X as a library

.gitignore

@@ -1,3 +1,5 @@
+build
+install
 # Temporary/backup files
 *~
 *.sw*
@@ -7,3 +9,6 @@
 
 # Formatting
 .clang-format
+
+CMakeCache.txt
+CMakeFiles/*

CMakeLists.txt

@@ -1,44 +1,47 @@
+cmake_minimum_required(VERSION 3.16)
+project(x VERSION 1.1.0)
+
+if (NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
+endif()
+
 #################################################################################
 # User build settings
 
-set(DUAL_THREAD true) # Set true to process image and inertial data on different
+OPTION(MULTI_THREAD "Multi thread" ON) # Set true to process image and inertial data on different
 		      # threads
-set(VERBOSE true) # Set false to disable all publishing and standard output
+
+option(VERBOSE "Publish std out and other data" ON) # Set false to disable all publishing and standard output
 				  # stream, except pose at update rate. That will improve runtime.
-set(TIMING false) # Set true to enable timers
-set(PROFILING false)  # Set true to disable compiler flags which are not
+
+option(TIMING "Publish timing information" OFF) # Set true to enable timers
+
+option(PROFILING "Enable profiling flags" OFF) # Set true to disable compiler flags which are not
 		      # compatible with Callgrind profiling tool.
-set(UNIT_TESTS false) # Set true to enable unit tests
 
-#################################################################################
+option(UNIT_TESTS "Build unit tests" OFF) # Set true to enable unit tests
 
-cmake_minimum_required(VERSION 2.8.3)
-project(x)
-set (CMAKE_BUILD_TYPE Release)
+#################################################################################
 
 # Set definitions
-if(DUAL_THREAD)
-  add_definitions(-DDUAL_THREAD)
+if(MULTI_THREAD)
+  message("Multi-thread: ON")
+  add_definitions(-DMULTI_THREAD)
 endif()
 if(VERBOSE)
+  message("Verbose: ON")
   add_definitions(-DVERBOSE)
 endif()
 if(TIMING)
+  message("Timing: ON")
   add_definitions(-DTIMING)
 endif()
 if(UNIT_TESTS)
+  message("Unit Tests: ON")
   add_definitions(-DRUN_UNIT_TESTS)
 endif()
-if (CMAKE_BUILD_TYPE MATCHES Debug)
-  add_definitions(-DDEBUG -DDEBUGMSF)
-elseif (CMAKE_BUILD_TYPE MATCHES RelWithDebInfo)
-  # Enable asserts
-  add_definitions(-UNDEBUG)
-endif()
-add_definitions(-D_LINUX -D_REENTRANT)
 
-# Eigen plugin
-add_definitions(-DEIGEN_MATRIXBASE_PLUGIN=<x/common/eigen_matrix_base_plugin.h>)
+add_definitions(-D_LINUX -D_REENTRANT)
 
 # Look for OpenCV >= 3.3.1
 find_package(OpenCV 4 QUIET)
@@ -49,21 +52,14 @@ if(NOT ${OpenCV_FOUND})
   endif()
 endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  cmake_modules
-)
-
+# Eigen plugin
+add_definitions(-DEIGEN_MATRIXBASE_PLUGIN=<x/common/eigen_matrix_base_plugin.h>)
 find_package(Eigen3 REQUIRED)
 
 # Set build flags, depending on the architecture
-set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall")
-
-if (CMAKE_BUILD_TYPE MATCHES Debug)
-  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0")
-endif()
 
 if (CMAKE_BUILD_TYPE MATCHES Release)
-
+  message("Release Mode")
   set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 
   if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64") # tested on Jetson TX2
@@ -75,30 +71,25 @@ if (CMAKE_BUILD_TYPE MATCHES Release)
   if (${PROFILING} MATCHES false)
     set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -funsafe-loop-optimizations -fsee -funroll-loops -fno-math-errno -funsafe-math-optimizations -ffinite-math-only -fno-signed-zeros")
   endif()
-
+
+elseif (CMAKE_BUILD_TYPE MATCHES Debug)
+  message("Debug Mode")
+  add_definitions(-DDEBUG -DDEBUGMSF)
+  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0")
+elseif (CMAKE_BUILD_TYPE MATCHES RelWithDebInfo)
+  message("Release with Debug Info Mode")
+  # Enable asserts
+  add_definitions(-UNDEBUG)
 endif()
 
-# For downstream packages in catkin
 set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
 set(EIGEN3_LIBRARIES ${EIGEN3_LIBRARIES})
 
-# Configure this package
-catkin_package(
-	DEPENDS EIGEN3
-  INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIR}
-  LIBRARIES x
-)
-
-## Package internal and additional locations of header files
-## Separating the projects include directory from {catkin_INCLUDE_DIRS}
-## allows to tag that with SYSTEM, which disables GCC warnings for
-## these (all the ros header, opencv, ..)
 include_directories (include)
 
 include_directories (SYSTEM
   ${OpenCV_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 set (SOURCE
@@ -122,13 +113,61 @@ set (SOURCE
   src/x/vision/timing.cpp
   src/x/vision/tracker.cpp
   src/x/vision/triangulation.cpp
-
 )
 
-add_library (x ${SOURCE})
+add_library(x ${SOURCE})
 
 # Additional libraries to link against
 target_link_libraries(x
   ${OpenCV_LIBRARIES}
-  ${catkin_LIBRARIES}
+  ${EIGEN3_LIBRARIES}
 )
+
+# Uninstall Target 
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/xUninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/xUninstall.cmake" IMMEDIATE @ONLY)
+add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/xUninstall.cmake")
+
+set(CMAKE_INSTALL_LIBDIR lib)
+
+# Generate pkg-config file
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pc.in ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc @ONLY)
+
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
+
+# Cmake find_package() support.
+set(CMAKE_EXPORT_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
+include(CMakePackageConfigHelpers)
+
+install(TARGETS x EXPORT xTargets)
+install(EXPORT xTargets
+    DESTINATION ${CMAKE_EXPORT_DESTINATION}
+)
+install(DIRECTORY include/ DESTINATION include)
+configure_package_config_file(xConfig.cmake.in
+    ${CMAKE_CURRENT_BINARY_DIR}/xConfig.cmake
+    INSTALL_DESTINATION ${CMAKE_EXPORT_DESTINATION}
+)
+write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/xConfigVersion.cmake
+    COMPATIBILITY SameMajorVersion
+)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/xConfig.cmake
+    ${CMAKE_CURRENT_BINARY_DIR}/xConfigVersion.cmake
+    DESTINATION ${CMAKE_EXPORT_DESTINATION}
+)
+
+# Support automatic RPM/DEB generation via CPack
+SET(CPACK_CMAKE_GENERATOR ${CMAKE_GENERATOR})
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME})
+set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
+set(CPACK_PACKAGE_RELEASE 1)
+set(CPACK_PACKAGE_CONTACT "[email protected]")
+set(CPACK_PACKAGE_VENDOR "JPL-California Institute of Technology")
+set(CPACK_PACKAGE_DESCRIPTION "Generic C++ library for vision-based navigation, with multi-sensor fusion capabilities for thermal, range, solar and GPS measurements.")
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY ${CPACK_PACKAGE_DESCRIPTION})
+set(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}.${CMAKE_SYSTEM_PROCESSOR}")
+set(CPACK_GENERATOR "RPM" "DEB")
+set(CPACK_RPM_PACKAGE_AUTOREQ 1)
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS 1)
+
+include(CPack)

src/x/ekf/ekf.cpp

@@ -178,13 +178,13 @@ State Ekf::processUpdateMeasurement() {
 }
 
 void Ekf::lock() {
-#ifdef DUAL_THREAD
+#ifdef MULTI_THREAD
   mutex_.lock();
 #endif
 }
 
 void Ekf::unlock() {
-#ifdef DUAL_THREAD
+#ifdef MULTI_THREAD
   mutex_.unlock();
 #endif
 }

src/x/vio/vio_updater.cpp

@@ -215,7 +215,7 @@ void VioUpdater::constructUpdate(const State& state,
   /* Range-SLAM */
 
   size_t rows_lrf = 0;
-  Matrix h_lrf, res_lrf;
+  Matrix h_lrf = Matrix::Zero(0, P.cols()), res_lrf = Matrix::Zero(0, 1);
   Eigen::VectorXd r_lrf_diag;
 
   if (measurement_.range.timestamp > 0.1 && slam_trks_.size()) {

src/x/vision/camera.cpp

@@ -105,7 +105,7 @@ Feature Camera::normalize(const Feature& feature) const
       feature.getX() * inv_fx_ - cx_n_,
       feature.getY() * inv_fy_ - cy_n_);
   normalized_feature.setXDist(feature.getXDist() * inv_fx_ - cx_n_);
-  normalized_feature.setYDist(feature.getYDist() * inv_fx_ - cx_n_);
+  normalized_feature.setYDist(feature.getYDist() * inv_fy_ - cy_n_);
 
   return normalized_feature;
 }

x.pc.in

@@ -0,0 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
+
+Name: @PROJECT_NAME@
+Description: Generic C++ library for vision-based navigation, with multi-sensor fusion capabilities for thermal, range, solar and GPS measurements.
+Version: @PROJECT_VERSION@
+Requires: opencv2 >= 3.3.1, libzstd
+Libs: @SYSTEM_THREAD_LIBS@
+Cflags: -I${includedir}

xConfig.cmake.in

@@ -0,0 +1,60 @@
+# ===================================================================================
+#  @PROJECT_NAME@ CMake configuration file
+#
+#             ** File generated automatically, do not modify **
+#
+#  Usage from an external project:
+#    In your CMakeLists.txt, add these lines:
+#
+#    FIND_PACKAGE(@PROJECT_NAME@ REQUIRED )
+#    TARGET_LINK_LIBRARIES(MY_TARGET_NAME ${@PROJECT_NAME@_LIBS})
+#
+#    This file will define the following variables:
+#      - @PROJECT_NAME@_LIBS          : The list of libraries to links against.
+#      - @PROJECT_NAME@_LIB_DIR       : The directory where lib files are. Calling LINK_DIRECTORIES
+#                                with this path is NOT needed.
+#      - @PROJECT_NAME@_VERSION       : The  version of this PROJECT_NAME build. Example: "1.2.0"
+#      - @PROJECT_NAME@_VERSION_MAJOR : Major version part of VERSION. Example: "1"
+#      - @PROJECT_NAME@_VERSION_MINOR : Minor version part of VERSION. Example: "2"
+#      - @PROJECT_NAME@_VERSION_PATCH : Patch version part of VERSION. Example: "0"
+#
+# ===================================================================================
+
+# Look for OpenCV >= 3.3.1
+find_package(OpenCV 4 QUIET)
+if(NOT ${OpenCV_FOUND})
+  find_package(OpenCV 3.3.1 QUIET)
+  if(NOT ${OpenCV_FOUND})
+    message(FATAL_ERROR "OpenCV >= 3.3.1 required.")
+  endif()
+endif()
+
+# Eigen plugin
+add_definitions(-DEIGEN_MATRIXBASE_PLUGIN=<x/common/eigen_matrix_base_plugin.h>)
+
+find_package(Eigen3 REQUIRED)
+if(NOT ${Eigen3_FOUND})
+  message(FATAL_ERROR "Eigen3 required.")
+endif()
+
+@PACKAGE_INIT@
+
+include_directories("@CMAKE_INSTALL_PREFIX@/include" 
+  ${OpenCV_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS})
+set(@PROJECT_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" 
+  ${OpenCV_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS})
+check_required_components(x)
+
+LINK_DIRECTORIES("@CMAKE_INSTALL_PREFIX@/lib")
+set(@PROJECT_NAME@_LIB_DIR "@CMAKE_INSTALL_PREFIX@/lib")
+
+set(@PROJECT_NAME@_LIBRARIES @REQUIRED_LIBRARIES@ @PROJECT_NAME@@PROJECT_DLLVERSION@) 
+
+set(@PROJECT_NAME@_FOUND YES)
+set(@PROJECT_NAME@_FOUND "YES")
+set(@PROJECT_NAME@_VERSION        @PROJECT_VERSION@)
+set(@PROJECT_NAME@_VERSION_MAJOR  @PROJECT_VERSION_MAJOR@)
+set(@PROJECT_NAME@_VERSION_MINOR  @PROJECT_VERSION_MINOR@)
+set(@PROJECT_NAME@_VERSION_PATCH  @PROJECT_VERSION_PATCH@)

xUninstall.cmake.in

@@ -0,0 +1,28 @@
+# -----------------------------------------------
+# File that provides "make uninstall" target
+#  We use the file 'install_manifest.txt'
+# -----------------------------------------------
+IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+  MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+STRING(REGEX REPLACE "\n" ";" files "${files}")
+FOREACH(file ${files})
+  MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+  IF(EXISTS "$ENV{DESTDIR}${file}")
+    EXEC_PROGRAM(
+      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval
+      )
+	EXECUTE_PROCESS(COMMAND rm -rf $ENV{DESTDIR}${file})
+    IF(NOT "${rm_retval}" STREQUAL 0)
+      MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+    ENDIF(NOT "${rm_retval}" STREQUAL 0)
+  ELSE(EXISTS "$ENV{DESTDIR}${file}")
+    MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+  ENDIF(EXISTS "$ENV{DESTDIR}${file}")
+ENDFOREACH(file)
+
+