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This commit is contained in:
Osenberg-Y 2018-09-06 19:47:23 +08:00 committed by John Zhao
commit 5f233a35c0
77 changed files with 1010 additions and 319 deletions
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3
.gitmodules vendored
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@ -1,9 +1,6 @@
[submodule "test/gtest"]
path = test/gtest
url = https://github.com/google/googletest.git
[submodule "third_party/glog"]
path = third_party/glog
url = https://github.com/google/glog.git
[submodule "tools/linter"]
path = tools/linter
url = https://github.com/slightech/linter.git

41
CMakeLists.txt
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@ -44,9 +44,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# packages
LIST(APPEND CMAKE_PREFIX_PATH third_party/glog/_build)
find_package(glog REQUIRED)
message(STATUS "Found glog: ${glog_VERSION}")
find_package(Threads QUIET)
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} "${CMAKE_THREAD_LIBS_INIT}")
endif()
endmacro()
LIST(APPEND CMAKE_MODULE_PATH cmake)
@ -90,19 +97,28 @@ set(MYNTEYE_CMAKE_INSTALLDIR "${MYNTEYE_CMAKE_LIBDIR}/cmake/${MYNTEYE_NAME}")
## main
if(WITH_GLOG)
add_executable(main src/main.cc)
target_link_libraries(main glog::glog)
target_include_directories(main PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_BINARY_DIR}/include
)
endif()
## libmynteye
if(NOT WITH_GLOG)
set(__MINIGLOG_FLAGS "-Wno-unused-parameter -Wno-format -Wno-return-type")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${__MINIGLOG_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
unset(__MINIGLOG_FLAGS)
endif()
set(MYNTEYE_PUBLIC_H
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/callbacks.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_SOURCE_DIR}/include/mynteye/types.h
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/utils.h
@ -119,6 +135,11 @@ if(WITH_API)
${CMAKE_CURRENT_SOURCE_DIR}/src/api/processor/object.h
)
endif()
if(NOT WITH_GLOG)
list(APPEND MYNTEYE_PUBLIC_H
${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
)
endif()
if(OS_WIN)
set(UVC_SRC src/uvc/uvc-wmf.cc)
@ -163,21 +184,25 @@ if(WITH_API)
src/api/processor/points_processor.cc
)
endif()
if(NOT WITH_GLOG)
list(APPEND MYNTEYE_SRCS src/public/miniglog.cc)
endif()
set(MYNTEYE_LINKLIBS
glog::glog
${UVC_LIB}
)
set(MYNTEYE_LINKLIBS ${UVC_LIB})
if(WITH_API)
list(APPEND MYNTEYE_LINKLIBS ${OpenCV_LIBS})
endif()
if(WITH_BOOST_FILESYSTEM)
list(APPEND MYNTEYE_LINKLIBS ${Boost_LIBRARIES})
endif()
if(WITH_GLOG)
list(APPEND MYNTEYE_LINKLIBS glog::glog)
endif()
#message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}")
add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS})
target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS})
target_link_threads(${MYNTEYE_NAME})
if(OS_WIN)
target_compile_definitions(${MYNTEYE_NAME}

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

13
Makefile
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@ -31,8 +31,8 @@ help:
@echo " make opendoc open api doc (html)"
@echo " make init init project"
@echo " make build build project"
@echo " make test build test and run"
@echo " make install install project"
@echo " make test build test and run"
@echo " make samples build samples"
@echo " make tools build tools"
@echo " make ros build ros wrapper"
@ -41,7 +41,7 @@ help:
.PHONY: help
all: test tools samples
all: test samples tools
.PHONY: all
@ -70,12 +70,7 @@ cleandoc:
submodules:
@git submodule update --init
third_party: submodules
@$(call echo,Make $@)
@$(call echo,Make glog,33)
@$(call cmake_build,./third_party/glog/_build)
.PHONY: submodules third_party
.PHONY: submodules
# init
@ -87,7 +82,7 @@ init: submodules
# build
build: third_party
build: submodules
@$(call echo,Make $@)
ifeq ($(HOST_OS),Win)
@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(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)

18
cmake/Option.cmake
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@ -28,6 +28,10 @@ option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
option(WITH_BOOST "Include Boost support" ON)
# How to install glog?
# Ubuntu: `sudo apt-get install libgoogle-glog-dev`
option(WITH_GLOG "Include glog support" OFF)
# packages
@ -59,6 +63,10 @@ if(NOT WITH_FILESYSTEM)
endif()
endif()
if(WITH_GLOG)
include(${CMAKE_CURRENT_LIST_DIR}/DetectGLog.cmake)
endif()
find_package(CUDA QUIET)
# summary
@ -125,6 +133,16 @@ if(WITH_BOOST)
endif()
endif()
status(" WITH_GLOG: ${WITH_GLOG}")
if(WITH_GLOG)
if(glog_FOUND)
status(" glog: YES")
status(" glog_VERSION: ${glog_VERSION}")
else()
status(" glog: NO")
endif()
endif()
status("")
status("Features:")
status(" Filesystem: "

4
doc/zh-Hans/guide_log.md
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@ -1,6 +1,6 @@
# 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。
* 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。

26
include/mynteye/glog_init.h → include/mynteye/logger.h
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@ -11,10 +11,12 @@
// 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.
#ifndef MYNTEYE_GLOG_INIT_H_ // NOLINT
#define MYNTEYE_GLOG_INIT_H_
#ifndef MYNTEYE_LOGGER_H_
#define MYNTEYE_LOGGER_H_
#pragma once
#ifdef WITH_GLOG
#include <glog/logging.h>
/** Helper to init glog with args. */
@ -43,7 +45,7 @@ struct glog_init {
FLAGS_log_dir = ".";
// Sets the maximum log file size (in MB).
FLAGS_max_log_size = 1024;
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;
@ -62,4 +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 MAX_LOG_LEVEL google::INFO
#include "mynteye/miniglog.h"
#endif
#endif // MYNTEYE_LOGGER_H_

535
include/mynteye/miniglog.h Normal file
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@ -0,0 +1,535 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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_
#ifdef ANDROID
# include <android/log.h>
#else
#include <pthread.h>
#include <sys/time.h>
#include <unistd.h>
#endif // ANDROID
#include <algorithm>
#include <ctime>
#include <fstream>
#include <iostream>
#include <set>
#include <sstream>
#include <string>
#include <vector>
// For appropriate definition of CERES_EXPORT macro.
// Modified from ceres miniglog version [begin] -------------------------------
//#include "ceres/internal/port.h"
//#include "ceres/internal/disable_warnings.h"
#define CERES_EXPORT
// Modified from ceres miniglog version [end] ---------------------------------
// Log severity level constants.
const int FATAL = -3;
const int ERROR = -2;
const int WARNING = -1;
const int INFO = 0;
// ------------------------- Glog compatibility ------------------------------
namespace google {
typedef int LogSeverity;
const int INFO = ::INFO;
const int WARNING = ::WARNING;
const int ERROR = ::ERROR;
const int FATAL = ::FATAL;
// 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 CERES_EXPORT 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.
extern CERES_EXPORT std::set<LogSink *> log_sinks_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 CERES_EXPORT 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_ << filename_only_ << ":" << line << " ";
}
// Output the contents of the stream to the proper channel on destruction.
~MessageLogger() {
stream_ << "\n";
#ifdef 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
// For Ubuntu/Mac/Windows
// If not building on Android, log all output to std::cerr.
// Get timestamp
timeval curTime;
gettimeofday(&curTime, NULL);
int milli = curTime.tv_usec / 1000;
char buffer [20];
strftime(buffer, 80, "%m-%d %H:%M:%S", localtime(&curTime.tv_sec));
char time_cstr[24] = "";
sprintf(time_cstr, "%s:%d ", buffer, milli);
// Get pid & tid
char tid_cstr[24] = "";
pid_t pid = getpid();
pthread_t tid = pthread_self();
sprintf(tid_cstr, "%d/%u ", pid, tid);
if (severity_ == FATAL) {
// Magenta color if fatal
std::cerr << "\033[1;35m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
} else if (severity_ == ERROR) {
// Red color if error
std::cerr << "\033[1;31m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
} else if (severity_ == WARNING) {
// Yellow color if warning
std::cerr << "\033[1;33m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
} else {
std::cerr << tid_cstr << time_cstr << SeverityLabelStr() << stream_.str();
}
#endif
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;
time (&rawtime);
struct tm timeinfo;
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
// On Windows, use secure localtime_s not localtime.
localtime_s(&timeinfo, &rawtime);
#else
// On non-Windows systems, use threadsafe localtime_r not localtime.
localtime_r(&rawtime, &timeinfo);
#endif
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(kSeparator);
if (pos != std::string::npos) {
*filename = full_path.substr(pos + 1, std::string::npos);
} else {
*filename = full_path;
}
}
char SeverityLabel() {
switch (severity_) {
case FATAL:
return 'F';
case ERROR:
return 'E';
case WARNING:
return 'W';
case INFO:
return 'I';
default:
return 'V';
}
}
std::string SeverityLabelStr() {
switch (severity_) {
case FATAL:
return "FATAL ";
case ERROR:
return "ERROR ";
case WARNING:
return "WARNING ";
case INFO:
return "INFO ";
default:
return "VERBOSE ";
}
}
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 CERES_EXPORT 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) \
!(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 MAX_LOG_LEVEL
# define LOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
# define VLOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
# define LG LOG_IF(INFO, INFO <= MAX_LOG_LEVEL)
# define VLOG_IF(n, condition) LOG_IF(n, (n <= MAX_LOG_LEVEL) && condition)
#else
# define LOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream() // NOLINT
# define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream() // NOLINT
# define LG MessageLogger((char *)__FILE__, __LINE__, "native", INFO).stream() // NOLINT
# define VLOG_IF(n, condition) LOG_IF(n, condition)
#endif
// Currently, VLOG is always on for levels below MAX_LOG_LEVEL.
#ifndef MAX_LOG_LEVEL
# define VLOG_IS_ON(x) (1)
#else
# define VLOG_IS_ON(x) (x <= MAX_LOG_LEVEL)
#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((char *)__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, >)
// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
// Add logging macros which are missing in glog or are not accessible for
// whatever reason.
#define CHECK_NEAR(val1, val2, margin) \
do { \
CHECK_LE((val1), (val2)+(margin)); \
CHECK_GE((val1), (val2)-(margin)); \
} while (0)
#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, >)
// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
# define DCHECK_NEAR(val1, val2, margin) CHECK_NEAR(val1, val2, margin)
#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, >)
// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
# define DCHECK_NEAR(val1, val2, margin) if (false) CHECK_NEAR(val1, val2, margin)
#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
// Modified from ceres miniglog version [begin] -------------------------------
//#include "ceres/internal/reenable_warnings.h"
// Modified from ceres miniglog version [end] ---------------------------------
// ---------------------------TRACE macros ---------------------------
// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
#define __FILENAME__ \
(strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
#define DEXEC(fn) \
do { \
DLOG(INFO) << "[EXEC " << #fn << " START]"; \
std::chrono::steady_clock::time_point begin = \
std::chrono::steady_clock::now(); \
fn; \
std::chrono::steady_clock::time_point end = \
std::chrono::steady_clock::now(); \
DLOG(INFO) << "[EXEC " << #fn << " FINISHED in " \
<< std::chrono::duration_cast<std::chrono::microseconds> \
(end - begin).count() << " ms]"; \
} while (0);
// DEXEC(fn)
//
// Usage:
// DEXEC(foo());
// -- output --
// foo.cpp: 123 [EXEC foo() START]
// foo.cpp: 123 [EXEC foo() FINISHED in 456 ms]
#define DTRACE DLOG(INFO) << "of [" << __func__ << "]";
// Usage:
// void foo() {
// DTRACE
// }
// -- output --
// foo.cpp: 123 of [void foo(void)]
#endif // MYNTEYE_MINIGLOG_H_

3
mynteye-config.cmake.in
View File

@ -14,4 +14,7 @@
@PACKAGE_INIT@
set(mynteye_WITH_API @WITH_API@)
set(mynteye_WITH_GLOG @WITH_GLOG@)
include("${CMAKE_CURRENT_LIST_DIR}/mynteye-targets.cmake")

4
samples/CMakeLists.txt
View File

@ -47,10 +47,6 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# 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)
find_package(mynteye REQUIRED)
message(STATUS "Found mynteye: ${mynteye_VERSION}")

2
samples/api/camera.cc
View File

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

2
samples/device/camera.cc
View File

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

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

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

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

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

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

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

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

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

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

@ -13,8 +13,6 @@
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h"
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.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <glog/logging.h>
#include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE

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

@ -13,8 +13,6 @@
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h"
MYNTEYE_USE_NAMESPACE

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

@ -13,14 +13,13 @@
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include <atomic>
#include <memory>
#include <mutex>
#include <sstream>
#include "mynteye/api.h"
#include "mynteye/logger.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.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <glog/logging.h>
#include "mynteye/api.h"
#include "mynteye/logger.h"
MYNTEYE_USE_NAMESPACE

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

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

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

@ -13,8 +13,6 @@
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h"
#include "util/pc_viewer.h"

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

@ -13,8 +13,6 @@
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h"
MYNTEYE_USE_NAMESPACE

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

@ -13,8 +13,6 @@
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h"
MYNTEYE_USE_NAMESPACE

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

@ -13,8 +13,6 @@
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <glog/logging.h>
#include "mynteye/api.h"
MYNTEYE_USE_NAMESPACE

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

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

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

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

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

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

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

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

2
samples/uvc/camera.cc
View File

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

162
scripts/init.sh
View File

@ -14,181 +14,29 @@
# limitations under the License.
# _VERBOSE_=1
# _INIT_LINTER_=1
# _FORCE_INSRALL_=1
BASE_DIR=$(cd "$(dirname "$0")" && pwd)
source "$BASE_DIR/common/echo.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 ${_deps[@]}
fi
}
source "$BASE_DIR/init_tools.sh"
## deps
_echo_s "Init deps"
if [ "$HOST_OS" = "Linux" ]; then
# detect apt-get
_detect apt-get
# apt-get install
_install_deps "sudo apt-get install" build-essential curl cmake git clang-format
_install_deps "sudo apt-get install" libv4l-dev
if ! _detect_cmd clang-format; then
# on Ubuntu 14.04, apt-cache search clang-format
_install_deps "sudo apt-get install" clang-format-3.9
sudo ln -sf clang-format-3.9 /usr/bin/clang-format
sudo ln -sf clang-format-diff-3.9 /usr/bin/clang-format-diff
fi
# sudo
SUDO="sudo"
_install_deps "$SUDO apt-get install" libv4l-dev
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
elif [ "$HOST_OS" = "Win" ]; then
# detect pacman on MSYS
_detect pacman
# pacman install (common)
_install_deps "pacman -S" curl git clang-format
if [ "$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 ${_deps[@]}
fi
else
# detect cmake on MSYS
_detect cmake
fi
# update
# pacman -Syu
# search
# pacman -Ss make
# autoremove
# pacman -Qtdq | pacman -Rs -
# _install_deps "pacman -S" ?
_echo
else # unexpected
_echo_e "Unknown host os :("
exit 1
fi
## pip
# detect pip
if ! _detect_cmd pip; then
if [ -n "${!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
_echo_s "Expect cmake version >= 3.0"

214
scripts/init_tools.sh Normal file
View File

@ -0,0 +1,214 @@
#!/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
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="$1"; shift; _deps_all=($@)
_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 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_

4
src/api/api.cc
View File

@ -18,12 +18,10 @@
#include <boost/range/iterator_range.hpp>
#endif
#include <glog/logging.h>
#include <algorithm>
#include <thread>
#include "mynteye/glog_init.h"
#include "mynteye/logger.h"
#include "mynteye/utils.h"
#include "api/plugin.h"

2
src/api/processor/depth_processor.cc
View File

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

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

@ -15,10 +15,10 @@
#include <opencv2/imgproc/imgproc.hpp>
#include <glog/logging.h>
#include <utility>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE
const char DisparityNormalizedProcessor::NAME[] =

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

@ -15,10 +15,10 @@
#include <opencv2/calib3d/calib3d.hpp>
#include <glog/logging.h>
#include <utility>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE
const char DisparityProcessor::NAME[] = "DisparityProcessor";

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

@ -15,10 +15,10 @@
#include <opencv2/calib3d/calib3d.hpp>
#include <glog/logging.h>
#include <utility>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE
const char PointsProcessor::NAME[] = "PointsProcessor";

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

@ -13,11 +13,11 @@
// limitations under the License.
#include "api/processor/processor.h"
#include <glog/logging.h>
#include <exception>
#include <utility>
#include "mynteye/logger.h"
#include "internal/strings.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/imgproc/imgproc.hpp>
#include <glog/logging.h>
#include <utility>
#include "mynteye/logger.h"
#include "device/device.h"
MYNTEYE_BEGIN_NAMESPACE

4
src/api/synthetic.cc
View File

@ -13,12 +13,12 @@
// limitations under the License.
#include "api/synthetic.h"
#include <glog/logging.h>
#include <algorithm>
#include <functional>
#include <stdexcept>
#include "mynteye/logger.h"
#include "api/plugin.h"
#include "api/processor/depth_processor.h"
#include "api/processor/disparity_normalized_processor.h"

2
src/device/context.cc
View File

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

4
src/device/device.cc
View File

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

2
src/device/device_s.cc
View File

@ -13,7 +13,7 @@
// limitations under the License.
#include "device/device_s.h"
#include <glog/logging.h>
#include "mynteye/logger.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_
#pragma once
#include <glog/logging.h>
#include <string>
#include <utility>
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE
template <class Data>

4
src/internal/channels.cc
View File

@ -13,8 +13,6 @@
// limitations under the License.
#include "internal/channels.h"
#include <glog/logging.h>
#include <bitset>
#include <chrono>
#include <iomanip>
@ -22,6 +20,8 @@
#include <sstream>
#include <stdexcept>
#include "mynteye/logger.h"
#include "internal/strings.h"
#include "internal/times.h"

2
src/internal/dl.cc
View File

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

2
src/internal/files.cc
View File

@ -13,7 +13,7 @@
// limitations under the License.
#include "internal/files.h"
#include <glog/logging.h>
#include "mynteye/logger.h"
#if defined(OS_WIN) && !defined(OS_MINGW) && !defined(OS_CYGWIN)
#include <direct.h>

2
src/internal/motions.cc
View File

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

4
src/internal/streams.cc
View File

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

6
src/internal/types.cc
View File

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

39
src/public/miniglog.cc Normal file
View File

@ -0,0 +1,39 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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;
} // namespace google

1
src/public/miniglog.readme Normal file
View File

@ -0,0 +1 @@
miniglog: https://github.com/tzutalin/miniglog

4
src/public/types.cc
View File

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

2
src/public/utils.cc
View File

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

3
src/uvc/uvc-libuvc.cc
View File

@ -13,9 +13,10 @@
// limitations under the License.
#include "uvc/uvc.h" // NOLINT
#include <glog/logging.h>
#include <libuvc/libuvc.h>
#include "mynteye/logger.h"
// #define ENABLE_DEBUG_SPAM
MYNTEYE_BEGIN_NAMESPACE

8
src/uvc/uvc-v4l2.cc
View File

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

2
src/uvc/uvc-wmf.cc
View File

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

8
test/CMakeLists.txt
View File

@ -57,16 +57,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# 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)
find_package(mynteye REQUIRED)
message(STATUS "Found mynteye: ${mynteye_VERSION}")
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
if(mynteye_WITH_GLOG)
include(${PRO_DIR}/cmake/DetectGLog.cmake)
endif()
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
## gtest

2
test/gtest_main.cc
View File

@ -15,7 +15,7 @@
#include "gtest/gtest.h"
#include "mynteye/glog_init.h"
#include "mynteye/logger.h"
int main(int argc, char **argv) {
glog_init _(argc, argv);

1
third_party/glog vendored

@ -1 +0,0 @@
Subproject commit 8d7a107d68c127f3f494bb7807b796c8c5a97a82

8
tools/CMakeLists.txt
View File

@ -43,16 +43,16 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# 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)
find_package(mynteye REQUIRED)
message(STATUS "Found mynteye: ${mynteye_VERSION}")
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
if(mynteye_WITH_GLOG)
include(${PRO_DIR}/cmake/DetectGLog.cmake)
endif()
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
# targets

3
tools/dataset/dataset.cc
View File

@ -19,14 +19,13 @@
#include <opencv2/imgcodecs/imgcodecs.hpp>
#endif
#include <glog/logging.h>
#include <iomanip>
#include <limits>
#include <stdexcept>
#include <utility>
#include "mynteye/files.h"
#include "mynteye/logger.h"
#define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)

2
tools/dataset/record.cc
View File

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

2
tools/writer/device_info_writer.cc
View File

@ -11,7 +11,7 @@
// 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 "mynteye/glog_init.h"
#include "mynteye/logger.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"

3
tools/writer/device_writer.cc
View File

@ -15,12 +15,11 @@
#include <opencv2/core/core.hpp>
#include <glog/logging.h>
#include <vector>
#include "mynteye/device.h"
#include "mynteye/files.h"
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE

2
tools/writer/img_params_writer.cc
View File

@ -11,7 +11,7 @@
// 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 "mynteye/glog_init.h"
#include "mynteye/logger.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"

2
tools/writer/imu_params_writer.cc
View File

@ -11,7 +11,7 @@
// 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 "mynteye/glog_init.h"
#include "mynteye/logger.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"

2
tools/writer/save_all_infos.cc
View File

@ -11,7 +11,7 @@
// 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 "mynteye/glog_init.h"
#include "mynteye/logger.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"

26
wrappers/python/CMakeLists.txt
View File

@ -47,14 +47,6 @@ if(OS_MAC)
endif()
endif()
# options
include(${PRO_DIR}/cmake/Option.cmake)
if(NOT WITH_API)
message(FATAL_ERROR "Must with API layer :(")
endif()
# flags
if(OS_WIN)
@ -77,14 +69,22 @@ message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# 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)
find_package(mynteye REQUIRED)
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")
find_package(Boost ${BOOST_FIND_VERSION} REQUIRED
COMPONENTS python${PYTHON_BOOST_CODE} # numpy${PYTHON_BOOST_CODE}
@ -103,8 +103,6 @@ message(STATUS "Found PythonLibs: ${PYTHONLIBS_VERSION_STRING}")
message(STATUS " PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}")
message(STATUS " PYTHON_LIBRARIES: ${PYTHON_LIBRARIES}")
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
# targets

4
wrappers/python/src/mynteye_py.cc
View File

@ -26,7 +26,7 @@
#include <vector>
#include "mynteye/api.h"
#include "mynteye/glog_init.h"
#include "mynteye/logger.h"
#include "mynteye/utils.h"
#include "array_indexing_suite.hpp"
@ -451,7 +451,7 @@ BOOST_PYTHON_MODULE(mynteye_py) {
bp::register_ptr_to_python<std::shared_ptr<APIWrap>>();
// glog_init.h - glog_init
// logger.h - glog_init
bp::class_<glog_init, boost::noncopyable>("glog_init", bp::no_init)
.def("create", &glog_init_create)

17
wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
View File

@ -56,9 +56,6 @@ checkPackage("sensor_msgs" "")
checkPackage("std_msgs" "")
checkPackage("tf" "")
find_package(OpenCV REQUIRED)
message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
## messages
add_message_files(
@ -82,14 +79,20 @@ catkin_package(
get_filename_component(SDK_DIR "${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)
find_package(mynteye REQUIRED)
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
add_compile_options(-std=c++11)

2
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_node.cc
View File

@ -14,7 +14,7 @@
#include <nodelet/loader.h>
#include <ros/ros.h>
#include "mynteye/glog_init.h"
#include "mynteye/logger.h"
int main(int argc, char *argv[]) {
glog_init _(argc, argv);

3
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -28,8 +28,6 @@
#include <mynt_eye_ros_wrapper/GetInfo.h>
#include <mynt_eye_ros_wrapper/Temp.h>
#include <glog/logging.h>
#define _USE_MATH_DEFINES
#include <cmath>
#include <map>
@ -38,6 +36,7 @@
#include "mynteye/api.h"
#include "mynteye/context.h"
#include "mynteye/device.h"
#include "mynteye/logger.h"
#define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)