From 750437fd71448998e332c17f2ebffd50840a6cfc Mon Sep 17 00:00:00 2001 From: TinyOh Date: Fri, 15 Feb 2019 18:25:58 +0800 Subject: [PATCH] fix(win): calib models complie --- Makefile | 8 +- .../api/camodocal/include/camodocal/gpl/gpl.h | 6 -- .../src/camera_models/EquidistantCamera.cc | 4 +- src/mynteye/api/camodocal/src/gpl/gpl.cc | 81 +------------------ 4 files changed, 9 insertions(+), 90 deletions(-) diff --git a/Makefile b/Makefile index e9773b5..6e11ec6 100644 --- a/Makefile +++ b/Makefile @@ -36,9 +36,11 @@ CAM_MODELS ?= CMAKE_BUILD_EXTRA_OPTIONS := ifeq ($(CAM_MODELS),) - CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=OFF + $(warning "the value of LOCAL_PATH ibbbbbbbbbbbbbbbbbbbbbbbbs") + CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=OFF else - CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON + $(warning "the value of LOCAL_PATH iaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaas") + CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON endif .DEFAULT_GOAL := all @@ -106,7 +108,7 @@ init: build: @$(call echo,Make $@) ifeq ($(HOST_OS),Win) - @$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install) + @$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install $(CMAKE_BUILD_EXTRA_OPTIONS)) else @$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS)) endif diff --git a/src/mynteye/api/camodocal/include/camodocal/gpl/gpl.h b/src/mynteye/api/camodocal/include/camodocal/gpl/gpl.h index ecfaeb0..b5b555c 100644 --- a/src/mynteye/api/camodocal/include/camodocal/gpl/gpl.h +++ b/src/mynteye/api/camodocal/include/camodocal/gpl/gpl.h @@ -80,10 +80,6 @@ const T randomNormal(const T &sigma) { return x1 * w * sigma; } -unsigned long long timeInMicroseconds(void); // NOLINT - -double timeInSeconds(void); - void colorDepthImage( cv::Mat &imgDepth, cv::Mat &imgColoredDepth, float minRange, // NOLINT float maxRange); @@ -107,8 +103,6 @@ void LLtoUTM( void UTMtoLL( double utmNorthing, double utmEasting, const std::string &utmZone, // NOLINT double &latitude, double &longitude); // NOLINT - -long int timestampDiff(uint64_t t1, uint64_t t2); // NOLINT } #endif // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_GPL_GPL_H_ diff --git a/src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc b/src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc index 5e9ce3b..34ff08f 100644 --- a/src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc +++ b/src/mynteye/api/camodocal/src/camera_models/EquidistantCamera.cc @@ -276,7 +276,8 @@ void EquidistantCamera::estimateIntrinsics( double f0 = 0.0; for (size_t i = 0; i < imagePoints.size(); ++i) { std::vector center(boardSize.height); - double radius[boardSize.height]; // NOLINT + int arrayLength = boardSize.height; + double *radius = new double[arrayLength]; for (int r = 0; r < boardSize.height; ++r) { std::vector circle; for (int c = 0; c < boardSize.width; ++c) { @@ -320,6 +321,7 @@ void EquidistantCamera::estimateIntrinsics( } } } + delete[] radius; } if (f0 <= 0.0 && minReprojErr >= std::numeric_limits::max()) { diff --git a/src/mynteye/api/camodocal/src/gpl/gpl.cc b/src/mynteye/api/camodocal/src/gpl/gpl.cc index a318c69..bfeacb7 100644 --- a/src/mynteye/api/camodocal/src/gpl/gpl.cc +++ b/src/mynteye/api/camodocal/src/gpl/gpl.cc @@ -16,6 +16,7 @@ #include #ifdef _WIN32 #include +#define M_PI (3.14159265358979323846) #else #include #endif @@ -109,69 +110,8 @@ getFILETIMEoffset() { return (t); } -int clock_gettime(int X, struct timespec *tp) { - LARGE_INTEGER t; - FILETIME f; - double microseconds; - static LARGE_INTEGER offset; - static double frequencyToMicroseconds; - static int initialized = 0; - static BOOL usePerformanceCounter = 0; - - if (!initialized) { - LARGE_INTEGER performanceFrequency; - initialized = 1; - usePerformanceCounter = QueryPerformanceFrequency(&performanceFrequency); - if (usePerformanceCounter) { - QueryPerformanceCounter(&offset); - frequencyToMicroseconds = - static_cast(performanceFrequency.QuadPart / 1000000.); - } else { - offset = getFILETIMEoffset(); - frequencyToMicroseconds = 10.; - } - } - if (usePerformanceCounter) { - QueryPerformanceCounter(&t); - } else { - GetSystemTimeAsFileTime(&f); - t.QuadPart = f.dwHighDateTime; - t.QuadPart <<= 32; - t.QuadPart |= f.dwLowDateTime; - } - - t.QuadPart -= offset.QuadPart; - microseconds = static_cast(t.QuadPart / frequencyToMicroseconds); - t.QuadPart = microseconds; - tp->tv_sec = t.QuadPart / 1000000; - tp->tv_nsec = (t.QuadPart % 1000000) * 1000; - return (0); -} #endif -unsigned long long timeInMicroseconds(void) { // NOLINT - struct timespec tp; -#ifdef __APPLE__ - tp = orwl_gettime(); -#else - clock_gettime(CLOCK_REALTIME, &tp); -#endif - - return tp.tv_sec * 1000000 + tp.tv_nsec / 1000; -} - -double timeInSeconds(void) { - struct timespec tp; -#ifdef __APPLE__ - tp = orwl_gettime(); -#else - clock_gettime(CLOCK_REALTIME, &tp); -#endif - - return static_cast(tp.tv_sec) + - static_cast(tp.tv_nsec) / 1000000000.0; -} - float colormapAutumn[128][3] = { {1.0f, 0.f, 0.f}, {1.0f, 0.007874f, 0.f}, {1.0f, 0.015748f, 0.f}, {1.0f, 0.023622f, 0.f}, {1.0f, 0.031496f, 0.f}, {1.0f, 0.03937f, 0.f}, @@ -745,23 +685,4 @@ void UTMtoLL( longitude = LongOrigin + longitude / M_PI * 180.0; } -long int timestampDiff(uint64_t t1, uint64_t t2) { // NOLINT - if (t2 > t1) { - uint64_t d = t2 - t1; - - if (d > std::numeric_limits::max()) { // NOLINT - return std::numeric_limits::max(); // NOLINT - } else { - return d; - } - } else { - uint64_t d = t1 - t2; - - if (d > std::numeric_limits::max()) { // NOLINT - return std::numeric_limits::min(); // NOLINT - } else { - return -static_cast(d); // NOLINT - } - } -} }