Updates to vicalib #56
Conversation
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@mcguire-steve: could you please test this in linux? I'll test in Mac. @dmirota thank you for your PR! |
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Initial review / summary of things that I had to do to get to a point where I could build: include/vicalib/gl-line-strip.h: vicalib-engine.cc: vicalib-task.cc: Lastly, I think there might have been changes to Calibu as well: Is this built against Calibu master? |
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Hey Steve, there is a calibu PR that you need for this to work; did you use
that? Thanks for doing all this!
Chris
On Sun, Apr 26, 2020 at 12:22 AM Steve McGuire ***@***.***> wrote:
Initial review / summary of things that I had to do to get to a point
where I could build:
CMakeLists:
Changing case really does matter here - as well as the CONFIG directive.
I had to add OpenCV4 support here
Adding HAL_INCLUDE_DIRS to PROJ_INCLUDE_DIRS
Pangolin is incorrectly added to LINK_LIBS, not PROJ_INCLUDE_DIRS
With HAL_EXPORT, exporting via the local CMake project cache no longer
works and requires something like +add_definitions(-DHAL_EXPORT=) to build
on Linux
include/vicalib/gl-line-strip.h:
Pangolin is not built against the features/new_pangolin branch
(pangolin/gl.h become pangolin/gl/gl.h)
vicalib-engine.cc:
CV_BGR2GRAY becomes cv::COLOR_BGR2GRAY
vicalib-task.cc:
Same thing with Pangolin
Lastly, I think there might have been changes to Calibu as well:
/home/smcguire/test/vicalib/src/vicalib-task.cc: In member function ‘void
visual_inertial_calibration::VicalibTask::AddImageMeasurements(const
std::vector&)’:
/home/smcguire/test/vicalib/src/vicalib-task.cc:263:76: error: no matching
function for call to ‘calibu::ConicFinder::Find(
*gnu_cxx::alloc_traits<std::allocatorcalibu::ImageProcessing,
calibu::ImageProcessing>::value_type&,
std::shared_ptr<calibu::CameraInterface >&)’ 263 |
conic_finder[ii].Find(image_processing[ii], input_cameras[ii].camera); | ^
In file included from
/home/smcguire/test/vicalib/include/vicalib/vicalib-task.h:28, from
/home/smcguire/test/vicalib/src/vicalib-task.cc:1:
/home/smcguire/research/Calibu/include/calibu/conics/ConicFinder.h:55:10:
note: candidate: ‘void calibu::ConicFinder::Find(const
calibu::ImageProcessing&)’ 55 | void Find(const ImageProcessing& imgs); |
^~~~
/home/smcguire/research/Calibu/include/calibu/conics/ConicFinder.h:55:10:
note: candidate expects 1 argument, 2 provided
/home/smcguire/test/vicalib/src/vicalib-task.cc:320:49: error: too many
arguments to function ‘std::vector
calibu::PosePnPRansac(std::shared_ptr<calibu::CameraInterface >, const
std::vector<Eigen::Matrix<double, 2, 1>,
Eigen::aligned_allocator<Eigen::Matrix<double, 2, 1> > >&, const
std::vector<Eigen::Matrix<double, 3, 1>,
Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1> > >&, const
std::vector&, int, float, Sophus::SE3d*)’ 320 | &t_cw[ii], calib_frame_ ==
-1); | ^ In file included from
/home/smcguire/test/vicalib/src/vicalib-task.cc:8:
/home/smcguire/research/Calibu/include/calibu/pose/Pnp.h:30:22: note:
declared here 30 | std::vector PosePnPRansac(*
Is this built against Calibu master?
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The linux build is work on Travis https://travis-ci.com/github/dmirota/vicalib/jobs/324614396 . I'm still working on Windows and Mac |
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Ubuntu 16.04 gcc, macOS 14 clang, and Windows Server, version 1809 using Visual Studio 2015 are all building Travis https://travis-ci.com/github/dmirota/vicalib/builds/163036825 . I will be merging the changes into my master. |
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What is the status of this PR? @crheckman, @mcguire-steve? thanks! |
A collection of changes including improvements in grid detection, build automation, and cross-platform compilation.