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[wpical] Add WPIcal: Field Calibration Tool (#6915)

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Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
Co-authored-by: Jade <spacey-sooty@proton.me>
Co-authored-by: Matthew Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Elliot Scher
2024-12-28 23:24:32 -05:00
committed by GitHub
parent b74f84f876
commit 85507a6c65
86 changed files with 30195 additions and 2 deletions
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155
upstream_utils/mrcal_patches/0001-Fix-MSVC-build-errors.patch Normal file
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@@ -0,0 +1,155 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Mon, 11 Nov 2024 00:15:05 -0500
Subject: [PATCH 1/8] Fix MSVC build errors
---
autodiff.hh | 4 ++--
mrcal-internal.h | 22 +++++++++++-----------
mrcal-types.h | 26 ++++++++++----------------
mrcal.c | 9 ---------
4 files changed, 23 insertions(+), 38 deletions(-)
diff --git a/autodiff.hh b/autodiff.hh
index b6f217354c9de45493d50f776082fe2151330a1d..37aa8c5a048a538ccdf500a43bbd8d788c953a05 100644
--- a/autodiff.hh
+++ b/autodiff.hh
@@ -26,7 +26,7 @@ template<int NGRAD>
struct val_withgrad_t
{
double x;
- double j[NGRAD];
+ double j[NGRAD == 0 ? 1 : NGRAD];
__attribute__ ((visibility ("hidden")))
val_withgrad_t(double _x = 0.0) : x(_x)
@@ -281,7 +281,7 @@ struct val_withgrad_t
template<int NGRAD, int NVEC>
struct vec_withgrad_t
{
- val_withgrad_t<NGRAD> v[NVEC];
+ val_withgrad_t<NGRAD> v[NVEC == 0 ? 1 : NVEC];
vec_withgrad_t() {}
diff --git a/mrcal-internal.h b/mrcal-internal.h
index 4ec6acadb5fc92ec264fb460e1fcc882dd3face3..8fc2857758ef7763cc1ef5b79a495aec7b7bc1bd 100644
--- a/mrcal-internal.h
+++ b/mrcal-internal.h
@@ -12,16 +12,16 @@
// wrapper only
// These models have no precomputed data
-typedef struct {} mrcal_LENSMODEL_PINHOLE__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_STEREOGRAPHIC__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_LONLAT__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_LATLON__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_OPENCV4__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_OPENCV5__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_OPENCV8__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_OPENCV12__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_CAHVOR__precomputed_t;
-typedef struct {} mrcal_LENSMODEL_CAHVORE__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_PINHOLE__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_STEREOGRAPHIC__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_LONLAT__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_LATLON__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_OPENCV4__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_OPENCV5__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_OPENCV8__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_OPENCV12__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_CAHVOR__precomputed_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_CAHVORE__precomputed_t;
// The splined stereographic models configuration parameters can be used to
// compute the segment size. I cache this computation
@@ -38,7 +38,7 @@ typedef struct
union
{
#define PRECOMPUTED_STRUCT(s,n) mrcal_ ##s##__precomputed_t s##__precomputed;
- MRCAL_LENSMODEL_LIST(PRECOMPUTED_STRUCT);
+ MRCAL_LENSMODEL_LIST(PRECOMPUTED_STRUCT)
#undef PRECOMPUTED_STRUCT
};
} mrcal_projection_precomputed_t;
diff --git a/mrcal-types.h b/mrcal-types.h
index e5cf6c637f8f2bf9e4bbe4ad443661159c511887..7e43319b882c3e29eb3429f95c77fc8bd664ce1a 100644
--- a/mrcal-types.h
+++ b/mrcal-types.h
@@ -45,24 +45,18 @@
// parametric models have no extra configuration
-typedef struct {} mrcal_LENSMODEL_PINHOLE__config_t;
-typedef struct {} mrcal_LENSMODEL_STEREOGRAPHIC__config_t;
-typedef struct {} mrcal_LENSMODEL_LONLAT__config_t;
-typedef struct {} mrcal_LENSMODEL_LATLON__config_t;
-typedef struct {} mrcal_LENSMODEL_OPENCV4__config_t;
-typedef struct {} mrcal_LENSMODEL_OPENCV5__config_t;
-typedef struct {} mrcal_LENSMODEL_OPENCV8__config_t;
-typedef struct {} mrcal_LENSMODEL_OPENCV12__config_t;
-typedef struct {} mrcal_LENSMODEL_CAHVOR__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_PINHOLE__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_STEREOGRAPHIC__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_LONLAT__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_LATLON__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_OPENCV4__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_OPENCV5__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_OPENCV8__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_OPENCV12__config_t;
+typedef struct { int dummy; } mrcal_LENSMODEL_CAHVOR__config_t;
#define _MRCAL_ITEM_DEFINE_ELEMENT(name, type, pybuildvaluecode, PRIcode,SCNcode, bitfield, cookie) type name bitfield;
-#ifndef __cplusplus
-// This barfs with g++ 4.8, so I disable it for C++ in general. Checking it for
-// C code is sufficient
-_Static_assert(sizeof(uint16_t) == sizeof(unsigned short int), "I need a short to be 16-bit. Py_BuildValue doesn't let me just specify that. H means 'unsigned short'");
-#endif
-
// Configuration for CAHVORE. These are given as an an
// "X macro": https://en.wikipedia.org/wiki/X_Macro
#define MRCAL_LENSMODEL_CAHVORE_CONFIG_LIST(_, cookie) \
@@ -128,7 +122,7 @@ typedef struct
union
{
#define CONFIG_STRUCT(s,n) mrcal_ ##s##__config_t s##__config;
- MRCAL_LENSMODEL_LIST(CONFIG_STRUCT);
+ MRCAL_LENSMODEL_LIST(CONFIG_STRUCT)
#undef CONFIG_STRUCT
};
} mrcal_lensmodel_t;
diff --git a/mrcal.c b/mrcal.c
index d1195a36050e5cbde393ed033e4d5699ce52225a..85ab4e26a5ab487fc13e66ebd486bd7c00480c05 100644
--- a/mrcal.c
+++ b/mrcal.c
@@ -2674,8 +2674,6 @@ void project( // out
if(!camera_at_identity)
{
// make sure I can pass mrcal_pose_t.r as an rt[] transformation
- _Static_assert( offsetof(mrcal_pose_t, r) == 0, "mrcal_pose_t has expected structure");
- _Static_assert( offsetof(mrcal_pose_t, t) == 3*sizeof(double), "mrcal_pose_t has expected structure");
mrcal_compose_rt( _joint_rt,
gg._d_rj_rc, gg._d_rj_rf,
gg._d_tj_rc, gg._d_tj_tf,
@@ -3465,8 +3463,6 @@ void mrcal_pack_solver_state_vector( // out, in
lensmodel, problem_selections,
Ncameras_intrinsics );
- _Static_assert( offsetof(mrcal_pose_t, r) == 0, "mrcal_pose_t has expected structure");
- _Static_assert( offsetof(mrcal_pose_t, t) == 3*sizeof(double), "mrcal_pose_t has expected structure");
if( problem_selections.do_optimize_extrinsics )
for(int icam_extrinsics=0; icam_extrinsics < Ncameras_extrinsics; icam_extrinsics++)
{
@@ -3715,11 +3711,6 @@ void mrcal_unpack_solver_state_vector( // out, in
if( problem_selections.do_optimize_extrinsics )
{
- _Static_assert( offsetof(mrcal_pose_t, r) == 0,
- "mrcal_pose_t has expected structure");
- _Static_assert( offsetof(mrcal_pose_t, t) == 3*sizeof(double),
- "mrcal_pose_t has expected structure");
-
mrcal_pose_t* extrinsics_fromref = (mrcal_pose_t*)(&b[i_state]);
for(int icam_extrinsics=0; icam_extrinsics < Ncameras_extrinsics; icam_extrinsics++)
i_state += unpack_solver_state_extrinsics_one( &extrinsics_fromref[icam_extrinsics], &b[i_state] );