_SRC src/uvc/uvc-wmf.cc) set(UVC_SRC src/uvc/uvc-wmf.cc)
@ -180,21 +200,25 @@ if(WITH_API)
src/api/processor/points_processor.cc src/api/processor/points_processor.cc
) )
endif() endif()
if(NOT WITH_GLOG)
list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
endif()
set(MYNTEYE_LINKLIBS set(MYNTEYE_LINKLIBS ${UVC_LIB})
glog::glog
${UVC_LIB}
)
if(WITH_API) if(WITH_API)
list(APPEND MYNTEYE_LINKLIBS ${OpenCV_LIBS}) list(APPEND MYNTEYE_LINKLIBS ${OpenCV_LIBS})
endif() endif()
if(WITH_BOOST_FILESYSTEM) if(WITH_BOOST_FILESYSTEM)
list(APPEND MYNTEYE_LINKLIBS ${Boost_LIBRARIES}) list(APPEND MYNTEYE_LINKLIBS ${Boost_LIBRARIES})
endif() endif()
if(WITH_GLOG)
list(APPEND MYNTEYE_LINKLIBS glog::glog)
endif()
#message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}") #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")
add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS}) add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS}) target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
option(WITH_GLOG "Include glog support" OFF)
if(OS_WIN) if(OS_WIN)
target_compile_definitions(${MYNTEYE_NAME} target_compile_definitions(${MYNTEYE_NAME}

2
CPPLINT.cfg Normal file
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@ -0,0 +1,2 @@
set noparent
filter=-build/c++11

11
Makefile
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@ -24,9 +24,10 @@ help:
@echo " make apidoc make api doc" @echo " make apidoc make api doc"
@echo " make opendoc open api doc (html)" @echo " make opendoc open api doc (html)"
@echo " make init init project" @echo " make init init project"
@echo " make 3rdparty build 3rdparty: glog"
@echo " make build build project" @echo " make build build project"
@echo " make test build test and run"
@echo " make install install project" @echo " make install install project"
@echo " make test build test and run"
@echo " make samples build samples" @echo " make samples build samples"
@echo " make tools build tools" @echo " make tools build tools"
@echo " make ros build ros wrapper" @echo " make ros build ros wrapper"
@ -35,7 +36,7 @@ help:
.PHONY: help .PHONY: help
all: test tools samples all: test samples tools
.PHONY: all .PHONY: all
@ -66,7 +67,9 @@ third_party: submodules
@$(call echo,Make glog,33) @$(call echo,Make glog,33)
@$(call cmake_build,./third_party/glog/_build) @$(call cmake_build,./third_party/glog/_build)
.PHONY: submodules third_party 3rdparty: third_party
.PHONY: submodules third_party 3rdparty
# init # init
@ -78,7 +81,7 @@ init: submodules
# build # build
build: third_party build: submodules
@$(call echo,Make $@) @$(call echo,Make $@)
@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install) @$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)

26
cmake/DetectGLog.cmake Normal file
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@ -0,0 +1,26 @@
# Copyright 2018 Slightech Co., Ltd. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
cmake_include_guard()
get_filename_component(__pro_dir ${CMAKE_CURRENT_LIST_DIR} DIRECTORY)
LIST(APPEND CMAKE_PREFIX_PATH ${__pro_dir}/third_party/glog/_build)
find_package(glog REQUIRED)
if(glog_FOUND)
add_definitions(-DWITH_GLOG)
endif()
unset(__pro_dir)

2
cmake/Option.cmake
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@ -16,3 +16,5 @@ option(WITH_API "Build with API layer, need OpenCV" ON)
message(STATUS "Options:") message(STATUS "Options:")
message(STATUS " WITH_API: ${WITH_API}") message(STATUS " WITH_API: ${WITH_API}")
option(WITH_GLOG "Include glog support" OFF)

10
config/SN07C624160009071F/device.info Normal file
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@ -0,0 +1,10 @@
%YAML:1.0
---
device_name: MYNT-EYE-S210A
serial_number: "07C624160009071F"
firmware_version: "0.1"
hardware_version: "1.0"
spec_version: "1.1"
lens_type: "0000"
imu_type: "0000"
nominal_baseline: 0

53
config/SN07C624160009071F/img.params Normal file
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@ -0,0 +1,53 @@
%YAML:1.0
---
version: "1.1"
in_left_map:
-
width: 640
height: 400
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
-
width: 1280
height: 800
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right_map:
-
width: 640
height: 400
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
-
width: 1280
height: 800
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_left_to_right:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]

15
config/SN07C624160009071F/imu.params Normal file
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@ -0,0 +1,15 @@
%YAML:1.0
---
in_accel:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
in_gyro:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
ex_left_to_imu:
rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
translation: [ 0., 0., 0. ]

4
doc/zh-Hans/guide_log.md
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@ -1,6 +1,6 @@
# 日志 {#guide_log} # 日志 {#guide_log}
日志系统用的 `glog` ，通用配置在头文件 `glog_init.h` 里。 日志系统用的 `glog` ，通用配置在头文件 `logger.h` 里。
* 日志文件会存储在当前工作目录， `make cleanlog` 可以清理。 * 日志文件会存储在当前工作目录， `make cleanlog` 可以清理。
* 如果需要打开详细日志，请取消 `glog_init.h` 里注释的 `FLAGS_v = 2;` ，重新编译。 * 如果需要打开详细日志，请取消 `logger.h` 里注释的 `FLAGS_v = 2;` ，重新编译。

4
include/mynteye/global.h
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@ -67,9 +67,9 @@
#endif #endif
#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN) #if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
#define OS_SEP "\\" #define MYNTEYE_OS_SEP "\\"
#else #else
#define OS_SEP "/" #define MYNTEYE_OS_SEP "/"
#endif #endif
#define STRINGIFY_HELPER(X) #X #define STRINGIFY_HELPER(X) #X

48
include/mynteye/glog_init.h → include/mynteye/logger.h
View File

@ -11,10 +11,12 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and // See the License for the specific language governing permissions and
// limitations under the License. // limitations under the License.
#ifndef MYNTEYE_GLOG_INIT_H_ // NOLINT #ifndef MYNTEYE_LOGGER_H_
#define MYNTEYE_GLOG_INIT_H_ #define MYNTEYE_LOGGER_H_
#pragma once #pragma once
#ifdef WITH_GLOG
#include <glog/logging.h> #include <glog/logging.h>
/** Helper to init glog with args. */ /** Helper to init glog with args. */
@ -25,14 +27,30 @@ struct glog_init {
glog_init(int argc, char *argv[]) { glog_init(int argc, char *argv[]) {
(void)argc; (void)argc;
// FLAGS_logtostderr = true; // Set whether log messages go to stderr instead of logfiles
FLAGS_alsologtostderr = true; FLAGS_logtostderr = true;
// Set whether log messages go to stderr in addition to logfiles.
// FLAGS_alsologtostderr = true;
// Set color messages logged to stderr (if supported by terminal).
FLAGS_colorlogtostderr = true; FLAGS_colorlogtostderr = true;
// FLAGS_log_dir = "."; // Log suppression level: messages logged at a lower level than this
FLAGS_max_log_size = 1024; // are suppressed.
FLAGS_minloglevel = google::GLOG_INFO;
// If specified, logfiles are written into this directory instead of the
// default logging directory.
FLAGS_log_dir = ".";
// Sets the maximum log file size (in MB).
FLAGS_max_log_size = 8;
// Sets whether to avoid logging to the disk if the disk is full.
FLAGS_stop_logging_if_full_disk = true; FLAGS_stop_logging_if_full_disk = true;
// Show all VLOG(m) messages for m <= this.
// FLAGS_v = 2; // FLAGS_v = 2;
google::InitGoogleLogging(argv[0]); google::InitGoogleLogging(argv[0]);
@ -46,4 +64,20 @@ struct glog_init {
} }
}; };
#endif // MYNTEYE_GLOG_INIT_H_ NOLINT #else
struct glog_init {
glog_init(int argc, char *argv[]) {
(void)argc;
(void)argv;
// Do nothing.
}
};
#define MYNTEYE_MAX_LOG_LEVEL google::INFO
#include "mynteye/miniglog.h"
#endif
#endif // MYNTEYE_LOGGER_H_

469
include/mynteye/miniglog.h Normal file
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@ -0,0 +1,469 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2013 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: settinger@google.com (Scott Ettinger)
// mierle@gmail.com (Keir Mierle)
//
// Simplified Glog style logging with Android support. Supported macros in
// decreasing severity level per line:
//
// VLOG(2), VLOG(N)
// VLOG(1),
// LOG(INFO), VLOG(0), LG
// LOG(WARNING),
// LOG(ERROR),
// LOG(FATAL),
//
// With VLOG(n), the output is directed to one of the 5 Android log levels:
//
// 2 - Verbose
// 1 - Debug
// 0 - Info
// -1 - Warning
// -2 - Error
// -3 - Fatal
//
// Any logging of level 2 and above is directed to the Verbose level. All
// Android log output is tagged with the string "native".
//
// If the symbol ANDROID is not defined, all output goes to std::cerr.
// This allows code to be built on a different system for debug.
//
// Portions of this code are taken from the GLOG package. This code is only a
// small subset of the GLOG functionality. Notable differences from GLOG
// behavior include lack of support for displaying unprintable characters and
// lack of stack trace information upon failure of the CHECK macros. On
// non-Android systems, log output goes to std::cerr and is not written to a
// file.
//
// CHECK macros are defined to test for conditions within code. Any CHECK that
// fails will log the failure and terminate the application.
// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging
// "Check failed 3 >= 4".
//
// The following CHECK macros are defined:
//
// CHECK(condition) - fails if condition is false and logs condition.
// CHECK_NOTNULL(variable) - fails if the variable is NULL.
//
// The following binary check macros are also defined :
//
// Macro Operator equivalent
// -------------------- -------------------
// CHECK_EQ(val1, val2) val1 == val2
// CHECK_NE(val1, val2) val1 != val2
// CHECK_GT(val1, val2) val1 > val2
// CHECK_GE(val1, val2) val1 >= val2
// CHECK_LT(val1, val2) val1 < val2
// CHECK_LE(val1, val2) val1 <= val2
//
// Debug only versions of all of the check macros are also defined. These
// macros generate no code in a release build, but avoid unused variable
// warnings / errors.
//
// To use the debug only versions, prepend a D to the normal check macros, e.g.
// DCHECK_EQ(a, b).
#ifndef MYNTEYE_MINIGLOG_H_
#define MYNTEYE_MINIGLOG_H_
#include <algorithm>
#include <ctime>
#include <fstream>
#include <iostream>
#include <set>
#include <sstream>
#include <string>
#include <vector>
#include "mynteye/mynteye.h"
#ifdef MYNTEYE_OS_ANDROID
# include <android/log.h>
#endif // ANDROID
// Log severity level constants.
#ifdef MYNTEYE_OS_WIN
const int FATAL = -1;
#ifndef ERROR // NOT windows.h
const int ERROR = 0;
#endif
const int WARNING = 1;
const int INFO = 2;
#else
const int FATAL = -3;
const int ERROR = -2;
const int WARNING = -1;
const int INFO = 0;
#endif
// ------------------------- Glog compatibility ------------------------------
namespace google {
typedef int LogSeverity;
const int FATAL = ::FATAL;
#ifndef ERROR // NOT windows.h
const int ERROR = ::ERROR;
#endif
const int WARNING = ::WARNING;
const int INFO = ::INFO;
// Sink class used for integration with mock and test functions. If sinks are
// added, all log output is also sent to each sink through the send function.
// In this implementation, WaitTillSent() is called immediately after the send.
// This implementation is not thread safe.
class MYNTEYE_API LogSink {
public:
virtual ~LogSink() {}
virtual void send(LogSeverity severity,
const char* full_filename,
const char* base_filename,
int line,
const struct tm* tm_time,
const char* message,
size_t message_len) = 0;
virtual void WaitTillSent() = 0;
};
// Global set of log sinks. The actual object is defined in logging.cc.
MYNTEYE_API extern std::set<LogSink *> log_sinks_global;
// Added by chachi - a runtime global maximum log level. Defined in logging.cc
MYNTEYE_API extern int log_severity_global;
inline void InitGoogleLogging(char */*argv*/) {
// Do nothing; this is ignored.
}
// Note: the Log sink functions are not thread safe.
inline void AddLogSink(LogSink *sink) {
// TODO(settinger): Add locks for thread safety.
log_sinks_global.insert(sink);
}
inline void RemoveLogSink(LogSink *sink) {
log_sinks_global.erase(sink);
}
} // namespace google
// ---------------------------- Logger Class --------------------------------
// Class created for each use of the logging macros.
// The logger acts as a stream and routes the final stream contents to the
// Android logcat output at the proper filter level. If ANDROID is not
// defined, output is directed to std::cerr. This class should not
// be directly instantiated in code, rather it should be invoked through the
// use of the log macros LG, LOG, or VLOG.
class MYNTEYE_API MessageLogger {
public:
MessageLogger(const char *file, int line, const char *tag, int severity)
: file_(file), line_(line), tag_(tag), severity_(severity) {
// Pre-pend the stream with the file and line number.
StripBasename(std::string(file), &filename_only_);
stream_ << SeverityLabel() << "/" << filename_only_ << ":" << line << " ";
}
// Output the contents of the stream to the proper channel on destruction.
~MessageLogger() {
stream_ << "\n";
#ifdef MYNTEYE_OS_ANDROID
static const int android_log_levels[] = {
ANDROID_LOG_FATAL, // LOG(FATAL)
ANDROID_LOG_ERROR, // LOG(ERROR)
ANDROID_LOG_WARN, // LOG(WARNING)
ANDROID_LOG_INFO, // LOG(INFO), LG, VLOG(0)
ANDROID_LOG_DEBUG, // VLOG(1)
ANDROID_LOG_VERBOSE, // VLOG(2) .. VLOG(N)
};
// Bound the logging level.
const int kMaxVerboseLevel = 2;
int android_level_index = std::min(std::max(FATAL, severity_),
kMaxVerboseLevel) - FATAL;
int android_log_level = android_log_levels[android_level_index];
// Output the log string the Android log at the appropriate level.
__android_log_write(android_log_level, tag_.c_str(), stream_.str().c_str());
// Indicate termination if needed.
if (severity_ == FATAL) {
__android_log_write(ANDROID_LOG_FATAL,
tag_.c_str(),
"terminating.\n");
}
#else
// If not building on Android, log all output to std::cerr.
std::cerr << stream_.str();
#endif // ANDROID
LogToSinks(severity_);
WaitForSinks();
// Android logging at level FATAL does not terminate execution, so abort()
// is still required to stop the program.
if (severity_ == FATAL) {
abort();
}
}
// Return the stream associated with the logger object.
std::stringstream &stream() { return stream_; }
private:
void LogToSinks(int severity) {
time_t rawtime;
struct tm* timeinfo;
time (&rawtime);
timeinfo = localtime(&rawtime);
std::set<google::LogSink*>::iterator iter;
// Send the log message to all sinks.
for (iter = google::log_sinks_global.begin();
iter != google::log_sinks_global.end(); ++iter) {
(*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
timeinfo, stream_.str().c_str(), stream_.str().size());
}
}
void WaitForSinks() {
// TODO(settinger): Add locks for thread safety.
std::set<google::LogSink *>::iterator iter;
// Call WaitTillSent() for all sinks.
for (iter = google::log_sinks_global.begin();
iter != google::log_sinks_global.end(); ++iter) {
(*iter)->WaitTillSent();
}
}
void StripBasename(const std::string &full_path, std::string *filename) {
// TODO(settinger): Add support for OSs with different path separators.
// const char kSeparator = '/';
size_t pos = full_path.rfind(MYNTEYE_OS_SEP);
if (pos != std::string::npos) {
*filename = full_path.substr(pos + 1, std::string::npos);
} else {
*filename = full_path;
}
}
char SeverityLabel() {
switch (severity_) {
case INFO:
return 'I';
case WARNING:
return 'W';
case ERROR:
return 'E';
case FATAL:
return 'F';
default:
return 'V';
}
}
std::string file_;
std::string filename_only_;
int line_;
std::string tag_;
std::stringstream stream_;
int severity_;
};
// ---------------------- Logging Macro definitions --------------------------
// This class is used to explicitly ignore values in the conditional
// logging macros. This avoids compiler warnings like "value computed
// is not used" and "statement has no effect".
class MYNTEYE_API LoggerVoidify {
public:
LoggerVoidify() { }
// This has to be an operator with a precedence lower than << but
// higher than ?:
void operator&(const std::ostream &/*s*/) { }
};
// Log only if condition is met. Otherwise evaluates to void.
#define LOG_IF(severity, condition) \
(static_cast<int>(severity) > google::log_severity_global || !(condition)) ? \
(void) 0 : LoggerVoidify() & \
MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
// Log only if condition is NOT met. Otherwise evaluates to void.
#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
// LG is a convenient shortcut for LOG(INFO). Its use is in new
// google3 code is discouraged and the following shortcut exists for
// backward compatibility with existing code.
#ifdef MYNTEYE_MAX_LOG_LEVEL
# define LOG(n) LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
# define VLOG(n) LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL))
# define LG LOG_IF(INFO, (INFO <= MYNTEYE_MAX_LOG_LEVEL))
# define VLOG_IF(n, condition) \
LOG_IF(n, (n <= MYNTEYE_MAX_LOG_LEVEL) && condition)
#else
# define LOG(n) LOG_IF(n, true)
# define VLOG(n) LOG_IF(n, true)
# define LG LOG_IF(INFO, true)
# define VLOG_IF(n, condition) LOG_IF(n, condition)
#endif
// Currently, VLOG is always on for levels below MYNTEYE_MAX_LOG_LEVEL.
#ifndef MYNTEYE_MAX_LOG_LEVEL
# define VLOG_IS_ON(x) (1)
#else
# define VLOG_IS_ON(x) (x <= MYNTEYE_MAX_LOG_LEVEL)
#endif
#ifdef MYNTEYE_OS_WIN // INFO is 2, change VLOG(2) to VLOG(4)
#undef VLOG
#undef VLOG_IF
#undef VLOG_IS_ON
#ifdef MYNTEYE_MAX_LOG_LEVEL
# define VLOG(n) LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL))
# define VLOG_IF(n, condition) \
LOG_IF(n+2, (n+2 <= MYNTEYE_MAX_LOG_LEVEL) && condition)
#else
# define VLOG(n) LOG_IF(n+2, true)
# define VLOG_IF(n, condition) LOG_IF(n+2, condition)
#endif
#ifndef MYNTEYE_MAX_LOG_LEVEL
# define VLOG_IS_ON(x) (1+2)
#else
# define VLOG_IS_ON(x) (x+2 <= MYNTEYE_MAX_LOG_LEVEL)
#endif
#endif
#ifndef NDEBUG
# define DLOG LOG
#else
# define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
#endif
// Log a message and terminate.
template<class T>
void LogMessageFatal(const char *file, int line, const T &message) {
MessageLogger(file, line, "native", FATAL).stream() << message;
}
// ---------------------------- CHECK macros ---------------------------------
// Check for a given boolean condition.
#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \
<< "Check failed: " #condition " "
#ifndef NDEBUG
// Debug only version of CHECK
# define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \
<< "Check failed: " #condition " "
#else
// Optimized version - generates no code.
# define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \
<< "Check failed: " #condition " "
#endif // NDEBUG
// ------------------------- CHECK_OP macros ---------------------------------
// Generic binary operator check macro. This should not be directly invoked,
// instead use the binary comparison macros defined below.
#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, (val1 op val2)) \
<< "Check failed: " #val1 " " #op " " #val2 " "
// Check_op macro definitions
#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
#ifndef NDEBUG
// Debug only versions of CHECK_OP macros.
# define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
# define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
# define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
# define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
# define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
# define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
#else
// These versions generate no code in optimized mode.
# define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
# define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
# define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
# define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
# define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
# define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
#endif // NDEBUG
// ---------------------------CHECK_NOTNULL macros ---------------------------
// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers
// and smart pointers.
template <typename T>
T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) {
if (t == NULL) {
LogMessageFatal(file, line, std::string(names));
}
return t;
}
template <typename T>
T* CheckNotNull(const char *file, int line, const char *names, T* t) {
return CheckNotNullCommon(file, line, names, t);
}
template <typename T>
T& CheckNotNull(const char *file, int line, const char *names, T& t) {
return CheckNotNullCommon(file, line, names, t);
}
// Check that a pointer is not null.
#define CHECK_NOTNULL(val) \
CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
#ifndef NDEBUG
// Debug only version of CHECK_NOTNULL
#define DCHECK_NOTNULL(val) \
CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
#else
// Optimized version - generates no code.
#define DCHECK_NOTNULL(val) if (false)\
CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
#endif // NDEBUG
#endif // MYNTEYE_MINIGLOG_H_

2
mynteye-config.cmake.in
View File

@ -13,5 +13,7 @@
# limitations under the License. # limitations under the License.
@PACKAGE_INIT@ @PACKAGE_INIT@
set(mynteye_WITH_API @WITH_API@)
set(mynteye_WITH_GLOG @WITH_GLOG@)
include("${CMAKE_CURRENT_LIST_DIR}/mynteye-targets.cmake") include("${CMAKE_CURRENT_LIST_DIR}/mynteye-targets.cmake")

7
samples/CMakeLists.txt
View File

@ -47,9 +47,6 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# packages # packages
LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
find_package(glog REQUIRED)
message(STATUS "Found glog: ${glog_VERSION}")
LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake) LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
find_package(mynteye REQUIRED) find_package(mynteye REQUIRED)
@ -57,6 +54,10 @@ message(STATUS "Found mynteye: ${mynteye_VERSION}")
include(${PRO_DIR}/cmake/DetectOpenCV.cmake) include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
if(mynteye_WITH_GLOG)
include(${PRO_DIR}/cmake/DetectGLog.cmake)
endif()
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake) #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
# targets # targets

3
samples/api/camera.cc
View File

@ -13,8 +13,7 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h> #include "mynteye/logger.h"
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/times.h" #include "mynteye/times.h"

2
samples/api/get_depth_with_region.cc
View File

@ -14,8 +14,6 @@
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#define WIN_FLAGS \ #define WIN_FLAGS \

2
samples/device/camera.cc
View File

@ -14,7 +14,7 @@
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include "mynteye/glog_init.h" #include "mynteye/logger.h"
#include "mynteye/device.h" #include "mynteye/device.h"
#include "mynteye/utils.h" #include "mynteye/utils.h"

3
samples/tutorials/control/auto_exposure.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
#include "util/cv_painter.h" #include "util/cv_painter.h"

3
samples/tutorials/control/framerate.cc
View File

@ -13,11 +13,10 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include <atomic> #include <atomic>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
#include "mynteye/times.h" #include "mynteye/times.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

3
samples/tutorials/control/infrared.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

3
samples/tutorials/control/manual_exposure.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
#include "util/cv_painter.h" #include "util/cv_painter.h"

3
samples/tutorials/data/get_depth.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

3
samples/tutorials/data/get_device_info.cc
View File

@ -11,9 +11,8 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and // See the License for the specific language governing permissions and
// limitations under the License. // limitations under the License.
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

2
samples/tutorials/data/get_disparity.cc
View File

@ -13,9 +13,9 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

3
samples/tutorials/data/get_from_callbacks.cc
View File

@ -13,14 +13,13 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include <atomic> #include <atomic>
#include <memory> #include <memory>
#include <mutex> #include <mutex>
#include <sstream> #include <sstream>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
#include "util/cv_painter.h" #include "util/cv_painter.h"

3
samples/tutorials/data/get_img_params.cc
View File

@ -11,9 +11,8 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and // See the License for the specific language governing permissions and
// limitations under the License. // limitations under the License.
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

3
samples/tutorials/data/get_imu.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
#include "util/cv_painter.h" #include "util/cv_painter.h"

3
samples/tutorials/data/get_imu_params.cc
View File

@ -11,9 +11,8 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and // See the License for the specific language governing permissions and
// limitations under the License. // limitations under the License.
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

3
samples/tutorials/data/get_points.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
#include "util/pc_viewer.h" #include "util/pc_viewer.h"

3
samples/tutorials/data/get_stereo.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

3
samples/tutorials/data/get_stereo_rectified.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

3
samples/tutorials/data/get_with_plugin.cc
View File

@ -13,9 +13,8 @@
// limitations under the License. // limitations under the License.
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

2
samples/tutorials/intermediate/get_all_device_info.cc
View File

@ -13,7 +13,7 @@
// limitations under the License. // limitations under the License.
#include "mynteye/context.h" #include "mynteye/context.h"
#include "mynteye/device.h" #include "mynteye/device.h"
#include "mynteye/glog_init.h" #include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE MYNTEYE_USE_NAMESPACE

1
samples/tutorials/intermediate/get_depth_and_points.cc
View File

@ -14,7 +14,6 @@
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <glog/logging.h>
#include "mynteye/api.h" #include "mynteye/api.h"

3
samples/tutorials/util/cv_painter.cc
View File

@ -13,8 +13,6 @@
// limitations under the License. // limitations under the License.
#include "util/cv_painter.h" #include "util/cv_painter.h"
#include <glog/logging.h>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <iomanip> #include <iomanip>
@ -22,6 +20,7 @@
#include <memory> #include <memory>
#include <utility> #include <utility>
#include "mynteye/logger.h"
#include "mynteye/utils.h" #include "mynteye/utils.h"
#define FONT_FACE cv::FONT_HERSHEY_PLAIN #define FONT_FACE cv::FONT_HERSHEY_PLAIN

4
samples/tutorials/util/pc_viewer.cc
View File

@ -13,12 +13,12 @@
// limitations under the License. // limitations under the License.
#include "util/pc_viewer.h" #include "util/pc_viewer.h"
#include <glog/logging.h>
// #include <pcl/common/common_headers.h> // #include <pcl/common/common_headers.h>
#include <cmath> #include <cmath>
#include "mynteye/logger.h"
std::shared_ptr<pcl::visualization::PCLVisualizer> CustomColorVis( std::shared_ptr<pcl::visualization::PCLVisualizer> CustomColorVis(
pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc) { pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc) {
// -------------------------------------------- // --------------------------------------------

2
samples/uvc/camera.cc
View File

@ -20,7 +20,7 @@
#include <iostream> #include <iostream>
#include <mutex> #include <mutex>
#include "mynteye/glog_init.h" #include "mynteye/logger.h"
#include "mynteye/mynteye.h" #include "mynteye/mynteye.h"
#include "mynteye/types.h" #include "mynteye/types.h"
#include "uvc/uvc.h" #include "uvc/uvc.h"

163
scripts/init.sh
View File

@ -14,181 +14,30 @@
# limitations under the License. # limitations under the License.
# _VERBOSE_=1 # _VERBOSE_=1
# _INIT_LINTER_=1
# _FORCE_INSRALL_=1 # _FORCE_INSRALL_=1
_INSTALL_OPTIONS_=$@
BASE_DIR=$(cd "$(dirname "$0")" && pwd) BASE_DIR=$(cd "$(dirname "$0")" && pwd)
source "$BASE_DIR/common/echo.sh" source "$BASE_DIR/init_tools.sh"
source "$BASE_DIR/common/detect.sh"
source "$BASE_DIR/common/host.sh"
PYTHON="python"
if [ "$HOST_OS" = "Win" ]; then
if ! _detect_cmd $PYTHON; then
PYTHON="python2" # try python2 on MSYS
fi
fi
_detect $PYTHON 1
PYTHON_FOUND="${PYTHON}_FOUND"
if [ -z "${!PYTHON_FOUND}" ]; then
_echo_en "$PYTHON not found"
fi
if [ "$HOST_OS" = "Linux" ]; then
_detect_install() {
_detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
| grep -c "ok installed") -gt 0 ]
}
elif [ "$HOST_OS" = "Mac" ]; then
_detect_install() {
_detect_cmd "$1" || brew ls --versions "$1" > /dev/null
}
else
_detect_install() {
_detect_cmd "$1"
}
fi
_install_deps() {
_cmd="$1"; shift; _deps_all=($@)
_echo "Install cmd: $_cmd"
_echo "Install deps: ${_deps_all[*]}"
if [ -n "${_FORCE_INSRALL_}" ]; then
_echo_d "$_cmd ${_deps_all[*]}"
$_cmd ${_deps_all[@]}
return
fi
_deps=()
for _dep in "${_deps_all[@]}"; do
_detect_install $_dep || _deps+=($_dep)
done
if [ ${#_deps[@]} -eq 0 ]; then
_echo_i "All deps already exist"
else
_echo_d "$_cmd ${_deps[*]} (not exists)"
$_cmd ${_deps[@]}
fi
}
## deps ## deps
_echo_s "Init deps" _echo_s "Init deps"
if [ "$HOST_OS" = "Linux" ]; then if [ "$HOST_OS" = "Linux" ]; then
# detect apt-get _install_deps "$SUDO apt-get install" libv4l-dev
_detect apt-get
# apt-get install
_install_deps "sudo apt-get install" build-essential curl cmake git clang-format
_install_deps "sudo apt-get install" libv4l-dev
if ! _detect_cmd clang-format; then
# on Ubuntu 14.04, apt-cache search clang-format
_install_deps "sudo apt-get install" clang-format-3.9
sudo ln -sf clang-format-3.9 /usr/bin/clang-format
sudo ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
fi
# sudo
SUDO="sudo"
elif [ "$HOST_OS" = "Mac" ]; then elif [ "$HOST_OS" = "Mac" ]; then
# detect brew
if ! _detect_cmd brew; then
_echo_sn "Install brew"
_detect curl
_detect ruby
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
fi
# brew install
_install_deps "brew install" curl cmake git clang-format
# link clang-format-diff (if not compatible with Python 3, fix it by yourself)
[ -f "/usr/local/bin/clang-format-diff" ] || \
ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
_install_deps "brew install" libuvc _install_deps "brew install" libuvc
elif [ "$HOST_OS" = "Win" ]; then elif [ "$HOST_OS" = "Win" ]; then
# detect pacman on MSYS # _install_deps "pacman -S" ?
_detect pacman _echo
# pacman install (common)
_install_deps "pacman -S" curl git clang-format
if [ "$HOST_NAME" = "MINGW" ]; then
# pacman install (MINGW)
_deps=()
if [ "$HOST_ARCH" = "x64" ]; then
_deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
elif [ "$HOST_ARCH" = "x86" ]; then
_deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
else
_echo_e "Unknown host arch :("
exit 1
fi
if ! [ ${#_deps[@]} -eq 0 ]; then
_echo_d "pacman -S ${_deps[*]}"
pacman -S ${_deps[@]}
fi
else
# detect cmake on MSYS
_detect cmake
fi
# update
# pacman -Syu
# search
# pacman -Ss make
# autoremove
# pacman -Qtdq | pacman -Rs -
else # unexpected else # unexpected
_echo_e "Unknown host os :(" _echo_e "Unknown host os :("
exit 1 exit 1
fi fi
## pip
# detect pip
if ! _detect_cmd pip; then
if [ -n "${!PYTHON_FOUND}" ]; then
_echo_sn "Install pip"
[ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
$SUDO $PYTHON get-pip.py
else
_echo_en "Skipped install pip, as $PYTHON not found"
fi
fi
# pip install
if _detect_cmd pip; then
_echo_d "pip install --upgrade autopep8 cpplint pylint requests"
$SUDO pip install --upgrade autopep8 cpplint pylint requests
else
_echo_en "Skipped pip install packages, as pip not found"
fi
## realpath
# detect realpath
if ! _detect_cmd realpath; then
_echo_sn "Install realpath"
if [ "$HOST_OS" = "Linux" ]; then
# How to install realpath on Ubuntu 14.04
# https://www.howtoinstall.co/en/ubuntu/trusty/realpath
sudo apt-get install coreutils realpath
elif [ "$HOST_OS" = "Mac" ]; then
brew install coreutils
elif [ "$HOST_OS" = "Win" ]; then
pacman -S coreutils
else # unexpected
_echo_e "Unknown host os :("
exit 1
fi
fi
ROOT_DIR=$(realpath "$BASE_DIR/..")
## init
if [ -n "${!PYTHON_FOUND}" ]; then
_echo_s "Init git hooks"
$PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
else
_echo_en "Skipped init git hooks, as $PYTHON not found"
fi
## cmake version ## cmake version
_echo_s "Expect cmake version >= 3.0" _echo_s "Expect cmake version >= 3.0"

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#!/usr/bin/env bash
# Copyright 2018 Slightech Inc. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
_INIT_BUILD_=1
# _INIT_LINTER_=1
# _FORCE_INSRALL_=1
# _INSTALL_OPTIONS_=-y
BASE_DIR=$(cd "$(dirname "$0")" && pwd)
source "$BASE_DIR/common/echo.sh"
source "$BASE_DIR/common/detect.sh"
source "$BASE_DIR/common/host.sh"
## functions
if [ "$HOST_OS" = "Linux" ]; then
_detect_install() {
_detect_cmd "$1" || [ $(dpkg-query -W -f='${Status}' "$1" 2> /dev/null \
| grep -c "ok installed") -gt 0 ]
}
elif [ "$HOST_OS" = "Mac" ]; then
_detect_install() {
_detect_cmd "$1" || brew ls --versions "$1" > /dev/null
}
else
_detect_install() {
_detect_cmd "$1"
}
fi
_install_deps() {
_cmd="$1"; shift; _deps_all=($@)
if [ -n "${_INSTALL_OPTIONS_}" ]; then
_cmd="$_cmd $_INSTALL_OPTIONS_"
fi
_echo "Install cmd: $_cmd"
_echo "Install deps: ${_deps_all[*]}"
if [ -n "${_FORCE_INSRALL_}" ]; then
_echo_d "$_cmd ${_deps_all[*]}"
$_cmd ${_deps_all[@]}
return
fi
_deps=()
for _dep in "${_deps_all[@]}"; do
_detect_install $_dep || _deps+=($_dep)
done
if [ ${#_deps[@]} -eq 0 ]; then
_echo_i "All deps already exist"
else
_echo_d "$_cmd ${_deps[*]} (not exists)"
$_cmd ${_deps[@]}
fi
}
## init tools
_echo_s "Init tools"
if [ "$HOST_OS" = "Linux" ]; then
# sudo
SUDO="sudo"
_detect_cmd $SUDO || SUDO=
# detect apt-get
_detect apt-get
# apt-get install
if [ -n "${_INIT_BUILD_}" ]; then
_install_deps "$SUDO apt-get install" build-essential curl cmake git make
fi
if [ -n "${_INIT_LINTER_}" ]; then
_install_deps "$SUDO apt-get install" clang-format
if ! _detect_cmd clang-format; then
# on Ubuntu 14.04, apt-cache search clang-format
_install_deps "$SUDO apt-get install" clang-format-3.9
$SUDO ln -sf clang-format-3.9 /usr/bin/clang-format
$SUDO ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
fi
fi
elif [ "$HOST_OS" = "Mac" ]; then
# detect brew
if ! _detect_cmd brew; then
_echo_sn "Install brew"
_detect curl
_detect ruby
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
fi
# brew install
if [ -n "${_INIT_BUILD_}" ]; then
_install_deps "brew install" curl cmake git make
fi
if [ -n "${_INIT_LINTER_}" ]; then
_install_deps "brew install" clang-format
# link clang-format-diff (if not compatible with Python 3, fix it by yourself)
[ -f "/usr/local/bin/clang-format-diff" ] || \
ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff
fi
elif [ "$HOST_OS" = "Win" ]; then
# detect pacman on MSYS
_detect pacman
# pacman install
if [ -n "${_INIT_BUILD_}" ]; then
_install_deps "pacman -S" curl git make
if [ "$HOST_NAME" = "MINGW" ]; then
# MINGW: cmake
_deps=()
if [ "$HOST_ARCH" = "x64" ]; then
_deps+=(mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake)
elif [ "$HOST_ARCH" = "x86" ]; then
_deps+=(mingw-w64-i686-toolchain mingw-w64-i686-cmake)
else
_echo_e "Unknown host arch :("
exit 1
fi
if ! [ ${#_deps[@]} -eq 0 ]; then
_install_deps "pacman -S" ${_deps[@]}
fi
else
# Install CMake for Windows
# https://cmake.org/
_detect cmake
fi
fi
if [ -n "${_INIT_LINTER_}" ]; then
_install_deps "pacman -S" clang-format
fi
# update
# pacman -Syu
# search
# pacman -Ss make
# autoremove
# pacman -Qtdq | pacman -Rs -
else # unexpected
_echo_e "Unknown host os :("
exit 1
fi
## init linter - optional
if [ -n "${_INIT_LINTER_}" ]; then
# python
PYTHON="python"
if [ "$HOST_OS" = "Win" ]; then
if ! _detect_cmd $PYTHON; then
PYTHON="python2" # try python2 on MSYS
fi
fi
_detect $PYTHON 1
PYTHON_FOUND="${PYTHON}_FOUND"
if [ -z "${!PYTHON_FOUND}" ]; then
_echo_en "$PYTHON not found"
fi
# pip
# detect pip
if ! _detect_cmd pip; then
if [ -n "${!PYTHON_FOUND}" ]; then
_echo_sn "Install pip"
[ -f "get-pip.py" ] || curl -O https://bootstrap.pypa.io/get-pip.py
$SUDO $PYTHON get-pip.py
else
_echo_en "Skipped install pip, as $PYTHON not found"
fi
fi
# pip install
if _detect_cmd pip; then
_echo_d "pip install --upgrade autopep8 cpplint pylint requests"
$SUDO pip install --upgrade autopep8 cpplint pylint requests
else
_echo_en "Skipped pip install packages, as pip not found"
fi
# realpath
# detect realpath
if ! _detect_cmd realpath; then
_echo_sn "Install realpath"
if [ "$HOST_OS" = "Linux" ]; then
# How to install realpath on Ubuntu 14.04
# https://www.howtoinstall.co/en/ubuntu/trusty/realpath
$SUDO apt-get install coreutils realpath
elif [ "$HOST_OS" = "Mac" ]; then
brew install coreutils
elif [ "$HOST_OS" = "Win" ]; then
pacman -S coreutils
else # unexpected
_echo_e "Unknown host os :("
exit 1
fi
fi
ROOT_DIR=$(realpath "$BASE_DIR/..")
# init git hooks
if [ -n "${!PYTHON_FOUND}" ]; then
_echo_s "Init git hooks"
$PYTHON "$ROOT_DIR/tools/linter/init-git-hooks.py"
else
_echo_en "Skipped init git hooks, as $PYTHON not found"
fi
fi # _INIT_LINTER_

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#!/usr/bin/env bash
# Copyright 2018 Slightech Co., Ltd. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
BASE_DIR=$(cd "$(dirname "$0")" && pwd)
ROOT_DIR=$(dirname "$BASE_DIR")
CONFIG_FILE="$ROOT_DIR/CMakeLists.txt"
version=$(cat "$CONFIG_FILE" | grep -m1 "mynteye VERSION")
version=$(echo "${version%LANGUAGES*}")
version=$(echo "${version#*VERSION}" | tr -d '[:space:]')
echo "$version"

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scripts/win/cmake/mynteye-targets-release.cmake Normal file
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#----------------------------------------------------------------
# Generated CMake target import file for configuration "Release".
#----------------------------------------------------------------
# Commands may need to know the format version.
set(CMAKE_IMPORT_FILE_VERSION 1)
# Import target "mynteye" for configuration "Release"
set_property(TARGET mynteye APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
set_target_properties(mynteye PROPERTIES
IMPORTED_IMPLIB_RELEASE "${MYNTEYES_SDK_ROOT}/lib/mynteye.lib"
IMPORTED_LOCATION_RELEASE "${MYNTEYES_SDK_ROOT}/bin/mynteye.dll"
)
# Import target "mynteye" for configuration "Debug"
set_property(TARGET mynteye APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG)
set_target_properties(mynteye PROPERTIES
IMPORTED_IMPLIB_DEBUG "${MYNTEYES_SDK_ROOT}/lib/mynteyed.lib"
IMPORTED_LOCATION_DEBUG "${MYNTEYES_SDK_ROOT}/bin/mynteyed.dll"
)
list(APPEND _IMPORT_CHECK_TARGETS mynteye )
list(APPEND _IMPORT_CHECK_FILES_FOR_mynteye
"${MYNTEYES_SDK_ROOT}/lib/mynteye.lib" "${MYNTEYES_SDK_ROOT}/bin/mynteye.dll"
"${MYNTEYES_SDK_ROOT}/lib/mynteyed.lib" "${MYNTEYES_SDK_ROOT}/bin/mynteyed.dll"
)
# Commands beyond this point should not need to know the version.
set(CMAKE_IMPORT_FILE_VERSION)

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# Generated by CMake
if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
message(FATAL_ERROR "CMake >= 2.6.0 required")
endif()
cmake_policy(PUSH)
cmake_policy(VERSION 2.6)
#----------------------------------------------------------------
# Generated CMake target import file.
#----------------------------------------------------------------
# Commands may need to know the format version.
set(CMAKE_IMPORT_FILE_VERSION 1)
# Protect against multiple inclusion, which would fail when already imported targets are added once more.
set(_targetsDefined)
set(_targetsNotDefined)
set(_expectedTargets)
foreach(_expectedTarget mynteye)
list(APPEND _expectedTargets ${_expectedTarget})
if(NOT TARGET ${_expectedTarget})
list(APPEND _targetsNotDefined ${_expectedTarget})
endif()
if(TARGET ${_expectedTarget})
list(APPEND _targetsDefined ${_expectedTarget})
endif()
endforeach()
if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
unset(_targetsDefined)
unset(_targetsNotDefined)
unset(_expectedTargets)
set(CMAKE_IMPORT_FILE_VERSION)
cmake_policy(POP)
return()
endif()
if(NOT "${_targetsDefined}" STREQUAL "")
message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
endif()
unset(_targetsDefined)
unset(_targetsNotDefined)
unset(_expectedTargets)
if(NOT MYNTEYES_SDK_ROOT)
if(DEFINED ENV{MYNTEYES_SDK_ROOT})
set(MYNTEYES_SDK_ROOT $ENV{MYNTEYES_SDK_ROOT})
else()
get_filename_component(MYNTEYES_SDK_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
endif()
endif()
# The installation prefix configured by this project.
set(_IMPORT_PREFIX "${MYNTEYES_SDK_ROOT}")
# Create imported target mynteye
add_library(mynteye SHARED IMPORTED)
set_target_properties(mynteye PROPERTIES
INTERFACE_COMPILE_DEFINITIONS "GLOG_NO_ABBREVIATED_SEVERITIES"
INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
INTERFACE_LINK_LIBRARIES "opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab;opencv_world"
)
if(CMAKE_VERSION VERSION_LESS 2.8.12)
message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
endif()
# Load information for each installed configuration.
get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
file(GLOB CONFIG_FILES "${_DIR}/mynteye-targets-*.cmake")
foreach(f ${CONFIG_FILES})
include(${f})
endforeach()
# Cleanup temporary variables.
set(_IMPORT_PREFIX)
# Loop over all imported files and verify that they actually exist
foreach(target ${_IMPORT_CHECK_TARGETS} )
foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
if(NOT EXISTS "${file}" )
message(FATAL_ERROR "The imported target \"${target}\" references the file
\"${file}\"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
\"${CMAKE_CURRENT_LIST_FILE}\"
but not all the files it references.
")
endif()
endforeach()
unset(_IMPORT_CHECK_FILES_FOR_${target})
endforeach()
unset(_IMPORT_CHECK_TARGETS)
# This file does not depend on other imported targets which have
# been exported from the same project but in a separate export set.
# Commands beyond this point should not need to know the version.
set(CMAKE_IMPORT_FILE_VERSION)
cmake_policy(POP)

20
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@echo off
setlocal
set _MY_DIR=%~dp0
set _VS_GEN="Visual Studio 15 2017 Win64"
REM set _VS_GEN="Visual Studio 14 2015 Win64"
cd %_MY_DIR%
mkdir _build
cd _build/
cmake -DCMAKE_BUILD_TYPE=Release ^
-DCMAKE_PREFIX_PATH="%_MY_DIR%/../lib/cmake" ^
-DOpenCV_DIR="%_MY_DIR%/../3rdparty/opencv/build" ^
-G %_VS_GEN% ^
..
cd %_MY_DIR%
pause

350
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/**
* EnvVarUpdate.nsh
* : Environmental Variables: append, prepend, and remove entries
*
* WARNING: If you use StrFunc.nsh header then include it before this file
* with all required definitions. This is to avoid conflicts
*
* Usage:
* ${EnvVarUpdate} "ResultVar" "EnvVarName" "Action" "RegLoc" "PathString"
*
* Credits:
* Version 1.0
* * Cal Turney (turnec2)
* * Amir Szekely (KiCHiK) and e-circ for developing the forerunners of this
* function: AddToPath, un.RemoveFromPath, AddToEnvVar, un.RemoveFromEnvVar,
* WriteEnvStr, and un.DeleteEnvStr
* * Diego Pedroso (deguix) for StrTok
* * Kevin English (kenglish_hi) for StrContains
* * Hendri Adriaens (Smile2Me), Diego Pedroso (deguix), and Dan Fuhry
* (dandaman32) for StrReplace
*
* Version 1.1 (compatibility with StrFunc.nsh)
* * techtonik
*
* http://nsis.sourceforge.net/Environmental_Variables:_append%2C_prepend%2C_and_remove_entries
*
*/
!ifndef ENVVARUPDATE_FUNCTION
!define ENVVARUPDATE_FUNCTION
!verbose push
!verbose 3
!include "LogicLib.nsh"
!include "WinMessages.NSH"
!include "StrFunc.nsh"
; ---- Fix for conflict if StrFunc.nsh is already includes in main file -----------------------
!macro _IncludeStrFunction StrFuncName
!ifndef ${StrFuncName}_INCLUDED
${${StrFuncName}}
!endif
!ifndef Un${StrFuncName}_INCLUDED
${Un${StrFuncName}}
!endif
!define un.${StrFuncName} "${Un${StrFuncName}}"
!macroend
!insertmacro _IncludeStrFunction StrTok
!insertmacro _IncludeStrFunction StrStr
!insertmacro _IncludeStrFunction StrRep
; ---------------------------------- Macro Definitions ----------------------------------------
!macro _EnvVarUpdateConstructor ResultVar EnvVarName Action Regloc PathString
Push "${EnvVarName}"
Push "${Action}"
Push "${RegLoc}"
Push "${PathString}"
Call EnvVarUpdate
Pop "${ResultVar}"
!macroend
!define EnvVarUpdate '!insertmacro "_EnvVarUpdateConstructor"'
!macro _unEnvVarUpdateConstructor ResultVar EnvVarName Action Regloc PathString
Push "${EnvVarName}"
Push "${Action}"
Push "${RegLoc}"
Push "${PathString}"
Call un.EnvVarUpdate
Pop "${ResultVar}"
!macroend
!define un.EnvVarUpdate '!insertmacro "_unEnvVarUpdateConstructor"'
; ---------------------------------- Macro Definitions end-------------------------------------
;----------------------------------- EnvVarUpdate start----------------------------------------
!define hklm_all_users 'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
!define hkcu_current_user 'HKCU "Environment"'
!macro EnvVarUpdate UN
Function ${UN}EnvVarUpdate
Push $0
Exch 4
Exch $1
Exch 3
Exch $2
Exch 2
Exch $3
Exch
Exch $4
Push $5
Push $6
Push $7
Push $8
Push $9
Push $R0
/* After this point:
-------------------------
$0 = ResultVar (returned)
$1 = EnvVarName (input)
$2 = Action (input)
$3 = RegLoc (input)
$4 = PathString (input)
$5 = Orig EnvVar (read from registry)
$6 = Len of $0 (temp)
$7 = tempstr1 (temp)
$8 = Entry counter (temp)
$9 = tempstr2 (temp)
$R0 = tempChar (temp) */
; Step 1: Read contents of EnvVarName from RegLoc
;
; Check for empty EnvVarName
${If} $1 == ""
SetErrors
DetailPrint "ERROR: EnvVarName is blank"
Goto EnvVarUpdate_Restore_Vars
${EndIf}
; Check for valid Action
${If} $2 != "A"
${AndIf} $2 != "P"
${AndIf} $2 != "R"
SetErrors
DetailPrint "ERROR: Invalid Action - must be A, P, or R"
Goto EnvVarUpdate_Restore_Vars
${EndIf}
${If} $3 == HKLM
ReadRegStr $5 ${hklm_all_users} $1 ; Get EnvVarName from all users into $5
${ElseIf} $3 == HKCU
ReadRegStr $5 ${hkcu_current_user} $1 ; Read EnvVarName from current user into $5
${Else}
SetErrors
DetailPrint 'ERROR: Action is [$3] but must be "HKLM" or HKCU"'
Goto EnvVarUpdate_Restore_Vars
${EndIf}
; Check for empty PathString
${If} $4 == ""
SetErrors
DetailPrint "ERROR: PathString is blank"
Goto EnvVarUpdate_Restore_Vars
${EndIf}
;;khc - here check if length is going to be greater then max string length
;; and abort if so - also abort if original path empty - may mean
;; it was too long as well- write message to say set it by hand
Push $6
Push $7
Push $8
StrLen $7 $4
StrLen $6 $5
IntOp $8 $6 + $7
${If} $5 == ""
${OrIf} $8 >= ${NSIS_MAX_STRLEN}
SetErrors
DetailPrint "Current $1 length ($6) too long to modify in NSIS; set manually if needed"
Pop $8
Pop $7
Pop $6
Goto EnvVarUpdate_Restore_Vars
${EndIf}
Pop $8
Pop $7
Pop $6
;;khc
; Make sure we've got some work to do
${If} $5 == ""
${AndIf} $2 == "R"
SetErrors
DetailPrint "$1 is empty - Nothing to remove"
Goto EnvVarUpdate_Restore_Vars
${EndIf}
; Step 2: Scrub EnvVar
;
StrCpy $0 $5 ; Copy the contents to $0
; Remove spaces around semicolons (NOTE: spaces before the 1st entry or
; after the last one are not removed here but instead in Step 3)
${If} $0 != "" ; If EnvVar is not empty ...
${Do}
${${UN}StrStr} $7 $0 " ;"
${If} $7 == ""
${ExitDo}
${EndIf}
${${UN}StrRep} $0 $0 " ;" ";" ; Remove '<space>;'
${Loop}
${Do}
${${UN}StrStr} $7 $0 "; "
${If} $7 == ""
${ExitDo}
${EndIf}
${${UN}StrRep} $0 $0 "; " ";" ; Remove ';<space>'
${Loop}
${Do}
${${UN}StrStr} $7 $0 ";;"
${If} $7 == ""
${ExitDo}
${EndIf}
${${UN}StrRep} $0 $0 ";;" ";"
${Loop}
; Remove a leading or trailing semicolon from EnvVar
StrCpy $7 $0 1 0
${If} $7 == ";"
StrCpy $0 $0 "" 1 ; Change ';<EnvVar>' to '<EnvVar>'
${EndIf}
StrLen $6 $0
IntOp $6 $6 - 1
StrCpy $7 $0 1 $6
${If} $7 == ";"
StrCpy $0 $0 $6 ; Change ';<EnvVar>' to '<EnvVar>'
${EndIf}
; DetailPrint "Scrubbed $1: [$0]" ; Uncomment to debug
${EndIf}
/* Step 3. Remove all instances of the target path/string (even if "A" or "P")
$6 = bool flag (1 = found and removed PathString)
$7 = a string (e.g. path) delimited by semicolon(s)
$8 = entry counter starting at 0
$9 = copy of $0
$R0 = tempChar */
${If} $5 != "" ; If EnvVar is not empty ...
StrCpy $9 $0
StrCpy $0 ""
StrCpy $8 0
StrCpy $6 0
${Do}
${${UN}StrTok} $7 $9 ";" $8 "0" ; $7 = next entry, $8 = entry counter
${If} $7 == "" ; If we've run out of entries,
${ExitDo} ; were done
${EndIf} ;
; Remove leading and trailing spaces from this entry (critical step for Action=Remove)
${Do}
StrCpy $R0 $7 1
${If} $R0 != " "
${ExitDo}
${EndIf}
StrCpy $7 $7 "" 1 ; Remove leading space
${Loop}
${Do}
StrCpy $R0 $7 1 -1
${If} $R0 != " "
${ExitDo}
${EndIf}
StrCpy $7 $7 -1 ; Remove trailing space
${Loop}
${If} $7 == $4 ; If string matches, remove it by not appending it
StrCpy $6 1 ; Set 'found' flag
${ElseIf} $7 != $4 ; If string does NOT match
${AndIf} $0 == "" ; and the 1st string being added to $0,
StrCpy $0 $7 ; copy it to $0 without a prepended semicolon
${ElseIf} $7 != $4 ; If string does NOT match
${AndIf} $0 != "" ; and this is NOT the 1st string to be added to $0,
StrCpy $0 $0;$7 ; append path to $0 with a prepended semicolon
${EndIf} ;
IntOp $8 $8 + 1 ; Bump counter
${Loop} ; Check for duplicates until we run out of paths
${EndIf}
; Step 4: Perform the requested Action
;
${If} $2 != "R" ; If Append or Prepend
${If} $6 == 1 ; And if we found the target
DetailPrint "Target is already present in $1. It will be removed and"
${EndIf}
${If} $0 == "" ; If EnvVar is (now) empty
StrCpy $0 $4 ; just copy PathString to EnvVar
${If} $6 == 0 ; If found flag is either 0
${OrIf} $6 == "" ; or blank (if EnvVarName is empty)
DetailPrint "$1 was empty and has been updated with the target"
${EndIf}
${ElseIf} $2 == "A" ; If Append (and EnvVar is not empty),
StrCpy $0 $0;$4 ; append PathString
${If} $6 == 1
DetailPrint "appended to $1"
${Else}
DetailPrint "Target was appended to $1"
${EndIf}
${Else} ; If Prepend (and EnvVar is not empty),
StrCpy $0 $4;$0 ; prepend PathString
${If} $6 == 1
DetailPrint "prepended to $1"
${Else}
DetailPrint "Target was prepended to $1"
${EndIf}
${EndIf}
${Else} ; If Action = Remove
${If} $6 == 1 ; and we found the target
DetailPrint "Target was found and removed from $1"
${Else}
DetailPrint "Target was NOT found in $1 (nothing to remove)"
${EndIf}
${If} $0 == ""
DetailPrint "$1 is now empty"
${EndIf}
${EndIf}
; Step 5: Update the registry at RegLoc with the updated EnvVar and announce the change
;
ClearErrors
${If} $3 == HKLM
WriteRegExpandStr ${hklm_all_users} $1 $0 ; Write it in all users section
${ElseIf} $3 == HKCU
WriteRegExpandStr ${hkcu_current_user} $1 $0 ; Write it to current user section
${EndIf}
IfErrors 0 +4
MessageBox MB_OK|MB_ICONEXCLAMATION "Could not write updated $1 to $3"
DetailPrint "Could not write updated $1 to $3"
Goto EnvVarUpdate_Restore_Vars
; "Export" our change
SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
EnvVarUpdate_Restore_Vars:
;
; Restore the user's variables and return ResultVar
Pop $R0
Pop $9
Pop $8
Pop $7
Pop $6
Pop $5
Pop $4
Pop $3
Pop $2
Pop $1
Push $0 ; Push my $0 (ResultVar)
Exch
Pop $0 ; Restore his $0
FunctionEnd
!macroend ; EnvVarUpdate UN
!insertmacro EnvVarUpdate ""
!insertmacro EnvVarUpdate "un."
;----------------------------------- EnvVarUpdate end----------------------------------------
!verbose pop
!endif

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198
scripts/win/nsis/winpack.nsi.in Normal file
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@ -0,0 +1,198 @@
; winpack.nsi
!addincludedir scripts\win\nsis\Include
!include EnvVarUpdate.nsh
!addplugindir scripts\win\nsis\Plugins
!include WinMessages.nsh
!define VERSION "@mynteye_VERSION@"
!define OpenCV_VERSION "@OpenCV_VERSION@"
!define DSETDIR "$APPDATA"
;!define DSETDIR "$PROGRAMFILES64"
; HKLM (all users) vs HKCU (current user) defines
!define ENV_HKLM 'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
!define ENV_HKCU 'HKCU "Environment"'
;--------------------------------
; The name of the installer
Name "MYNTEYE S SDK ${VERSION}"
; The icon of the installer
Icon "scripts\win\nsis\mynt.ico"
; The file to write
OutFile "mynteye-s-${VERSION}-win-x64-opencv-${OpenCV_VERSION}.exe"
; The default installation directory
InstallDir ${DSETDIR}\Slightech\MYNTEYES\SDK\${VERSION}
; Registry key to check for directory (so if you install again, it will
; overwrite the old one automatically)
InstallDirRegKey HKLM "Software\MYNTEYESSDK" "Install_Dir"
; Request application privileges for Windows Vista
;RequestExecutionLevel user
RequestExecutionLevel admin
;--------------------------------
; Pages
Page components
Page directory
Page instfiles
UninstPage uninstConfirm
UninstPage instfiles
;--------------------------------
; The stuff to install
Section "SDK (required)"
SectionIn RO
; Set output path to the installation directory.
SetOutPath $INSTDIR
; Put file there
File /r "mynteye-s-${VERSION}-win-x64-opencv-${OpenCV_VERSION}\*"
; Write the installation path into the registry
WriteRegStr HKLM "SOFTWARE\MYNTEYESSDK" "Install_Dir" "$INSTDIR"
; Write the uninstall keys for Windows
WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "DisplayName" "MYNTEYE S SDK"
WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "UninstallString" '"$INSTDIR\uninstall.exe"'
WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "NoModify" 1
WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK" "NoRepair" 1
WriteUninstaller "uninstall.exe"
; Set variables for local machine
WriteRegExpandStr ${ENV_HKLM} MYNTEYES_SDK_ROOT "$INSTDIR"
;${EnvVarUpdate} $0 "PATH" "P" "HKLM" "%MYNTEYES_SDK_PATH%"
${EnvVarUpdate} $0 "PATH" "P" "HKLM" "$INSTDIR\bin;$INSTDIR\3rdparty\opencv\build\x64\vc15\bin"
; Push "%MYNTEYES_SDK_PATH%"
; Call AddToPath
; Make sure windows knows about the change
SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
SectionEnd
; Optional section (can be disabled by the user)
Section "Desktop Shortcuts"
CreateShortcut "$DESKTOP\MYNTEYE S SDK ${VERSION}.lnk" "$INSTDIR" "" "$INSTDIR" 0
SectionEnd
Function .onInstSuccess
WriteRegStr "HKLM" "SOFTWARE\Microsoft\Windows\CurrentVersion\RunOnce" \
"View MYNTEYES README.txt" \
"cmd.exe /c start /max notepad.exe $INSTDIR\README.txt"
MessageBox MB_OKCANCEL "Reboot your system now?" /SD IDOK IDCANCEL NoReboot
Reboot
NoReboot:
FunctionEnd
Function .onInstFailed
MessageBox MB_OK "Install failed."
FunctionEnd
;--------------------------------
; Uninstaller
Section "Uninstall"
; Remove registry keys
DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\MYNTEYESSDK"
DeleteRegKey HKLM "SOFTWARE\MYNTEYESSDK"
; Remove install stuff
RMDir /r "$INSTDIR"
; Remove shortcuts, if any
Delete "$DESKTOP\MYNTEYE S SDK ${VERSION}.lnk"
; Remove directories used
StrCpy $0 "${DSETDIR}\Slightech\MYNTEYES"
Call un.DeleteDirIfEmpty
StrCpy $0 "${DSETDIR}\Slightech"
Call un.DeleteDirIfEmpty
RMDir /r "$APPDATA\Slightech\MYNTEYES"
StrCpy $0 "$APPDATA\Slightech"
Call un.DeleteDirIfEmpty
; Delete variables
DeleteRegValue ${ENV_HKLM} MYNTEYES_SDK_ROOT
;${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "%MYNTEYES_SDK_PATH%"
${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin"
${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\3rdparty\opencv\build\x64\vc15\bin"
; Push "%MYNTEYES_SDK_PATH%"
; Call un.RemoveFromPath
; Make sure windows knows about the change
SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
SectionEnd
Function un.onUninstSuccess
MessageBox MB_OK "Uninstall success."
FunctionEnd
Function un.onUninstFailed
MessageBox MB_OK "Uninstall failed."
FunctionEnd
;--------------------------------
; DeleteDirIfEmpty - Delete dir only if empty
Function un.DeleteDirIfEmpty
FindFirst $R0 $R1 "$0\*.*"
strcmp $R1 "." 0 NoDelete
FindNext $R0 $R1
strcmp $R1 ".." 0 NoDelete
ClearErrors
FindNext $R0 $R1
IfErrors 0 NoDelete
FindClose $R0
Sleep 1000
RMDir "$0"
NoDelete:
FindClose $R0
FunctionEnd
;--------------------------------
; Path Manipulation
; http://nsis.sourceforge.net/Path_Manipulation
; Environmental Variables: append, prepend, and remove entries
; http://nsis.sourceforge.net/Environmental_Variables:_append%2C_prepend%2C_and_remove_entries
; Setting Environment Variables
; http://nsis.sourceforge.net/Setting_Environment_Variables
; Setting Environment Variables to Active Installer Process
; http://nsis.sourceforge.net/Setting_Environment_Variables_to_Active_Installer_Process
; Delete files and subdirectories
; http://nsis.sourceforge.net/Delete_files_and_subdirectories
; Delete dir only if empty
; http://nsis.sourceforge.net/Delete_dir_only_if_empty
;https://gist.github.com/azalea/deb3c1ed2a984eadf96be77b81dd49b1
;!include ProcessEnvPrependPath.nsh

179
scripts/win/winpack.sh Normal file
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@ -0,0 +1,179 @@
#!/usr/bin/env bash
# Copyright 2018 Slightech Co., Ltd. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
BASE_DIR=$(cd "$(dirname "$0")" && pwd)
ROOT_DIR=$(realpath "$BASE_DIR/../..")
SCRIPTS_DIR=$(realpath "$BASE_DIR/..")
source "$SCRIPTS_DIR/common/echo.sh"
source "$SCRIPTS_DIR/common/detect.sh"
if [ ! -d "$ROOT_DIR/3rdparty/opencv" ]; then
_echo_e "3rdparty/opencv not found, please manually download it to here."
_echo_e
_echo_e " OpenCV Win pack 3.4.3: https://opencv.org/releases.html"
exit 1
fi
if ! _detect_cmd makensis; then
_echo_e "makensis not found, please manually download and install it."
_echo_e
_echo_e " NSIS: http://nsis.sourceforge.net"
exit 1
fi
export OpenCV_DIR="$ROOT_DIR/3rdparty/opencv/build"
_rm() {
[ -e "$1" ] && (rm -r "$1" && _echo_i "RM: $1")
}
_md() {
[ ! -d "$1" ] && (mkdir -p "$1" && _echo_i "MD: $1")
}
# _mv_subs <srcdir> <dstdir> [sub1 sub2 ...]
_mv_subs() {
_src_dir="$1"; shift; _dst_dir="$1"; shift; _subs="$@";
if [ -z "$_subs" ]; then
_subs=`ls $_src_dir`
fi
for _sub in $_subs; do
_src="$_src_dir/$_sub"
[ ! -e "$_src" ] && (_echo_i "Not exist: $_src") && continue
_dst=
[ -f "$_src" ] && _dst="$_dst_dir"
[ -d "$_src" ] && _dst="$_dst_dir/$_sub"
[ -z "$_dst" ] && continue
# _echo "_src: $_src"
# _echo "_dst: $_dst"
mv "$_src" "$_dst"
done
}
################################################################################
# build release
make samples tools
################################################################################
# build debug
rm -r "$ROOT_DIR/_build"
rm -r "$ROOT_DIR/_output"
make build BUILD_TYPE=Debug
mv "$ROOT_DIR/_output/bin/mynteyed.dll" "$ROOT_DIR/_install/bin/mynteyed.dll"
mv "$ROOT_DIR/_output/lib/mynteyed.lib" "$ROOT_DIR/_install/lib/mynteyed.lib"
################################################################################
# move to _install
# 3rdparty/opencv
_md "$ROOT_DIR/_install/3rdparty"
mv "$ROOT_DIR/3rdparty/opencv" "$ROOT_DIR/_install/3rdparty/opencv"
# cmake
mv "$ROOT_DIR/cmake" "$ROOT_DIR/_install/cmake"
# samples
mv "$ROOT_DIR/samples/_output/bin" "$ROOT_DIR/_install/bin/samples"
mv "$ROOT_DIR/samples/_output/lib" "$ROOT_DIR/_install/lib/samples"
_rm "$ROOT_DIR/samples/_build"
_rm "$ROOT_DIR/samples/_output"
mv "$ROOT_DIR/samples" "$ROOT_DIR/_install/samples"
# tools
mv "$ROOT_DIR/tools/_output/bin" "$ROOT_DIR/_install/bin/tools"
mv "$ROOT_DIR/tools/_output/lib" "$ROOT_DIR/_install/lib/tools"
_rm "$ROOT_DIR/tools/_build"
_rm "$ROOT_DIR/tools/_output"
mv "$ROOT_DIR/tools/linter" "$ROOT_DIR/3rdparty/linter"
mv "$ROOT_DIR/tools" "$ROOT_DIR/_install/tools"
# platforms/win
mv "$ROOT_DIR/platforms/win/README.txt" "$ROOT_DIR/_install"
_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/.vs"
_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/x64"
_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/x64"
_rm "$ROOT_DIR/platforms/projects/vs2017/mynteyes_demo/mynteyes_demo/mynteyes_demo.vcxproj.user"
mv "$ROOT_DIR/platforms/projects" "$ROOT_DIR/_install/projects"
################################################################################
# copy to _install
cp -f "$ROOT_DIR/scripts/win/cmake/mynteye-targets.cmake" "$ROOT_DIR/_install/lib/cmake/mynteye/"
cp -f "$ROOT_DIR/scripts/win/cmake/mynteye-targets-release.cmake" "$ROOT_DIR/_install/lib/cmake/mynteye/"
cp -f "$ROOT_DIR/scripts/win/generate.bat" "$ROOT_DIR/_install/samples/"
cp -f "$ROOT_DIR/scripts/win/generate.bat" "$ROOT_DIR/_install/tools/"
################################################################################
# archive exe
source "$ROOT_DIR/pkginfo.sh"
_pkgname="$1-opencv-$OpenCV_VERSION"
_rm "$ROOT_DIR/$_pkgname.exe"
mv "$ROOT_DIR/_install" "$ROOT_DIR/$_pkgname"
makensis "$ROOT_DIR/winpack.nsi"
if _detect_cmd git; then
_git_branch=`git symbolic-ref --short -q HEAD`
if [ "$_git_branch" == "develop" ]; then
_git_hash=`git rev-parse --short HEAD`
mv "$ROOT_DIR/$_pkgname.exe" "$ROOT_DIR/$_pkgname-dev-$_git_hash.exe"
fi
fi
mv "$ROOT_DIR/$_pkgname" "$ROOT_DIR/_install"
################################################################################
# remove from _install
_rm "$ROOT_DIR/_install/samples/generate.bat"
_rm "$ROOT_DIR/_install/tools/generate.bat"
################################################################################
# move back from _install
# 3rdparty/opencv
mv "$ROOT_DIR/_install/3rdparty/opencv" "$ROOT_DIR/3rdparty/opencv"
# cmake
mv "$ROOT_DIR/_install/cmake" "$ROOT_DIR/cmake"
# samples
mv "$ROOT_DIR/_install/samples" "$ROOT_DIR/samples"
# tools
mv "$ROOT_DIR/_install/tools" "$ROOT_DIR/tools"
mv "$ROOT_DIR/3rdparty/linter" "$ROOT_DIR/tools/linter"
# platforms/win
mv "$ROOT_DIR/_install/README.txt" "$ROOT_DIR/platforms/win"
mv "$ROOT_DIR/_install/projects" "$ROOT_DIR/platforms/projects"
################################################################################
# clean build
_rm "$ROOT_DIR/_build"
_rm "$ROOT_DIR/_output"
_echo_d "Win pack success"

10
src/api/api.cc
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@ -18,12 +18,10 @@
#include <boost/range/iterator_range.hpp> #include <boost/range/iterator_range.hpp>
#endif #endif
#include <glog/logging.h>
#include <algorithm> #include <algorithm>
#include <thread> #include <thread>
#include "mynteye/glog_init.h" #include "mynteye/logger.h"
#include "mynteye/utils.h" #include "mynteye/utils.h"
#include "api/plugin.h" #include "api/plugin.h"
@ -92,7 +90,7 @@ bool dir_exists(const std::string &p) {
std::vector<std::string> get_plugin_paths() { std::vector<std::string> get_plugin_paths() {
std::string info_path(MYNTEYE_SDK_INSTALL_DIR); std::string info_path(MYNTEYE_SDK_INSTALL_DIR);
info_path.append(OS_SEP "share" OS_SEP "mynteye" OS_SEP "build.info"); info_path.append(MYNTEYE_OS_SEP "share" MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
cv::FileStorage fs(info_path, cv::FileStorage::READ); cv::FileStorage fs(info_path, cv::FileStorage::READ);
if (!fs.isOpened()) { if (!fs.isOpened()) {
@ -189,13 +187,13 @@ std::vector<std::string> get_plugin_paths() {
std::vector<std::string> dirs{MYNTEYE_SDK_ROOT_DIR, MYNTEYE_SDK_INSTALL_DIR}; std::vector<std::string> dirs{MYNTEYE_SDK_ROOT_DIR, MYNTEYE_SDK_INSTALL_DIR};
for (auto &&plat : plats) { for (auto &&plat : plats) {
for (auto &&dir : dirs) { for (auto &&dir : dirs) {
auto &&plat_dir = dir + OS_SEP "plugins" + OS_SEP + plat; auto &&plat_dir = dir + MYNTEYE_OS_SEP "plugins" + MYNTEYE_OS_SEP + plat;
// VLOG(2) << "plat_dir: " << plat_dir; // VLOG(2) << "plat_dir: " << plat_dir;
if (!dir_exists(plat_dir)) if (!dir_exists(plat_dir))
continue; continue;
for (auto &&name : names) { for (auto &&name : names) {
// VLOG(2) << " name: " << name; // VLOG(2) << " name: " << name;
auto &&path = plat_dir + OS_SEP + name; auto &&path = plat_dir + MYNTEYE_OS_SEP + name;
if (!file_exists(path)) if (!file_exists(path))
continue; continue;
paths.push_back(path); paths.push_back(path);

2
src/api/processor/depth_processor.cc
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@ -13,7 +13,7 @@
// limitations under the License. // limitations under the License.
#include "api/processor/depth_processor.h" #include "api/processor/depth_processor.h"
#include <glog/logging.h> #include "mynteye/logger.h"
#include <utility> #include <utility>

4
src/api/processor/disparity_normalized_processor.cc
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@ -15,10 +15,10 @@
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <glog/logging.h>
#include <utility> #include <utility>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
DisparityNormalizedProcessor::DisparityNormalizedProcessor( DisparityNormalizedProcessor::DisparityNormalizedProcessor(

4
src/api/processor/disparity_processor.cc
View File

@ -15,10 +15,10 @@
#include <opencv2/calib3d/calib3d.hpp> #include <opencv2/calib3d/calib3d.hpp>
#include <glog/logging.h>
#include <utility> #include <utility>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
DisparityProcessor::DisparityProcessor(std::int32_t proc_period) DisparityProcessor::DisparityProcessor(std::int32_t proc_period)

4
src/api/processor/points_processor.cc
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@ -15,10 +15,10 @@
#include <opencv2/calib3d/calib3d.hpp> #include <opencv2/calib3d/calib3d.hpp>
#include <glog/logging.h>
#include <utility> #include <utility>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
PointsProcessor::PointsProcessor(cv::Mat Q, std::int32_t proc_period) PointsProcessor::PointsProcessor(cv::Mat Q, std::int32_t proc_period)

4
src/api/processor/processor.cc
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@ -13,11 +13,11 @@
// limitations under the License. // limitations under the License.
#include "api/processor/processor.h" #include "api/processor/processor.h"
#include <glog/logging.h>
#include <exception> #include <exception>
#include <utility> #include <utility>
#include "mynteye/logger.h"
#include "internal/strings.h" #include "internal/strings.h"
#include "internal/times.h" #include "internal/times.h"

4
src/api/processor/rectify_processor.cc
View File

@ -16,10 +16,10 @@
#include <opencv2/calib3d/calib3d.hpp> #include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <glog/logging.h>
#include <utility> #include <utility>
#include "mynteye/logger.h"
#include "device/device.h" #include "device/device.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE

3
src/api/synthetic.cc
View File

@ -13,13 +13,14 @@
// limitations under the License. // limitations under the License.
#include "api/synthetic.h" #include "api/synthetic.h"
#include <glog/logging.h>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <algorithm> #include <algorithm>
#include <functional> #include <functional>
#include <stdexcept> #include <stdexcept>
#include "mynteye/logger.h"
#include "api/plugin.h" #include "api/plugin.h"
#include "api/processor/depth_processor.h" #include "api/processor/depth_processor.h"
#include "api/processor/disparity_normalized_processor.h" #include "api/processor/disparity_normalized_processor.h"

2
src/device/context.cc
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@ -13,7 +13,7 @@
// limitations under the License. // limitations under the License.
#include "device/context.h" #include "device/context.h"
#include <glog/logging.h> #include "mynteye/logger.h"
#include "device/device.h" #include "device/device.h"
#include "uvc/uvc.h" #include "uvc/uvc.h"

3
src/device/device.cc
View File

@ -13,13 +13,14 @@
// limitations under the License. // limitations under the License.
#include "device/device.h" #include "device/device.h"
#include <glog/logging.h>
#include <algorithm> #include <algorithm>
#include <iterator> #include <iterator>
#include <stdexcept> #include <stdexcept>
#include <utility> #include <utility>
#include "mynteye/logger.h"
#include "device/device_s.h" #include "device/device_s.h"
#include "internal/async_callback.h" #include "internal/async_callback.h"
#include "internal/channels.h" #include "internal/channels.h"

2
src/device/device_s.cc
View File

@ -13,7 +13,7 @@
// limitations under the License. // limitations under the License.
#include "device/device_s.h" #include "device/device_s.h"
#include <glog/logging.h> #include "mynteye/logger.h"
#include "internal/motions.h" #include "internal/motions.h"

4
src/internal/async_callback_impl.h
View File

@ -15,11 +15,11 @@
#define MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_ #define MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_
#pragma once #pragma once
#include <glog/logging.h>
#include <string> #include <string>
#include <utility> #include <utility>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
template <class Data> template <class Data>

4
src/internal/channels.cc
View File

@ -13,8 +13,6 @@
// limitations under the License. // limitations under the License.
#include "internal/channels.h" #include "internal/channels.h"
#include <glog/logging.h>
#include <bitset> #include <bitset>
#include <chrono> #include <chrono>
#include <iomanip> #include <iomanip>
@ -25,6 +23,8 @@
#include "internal/strings.h" #include "internal/strings.h"
#include "internal/times.h" #include "internal/times.h"
#include "mynteye/logger.h"
#define IMU_TRACK_PERIOD 25 // ms #define IMU_TRACK_PERIOD 25 // ms
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE

2
src/internal/dl.cc
View File

@ -13,7 +13,7 @@
// limitations under the License. // limitations under the License.
#include "internal/dl.h" #include "internal/dl.h"
#include <glog/logging.h> #include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE

7
src/internal/files.cc
View File

@ -12,8 +12,7 @@
// See the License for the specific language governing permissions and // See the License for the specific language governing permissions and
// limitations under the License. // limitations under the License.
#include "internal/files.h" #include "internal/files.h"
#include "mynteye/logger.h"
#include <glog/logging.h>
#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN) #if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
#include <direct.h> #include <direct.h>
@ -51,7 +50,7 @@ bool _mkdir(const std::string &path) {
} }
bool mkdir(const std::string &path) { bool mkdir(const std::string &path) {
auto &&dirs = strings::split(path, OS_SEP); auto &&dirs = strings::split(path, MYNTEYE_OS_SEP);
auto &&size = dirs.size(); auto &&size = dirs.size();
if (size <= 0) if (size <= 0)
return false; return false;
@ -59,7 +58,7 @@ bool mkdir(const std::string &path) {
if (!_mkdir(p)) if (!_mkdir(p))
return false; return false;
for (std::size_t i = 1; i < size; i++) { for (std::size_t i = 1; i < size; i++) {
p.append(OS_SEP).append(dirs[i]); p.append(MYNTEYE_OS_SEP).append(dirs[i]);
if (!_mkdir(p)) if (!_mkdir(p))
return false; return false;
} }

2
src/internal/motions.cc
View File

@ -13,7 +13,7 @@
// limitations under the License. // limitations under the License.
#include "internal/motions.h" #include "internal/motions.h"
#include <glog/logging.h> #include "mynteye/logger.h"
#include "internal/channels.h" #include "internal/channels.h"

3
src/internal/streams.cc
View File

@ -13,14 +13,13 @@
// limitations under the License. // limitations under the License.
#include "internal/streams.h" #include "internal/streams.h"
#include <glog/logging.h>
#include <algorithm> #include <algorithm>
#include <chrono> #include <chrono>
#include <iomanip> #include <iomanip>
#include <stdexcept> #include <stdexcept>
#include "internal/types.h" #include "internal/types.h"
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE

6
src/internal/types.cc
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@ -13,11 +13,11 @@
// limitations under the License. // limitations under the License.
#include "internal/types.h" #include "internal/types.h"
#include <glog/logging.h>
#include <algorithm> #include <algorithm>
#include <iomanip> #include <iomanip>
#include <iostream> #include <sstream>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE

2
src/main.cc
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@ -16,13 +16,13 @@
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
#define GLOG_NO_ABBREVIATED_SEVERITIES #define GLOG_NO_ABBREVIATED_SEVERITIES
#endif #endif
#include <glog/logging.h>
#ifdef HAVE_LIB_GFLAGS #ifdef HAVE_LIB_GFLAGS
#include <gflags/gflags.h> #include <gflags/gflags.h>
#endif #endif
#include "mynteye/mynteye.h" #include "mynteye/mynteye.h"
#include "mynteye/logger.h"
int main(int /*argc*/, char *argv[]) { int main(int /*argc*/, char *argv[]) {
// Set whether log messages go to stderr instead of logfiles // Set whether log messages go to stderr instead of logfiles

41
src/public/miniglog.cc Normal file
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@ -0,0 +1,41 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: keir@google.com (Keir Mierle)
#include "mynteye/miniglog.h"
namespace google {
// This is the set of log sinks. This must be in a separate library to ensure
// that there is only one instance of this across the entire program.
std::set<google::LogSink *> log_sinks_global;
int log_severity_global(INFO);
} // namespace google

3
src/public/miniglog.readme Normal file
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@ -0,0 +1,3 @@
miniglog:
* https://github.com/arpg/miniglog
* https://github.com/tzutalin/miniglog

4
src/public/types.cc
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@ -13,11 +13,11 @@
// limitations under the License. // limitations under the License.
#include "mynteye/types.h" #include "mynteye/types.h"
#include <glog/logging.h>
#include <iomanip> #include <iomanip>
#include <limits> #include <limits>
#include "mynteye/logger.h"
#define FULL_PRECISION \ #define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10) std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)

4
src/public/utils.cc
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@ -13,11 +13,11 @@
// limitations under the License. // limitations under the License.
#include "mynteye/utils.h" #include "mynteye/utils.h"
#include <glog/logging.h>
#include "device/context.h" #include "device/context.h"
#include "device/device.h" #include "device/device.h"
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
namespace device { namespace device {

2
src/uvc/uvc-libuvc.cc
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@ -13,9 +13,9 @@
// limitations under the License. // limitations under the License.
#include "uvc/uvc.h" // NOLINT #include "uvc/uvc.h" // NOLINT
#include <glog/logging.h>
#include <libuvc/libuvc.h> #include <libuvc/libuvc.h>
#include "mynteye/logger.h"
// #define ENABLE_DEBUG_SPAM // #define ENABLE_DEBUG_SPAM
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE

8
src/uvc/uvc-v4l2.cc
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@ -16,6 +16,9 @@
#include <dirent.h> #include <dirent.h>
#include <errno.h> #include <errno.h>
#include <fcntl.h> #include <fcntl.h>
#include <string.h>
#include <unistd.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <sys/mman.h> #include <sys/mman.h>
#include <sys/stat.h> #include <sys/stat.h>
@ -25,13 +28,14 @@
#include <linux/uvcvideo.h> #include <linux/uvcvideo.h>
#include <linux/videodev2.h> #include <linux/videodev2.h>
#include <glog/logging.h>
#include <chrono> #include <chrono>
#include <fstream> #include <fstream>
#include <sstream>
#include <string> #include <string>
#include <thread> #include <thread>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
namespace uvc { namespace uvc {

2
src/uvc/uvc-wmf.cc
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@ -53,7 +53,7 @@
#include <strsafe.h> #include <strsafe.h>
#include <glog/logging.h> #include "mynteye/logger.h"
#define VLOG_INFO VLOG(2) #define VLOG_INFO VLOG(2)
// #define VLOG_INFO LOG(INFO) // #define VLOG_INFO LOG(INFO)

4
tools/CMakeLists.txt
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@ -43,10 +43,6 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# packages # packages
LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
find_package(glog REQUIRED)
message(STATUS "Found glog: ${glog_VERSION}")
LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake) LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
find_package(mynteye REQUIRED) find_package(mynteye REQUIRED)
message(STATUS "Found mynteye: ${mynteye_VERSION}") message(STATUS "Found mynteye: ${mynteye_VERSION}")

12
tools/dataset/dataset.cc
View File

@ -14,7 +14,6 @@
#include "dataset/dataset.h" #include "dataset/dataset.h"
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <glog/logging.h>
#include <iomanip> #include <iomanip>
#include <limits> #include <limits>
@ -22,6 +21,7 @@
#include <utility> #include <utility>
#include "mynteye/files.h" #include "mynteye/files.h"
#include "mynteye/logger.h"
#define FULL_PRECISION \ #define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10) std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
@ -62,7 +62,7 @@ void Dataset::SaveStreamData(
<< std::endl; << std::endl;
if (data.frame) { if (data.frame) {
std::stringstream ss; std::stringstream ss;
ss << writer->outdir << OS_SEP << std::dec ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
<< std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png"; << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
if (data.frame->format() == Format::GREY) { if (data.frame->format() == Format::GREY) {
cv::Mat img( cv::Mat img(
@ -120,15 +120,15 @@ Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
writer_t writer = std::make_shared<Writer>(); writer_t writer = std::make_shared<Writer>();
switch (stream) { switch (stream) {
case Stream::LEFT: { case Stream::LEFT: {
writer->outdir = outdir_ + OS_SEP "left"; writer->outdir = outdir_ + MYNTEYE_OS_SEP "left";
} break; } break;
case Stream::RIGHT: { case Stream::RIGHT: {
writer->outdir = outdir_ + OS_SEP "right"; writer->outdir = outdir_ + MYNTEYE_OS_SEP "right";
} break; } break;
default: default:
LOG(FATAL) << "Unsupported stream: " << stream; LOG(FATAL) << "Unsupported stream: " << stream;
} }
writer->outfile = writer->outdir + OS_SEP "stream.txt"; writer->outfile = writer->outdir + MYNTEYE_OS_SEP "stream.txt";
files::mkdir(writer->outdir); files::mkdir(writer->outdir);
writer->ofs.open(writer->outfile, std::ofstream::out); writer->ofs.open(writer->outfile, std::ofstream::out);
@ -145,7 +145,7 @@ Dataset::writer_t Dataset::GetMotionWriter() {
if (motion_writer_ == nullptr) { if (motion_writer_ == nullptr) {
writer_t writer = std::make_shared<Writer>(); writer_t writer = std::make_shared<Writer>();
writer->outdir = outdir_; writer->outdir = outdir_;
writer->outfile = writer->outdir + OS_SEP "motion.txt"; writer->outfile = writer->outdir + MYNTEYE_OS_SEP "motion.txt";
files::mkdir(writer->outdir); files::mkdir(writer->outdir);
writer->ofs.open(writer->outfile, std::ofstream::out); writer->ofs.open(writer->outfile, std::ofstream::out);

9
tools/writer/device_writer.cc
View File

@ -15,14 +15,13 @@
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
#include <glog/logging.h>
#include <map> #include <map>
#include <vector> #include <vector>
#include "mynteye/device.h" #include "mynteye/device.h"
#include "mynteye/files.h" #include "mynteye/files.h"
#include "mynteye/types.h" #include "mynteye/types.h"
#include "mynteye/logger.h"
#include "internal/types.h" #include "internal/types.h"
@ -230,16 +229,16 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
if (!files::mkdir(dir)) { if (!files::mkdir(dir)) {
LOG(FATAL) << "Create directory failed: " << dir; LOG(FATAL) << "Create directory failed: " << dir;
} }
SaveDeviceInfo(*device_->GetInfo(), dir + OS_SEP "device.info"); SaveDeviceInfo(*device_->GetInfo(), dir + MYNTEYE_OS_SEP "device.info");
SaveImgParams( SaveImgParams(
*device_->GetInfo(), device_->GetImgParams(), dir + OS_SEP "img.params"); *device_->GetInfo(), device_->GetImgParams(), dir + MYNTEYE_OS_SEP "img.params");
auto &&m_in = device_->GetMotionIntrinsics(); auto &&m_in = device_->GetMotionIntrinsics();
SaveImuParams( SaveImuParams(
{ {
false, m_in.accel, m_in.gyro, false, m_in.accel, m_in.gyro,
device_->GetMotionExtrinsics(Stream::LEFT), device_->GetMotionExtrinsics(Stream::LEFT),
}, },
dir + OS_SEP "imu.params"); dir + MYNTEYE_OS_SEP "imu.params");
} }
namespace { namespace {

2
tools/writer/save_all_infos.cc
View File

@ -32,7 +32,7 @@ int main(int argc, char *argv[]) {
if (!device) if (!device)
return 1; return 1;
dir.append(OS_SEP "SN").append(device->GetInfo()->serial_number); dir.append(MYNTEYE_OS_SEP "SN").append(device->GetInfo()->serial_number);
tools::DeviceWriter writer(device); tools::DeviceWriter writer(device);
writer.SaveAllInfos(dir); writer.SaveAllInfos(dir);

25
wrappers/python/CMakeLists.txt
View File

@ -47,14 +47,6 @@ if(OS_MAC)
endif() endif()
endif() endif()
# options
include(${PRO_DIR}/cmake/Option.cmake)
if(NOT WITH_API)
message(FATAL_ERROR "Must with API layer :(")
endif()
# flags # flags
if(OS_WIN) if(OS_WIN)
@ -77,14 +69,23 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# packages # packages
LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/third_party/glog/_build)
find_package(glog REQUIRED)
message(STATUS "Found glog: ${glog_VERSION}")
LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake) LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
find_package(mynteye REQUIRED) find_package(mynteye REQUIRED)
message(STATUS "Found mynteye: ${mynteye_VERSION}") message(STATUS "Found mynteye: ${mynteye_VERSION}")
if(NOT mynteye_WITH_API)
message(FATAL_ERROR "Must with API layer :(")
endif()
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
if(mynteye_WITH_GLOG)
include(${PRO_DIR}/cmake/DetectGLog.cmake)
endif()
## boost & python
if(CMAKE_VERSION VERSION_LESS "3.10" OR CMAKE_VERSION VERSION_EQUAL "3.10") if(CMAKE_VERSION VERSION_LESS "3.10" OR CMAKE_VERSION VERSION_EQUAL "3.10")
find_package(Boost ${BOOST_FIND_VERSION} REQUIRED find_package(Boost ${BOOST_FIND_VERSION} REQUIRED
COMPONENTS python${PYTHON_BOOST_CODE} # numpy${PYTHON_BOOST_CODE} COMPONENTS python${PYTHON_BOOST_CODE} # numpy${PYTHON_BOOST_CODE}
@ -103,8 +104,6 @@ message(STATUS "Found PythonLibs: ${PYTHONLIBS_VERSION_STRING}")
message(STATUS " PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}") message(STATUS " PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}")
message(STATUS " PYTHON_LIBRARIES: ${PYTHON_LIBRARIES}") message(STATUS " PYTHON_LIBRARIES: ${PYTHON_LIBRARIES}")
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake) #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
# targets # targets

16
wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
View File

@ -56,9 +56,6 @@ checkPackage("sensor_msgs" "")
checkPackage("std_msgs" "") checkPackage("std_msgs" "")
checkPackage("tf" "") checkPackage("tf" "")
find_package(OpenCV REQUIRED)
message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
## messages ## messages
add_message_files( add_message_files(
@ -82,14 +79,21 @@ catkin_package(
get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE) get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/third_party/glog/_build)
find_package(glog REQUIRED)
message(STATUS "Found glog: ${glog_VERSION}")
LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake) LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake)
find_package(mynteye REQUIRED) find_package(mynteye REQUIRED)
message(STATUS "Found mynteye: ${mynteye_VERSION}") message(STATUS "Found mynteye: ${mynteye_VERSION}")
if(NOT mynteye_WITH_API)
message(FATAL_ERROR "Must with API layer :(")
endif()
include(${SDK_DIR}/cmake/DetectOpenCV.cmake)
if(mynteye_WITH_GLOG)
include(${SDK_DIR}/cmake/DetectGLog.cmake)
endif()
# targets # targets
add_compile_options(-std=c++11) add_compile_options(-std=c++11)

3
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -26,8 +26,6 @@
#include <mynt_eye_ros_wrapper/GetInfo.h> #include <mynt_eye_ros_wrapper/GetInfo.h>
#include <mynt_eye_ros_wrapper/Temp.h> #include <mynt_eye_ros_wrapper/Temp.h>
#include <glog/logging.h>
#define _USE_MATH_DEFINES #define _USE_MATH_DEFINES
#include <cmath> #include <cmath>
#include <map> #include <map>
@ -36,6 +34,7 @@
#include "mynteye/api.h" #include "mynteye/api.h"
#include "mynteye/context.h" #include "mynteye/context.h"
#include "mynteye/device.h" #include "mynteye/device.h"
#include "mynteye/logger.h"
#define FULL_PRECISION \ #define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10) std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)