refactor: proto merge

.github/workflows/release.yml

@@ -48,15 +48,16 @@ jobs:
       - uses: hendrikmuhs/ccache-action@v1
 
       - name: Install system dependencies (Ubuntu)
-        run: ./cmake/scripts/install_deps_ubuntu.sh
+        run: ./scripts/install_deps_ubuntu.sh
         if: matrix.os == 'ubuntu-20.04'
 
       - name: Install venv dependencies
         run: ./scripts/build_venv/build_venv.sh
 
       - name: Create Archive For Release
         run: |
-           tar -czvf venv-${{ matrix.os }}.tar.gz cmake/venv/prefix
+           ls
+           tar -czvf venv-${{ matrix.os }}.tar.gz scripts/build_venv/venv/prefix
 
       - name: Upload release assets
         uses: actions/upload-release-asset@v1

cpp/farm_ng/core/CMakeLists.txt

@@ -7,5 +7,6 @@ add_subdirectory(enum)
 add_subdirectory(misc)
 if(BUILD_FARM_NG_PROTOS)
   add_subdirectory(prototools)
+  add_subdirectory(proto_conv)
   add_subdirectory(pipeline)
 endif()

cpp/farm_ng/core/proto_conv/CMakeLists.txt

@@ -0,0 +1,9 @@
+#[[
+core
+]]
+
+add_subdirectory(linalg)
+add_subdirectory(lie)
+add_subdirectory(image)
+add_subdirectory(sensor)
+add_subdirectory(geometry)

cpp/farm_ng/core/proto_conv/geometry/CMakeLists.txt

@@ -0,0 +1,22 @@
+farm_ng_add_library(farm_ng_core_proto_conv_geometry
+  NAMESPACE farm_ng_core
+  INCLUDE_DIR ../../..
+  HEADERS
+    conv.h
+  SOURCES
+    conv.cpp
+)
+
+target_link_libraries(farm_ng_core_proto_conv_geometry PUBLIC
+  sophus_lie
+  protobuf::libprotobuf
+  farm_ng_core::farm_ng_core_prototools
+  farm_ng_core_proto_defs
+    farm_ng_core::farm_ng_core_proto_conv_linalg)
+
+if(${BUILD_SOPHUS_TESTS})
+  farm_ng_add_test(conv
+                PARENT_LIBRARY farm_ng_core_proto_conv_geometry
+                LINK_LIBRARIES farm_ng_core_proto_conv_geometry
+                LABELS small)
+endif()

cpp/farm_ng/core/proto_conv/geometry/conv.cpp

@@ -0,0 +1,45 @@
+//    Copyright 2022, farm-ng inc.
+//
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
+//
+//        http://www.apache.org/licenses/LICENSE-2.0
+//
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
+
+#include "farm_ng/core/proto_conv/geometry/conv.h"
+
+#include "farm_ng/core/proto_conv/linalg/conv.h"
+
+namespace farm_ng::core {
+
+Expected<sophus::UnitVector3F64> fromProto(proto::UnitVec3F64 const& proto) {
+  return sophus::UnitVector3F64::tryFromUnitVector(fromProto(proto.vec3()));
+}
+
+proto::UnitVec3F64 toProto(sophus::UnitVector3F64 const& uvec) {
+  proto::UnitVec3F64 proto;
+  *proto.mutable_vec3() = toProto(uvec.params());
+  return proto;
+}
+
+Expected<Eigen::Hyperplane<double, 3>> fromProto(
+    proto::Hyperplane3F64 const& proto) {
+  SOPHUS_TRY(sophus::UnitVector3F64, normal, fromProto(proto.normal()));
+  return Eigen::Hyperplane<double, 3>{normal.params(), proto.offset()};
+}
+
+proto::Hyperplane3F64 toProto(Eigen::Hyperplane<double, 3> const& plane) {
+  proto::Hyperplane3F64 proto;
+  *proto.mutable_normal() =
+      toProto(sophus::UnitVector3F64::fromVectorAndNormalize(plane.normal()));
+  proto.set_offset(plane.offset());
+  return proto;
+}
+
+}  // namespace farm_ng::core

cpp/farm_ng/core/proto_conv/geometry/conv.h

@@ -0,0 +1,29 @@
+//    Copyright 2022, farm-ng inc.
+//
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
+//
+//        http://www.apache.org/licenses/LICENSE-2.0
+//
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
+
+#pragma once
+
+#include "farm_ng/core/geometry.pb.h"
+#include "sophus/geometry/ray.h"
+
+namespace farm_ng::core {
+
+Expected<sophus::UnitVector3F64> fromProto(proto::UnitVec3F64 const& proto);
+proto::UnitVec3F64 toProto(sophus::UnitVector3F64 const& uvec);
+
+Expected<Eigen::Hyperplane<double, 3>> fromProto(
+    proto::Hyperplane3F64 const& proto);
+proto::Hyperplane3F64 toProto(Eigen::Hyperplane<double, 3> const& plane);
+
+}  // namespace farm_ng::core

cpp/farm_ng/core/proto_conv/geometry/conv_test.cpp

@@ -0,0 +1,19 @@
+//    Copyright 2022, farm-ng inc.
+//
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
+//
+//        http://www.apache.org/licenses/LICENSE-2.0
+//
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
+
+#include "farm_ng/core/proto_conv/lie/conv.h"
+
+#include <gtest/gtest.h>
+
+using namespace sophus;

cpp/farm_ng/core/proto_conv/image/CMakeLists.txt

@@ -0,0 +1,24 @@
+farm_ng_add_library(farm_ng_core_proto_conv_image
+  NAMESPACE farm_ng_core
+  INCLUDE_DIR ../../..
+  HEADERS
+    conv.h
+  SOURCES
+    conv.cpp
+)
+
+target_link_libraries(farm_ng_core_proto_conv_image PUBLIC
+  Sophus::sophus_linalg
+  protobuf::libprotobuf
+  farm_ng_core::farm_ng_core_proto_defs
+  farm_ng_core::farm_ng_core_prototools
+  farm_ng_core::farm_ng_core_proto_conv_linalg
+  sophus_image
+ )
+
+if(${BUILD_SOPHUS_TESTS})
+  farm_ng_add_test(conv
+                PARENT_LIBRARY farm_ng_core_proto_conv_image
+                LINK_LIBRARIES farm_ng_core_proto_conv_image
+                LABELS small)
+endif()

cpp/sophus/image/proto/conv.cpp → cpp/farm_ng/core/proto_conv/image/conv.cpp

@@ -1,14 +1,20 @@
-// Copyright (c) 2011, Hauke Strasdat
-// Copyright (c) 2012, Steven Lovegrove
-// Copyright (c) 2021, farm-ng, inc.
+//    Copyright 2022, farm-ng inc.
 //
-// Use of this source code is governed by an MIT-style
-// license that can be found in the LICENSE file or at
-// https://opensource.org/licenses/MIT.
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
+//
+//        http://www.apache.org/licenses/LICENSE-2.0
+//
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
 
-#include "sophus/image/proto/conv.h"
+#include "farm_ng/core/proto_conv/image/conv.h"
 
-namespace sophus {
+namespace farm_ng::core {
 
 sophus::ImageSize fromProto(proto::ImageSize const& proto) {
   sophus::ImageSize image_size;
@@ -53,7 +59,7 @@ proto::PixelFormat toProto(sophus::PixelFormat const& layout) {
 }
 
 Expected<sophus::AnyImage<>> fromProto(proto::DynImage const& proto) {
-  SOPHUS_TRY(PixelFormat, format, fromProto(proto.pixel_format()));
+  SOPHUS_TRY(sophus::PixelFormat, format, fromProto(proto.pixel_format()));
   auto layout = fromProto(proto.layout());
 
   SOPHUS_ASSERT_EQ(size_t(layout.sizeBytes()), proto.data().size());
@@ -69,4 +75,4 @@ Expected<sophus::IntensityImage<>> intensityImageFromProto(
   return sophus::IntensityImage<>::tryFrom(any_image);
 }
 
-}  // namespace sophus
+}  // namespace farm_ng::core

cpp/sophus/image/proto/conv.h → cpp/farm_ng/core/proto_conv/image/conv.h

@@ -1,17 +1,23 @@
-// Copyright (c) 2011, Hauke Strasdat
-// Copyright (c) 2012, Steven Lovegrove
-// Copyright (c) 2021, farm-ng, inc.
+//    Copyright 2022, farm-ng inc.
 //
-// Use of this source code is governed by an MIT-style
-// license that can be found in the LICENSE file or at
-// https://opensource.org/licenses/MIT.
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
+//
+//        http://www.apache.org/licenses/LICENSE-2.0
+//
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
 
 #pragma once
 
-#include "sophus/image.pb.h"
+#include "farm_ng/core/image.pb.h"
 #include "sophus/image/dyn_image_types.h"
 
-namespace sophus {
+namespace farm_ng::core {
 
 sophus::ImageSize fromProto(proto::ImageSize const& proto);
 proto::ImageSize toProto(sophus::ImageSize const& image_size);
@@ -38,4 +44,4 @@ proto::DynImage toProto(sophus::DynImage<TPredicate> const& image) {
 
   return proto;
 }
-}  // namespace sophus
+}  // namespace farm_ng::core

cpp/sophus/image/proto/conv_test.cpp → cpp/farm_ng/core/proto_conv/image/conv_test.cpp

@@ -1,12 +1,18 @@
-// Copyright (c) 2011, Hauke Strasdat
-// Copyright (c) 2012, Steven Lovegrove
-// Copyright (c) 2021, farm-ng, inc.
+//    Copyright 2022, farm-ng inc.
 //
-// Use of this source code is governed by an MIT-style
-// license that can be found in the LICENSE file or at
-// https://opensource.org/licenses/MIT.
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
+//
+//        http://www.apache.org/licenses/LICENSE-2.0
+//
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
 
-#include "sophus/image/proto/conv.h"
+#include "farm_ng/core/proto_conv/image/conv.h"
 
 #include <gtest/gtest.h>
 

cpp/farm_ng/core/proto_conv/lie/CMakeLists.txt

@@ -0,0 +1,23 @@
+farm_ng_add_library(farm_ng_core_proto_conv_lie
+  NAMESPACE farm_ng_core
+  INCLUDE_DIR ../../..
+  HEADERS
+    conv.h
+  SOURCES
+    conv.cpp
+)
+
+target_link_libraries(farm_ng_core_proto_conv_lie PUBLIC
+  Sophus::sophus_lie
+  protobuf::libprotobuf
+  farm_ng_core::farm_ng_core_proto_conv_linalg
+  farm_ng_core::farm_ng_core_prototools
+  )
+
+
+if(${BUILD_SOPHUS_TESTS})
+  farm_ng_add_test(conv
+                PARENT_LIBRARY farm_ng_core_proto_conv_lie
+                LINK_LIBRARIES farm_ng_core_proto_conv_lie
+                LABELS small)
+endif()