pimenovalexander / corecvs Goto Github PK

1. Real copter visual model support
2. Some scenery added to the scene
3. Unit tests for physics
   1. Freefall
   2. Pendalum
   3. Gyro
4. Support for sensors
5. Manually coded modes
   1. Stab
   2. Acro
6. Betaflight integration
7. Common Optical Flow interface
   1. Simulated
   2. KLT Algo supports
   3. PCA
   4. DISFlow
8. Egomotion estimation
9. Track and autopilot
10. Threads and architecture
11. R9 radio support

The full error stack is

/home/jakhremchik/Documents/corecvs/utils/framesources/opencv/openCVHelper.cpp: In static member function ‘static bool OpenCvHelper::captureImageCopyToBuffer(cv::VideoCapture&, corecvs::G12Buffer*)’:
/home/jakhremchik/Documents/corecvs/utils/framesources/opencv/openCVHelper.cpp:11:22: error: conversion from ‘cv::Mat’ to non-scalar type ‘IplImage {aka _IplImage}’ requested
     IplImage frame = image;
                      ^~~~~
utils/CMakeFiles/cvs_utils.dir/build.make:1180: recipe for target 'utils/CMakeFiles/cvs_utils.dir/framesources/opencv/openCVHelper.cpp.o' failed
make[3]: *** [utils/CMakeFiles/cvs_utils.dir/framesources/opencv/openCVHelper.cpp.o] Error 1
make[3]: *** Waiting for unfinished jobs....
/home/jakhremchik/Documents/corecvs/utils/framesources/opencv/openCVFileCapture.cpp: In member function ‘virtual ImageCaptureInterface::FramePair OpenCvFileCapture::getFrame()’:
/home/jakhremchik/Documents/corecvs/utils/framesources/opencv/openCVFileCapture.cpp:47:46: error: no matching function for call to ‘_IplImage::_IplImage(cv::Mat&)’
         IplImage *header = new IplImage(image);

Steps to reproduce

• Build opencv v3.4.9 with contribs
• Try to build drone-app with opencv

NOTE With opencv v3.4.6 all works fine

Code does not properly handle different cxx standards.

/home/corecvs/core/../core/utils/global.h:405:12: fatal error: filesystem: No such file or directory
 #  include <filesystem>
            ^~~~~~~~~~~~
compilation terminated.

Probably this does not work as expected.

#if defined(__GNUC__)
# if __cplusplus >= 201703L
#  include <filesystem>
   namespace fs = std::filesystem;
# else
#  include <experimental/filesystem>
   namespace fs = std::experimental::filesystem;
# endif

Following stages are proposed

• Build Core for Linux
• Add TBB/OpenBLAS support for core
• Build Core-Tests
• Build for Windows
• Check that core-tests pass
• Build tests
• Build utils
• Add back support for Clang, ICC

Current master version could not be compiled on macOS by gcc or clang (Mac version of clang: 10) because of the following problems:

1. Use of std c++17 functionality, which was not implemented by Apple in current os release 10.14 Mojave.
   Filesystem usage possibly could be fixed by global.h core/utils modification.

In file included from alignment/camerasCalibration/camerasCalibrationFunc.cpp:1:
In file included from ../../corecvs/core/alignment/camerasCalibration/camerasCalibrationFunc.h:2:
In file included from ../../corecvs/core/function/function.h:15:
../../corecvs/core/utils/global.h:408:12:
fatal error: 'experimental/filesystem' file not found
# include <experimental/filesystem>
^~~~~~~~~~~~~~~~~~~~~~~~~

2. Use of not standardized functionality from C11. Apple as vendor for macOS do not want
   to support this features. GCC 9 for macOS has own std c++17 headers and compiled libs,
   however C libs and headers could be provided and installed only by Apple.

In file included from alignment/camerasCalibration/camerasCalibrationFunc.cpp:1:
In file included from ../../corecvs/core/alignment/camerasCalibration/camerasCalibrationFunc.h:2:
In file included from ../../corecvs/core/function/function.h:16:
In file included from ../../corecvs/core/math/matrix/matrix.h:17:
In file included from ../../corecvs/core/buffers/abstractBuffer.h:31:
../../corecvs/core/buffers/memory/alignedMemoryBlock.h:22:17:
error: use of undeclared identifier 'aligned_alloc'
mData = aligned_alloc(align, ((size + align - 1) / align) * align);
^

3. Qmake could not find intel TBB library. However, it is located in usr directory as
   third-party dependency (path: "/usr/local/include/tbb/"). Possibly need to fix mac tbb config.

In file included from alignment/camerasCalibration/camerasCalibrationFunc.cpp:1:
In file included from ../../corecvs/core/alignment/camerasCalibration/camerasCalibrationFunc.h:2:
In file included from ../../corecvs/core/function/function.h:16:
In file included from ../../corecvs/core/math/matrix/matrix.h:17:
In file included from ../../corecvs/core/buffers/abstractBuffer.h:32:
../../corecvs/core/tbbwrapper/tbbWrapper.h:20:10: fatal error: 'tbb/parallel_for.h' file not found
#include <tbb/parallel_for.h>
^~~~~~~~~~~~~~~~~~~~

List of problems above not exhaustive. With this modifications currently I has been able to
compile coresvs/core lib without tests or cloudview.

Hi
do you have email?
I want to ask some things