arpg · dmirota · Sep 21, 2018
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -26,8 +26,8 @@ if(BUILD_MATLAB)
   endif()
 endif()
 
-set(CMAKE_CXX_FLAGS "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}")
-if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
+set(CMAKE_CXX_FLAGS "-std=c++14 -Wall ${CMAKE_CXX_FLAGS}")
+if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang" AND NOT ANDROID)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
 endif()
 
@@ -118,11 +118,12 @@ SET(SOURCES
 ## Find required dependencies
 find_package( Eigen3 REQUIRED )
 find_package( Sophus REQUIRED )
-find_package( GLog REQUIRED )
+find_package( glog REQUIRED CONFIG)
+set(HAVE_GLOG 1)
+list( APPEND LINK_LIBS glog::glog )
 
-find_package(TinyXML2 REQUIRED)
-list(APPEND CALIBU_INC ${TinyXML2_INCLUDE_DIRS} )
-list(APPEND LINK_LIBS ${TinyXML2_LIBRARIES} )
+find_package(tinyxml2 REQUIRED CONFIG)
+list(APPEND LINK_LIBS tinyxml2 )
 
 
 ## Apply project include directories
@@ -139,7 +140,7 @@ list( APPEND USER_INC   ${Sophus_INCLUDE_DIRS} )
 ## Find optional dependencies
 
 # OpenCV is required for PNP methods and calibration application
-find_package( OpenCV REQUIRED core calib3d )
+find_package( OpenCV REQUIRED calib3d imgproc core )
 if( OpenCV_FOUND )
     set( HAVE_OPENCV 1 )
     list( APPEND LINK_LIBS  ${OpenCV_LIBS})
@@ -148,20 +149,6 @@ if( OpenCV_FOUND )
     list( APPEND SOURCES ${SRC_DIR}/pose/Pnp.cpp ${SRC_DIR}/pose/Tracker.cpp )
 endif()
 
-#######################################################
-## Setup and configure library
-## Generate symbol export helper header on MSVC
-IF(MSVC)
-    string(TOUPPER ${LIBRARY_NAME} LIBRARY_NAME_CAPS)
-    include(GenerateExportHeader)
-    GENERATE_EXPORT_HEADER( ${LIBRARY_NAME}
-        BASE_NAME ${LIBRARY_NAME_CAPS}
-        EXPORT_MACRO_NAME ${LIBRARY_NAME_CAPS}_EXPORT
-        EXPORT_FILE_NAME "${CMAKE_CURRENT_BINARY_DIR}/include/${LIBRARY_NAME}/${LIBRARY_NAME}_export.h"
-        STATIC_DEFINE ${LIBRARY_NAME_CAPS}_BUILT_AS_STATIC
-    )
-ENDIF()
-
 #######################################################
 ## Optionally create unit tests
 
@@ -194,6 +181,22 @@ endif()
 add_library( calibu ${SOURCES} )
 target_link_libraries( calibu ${LINK_LIBS} )
 
+#######################################################
+## Setup and configure library
+## Generate symbol export helper header on MSVC
+SET(EXPORT_HEADER)
+IF(MSVC)
+    SET(EXPORT_HEADER "${CMAKE_CURRENT_BINARY_DIR}/include/${LIBRARY_NAME}/${LIBRARY_NAME}_export.h")
+    string(TOUPPER ${LIBRARY_NAME} LIBRARY_NAME_CAPS)
+    include(GenerateExportHeader)
+    GENERATE_EXPORT_HEADER( ${LIBRARY_NAME}
+        BASE_NAME ${LIBRARY_NAME_CAPS}
+        EXPORT_MACRO_NAME ${LIBRARY_NAME_CAPS}_EXPORT
+        EXPORT_FILE_NAME ${EXPORT_HEADER}
+        STATIC_DEFINE ${LIBRARY_NAME_CAPS}_BUILT_AS_STATIC
+    )
+ENDIF()
+
 # install everything
 install_package(
     PKG_NAME Calibu
@@ -202,10 +205,11 @@ install_package(
     DESCRIPTION "Computer vision camera model library."
 #    INSTALL_HEADERS ${HEADERS}
     INSTALL_INCLUDE_DIR true
-    INSTALL_GENERATED_HEADERS ${CMAKE_CURRENT_BINARY_DIR}/include/calibu/config.h
+    INSTALL_GENERATED_HEADERS ${CMAKE_CURRENT_BINARY_DIR}/include/calibu/config.h ${EXPORT_HEADER}
     DESTINATION ${CMAKE_INSTALL_PREFIX}
-    INCLUDE_DIRS ${USER_INC}
+    INCLUDE_DIRS ${USER_INC} ${CMAKE_INSTALL_PREFIX}/include
     LINK_LIBS ${LINK_LIBS}
+    LINK_DIRS ${CMAKE_INSTALL_PREFIX}/lib
     )
 
 if( BUILD_APPLICATIONS )

diff --git a/cmake_modules/PackageConfig.cmake.in b/cmake_modules/PackageConfig.cmake.in
@@ -1,3 +1,7 @@
+include (CMakeFindDependencyMacro)
+
+find_dependency(tinyxml2 @tinyxml2_VERSION@)
+
 SET( @PACKAGE_PKG_NAME@_LIBRARIES  "@PACKAGE_LINK_LIBS@" CACHE INTERNAL "@PACKAGE_PKG_NAME@ libraries" FORCE )
 SET( @PACKAGE_PKG_NAME@_INCLUDE_DIRS  @PACKAGE_INCLUDE_DIRS@ CACHE INTERNAL "@PACKAGE_PKG_NAME@ include directories" FORCE )
 SET( @PACKAGE_PKG_NAME@_LIBRARY_DIRS @PACKAGE_LINK_DIRS@ CACHE INTERNAL "@PACKAGE_PKG_NAME@ library directories" FORCE )

diff --git a/cmake_modules/install_package.cmake b/cmake_modules/install_package.cmake
@@ -102,7 +102,7 @@ function(install_package)
             endif()
             get_target_property( _target_library ${PACKAGE_LIB_NAME} LOCATION )
             get_filename_component( _lib ${_target_library} NAME )
-            list( APPEND PACKAGE_LINK_LIBS ${PACKAGE_LIB_NAME} )
+            list( INSERT PACKAGE_LINK_LIBS 0 ${PACKAGE_LIB_NAME} )
         endif()
 
         if( PACKAGE_INSTALL_HEADER_DIRS )
@@ -141,10 +141,19 @@ function(install_package)
 
         # install library itself
         if( PACKAGE_LIB_NAME )
-            install( FILES ${_target_library} DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+
+			if(MSVC)
+				string(REPLACE "$(Configuration)" "\${BUILD_TYPE}" _target_library ${_target_library})
+			endif()
+
+            install( TARGETS ${PACKAGE_LIB_NAME}
+                RUNTIME DESTINATION bin
+                LIBRARY DESTINATION lib
+                ARCHIVE DESTINATION lib
+                )
             set( PACKAGE_LIB_LINK "-l${PACKAGE_LIB_NAME}" )
         endif()
-    
+
         # build pkg-config file
         if( PACKAGE_PKG_NAME )
             configure_file( ${modules_dir}/PkgConfig.pc.in ${PACKAGE_PKG_NAME}.pc @ONLY )
@@ -195,7 +204,7 @@ function(install_package)
               cmake_policy( SET CMP0026 OLD )
             endif()
             get_target_property( _target_library ${PACKAGE_LIB_NAME} LOCATION )
-            list( APPEND PACKAGE_LINK_LIBS ${_target_library} )
+            list( INSERT PACKAGE_LINK_LIBS 0 ${_target_library} )
         endif()
 
         if( PACKAGE_INSTALL_HEADER_DIRS )

diff --git a/include/calibu/cam/rectify_crtp.h b/include/calibu/cam/rectify_crtp.h
@@ -61,8 +61,8 @@ namespace calibu
   };
 
   ///////////////////////////////////////////////////////////////////////////////
-  CALIBU_EXPORT
-    struct LookupTable
+
+    struct CALIBU_EXPORT LookupTable
     {
       inline LookupTable():m_vLutPixels(std::vector<BilinearLutPoint>()),m_nWidth(0){};
       inline LookupTable( int nWidth, int nHeight )
@@ -129,7 +129,7 @@ namespace calibu
   /// Rectify image pInputImageData using lookup table generated by
   /// 'CreateLookupTable' to output image pOutputRectImageData.
   template <typename scalar>
-  CALIBU_EXPORT void Rectify(
+  void Rectify(
           const LookupTable& lut,
           const scalar* pInputImageData,
           scalar* pOutputRectImageData,

diff --git a/include/calibu/conics/Conic.h b/include/calibu/conics/Conic.h
@@ -46,6 +46,8 @@ struct Conic {
 
   // center (c1,c2)
   Eigen::Vector2d center;
+  Eigen::Vector3d center_undistorted;
+  double radius;
 };
 
 CALIBU_EXPORT

diff --git a/include/calibu/conics/ConicFinder.h b/include/calibu/conics/ConicFinder.h
@@ -47,12 +47,12 @@ struct ParamsConicFinder
     float conic_min_aspect;
 };
 
-CALIBU_EXPORT
-class ConicFinder
+
+class CALIBU_EXPORT ConicFinder
 {
 public:
     ConicFinder();
-    void Find(const ImageProcessing& imgs);
+    void Find(const ImageProcessing& imgs, const std::shared_ptr<calibu::CameraInterface<double>> camera = nullptr);
 
   inline const std::vector<Conic, Eigen::aligned_allocator<Conic> >&
   Conics() const {

diff --git a/include/calibu/image/ImageProcessing.h b/include/calibu/image/ImageProcessing.h
@@ -37,8 +37,8 @@ struct ParamsImageProcessing {
   bool black_on_white;
 };
 
-CALIBU_EXPORT
-class ImageProcessing {
+
+class CALIBU_EXPORT ImageProcessing {
  public:
   ImageProcessing(int maxWidth, int maxHeight);
   ~ImageProcessing();

diff --git a/include/calibu/pcalib/base64.h b/include/calibu/pcalib/base64.h
@@ -2,6 +2,7 @@
 
 #include <algorithm>
 #include <sstream>
+#include <vector>
 #include <Eigen/Eigen>
 
 #include <iostream>

diff --git a/include/calibu/pose/Pnp.h b/include/calibu/pose/Pnp.h
@@ -23,18 +23,20 @@
 
 #include <vector>
 #include <sophus/se3.hpp>
+#include <calibu/Platform.h>
 #include <calibu/cam/camera_crtp.h>
 
 namespace calibu {
 
-    std::vector<int> PosePnPRansac(
+    std::vector<int> CALIBU_EXPORT PosePnPRansac(
         const std::shared_ptr<CameraInterface<double>> cam,
         const std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > & img_pts,
         const std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > & ideal_pts,
         const std::vector<int> & candidate_map,
         int robust_3pt_its,
         float robust_3pt_tol,
-        Sophus::SE3d * T
+        Sophus::SE3d * T,
+        bool calibrate = false
         );
 
     double ReprojectionErrorRMS(

diff --git a/include/calibu/target/LineGroup.h b/include/calibu/target/LineGroup.h
@@ -41,7 +41,7 @@ struct Vertex
 {
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
     inline Vertex(size_t id, const Conic& c)
-        : id(id), conic(c), pc(c.center), pg(GRID_INVALID,GRID_INVALID), area(0.0), value(-1)
+        : id(id), conic(c), pc(c.center), pg(GRID_INVALID,GRID_INVALID), area(0.0), value(-1), pc_u(c.center_undistorted)
     {
     }
 
@@ -53,6 +53,7 @@ struct Vertex
     size_t id;
     Conic conic;
     Eigen::Vector2d pc;
+    Eigen::Vector3d pc_u;
     Eigen::Vector2i pg;
     std::vector<Triple> triples;
     std::set<Vertex*> neighbours;
@@ -62,9 +63,10 @@ struct Vertex
 
 struct Triple
 {
-    inline Triple(Vertex& o1, Vertex& c, Vertex& o2)
+    inline Triple(Vertex& o1, Vertex& c, Vertex& o2, Eigen::Vector2d angles = Eigen::Vector2d())
     {
       vs = {&o1, &c, &o2};
+      m_angles = angles;
     }
 
     Triple(const Triple& triple) = default;
@@ -104,6 +106,7 @@ struct Triple
 
     // Colinear sequence of vertices, v[0], v[1], v[2]. v[1] is center
   std::vector<Vertex*> vs;
+  Eigen::Vector2d m_angles;
 };
 
 inline bool operator==(const Vertex& lhs, const Vertex& rhs)
@@ -121,6 +124,11 @@ inline double Distance(const Vertex& v1, const Vertex& v2)
     return (v2.pc - v1.pc).norm();
 }
 
+inline double DistanceUndistorted(const Vertex& v1, const Vertex& v2)
+{
+    return (v2.pc_u - v1.pc_u).squaredNorm();
+}
+
 inline std::ostream& operator<<(std::ostream& os, const Vertex& v)
 {
     os << "(" << v.pg.transpose() << ")";

diff --git a/include/calibu/target/TargetGridDot.h b/include/calibu/target/TargetGridDot.h
@@ -49,8 +49,8 @@ inline bool operator<(const Dist& lhs, const Dist& rhs) { return lhs.dist < rhs.
 struct ParamsGridDot
 {
     ParamsGridDot() :
-        max_line_dist_ratio(0.3),
-        max_norm_triple_area(0.03),
+        max_line_dist_ratio(0.4),
+        max_norm_triple_area(0.05),
         min_cross_area(1.5),
         max_cross_area(9.0),
         cross_radius_ratio(0.058),
@@ -65,8 +65,8 @@ struct ParamsGridDot
     double cross_line_ratio;
 };
 
-CALIBU_EXPORT
-class TargetGridDot
+
+class CALIBU_EXPORT TargetGridDot
         : public TargetInterface
 {
 public:
@@ -166,9 +166,9 @@ class TargetGridDot
     void Clear();
     void SetGrid(Vertex& v, const Eigen::Vector2i& g);
     bool Match(std::map<Eigen::Vector2i const, Vertex*,
-               std::less<Eigen::Vector2i>,
-               Eigen::aligned_allocator<std::pair<Eigen::Vector2i const, Vertex*> > >& obs,
-               const std::array<Eigen::MatrixXi,4>& PG);
+                std::less<Eigen::Vector2i>,
+                Eigen::aligned_allocator<std::pair<Eigen::Vector2i const, Vertex*> > >& obs,
+                const std::array<Eigen::MatrixXi,4>& PG);
 
     std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > tpts2d;
     std::vector<double> tpts2d_radius;