Merge dev branch

Author: chutsu

.clang-format

@@ -0,0 +1,12 @@
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: true
+AllowShortBlocksOnASingleLine: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+FixNamespaceComments: true
+IndentCaseLabels: true
+PenaltyReturnTypeOnItsOwnLine: 100
+PenaltyBreakBeforeFirstCallParameter: 10000
+SortIncludes: false
+SpaceAfterCStyleCast: false

.flake8

@@ -0,0 +1,2 @@
+[flake8]
+  ignore=E111

.github/workflows/ccpp.yml

@@ -2,14 +2,18 @@ name: ci
 on: [push]
 jobs:
   ci:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
     - uses: actions/checkout@master
+
     - name: install dependencies
-      run: make deps
-    - name: build
+      run: sudo make deps
+
+    - name: build yac
+      run: sudo make lib
+
+    - name: build yac_ros
       run: make release
-    - name: download test data
-      run: sudo make download_test_data
+
     - name: run tests
       run: make tests

.gitignore

@@ -1,12 +1,6 @@
 build
 tags
 
-deps/bin
-deps/include
-deps/lib
-deps/share
 deps/*.log
-deps/src/apriltag3/build
-deps/src/apriltags/build
-deps/src/ceres-solver
-deps/src/SuiteSparse
+*.mp4
+.catkin_tools/

.style.yapf

@@ -0,0 +1,5 @@
+[style]
+based_on_style = google
+column_limit = 80
+indent_width = 2
+blank_line_before_nested_class_or_def = 0

Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:18.04
+FROM ros:noetic-perception-focal
 
 SHELL ["/bin/bash", "-c"]
 ENV HOME /root
@@ -11,7 +11,9 @@ RUN apt-get update && apt-get install -qq -y \
   build-essential \
   git \
   cmake \
-  vim
+  vim \
+  python3-catkin-tools \
+  python3-osrf-pycommon
 
 # yac over to home
 WORKDIR $HOME
@@ -21,4 +23,5 @@ COPY ./ yac
 # build yac
 WORKDIR $HOME/yac
 RUN make deps
-RUN make release
+RUN make lib
+RUN source /opt/ros/noetic/setup.bash && make release

Makefile

@@ -1,49 +1,94 @@
 SHELL:=/bin/bash
-CATKIN_WS=${HOME}/catkin_ws
+PREFIX=/opt/yac
+BUILD_DIR=build
+CATKIN_WS=${HOME}/yac_ws
 YAC_PATH=${CATKIN_WS}/src/yac
+ROS_VERSION="noetic"
+NUM_CPU=2
 
-default: release
-.PHONY: deps release debug
+.PHONY: help deps lib_debug lib debug release download_test_data tests
 
-${YAC_PATH}:
-	ln -sf ${PWD} ${CATKIN_WS}/src/yac
+define compile_yac
+	@cd ${BUILD_DIR} \
+		&& cmake ../yac \
+		-DCMAKE_BUILD_TYPE=$(1) \
+		-DCMAKE_INSTALL_PREFIX=${PREFIX} \
+		&& time sudo make install -s -j${NUM_CPU}
+endef
+
+define compile_yac_ros
+  @cd ${CATKIN_WS} \
+	&& . /opt/ros/${ROS_VERSION}/setup.sh \
+	&& catkin build yac_ros -DCMAKE_BUILD_TYPE=Release -j${NUM_CPU}
+endef
+
+help:
+	@echo -e "\033[1;34m[make targets]:\033[0m"
+	@grep -E '^[a-zA-Z_-]+:.*?## .*$$' $(MAKEFILE_LIST) \
+		| awk 'BEGIN {FS = ":.*?## "}; \
+		{printf "\033[1;36m%-20s\033[0m%s\n", $$1, $$2}'
+
+${BUILD_DIR}:
+	@sudo mkdir -p ${BUILD_DIR}
+
+${PREFIX}:
+	@sudo mkdir -p ${PREFIX}
 
 ${CATKIN_WS}:
 	@mkdir -p ${CATKIN_WS}/src; catkin init
 
-deps:
+${YAC_PATH}:
+	ln -sf ${PWD} ${CATKIN_WS}/src/yac
+
+deps: ## Install dependencies
 	@echo "[Installing Dependencies]"
-	@sudo bash ./scripts/deps/install.bash
 	@make -s -C deps
 
-lib: ${CATKIN_WS} ${YAC_PATH}
-	@cd ${CATKIN_WS} && \
-		. /opt/ros/melodic/setup.sh && \
-		catkin build yac -DCMAKE_BUILD_TYPE=RelWithDebInfo -j2
-
-lib_debug: ${CATKIN_WS} ${YAC_PATH}
-	@cd ${CATKIN_WS} && \
-		. /opt/ros/melodic/setup.sh && \
-		catkin build yac -DCMAKE_BUILD_TYPE=Debug -j2
+lib_debug: ${BUILD_DIR} ${PREFIX} ## Build libyac in debug mode
+	$(call compile_yac,Debug)
 
-release: ${CATKIN_WS} ${YAC_PATH}
-	@cd ${CATKIN_WS} && \
-		. /opt/ros/melodic/setup.sh && \
-		catkin build yac yac_ros -DCMAKE_BUILD_TYPE=Release -j2
+lib_relwithdeb: ${BUILD_DIR} ${PREFIX} ## Build libyac in release with debug info
+	$(call compile_yac,RelWithDebInfo)
 
-debug: ${CATKIN_WS} ${YAC_PATH}
-	@cd ${CATKIN_WS} && \
-		. /opt/ros/melodic/setup.sh && \
-		catkin build yac yac_ros -DCMAKE_BUILD_TYPE=Debug -j2
+lib: ${BUILD_DIR} ${PREFIX} ## Build libyac in release mode
+	$(call compile_yac,Release)
 
-download_test_data:
+download_test_data: ## Download test data
 	@bash ./scripts/download_test_data.bash
 
-tests:
-	@. /opt/ros/melodic/setup.sh && \
-		source ${CATKIN_WS}/devel/setup.bash && \
-		rosrun yac test_aprilgrid && \
-		rosrun yac test_calib_data && \
-		rosrun yac test_calib_mocap && \
-		rosrun yac test_calib_mono && \
-		rosrun yac test_calib_stereo
+tests: ## Build and run tests
+	@cd build \
+		&& ./test_util_config \
+		&& ./test_util_cv \
+		&& ./test_util_data \
+		&& ./test_util_fs \
+		&& ./test_util_net \
+		&& ./test_util_timeline \
+		&& ./test_calib_camera \
+		&& ./test_calib_data \
+		&& ./test_calib_mocap \
+		&& ./test_calib_vi
+
+debug: ${CATKIN_WS} ${YAC_PATH} ## Build libyac and yac_ros in debug mode
+	$(call compile_yac_ros,Debug)
+
+relwithdeb: ${CATKIN_WS} ${YAC_PATH} ## Build libyac and yac_ros in release with debug info
+	$(call compile_yac_ros,RelWithDebInfo)
+
+release: ${CATKIN_WS} ${YAC_PATH} ## Build libyac and yac_ros in release mode
+	$(call compile_yac_ros,Release)
+
+build_docker:
+	sudo rm -rf build \
+		&& sudo rm -rf deps/src/apriltags3/build \
+		&& docker build -t chutsu/yac .
+
+run_docker:
+	@xhost +local:docker
+	@docker run -e DISPLAY \
+		-v /tmp/.X11-unix:/tmp/.X11-unix \
+		-v /data:/data \
+		--network="host" \
+		-it \
+		--rm chutsu/yac
+