Updates to vicalib

.gitignore

@@ -1,5 +1,6 @@
 *~
 build/
+CMakeLists.txt.user
 
 #CMake-generated files
 CMakeFiles/
@@ -8,7 +9,6 @@ cmake_install.cmake
 cmake_uninstall.cmake
 .cproject
 .project
-vicalib
 install_manifest.txt
 description-pak
 .settings/

.travis.yml

@@ -0,0 +1,67 @@
+language: cpp
+os: linux
+dist: xenial
+jobs:
+  include:
+    - name: "Xenial Linux"
+      os: linux
+      cache: ccache
+      compiler: gcc
+      addons:
+        apt:
+          packages:
+            - ninja-build
+      env:
+       - GENERATOR=Ninja
+       - MKL_INCLUDE_PATH=/opt/intel/mkl/include
+       - MKL_LIBRARY_PATH=/opt/intel/mkl/lib/intel64
+      before_script:
+        # See https://software.intel.com/en-us/articles/installing-intel-free-libs-and-python-apt-repo for details
+        - curl https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB | sudo apt-key add -
+        - echo "deb https://apt.repos.intel.com/mkl all main" | sudo tee -a /etc/apt/sources.list
+        - sudo apt-get -qq update
+        - sudo apt-get -y install intel-mkl-64bit-2020.0-088
+    - name: "MacOS"
+      os: osx
+      cache:
+        directories:
+          - $HOME/.ccache
+      osx_image: xcode10.2 # macOS 14 required for 2020.1.216 MKL
+      compiler: clang
+      env:
+        - GENERATOR=Ninja
+        - MKL_VERSION=2020.1.216
+        - MKL_NAME=m_mkl_$MKL_VERSION
+        - MKL_INCLUDE_PATH=/opt/intel/mkl/include
+        - MKL_LIBRARY_PATH=/opt/intel/compilers_and_libraries_$MKL_VERSION/mac/mkl/lib
+      before_install:
+        - brew install ninja ccache
+        - export PATH="/usr/local/opt/ccache/libexec:$PATH"
+        - curl http://registrationcenter-download.intel.com/akdlm/irc_nas/tec/16525/$MKL_NAME.dmg --output $MKL_NAME.dmg
+        - sudo hdiutil attach $MKL_NAME.dmg
+        - sed 's/=decline/=accept/g' $(find /Volumes/$MKL_NAME -name "silent.cfg" -print) > ~/silent.cfg
+        - sudo $(find /Volumes/$MKL_NAME -name "install.sh" -print) --silent ~/silent.cfg
+        - sudo hdiutil detach /Volumes/$MKL_NAME
+    - name: "Windows"
+      os: windows
+      cache:
+        directories:
+          - $LOCALAPPDATA/Mozilla/sccache
+      env:
+       - GENERATOR="Visual Studio 14 2015 Win64"  # VS2015 required OpenCV 3.2
+       - MKL_VERSION=2020.1.216
+       - MKL_NAME=intelmkl.static.win-x64
+       - MKL_INCLUDE_PATH=C:/Users/travis/.nuget/packages/$MKL_NAME/$MKL_VERSION/lib/native/include
+       - MKL_LIBRARY_PATH=C:/Users/travis/.nuget/packages/$MKL_NAME/$MKL_VERSION/lib/native/win-x64
+      before_install:
+        # https://chocolatey.org/packages/Paket
+        # microsoft-visual-cpp-build-tools for Visual Studio 2015
+        - choco install paket microsoft-visual-cpp-build-tools sccache
+        - paket init
+        # https://www.nuget.org/packages/intelmkl.static.win-x64/
+        - paket add $MKL_NAME --version $MKL_VERSION
+
+script:
+  - mkdir build_dir
+  - cmake -G "$GENERATOR" -Bbuild_dir -Hmeta_build -DCMAKE_BUILD_TYPE=Release -DBUILD_GUI=False
+  - cmake --build build_dir --config Release

CMakeLists.txt

@@ -27,33 +27,38 @@ endif()
 option(BUILD_SHARED_LIBS "Build Shared Library" ON)
 
 set( CMAKE_CXX_FLAGS "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}" )
-if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
+if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang" AND NOT ANDROID)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
 endif()
 
 string( TOLOWER ${PROJECT_NAME} LIBRARY_NAME )
 
-if (NOT ANDROID)
+option(BUILD_GUI "Build GUI" ON)
+
+if (NOT ANDROID AND BUILD_GUI)
   add_definitions(-DBUILD_GUI)
 else()
   add_definitions(-UBUILD_GUI)
 endif()
 
 ################################################################################
 # Find required dependencies
+FIND_PACKAGE( tinyxml2 REQUIRED CONFIG)
 find_package( Calibu REQUIRED )
 find_package( Ceres REQUIRED )
-find_package( CVars REQUIRED )
-find_package( GFlags REQUIRED )
-find_package( GLog REQUIRED )
-find_package( HAL REQUIRED )
+find_package( gflags REQUIRED CONFIG)
+find_package( glog REQUIRED CONFIG)
+find_package( protobuf REQUIRED CONFIG)
+find_package( hal REQUIRED CONFIG)
 find_package( OpenCV REQUIRED COMPONENTS core)
 if(OpenCV_VERSION_MAJOR EQUAL 2)
 find_package(OpenCV REQUIRED COMPONENTS core imgproc highgui)
 elseif(OpenCV_VERSION_MAJOR EQUAL 3)
 find_package(OpenCV REQUIRED COMPONENTS core imgproc videoio)
 endif()
-find_package( Pangolin REQUIRED )
+if(NOT ANDROID AND BUILD_GUI)
+  find_package( Pangolin REQUIRED )
+endif()
 
 # Prefer OSX_MODIFIED_GLUT > FREEGLUT > GLUT
 if(FREEGLUT_FOUND AND NOT HAVE_MODIFIED_OSXGLUT)
@@ -66,26 +71,32 @@ elseif(GLUT_FOUND)
 endif()
 
 list(APPEND LINK_LIBS
-  ${HAL_LIBRARIES}
+  hal::hal
   ${Calibu_LIBRARIES}
   ${CERES_LIBRARIES}
-  ${CVars_LIBRARIES}
-  ${GFlags_LIBRARIES}
-  ${GLOG_LIBRARIES}
-  ${Pangolin_LIBRARIES}
+  gflags_shared
+  glog::glog
   ${OpenCV_LIBS}
   dl)
 
+if(NOT ANDROID AND BUILD_GUI)
+  list(APPEND LINK_LIBS
+      ${Pangolin_LIBRARIES}
+    )
+endif()
+
 list(APPEND PROJ_INCLUDE_DIRS
-  ${Pangolin_INCLUDE_DIRS}
-  ${HAL_INCLUDE_DIRS}
-  ${CERES_INCLUDE_DIRS}
   ${Calibu_INCLUDE_DIRS}
-  ${CVars_INCLUDE_DIRS}
-  ${GLOG_INCLUDE_DIRS}
-  ${GFlags_INCLUDE_DIR}
+  ${CERES_INCLUDE_DIRS}
+  ${rapidjson_INCLUDE_DIR}
   )
 
+if(NOT ANDROID AND BUILD_GUI)
+  list(APPEND LINK_LIBS
+      ${Pangolin_INCLUDE_DIRS}
+    )
+endif()
+
 
 # Basic includes / libraries
 list( APPEND LIB_INC_DIR "${CMAKE_CURRENT_SOURCE_DIR}"
@@ -96,10 +107,15 @@ list( APPEND LIB_INC_DIR "${CMAKE_CURRENT_SOURCE_DIR}"
 set(SRC_PREFIX src)
 set(VICALIB_SRCS
     ${SRC_PREFIX}/vicalib-engine.cc
-    ${SRC_PREFIX}/main.cc
     ${SRC_PREFIX}/vicalib-task.cc
 )
 
+if(NOT ANDROID)
+  list(APPEND VICALIB_SRCS ${SRC_PREFIX}/main.cc)
+else()
+  list(APPEND VICALIB_SRCS ${SRC_PREFIX}/libmain.cc)
+endif()
+
 set(VICALIB_CONDITIONS
   Calibu_FOUND
   Ceres_FOUND
@@ -112,21 +128,92 @@ set(VICALIB_CONDITIONS
 
 list( APPEND ${PROJ_INCLUDE_DIRS} ${LIB_INC_DIR} )
 
+link_directories(${HAL_LIBRARY_DIRS})
+
 include_directories( ${USER_INC}
     ${PROJ_INCLUDE_DIRS}
     ${CMAKE_CURRENT_BINARY_DIR}/include
     ${CMAKE_BINARY_DIR}
     ${CMAKE_SOURCE_DIR}/include
     )
 
-add_executable( vicalib ${VICALIB_SRCS} )
+link_directories(
+  ${Calibu_LIBRARY_DIRS}
+  ${HAL_LIBRARY_DIRS}
+  ${CVars_LIBRARY_DIRS}
+  ${Pangolin_LIBRARY_DIRS}
+)
+
+IF(WIN32)
+    set_property(SOURCE ${SRC_PREFIX}/vicalib-task.cc APPEND_STRING PROPERTY COMPILE_FLAGS " /bigobj ")
+ENDIF()
+if(NOT ANDROID)
+  add_executable( vicalib ${VICALIB_SRCS} )
+else()
+  add_library( vicalib SHARED ${VICALIB_SRCS} )
+  set_target_properties(vicalib PROPERTIES LINK_FLAGS " -Wl,--build-id ")
+endif()
 target_link_libraries( vicalib ${LINK_LIBS} )
 
-add_executable( tracker src/tracker.cc )
-target_link_libraries( tracker ${LINK_LIBS} )
 
-install(TARGETS vicalib RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
-install(TARGETS tracker RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+target_include_directories (vicalib BEFORE PUBLIC
+  "$<INSTALL_INTERFACE:include>"
+  )
+
+#add_executable( tracker src/tracker.cc )
+#target_link_libraries( tracker ${LINK_LIBS} )
+
+include (CMakePackageConfigHelpers)
+
+install(TARGETS vicalib
+  EXPORT vicalib-targets
+  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  PUBLIC_HEADER DESTINATION include/vicalib
+  )
+#install(TARGETS tracker RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+
+
+set(LOAD_DEPENDENCY "#find_dependency( protobuf )
+#find_dependency( gflags )
+find_dependency( glog )
+#find_dependency( tinyxml2 )
+find_dependency( hal )
+find_dependency( OpenCV )
+find_dependency( Calibu )
+find_dependency( Ceres )")
+
+configure_package_config_file (vicalib-config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/vicalib-config.cmake
+  INSTALL_DESTINATION lib/cmake/vicalib
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
+write_basic_package_version_file (vicalib-config-version.cmake VERSION
+  ${VICALIB_VERSION} COMPATIBILITY SameMajorVersion)
+
+export (TARGETS vicalib NAMESPACE vicalib:: FILE vicalib-targets.cmake)
+export (PACKAGE vicalib)
+
+install (FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/vicalib-config.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/vicalib-config-version.cmake
+  DESTINATION lib/cmake/vicalib)
+
+install (EXPORT vicalib-targets NAMESPACE vicalib:: DESTINATION lib/cmake/vicalib)
+
+
+install( FILES ${CMAKE_SOURCE_DIR}/include/vicalib/vicalib_interface.h
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/vicalib )
+
+if(UNIX)
+    install (PROGRAMS scripts/run_imu_calibration.sh DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+endif()
+install (PROGRAMS scripts/run_vicalib.py DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+install (PROGRAMS scripts/run_benchmark.py DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+install (PROGRAMS scripts/run_vicalib_evaluation.py DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+
+install (FILES data/t26x-initialization.json DESTINATION ${CMAKE_INSTALL_PREFIX}/data)
 
 include(${CMAKE_MODULE_PATH}/cmake_uninstall.cmake.in)
 add_custom_target(uninstall

README.md

@@ -1,5 +1,6 @@
 vicalib
 =======
+[![Build Status](https://travis-ci.com/dmirota/vicalib.svg?branch=master)](https://travis-ci.com/dmirota/vicalib)
 
 Vicalib is a calibration tool for visual or visual-inertial sensor systems. The system is able to calibrate camera intrinsics for pinhole, polynomial and r-theta camera models, as well as the camera-to-imu extrinsics, imu biases and scale factors for visual inertial system. Dependencies are as follows: