diff --git a/.gitignore b/.gitignore
index a95be5d02605031165d4f5fa4147275dc4b5630d..1a54ff15872b407e5553633e46c6055b775c10dc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,7 @@
*/build
*/node_modules
-*/include/ftl/config.h
+**/include/ftl/config.h
+**/src/config.cpp
**/*.blend1
fabric/
fabric-js/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a7a01fb96a7b562e29bd590b2a9e20b15d3f1631..f30fecaf969bf3ef3e671f7879070cf0139273f1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,8 @@ find_package( OpenCV REQUIRED )
find_package( Threads REQUIRED )
find_package( LibSGM )
+include_directories(${PROJECT_SOURCE_DIR}/common/cpp/include)
+
check_language(CUDA)
if (CUDA_FOUND)
enable_language(CUDA)
@@ -31,10 +33,10 @@ include(git_version)
if (WIN32)
file(TO_CMAKE_PATH "$ENV{USERPROFILE}" ENV_USERPROFILE)
- set(FTL_CONFIG_ROOT "\"${ENV_USERPROFILE}/AppData/ftl\"")
- message(STATUS "Config root is ${FTL_CONFIG_ROOT}")
- set(FTL_CACHE_ROOT "\"$ENV{USERPROFILE}/AppData/ftl\"")
- set(FTL_DATA_ROOT "\"$ENV{USERPROFILE}/AppData/ftl\"")
+ set(FTL_LOCAL_CONFIG_ROOT "\"${ENV_USERPROFILE}/AppData/ftl\"")
+ message(STATUS "Config root is ${FTL_LOCAL_CONFIG_ROOT}")
+ set(FTL_LOCAL_CACHE_ROOT "\"$ENV{USERPROFILE}/AppData/ftl\"")
+ set(FTL_LOCAL_DATA_ROOT "\"$ENV{USERPROFILE}/AppData/ftl\"")
add_definitions(-DWIN32)
set(CMAKE_CXX_FLAGS "/std:c++17")
@@ -44,10 +46,16 @@ endif (WIN32)
if (UNIX)
add_definitions(-DUNIX)
- set(FTL_CONFIG_ROOT "\"$ENV{HOME}/.config/ftl\"")
- message(STATUS "Config root is ${FTL_CONFIG_ROOT}")
- set(FTL_CACHE_ROOT "\"$ENV{HOME}/.cache/ftl\"")
- set(FTL_DATA_ROOT "\"$ENV{HOME}/.local/share/ftl\"")
+
+ set(FTL_LOCAL_CONFIG_ROOT "\"$ENV{HOME}/.config/ftl\"")
+ message(STATUS "Config root is ${FTL_LOCAL_CONFIG_ROOT}")
+ set(FTL_LOCAL_CACHE_ROOT "\"$ENV{HOME}/.cache/ftl\"")
+ set(FTL_LOCAL_DATA_ROOT "\"$ENV{HOME}/.local/share/ftl\"")
+
+ set(FTL_GLOBAL_CONFIG_ROOT "\"${CMAKE_INSTALL_PREFIX}/share/ftl\"")
+ message(STATUS "Global config root is ${FTL_GLOBAL_CONFIG_ROOT}")
+ set(FTL_GLOBAL_CACHE_ROOT "\"${CMAKE_INSTALL_PREFIX}/share/ftl\"")
+ set(FTL_GLOBAL_DATA_ROOT "\"${CMAKE_INSTALL_PREFIX}/share/ftl\"")
set(CMAKE_CXX_FLAGS "-std=c++17")
set(CMAKE_CXX_FLAGS_DEBUG "-D_DEBUG -pg -Wall")
@@ -59,3 +67,11 @@ SET(CMAKE_USE_RELATIVE_PATHS ON)
add_subdirectory(net/cpp)
add_subdirectory(cv-node)
+configure_file(${CMAKE_SOURCE_DIR}/common/cpp/include/ftl/config.h.in
+ ${CMAKE_SOURCE_DIR}/common/cpp/include/ftl/config.h
+)
+
+configure_file(${CMAKE_SOURCE_DIR}/common/cpp/src/config.cpp.in
+ ${CMAKE_SOURCE_DIR}/common/cpp/src/config.cpp
+)
+
diff --git a/cmake/Findglog.cmake b/cmake/Findglog.cmake
index e4e0eea8c1d3a5117873552c8b9d2a32ebbbcb60..dc0bf0bd33dab68b2fce0b7da134605a9a920923 100644
--- a/cmake/Findglog.cmake
+++ b/cmake/Findglog.cmake
@@ -33,5 +33,5 @@ if(GLOG_FOUND)
include_directories(${GLOG_INCLUDE_DIRS})
set(GLOG_FOUND TRUE CACHE BOOL "" FORCE)
set(GLOG_LIBRARIES ${GLOG_LIBRARY})
- message(STATUS "Found glog)")
+ message(STATUS "Found glog")
endif()
diff --git a/cmake/git_version.cmake b/cmake/git_version.cmake
index 14ce6dfc10de7c15cfd58b264ac449d7300b9f32..f44754522e8d88c22d05a59050f888b7e954a160 100644
--- a/cmake/git_version.cmake
+++ b/cmake/git_version.cmake
@@ -4,7 +4,7 @@ if (Git_FOUND)
#CHECK_REQUIRED_VARIABLE(GIT_EXECUTABLE)
execute_process(COMMAND
- "${GIT_EXECUTABLE}" describe --contains HEAD
+ "${GIT_EXECUTABLE}" describe --tags
WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
RESULT_VARIABLE GIT_RESULT
OUTPUT_VARIABLE VERSION
@@ -14,7 +14,8 @@ if (Git_FOUND)
string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" ftl_VERSION_MAJOR "${VERSION}")
string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" ftl_VERSION_MINOR "${VERSION}")
string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" ftl_VERSION_PATCH "${VERSION}")
- string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+(.*)" "\\1" ftl_VERSION_SHA1 "${VERSION}")
+ string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-([0-9]+).*" "\\1" ftl_VERSION_COMMITS "${VERSION}")
+ string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-[0-9]+-(.*)" "\\1" ftl_VERSION_SHA1 "${VERSION}")
set(FTL_VERSION "\"${ftl_VERSION_MAJOR}.${ftl_VERSION_MINOR}.${ftl_VERSION_PATCH}\"")
else()
diff --git a/common/cpp/include/ftl/config.h.in b/common/cpp/include/ftl/config.h.in
new file mode 100644
index 0000000000000000000000000000000000000000..d3e2166031f7e7072f905701f98a3d4a4d90d38b
--- /dev/null
+++ b/common/cpp/include/ftl/config.h.in
@@ -0,0 +1,24 @@
+#ifndef __FTL_CONFIG_H__
+#define __FTL_CONFIG_H__
+
+#cmakedefine HAVE_VIZ
+#cmakedefine HAVE_OPENCVCUDA
+#cmakedefine HAVE_URIPARSESINGLE
+
+extern const char *FTL_VERSION_LONG;
+extern const char *FTL_VERSION;
+extern const int FTL_VERSION_MAJOR;
+extern const int FTL_VERSION_MINOR;
+extern const int FTL_VERSION_PATCH;
+extern const int FTL_VERSION_COMMITS;
+extern const char *FTL_VERSION_SHA1;
+
+#define FTL_LOCAL_CONFIG_ROOT @FTL_LOCAL_CONFIG_ROOT@
+#define FTL_LOCAL_CACHE_ROOT @FTL_LOCAL_CACHE_ROOT@
+#define FTL_LOCAL_DATA_ROOT @FTL_LOCAL_DATA_ROOT@
+
+#define FTL_GLOBAL_CONFIG_ROOT @FTL_GLOBAL_CONFIG_ROOT@
+#define FTL_GLOBAL_CACHE_ROOT @FTL_GLOBAL_CACHE_ROOT@
+#define FTL_GLOBAL_DATA_ROOT @FTL_GLOBAL_DATA_ROOT@
+
+#endif // __FTL_CONFIG_H__
diff --git a/common/cpp/src/config.cpp.in b/common/cpp/src/config.cpp.in
new file mode 100644
index 0000000000000000000000000000000000000000..353e7ccbaa60ef204227a6e80c5bdde048ef7c9d
--- /dev/null
+++ b/common/cpp/src/config.cpp.in
@@ -0,0 +1,9 @@
+
+const char *FTL_VERSION_LONG = "@VERSION@";
+const char *FTL_VERSION = @FTL_VERSION@;
+const int FTL_VERSION_MAJOR = @ftl_VERSION_MAJOR@;
+const int FTL_VERSION_MINOR = @ftl_VERSION_MINOR@;
+const int FTL_VERSION_PATCH = @ftl_VERSION_PATCH@;
+const int FTL_VERSION_COMMITS = @ftl_VERSION_COMMITS@;
+const char *FTL_VERSION_SHA1 = "@ftl_VERSION_SHA1@";
+
diff --git a/cv-node/CMakeLists.txt b/cv-node/CMakeLists.txt
index 0f7c6d64f625b488d2587a407378e7225e65099c..5f5457c82ba1b8cb7ea89f2eaed3e96c9478b82d 100644
--- a/cv-node/CMakeLists.txt
+++ b/cv-node/CMakeLists.txt
@@ -7,11 +7,8 @@ set(CMAKE_REQUIRED_INCLUDES ${OpenCV_INCLUDE_DIRS})
check_include_file_cxx("opencv2/viz.hpp" HAVE_VIZ)
check_include_file_cxx("opencv2/cudastereo.hpp" HAVE_OPENCVCUDA)
-configure_file(${CMAKE_SOURCE_DIR}/cv-node/include/ftl/config.h.in
- ${CMAKE_SOURCE_DIR}/cv-node/include/ftl/config.h
-)
-
set(CVNODESRC
+ ../common/cpp/src/config.cpp
src/main.cpp
src/calibrate.cpp
src/local.cpp
diff --git a/cv-node/include/ftl/config.h.in b/cv-node/include/ftl/config.h.in
deleted file mode 100644
index bd68be9df86896a29d239bd99f892d55225dacff..0000000000000000000000000000000000000000
--- a/cv-node/include/ftl/config.h.in
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef __FTL_CONFIG_H__
-#define __FTL_CONFIG_H__
-
-#cmakedefine HAVE_VIZ
-#cmakedefine HAVE_OPENCVCUDA
-
-#define FTL_VERSION_LONG "@VERSION@"
-#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_VERSION_SHA1 "@ftl_VERSION_SHA1@"
-
-#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__
diff --git a/cv-node/src/calibrate.cpp b/cv-node/src/calibrate.cpp
index cb66dad517aba256fbad10c66a92076441e986ee..22b5d59b30b14ee624f8d25dbcd75ff5ec63df23 100644
--- a/cv-node/src/calibrate.cpp
+++ b/cv-node/src/calibrate.cpp
@@ -206,7 +206,7 @@ bool Calibrate::_loadCalibration() {
Rect roi1, roi2;
// reading intrinsic parameters
- FileStorage fs(FTL_CONFIG_ROOT "/intrinsics.yml", FileStorage::READ);
+ FileStorage fs(FTL_LOCAL_CONFIG_ROOT "/intrinsics.yml", FileStorage::READ);
if(!fs.isOpened())
{
LOG(WARNING) << "Calibration file not found";
@@ -222,7 +222,7 @@ bool Calibrate::_loadCalibration() {
M1 *= scale;
M2 *= scale;
- fs.open(FTL_CONFIG_ROOT "/extrinsics.yml", FileStorage::READ);
+ fs.open(FTL_LOCAL_CONFIG_ROOT "/extrinsics.yml", FileStorage::READ);
if(!fs.isOpened())
{
LOG(WARNING) << "Calibration file not found";
@@ -289,7 +289,7 @@ bool Calibrate::recalibrate() {
LOG(INFO) << "... done with RMS error=" << rms;
// save intrinsic parameters
- FileStorage fs(FTL_CONFIG_ROOT "/intrinsics.yml", FileStorage::WRITE);
+ FileStorage fs(FTL_LOCAL_CONFIG_ROOT "/intrinsics.yml", FileStorage::WRITE);
if( fs.isOpened() )
{
fs << "M1" << cameraMatrix[0] << "D1" << distCoeffs[0] <<
@@ -307,7 +307,7 @@ bool Calibrate::recalibrate() {
imageSize[0], R, T, R1, R2, P1, P2, Q_,
CALIB_ZERO_DISPARITY, 1, imageSize[0], &validRoi[0], &validRoi[1]);
- fs.open(FTL_CONFIG_ROOT "/extrinsics.yml", FileStorage::WRITE);
+ fs.open(FTL_LOCAL_CONFIG_ROOT "/extrinsics.yml", FileStorage::WRITE);
if( fs.isOpened() )
{
fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1" << P1 << "P2" << P2 << "Q" << Q_;
@@ -376,13 +376,13 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
LOG(INFO) << "Grabbing calibration image...";
if (view[0].empty() || (local_->isStereo() && view[1].empty()) || imagePoints[0].size() >= (size_t)settings_.nrFrames) {
- settings_.outputFileName = FTL_CONFIG_ROOT "/cam0.xml";
+ settings_.outputFileName = FTL_LOCAL_CONFIG_ROOT "/cam0.xml";
bool r = runCalibration(settings_, imageSize[0],
cameraMatrix[0], distCoeffs[0], imagePoints[0],
grid_width, release_object);
if (local_->isStereo()) {
- settings_.outputFileName = FTL_CONFIG_ROOT "/cam1.xml";
+ settings_.outputFileName = FTL_LOCAL_CONFIG_ROOT "/cam1.xml";
r &= runCalibration(settings_, imageSize[1],
cameraMatrix[1], distCoeffs[1], imagePoints[1],
grid_width, release_object);
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index 1248014980f6303b94446bc81245264a33223943..0eb2dc6f2d430082884f6f51d7e5bd26fe8de0ca 100644
--- a/cv-node/src/main.cpp
+++ b/cv-node/src/main.cpp
@@ -36,7 +36,7 @@ static json config;
*/
static bool findConfiguration(const string &file) {
// TODO Check other locations
- ifstream i((file != "") ? file : FTL_CONFIG_ROOT "/config.json");
+ ifstream i((file != "") ? file : FTL_LOCAL_CONFIG_ROOT "/config.json");
if (!i.is_open()) return false;
i >> config;
return true;
@@ -74,6 +74,12 @@ static void process_options(const map<string,string> &opts) {
for (auto opt : opts) {
if (opt.first == "config") continue;
+ if (opt.first == "version") {
+ std::cout << "FTL Vision Node - v" << FTL_VERSION << std::endl;
+ std::cout << FTL_VERSION_LONG << std::endl;
+ exit(0);
+ }
+
try {
auto ptr = json::json_pointer("/"+opt.first);
// TODO Allow strings without quotes