mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
85507a6c65
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>
156 lines
7.0 KiB
Diff
156 lines
7.0 KiB
Diff
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] );
|