mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
ae84f6d2c5
wpical was unable to use wpimath and its dependent libraries because Ceres was compiled with a different version of Eigen. Now that the Ceres build has been redone and shipped in #8151, we can now use wpimath and our C++ apriltag wrapper in wpical, allowing for major refactors. This includes: * Using `to_json` and `from_json` specializations to concisely serialize and deserialize all JSON files instead of manually handling JSON. * Removal of the `Fieldmap` and `Pose` classes, which were duplicates of the `AprilTagFieldLayout` and `Pose3d` classes respectively. * Using `AprilTagDetector` instead of the raw libapriltag library. * Using `Pose3d` instead of raw Eigen matrices. In addition, several other refactors were made to make the code more readable and to fix several UX issues and crashes. This includes: * Eagerly parsing every JSON file when selected by the user. This means JSON files are only parsed once on selection, instead of every time a downstream function wants to use the data. This also means invalid JSON can be detected upfront and a specific error shown immediately instead of a catch all error when trying to calibrate. * Using `std::optional` to indicate a calibration failed instead of status codes. * Processing videos on separate threads to not block the UI thread and take advantage of parallelization for camera calibration. (2x speedup on my laptop) * Removing the OpenCV calibration option, since mrcal should be better in every scenario. * Showing a progress bar for camera calibration. * Breaking up the massive `DisplayGui` function into separate functions which contain code for different popups. This also allowed for better organization and scoping of static variables. * Renaming variables to make their purpose more clear. * Displaying the tags present in a field layout when trying to combine multiple field layouts. Fixes #7722.
141 lines
3.7 KiB
CMake
141 lines
3.7 KiB
CMake
project(wpical LANGUAGES C CXX Fortran)
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include(CompileWarnings)
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include(GenResources)
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include(LinkMacOSGUI)
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include(AddTest)
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configure_file(src/main/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
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generate_resources(src/main/native/resources generated/main/cpp WPIcal wpical wpical_resources_src)
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file(GLOB wpical_src src/main/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
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file(
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GLOB_RECURSE wpical_thirdparty_src
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src/main/native/thirdparty/libdogleg/src/*.cpp
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src/main/native/thirdparty/mrcal/src/*.c
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src/main/native/thirdparty/mrcal/src/*.cpp
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src/main/native/thirdparty/mrcal_java/src/*.cpp
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)
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if(WIN32)
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set(wpical_rc src/main/native/win/wpical.rc)
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elseif(APPLE)
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set(MACOSX_BUNDLE_ICON_FILE wpical.icns)
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set(APP_ICON_MACOSX src/main/native/mac/wpical.icns)
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set_source_files_properties(${APP_ICON_MACOSX} PROPERTIES MACOSX_PACKAGE_LOCATION "Resources")
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endif()
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add_executable(
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wpical
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${wpical_src}
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${wpical_thirdparty_src}
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${wpical_resources_src}
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${wpical_rc}
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${APP_ICON_MACOSX}
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)
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wpilib_link_macos_gui(wpical)
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wpilib_target_warnings(wpical)
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target_include_directories(
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wpical
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PRIVATE
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src/main/native/include
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src/main/native/thirdparty/libdogleg/include
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src/main/native/thirdparty/mrcal/include
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src/main/native/thirdparty/mrcal_java/include
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)
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if(MSVC)
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set(compile_flags
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/wd4047
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/wd4098
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/wd4267
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/wd4068
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/wd4101
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/wd4200
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/wd4576
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/wd4715
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)
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elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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set(compile_flags
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-Wno-format-nonliteral
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-Wno-unused-variable
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-Wno-missing-field-initializers
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-Wno-gnu-anonymous-struct
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-Wno-c99-extensions
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-Wno-zero-length-array
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-Wno-nested-anon-types
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-Wno-sign-compare
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-Wno-unused-function
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-Wno-missing-braces
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-Wno-null-conversion
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-Wno-unused-but-set-variable
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)
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else()
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set(compile_flags
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-Wno-format-nonliteral
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-Wno-unused-variable
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-Wno-unused-function
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-Wno-sign-compare
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-Wno-missing-field-initializers
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)
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endif()
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set_target_properties(${wpical_thirdparty_src} PROPERTIES COMPILE_FLAGS ${compile_flags})
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find_package(OpenCV REQUIRED)
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find_package(Ceres CONFIG REQUIRED)
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find_package(CHOLMOD CONFIG REQUIRED)
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find_package(SuiteSparse_config CONFIG REQUIRED)
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target_link_libraries(
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wpical
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apriltag
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wpimath
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${OpenCV_LIBS}
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libglass
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wpigui
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wpiutil
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SuiteSparse::CHOLMOD_static
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SuiteSparse::SuiteSparseConfig_static
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Ceres::ceres
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)
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if(WIN32)
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set_target_properties(wpical PROPERTIES WIN32_EXECUTABLE YES)
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elseif(APPLE)
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set_target_properties(wpical PROPERTIES MACOSX_BUNDLE YES OUTPUT_NAME "wpical")
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endif()
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if(WITH_TESTS)
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wpilib_add_test(wpical src/test/native/cpp)
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wpilib_link_macos_gui(wpical_test)
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target_sources(wpical_test PRIVATE ${wpical_src} ${wpical_thirdparty_src})
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target_compile_definitions(wpical_test PRIVATE RUNNING_WPICAL_TESTS)
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if(MSVC)
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target_compile_options(wpical_test PRIVATE /utf-8)
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endif()
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target_compile_options(wpical_test PRIVATE ${compile_flags})
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target_include_directories(
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wpical_test
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PRIVATE
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src/main/native/include
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src/main/native/thirdparty/libdogleg/include
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src/main/native/thirdparty/mrcal/include
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src/main/native/thirdparty/mrcal_java/include
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)
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target_link_libraries(
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wpical_test
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googletest
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apriltag
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wpimath
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${OpenCV_LIBS}
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libglass
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wpigui
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wpiutil
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SuiteSparse::CHOLMOD_static
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SuiteSparse::SuiteSparseConfig_static
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Ceres::ceres
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)
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endif()
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