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Commit 886b533d authored by Nicolas Pope's avatar Nicolas Pope
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Merge with windows fixes

parents 77a3bce7 47633685
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with 121 additions and 42 deletions
.gitignore
+ 1
− 0
View file @ 886b533d
*/build
*/node_modules
*/include/ftl/config.h
cv-node/CMakeLists.txt
+ 28
− 18
View file @ 886b533d
cmake_minimum_required (VERSION 3.1.0)
include (CheckIncludeFile)
include (CheckIncludeFileCXX)
include (CheckFunctionExists)
include(CheckLanguage)
......@@ -11,23 +12,19 @@ enable_testing()
set(THREADS_PREFER_PTHREAD_FLAG ON)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
#find_package( glog REQUIRED )
if (WIN32)
include_directories(${glog_DIR})
endif (WIN32)
find_package( CUDA )
find_package( glog REQUIRED )
#if (WIN32)
#include_directories(${glog_DIR})
#endif (WIN32)
find_package( OpenCV REQUIRED )
find_package( Threads REQUIRED )
find_package( LibSGM )
#find_package(PkgConfig)
#pkg_check_modules(GTKMM gtkmm-3.0)
message("Cuda at ${CMAKE_CUDA_COMPILER}")
#find_package( CUDA )
#check_language(CUDA)
check_language(CUDA)
if (CUDA_FOUND)
enable_language(CUDA)
set(CMAKE_CUDA_FLAGS "-Xcompiler -Wall")
set(CMAKE_CUDA_FLAGS "")
set(CMAKE_CUDA_FLAGS_DEBUG "-g -DDEBUG -D_DEBUG -Wall")
set(CMAKE_CUDA_FLAGS_RELEASE "")
add_definitions(-DHAVE_CUDA)
......@@ -38,6 +35,11 @@ endif (CUDA_FOUND)
include_directories(${PROJECT_SOURCE_DIR}/include)
include_directories(${PROJECT_BINARY_DIR})
# Check for optional opencv components
set(CMAKE_REQUIRED_INCLUDES "${OpenCV_DIR}/include")
check_include_file_cxx("opencv2/viz.hpp" HAVE_VIZ)
check_include_file_cxx("opencv2/cudastereo.hpp" HAVE_OPENCVCUDA)
set(ftl_VERSION_MAJOR "1")
set(ftl_VERSION_MINOR "0")
set(ftl_VERSION_PATCH "0")
......@@ -51,6 +53,10 @@ if (WIN32)
set(FTL_CACHE_ROOT "$ENV{USERPROFILE}/AppData/ftl")
set(FTL_DATA_ROOT "$ENV{USERPROFILE}/AppData/ftl")
add_definitions(-DWIN32)
set(CMAKE_CXX_FLAGS "/std:c++17")
set(CMAKE_CXX_FLAGS_DEBUG "-D_DEBUG -Wall")
set(CMAKE_CXX_FLAGS_RELEASE "/O2")
endif (WIN32)
if (UNIX)
......@@ -59,15 +65,19 @@ if (UNIX)
message(STATUS "Config root is ${FTL_CONFIG_ROOT}")
set(FTL_CACHE_ROOT "$ENV{HOME}/.cache/ftl")
set(FTL_DATA_ROOT "$ENV{HOME}/.local/share/ftl")
endif (UNIX)
add_definitions("-DFTL_CONFIG_ROOT=${FTL_CONFIG_ROOT}")
add_definitions("-DFTL_CACHE_ROOT=${FTL_CACHE_ROOT}")
add_definitions("-DFTL_DATA_ROOT=${FTL_DATA_ROOT}")
set(CMAKE_CXX_FLAGS "-std=c++17 -Wall")
set(CMAKE_CXX_FLAGS "-std=c++17")
set(CMAKE_CXX_FLAGS_DEBUG "-D_DEBUG -pg -Wall")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -msse3 -mfpmath=sse")
endif (UNIX)
#add_definitions("-DFTL_CONFIG_ROOT=${FTL_CONFIG_ROOT}")
#add_definitions("-DFTL_CACHE_ROOT=${FTL_CACHE_ROOT}")
#add_definitions("-DFTL_DATA_ROOT=${FTL_DATA_ROOT}")
configure_file(${CMAKE_SOURCE_DIR}/include/ftl/config.h.in
${CMAKE_SOURCE_DIR}/include/ftl/config.h
)
SET(CMAKE_USE_RELATIVE_PATHS ON)
......@@ -113,6 +123,6 @@ set_property(TARGET cv-node PROPERTY CUDA_SEPARABLE_COMPILATION ON)
endif (CUDA_FOUND)
target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
target_link_libraries(cv-node Threads::Threads ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} glog)
target_link_libraries(cv-node Threads::Threads ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} ${GLOG_LIBRARIES})
cv-node/cmake/FindGLOG.cmake 0 → 100644
+ 39
− 0
View file @ 886b533d
###############################################################################
# Find glog
#
if(WIN32)
find_path(glog_DIR glog PATHS "C:/Program Files" "C:/Program Files (x86)")
set(glog_DIR ${glog_DIR}/glog)
else()
set(glog_DIR "")
endif()
# Find lib
set(GLOG_FOUND FALSE CACHE BOOL "" FORCE)
find_library(GLOG_LIBRARY
NAMES glog libglog
PATHS ${glog_DIR}
PATH_SUFFIXES lib/
)
# Find include
find_path(GLOG_INCLUDE_DIRS
NAMES glog/logging.h
PATHS ${glog_DIR}
PATH_SUFFIXES include
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(glog DEFAULT_MSG GLOG_LIBRARY GLOG_INCLUDE_DIRS)
message(STATUS "(GLOG_FOUND : ${GLOG_FOUND} include: ${GLOG_INCLUDE_DIRS}, lib: ${GLOG_LIBRARY})")
mark_as_advanced(GLOG_FOUND)
if(GLOG_FOUND)
include_directories(${GLOG_INCLUDE_DIRS})
set(GLOG_FOUND TRUE CACHE BOOL "" FORCE)
set(GLOG_LIBRARIES ${GLOG_LIBRARY})
message(STATUS "glog found ( include: ${GLOG_INCLUDE_DIRS}, lib: ${GLOG_LIBRARY})")
endif()
cv-node/cmake/FindLibSGM.cmake
+ 10
− 0
View file @ 886b533d
......@@ -6,16 +6,25 @@
# LIBSGM_INCLUDE_DIRS - Directories containing the LIBSGM include files.
# LIBSGM_LIBRARY - Libraries needed to use LIBSGM.
if(WIN32)
find_path(libSGM_DIR libSGM PATHS "C:/Program Files" "C:/Program Files (x86)")
set(libSGM_DIR ${libSGM_DIR}/libSGM)
else()
set(glog_DIR "")
endif()
# Find lib
set(LIBSGM_FOUND FALSE CACHE BOOL "" FORCE)
find_library(LIBSGM_LIBRARY
NAMES sgm libsgm
PATHS ${libSGM_DIR}
PATH_SUFFIXES lib/
)
# Find include
find_path(LIBSGM_INCLUDE_DIRS
NAMES libsgm.h
PATHS ${libSGM_DIR}
PATH_SUFFIXES include/
)
......@@ -27,6 +36,7 @@ message(STATUS "(LIBSGM_FOUND : ${LIBSGM_FOUND} include: ${LIBSGM_INCLUDE_DIRS},
mark_as_advanced(LIBSGM_FOUND)
if(LIBSGM_FOUND)
include_directories(${LIBSGM_INCLUDE_DIRS})
set(LIBSGM_FOUND TRUE CACHE BOOL "" FORCE)
set(LIBSGM_LIBRARIES ${LIBSGM_LIBRARY})
message(STATUS "LibSGM found ( include: ${LIBSGM_INCLUDE_DIRS}, lib: ${LIBSGM_LIBRARY})")
......
cv-node/include/ftl/config.h.in 0 → 100644
+ 16
− 0
View file @ 886b533d
#ifndef __FTL_CONFIG_H__
#define __FTL_CONFIG_H__
#cmakedefine HAVE_VIZ
#cmakedefine HAVE_OPENCVCUDA
#define FTL_VERSION @FTL_VERSION@
#define FTL_VERSION_MAJOR @ftl_VERSION_MAJOR@
#define FTL_VERSION_MINOR @ftl_VERSION_MINOR@
#define FTL_VERSION_PATCH @ftl_VERSION_PATCH@
#define FTL_CONFIG_ROOT @FTL_CONFIG_ROOT@
#define FTL_CACHE_ROOT @FTL_CACHE_ROOT@
#define FTL_DATA_ROOT @FTL_DATA_ROOT@
#endif // __FTL_CONFIG_H__
cv-node/include/ftl/display.hpp
+ 5
− 0
View file @ 886b533d
......@@ -4,6 +4,7 @@
#include <nlohmann/json.hpp>
#include <opencv2/opencv.hpp>
#include <ftl/calibrate.hpp>
#include <ftl/config.h>
#include "opencv2/highgui.hpp"
namespace ftl {
......@@ -19,7 +20,11 @@ namespace ftl {
private:
const ftl::Calibrate &calibrate_;
nlohmann::json config_;
#if defined HAVE_VIZ
cv::viz::Viz3d *window_;
#endif // HAVE_VIZ
bool active_;
};
};
......
cv-node/src/calibrate.cpp
+ 1
− 0
View file @ 886b533d
......@@ -5,6 +5,7 @@
#include <cstdio>
#include <ftl/calibrate.hpp>
#include <ftl/config.h>
#include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp>
......
cv-node/src/display.cpp
+ 17
− 0
View file @ 886b533d
#include <ftl/display.hpp>
#include <glog/logging.h>
using ftl::Display;
using ftl::Calibrate;
using namespace cv;
Display::Display(const Calibrate &cal, nlohmann::json &config) : calibrate_(cal), config_(config) {
#if defined HAVE_VIZ
window_ = new cv::viz::Viz3d("FTL");
window_->setBackgroundColor(cv::viz::Color::white());
#endif // HAVE_VIZ
active_ = true;
}
Display::~Display() {
#if defined HAVE_VIZ
delete window_;
#endif // HAVE_VIZ
}
bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
Mat idepth;
if (config_["points"]) {
#if defined HAVE_VIZ
cv::Mat Q_32F;
calibrate_.getQ().convertTo(Q_32F,CV_32F);
cv::Mat_<cv::Vec3f> XYZ(depth.rows,depth.cols); // Output point cloud
......@@ -32,6 +39,12 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
window_->showWidget( "Depth", cloud_widget );
window_->spinOnce( 1, true );
#else // HAVE_VIZ
LOG(ERROR) << "Need OpenCV Viz module to display points";
#endif // HAVE_VIZ
}
if (config_["depth"]) {
......@@ -60,6 +73,10 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
}
bool Display::active() const {
#if defined HAVE_VIZ
return active_ && !window_->wasStopped();
#else
return active_;
#endif
}
cv-node/src/main.cpp
+ 4
− 24
View file @ 886b533d
......@@ -5,6 +5,7 @@
#include <ftl/disparity.hpp>
#include <ftl/middlebury.hpp>
#include <ftl/display.hpp>
#include <ftl/config.h>
#include <nlohmann/json.hpp>
#include "opencv2/imgproc.hpp"
......@@ -75,6 +76,7 @@ static void process_options(const map<string,string> &opts) {
try {
auto ptr = json::json_pointer("/"+opt.first);
// TODO Allow strings without quotes
auto v = json::parse(opt.second);
if (v.type() != config.at(ptr).type()) {
LOG(ERROR) << "Incorrect type for argument " << opt.first;
......@@ -87,29 +89,6 @@ static void process_options(const map<string,string> &opts) {
}
}
static string type2str(int type) {
string r;
uchar depth = type & CV_MAT_DEPTH_MASK;
uchar chans = 1 + (type >> CV_CN_SHIFT);
switch ( depth ) {
case CV_8U: r = "8U"; break;
case CV_8S: r = "8S"; break;
case CV_16U: r = "16U"; break;
case CV_16S: r = "16S"; break;
case CV_32S: r = "32S"; break;
case CV_32F: r = "32F"; break;
case CV_64F: r = "64F"; break;
default: r = "User"; break;
}
r += "C";
r += (chans+'0');
return r;
}
static void run(const string &file) {
// TODO Initiate the network
......@@ -142,7 +121,7 @@ static void run(const string &file) {
while (display.active()) {
// Read calibrated images.
calibrate.undistort(l,r);
calibrate.rectified(l,r);
// Feed into sync buffer and network forward
sync->feed(LEFT, l,lsrc->getTimestamp());
......@@ -175,6 +154,7 @@ int main(int argc, char **argv) {
}
process_options(options);
// Choose normal or middlebury modes
if (config["middlebury"]["dataset"] == "") {
run((argc > 0) ? argv[0] : "");
} else {
......
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