Compatibility with Ubuntu 20.04 Focal

CMakeLists.txt

@@ -1,11 +1,11 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.2)
+cmake_minimum_required(VERSION 3.16)
 PROJECT(wave)
 
 # Package version, used when other projects FIND_PACKAGE(wave <version>)
-SET(WAVE_PACKAGE_VERSION 0.1.0)
+SET(WAVE_PACKAGE_VERSION 0.1.1)
 
 # Compiler settings for all targets
-SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD 17)
 SET(CMAKE_POSITION_INDEPENDENT_CODE ON)
 ADD_COMPILE_OPTIONS(-Wall -Wextra -Wno-strict-overflow)
 
@@ -42,7 +42,6 @@ IF(APPEND_OPT_WAVELAB)
     MESSAGE(STATUS "Adding /opt/wavelab to CMAKE_PREFIX_PATH")
     LIST(APPEND CMAKE_PREFIX_PATH "/opt/wavelab")
 ENDIF()
-# Require Eigen 3.2.92, also called 3.3 beta-1, since it's in xenial
 FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
 FIND_PACKAGE(Boost 1.54.0 COMPONENTS system filesystem)
 FIND_PACKAGE(PCL 1.8 COMPONENTS
@@ -52,14 +51,14 @@ FIND_PACKAGE(OpenCV 3.2.0)
 FIND_PACKAGE(yaml-cpp REQUIRED)
 FIND_PACKAGE(Ceres 1.12)
 FIND_PACKAGE(GTSAM)
+#set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
 FIND_PACKAGE(GeographicLib 1.49)
 
 # Where dependencies do not provide IMPORTED targets, define them
 INCLUDE(cmake/ImportEigen3.cmake)
 INCLUDE(cmake/ImportBoost.cmake)
 INCLUDE(cmake/ImportPCL.cmake)
 INCLUDE(cmake/ImportKindr.cmake)
-INCLUDE(cmake/ImportYaml-cpp.cmake)
 INCLUDE(cmake/ImportCeres.cmake)
 
 # Optionally build tests. `gtest` is included with this project

README.md

@@ -41,14 +41,15 @@ Some earlier versions may work, but are not tested.
 - gtsam
 - GeographicLib 1.49
 
-Building libwave requires CMake 3.2 and a C++11 compiler (tested on GCC 5.4).
+Building libwave requires CMake 3.16 and a C++17 compiler (tested on GCC 5.4).
 
 ### Installing dependencies
 The basic set of dependencies can be installed with the Ubuntu package manager
 using the command
 
-    sudo apt-get install libboost-dev libyaml-cpp-dev libeigen3-dev \
-    build-essential cmake
+```
+# apt-get install libboost-dev libyaml-cpp-dev libeigen3-dev build-essential cmake
+```
 
 For convenience, scripts to install other dependencies on Ubuntu 16.04 are
 provided in `scripts/install`. **Note**: the scripts are not tested on a wide
@@ -69,16 +70,16 @@ described above. Then build using CMake:
     cd build
     cmake ..
     make -j8
-    
+
 By default, all libraries whose dependencies are found will be built. Individual
 libraries can be disabled using CMake options. For example,
 
     cmake .. -DBUILD_wave_vision=OFF
-    
+
 will disable building `wave_vision`.
 
 Install libwave by running `make install`. Alternatively, you can enable the
-`EXPORT_BUILD` option in CMake, which will make the libwave build directory 
+`EXPORT_BUILD` option in CMake, which will make the libwave build directory
 searchable by CMake without installation.
 
 
@@ -94,7 +95,7 @@ installed elsewhere). A workaround is to remove OpenCV 2 via
 One libwave has been either installed or exported by CMake, it can be used in
 your project's `CMakeLists.txt` file as follows:
 
-    cmake_minimum_required(VERSION 3.0)
+    cmake_minimum_required(VERSION 3.16)
     project(example)
 
     find_package(wave REQUIRED geometry matching)

cmake/waveConfig.cmake.in

@@ -102,7 +102,6 @@ INCLUDE(${WAVE_EXTRA_CMAKE_DIR}/ImportEigen3.cmake)
 INCLUDE(${WAVE_EXTRA_CMAKE_DIR}/ImportBoost.cmake)
 INCLUDE(${WAVE_EXTRA_CMAKE_DIR}/ImportPCL.cmake)
 INCLUDE(${WAVE_EXTRA_CMAKE_DIR}/ImportKindr.cmake)
-INCLUDE(${WAVE_EXTRA_CMAKE_DIR}/ImportYaml-cpp.cmake)
 INCLUDE(${WAVE_EXTRA_CMAKE_DIR}/ImportCeres.cmake)
 
 # This file contains definitions of IMPORTED targets

package.xml

@@ -1,14 +1,21 @@
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>libwave</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>libwave</description>
 
-  <maintainer email="chutsu@gmail.com">Chris Choi</maintainer>
-  <maintainer email="lkoppel@uwaterloo.ca">Leo Koppel</maintainer>
+  <author email="chutsu@gmail.com">Chris Choi</author>
+  <author email="lkoppel@uwaterloo.ca">Leo Koppel</author>
+  <maintainer email="michal.antkiewicz@uwaterloo.ca">Michal Antkiewicz</maintainer>
   <license>MIT</license>
 
   <!-- This file lets catkin build this non-catkin package-->
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>boost</depend>
+  <depend>eigen</depend>
+  <depend>geographiclib</depend>
+  <depend>yaml-cpp</depend>
+  <test_depend>rosunit</test_depend>
   <export>
     <build_type>cmake</build_type>
   </export>

scripts/plot/quadrotor_plot.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import csv
 import matplotlib.pylab as plt
 

wave_containers/CMakeLists.txt

@@ -3,7 +3,8 @@ PROJECT(wave_containers)
 WAVE_ADD_MODULE(${PROJECT_NAME}
     DEPENDS
     Eigen3::Eigen
-    Boost::boost)
+    Boost::boost
+    wave::utils)
 
 # Unit tests
 IF(BUILD_TESTING)

wave_controls/CMakeLists.txt

@@ -3,6 +3,7 @@ PROJECT(wave_controls)
 WAVE_ADD_MODULE(${PROJECT_NAME}
     DEPENDS
     Eigen3::Eigen
+    wave::utils
     SOURCES
     src/pid.cpp)
 

wave_gtsam/tests/gtsam/gtsam_offline_example.cpp

@@ -6,6 +6,7 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/Sampler.h>
+#include <gtsam/geometry/SimpleCamera.h>
 
 #include "wave/wave_test.hpp"
 #include "wave/vision/dataset/VoDataset.hpp"

wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp

@@ -6,6 +6,7 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/Sampler.h>
+#include <gtsam/geometry/SimpleCamera.h>
 
 #include "wave/wave_test.hpp"
 #include "wave/vision/dataset/VoDataset.hpp"

wave_matching/include/wave/matching/impl/ground_segmentation.hpp

@@ -227,7 +227,7 @@ void GroundSegmentation<PointT>::sectorINSAC(int sector_index) {
 
         if (Vf_s.rows() == 0) {
             keep_going = false;
-            LOG_INFO("WARNING BREAKING LOOP: VF_s does not exist");
+            LOG_INFO("Ground segmentation: BREAKING LOOP: VF_s does not exist");
             continue;
         }
 

wave_vision/include/wave/vision/detector/fast_detector.hpp

@@ -22,7 +22,7 @@ struct FASTDetectorParams {
 
     FASTDetectorParams(const int threshold,
                        const bool nonmax_suppression,
-                       const int type,
+                       const cv::FastFeatureDetector::DetectorType type,
                        const int num_features)
         : threshold(threshold),
           nonmax_suppression(nonmax_suppression),
@@ -54,11 +54,11 @@ struct FASTDetectorParams {
      *  deem the point as a corner.
      *
      *  Options:
-     *  cv::FastFeatureDetector::TYPE_5_8
-     *  cv::FastFeatureDetector::TYPE_7_12
-     *  cv::FastFeatureDetector::TYPE_9_16 (recommended)
+     *  ccv::FastFeatureDetector::DetectorType::TYPE_5_8
+     *  ccv::FastFeatureDetector::DetectorType::TYPE_7_12
+     *  ccv::FastFeatureDetector::DetectorType::TYPE_9_16 (recommended)
      */
-    int type = cv::FastFeatureDetector::TYPE_9_16;
+    cv::FastFeatureDetector::DetectorType type = cv::FastFeatureDetector::DetectorType::TYPE_9_16;
 
     /** The number of features to keep from detection.
      *

wave_vision/include/wave/vision/detector/orb_detector.hpp

@@ -33,7 +33,7 @@ struct ORBDetectorParams {
                       const float scale_factor,
                       const int num_levels,
                       const int edge_threshold,
-                      const int score_type,
+                      const cv::ORB::ScoreType score_type,
                       const int fast_threshold)
         : num_features(num_features),
           scale_factor(scale_factor),
@@ -82,11 +82,11 @@ struct ORBDetectorParams {
      *  alternative option. cv::ORB::FAST_SCORE is slightly faster than
      *  cv::ORB::HARRIS_SCORE, but the results are not as stable.
      *
-     *  Options: cv::ORB::HARRIS_SCORE, cv::ORB::FAST_SCORE
+     *  Options: cv::ORB::ScoreType::HARRIS_SCORE, cv::ORB::ScoreType::FAST_SCORE
      *
-     *  Default: cv::ORB::HARRIS_SCORE
+     *  Default: cv::ORB::ScoreType::HARRIS_SCORE
      */
-    int score_type = cv::ORB::HARRIS_SCORE;
+    cv::ORB::ScoreType score_type = cv::ORB::ScoreType::HARRIS_SCORE;
 
     /** Threshold on difference between intensity of the central pixel, and
      *  pixels in a circle (Bresenham radius 3) around this pixel.

wave_vision/src/descriptor/orb_descriptor.cpp

@@ -37,7 +37,7 @@ ORBDescriptor::ORBDescriptor(const ORBDescriptorParams &config) {
     int num_levels = 8;
     int edge_threshold = 31;
     int first_level = 0;  // As per OpenCV docs, first_level must be zero.
-    int score_type = cv::ORB::HARRIS_SCORE;
+    cv::ORB::ScoreType score_type = cv::ORB::ScoreType::HARRIS_SCORE;
     int fast_threshold = 20;
 
     // Create cv::ORB object with the desired parameters

wave_vision/src/detector/fast_detector.cpp

@@ -26,7 +26,13 @@ FASTDetectorParams::FASTDetectorParams(const std::string &config_path) {
 
     this->threshold = threshold;
     this->nonmax_suppression = nonmax_suppression;
-    this->type = type;
+    if (type == 0) {
+        this->type = cv::FastFeatureDetector::DetectorType::TYPE_5_8;
+    } else if (type == 1) {
+        this->type = cv::FastFeatureDetector::DetectorType::TYPE_7_12;
+    } else if (type == 2) {
+        this->type = cv::FastFeatureDetector::DetectorType::TYPE_9_16;
+    }
     this->num_features = num_features;
 }
 

wave_vision/src/detector/orb_detector.cpp

@@ -32,7 +32,11 @@ ORBDetectorParams::ORBDetectorParams(const std::string &config_path) {
     this->scale_factor = scale_factor;
     this->num_levels = num_levels;
     this->edge_threshold = edge_threshold;
-    this->score_type = score_type;
+    if (score_type == 0) {
+        this->score_type = cv::ORB::ScoreType::HARRIS_SCORE;
+    } else if (score_type == 1) {
+        this->score_type = cv::ORB::ScoreType::FAST_SCORE;
+    }
     this->fast_threshold = fast_threshold;
 }
 

wave_vision/tests/detector_tests/fast_tests.cpp

@@ -13,7 +13,7 @@ TEST(FASTTests, GoodConfig) {
     // Custom params struct (with good values)
     int threshold = 10;
     bool nms = true;
-    int type = cv::FastFeatureDetector::TYPE_9_16;
+    cv::FastFeatureDetector::DetectorType type = cv::FastFeatureDetector::DetectorType::TYPE_9_16;
     int num_features = 10;
 
     EXPECT_NO_THROW(
@@ -46,16 +46,6 @@ TEST(FASTTests, BadThresholdConfiguration) {
     ASSERT_THROW(FASTDetector bad_threshold(config), std::invalid_argument);
 }
 
-TEST(FASTTests, BadTypeConfiguration) {
-    FASTDetectorParams config;
-    config.type = -1;
-
-    ASSERT_THROW(FASTDetector bad_type1(config), std::invalid_argument);
-
-    config.type = 4;
-    ASSERT_THROW(FASTDetector bad_type2(config), std::invalid_argument);
-}
-
 TEST(FASTTests, BadNumFeatures) {
     FASTDetectorParams config;
     config.num_features = -1;
@@ -97,10 +87,6 @@ TEST(FASTTests, BadNewConfiguration) {
 
     ASSERT_THROW(detector.configure(new_config), std::invalid_argument);
 
-    FASTDetectorParams new_config_2;
-    new_config_2.type = -1;
-    ASSERT_THROW(detector.configure(new_config_2), std::invalid_argument);
-
     FASTDetectorParams new_config_3;
     new_config_3.num_features = -5;
     ASSERT_THROW(detector.configure(new_config_3), std::invalid_argument);

wave_vision/tests/detector_tests/orb_tests.cpp

@@ -15,7 +15,7 @@ TEST(ORBDetectorTests, GoodConfig) {
     float scale_factor = 1.2f;
     int num_levels = 8;
     int edge_threshold = 31;
-    int score_type = cv::ORB::HARRIS_SCORE;
+    cv::ORB::ScoreType score_type = cv::ORB::HARRIS_SCORE;
     int fast_threshold = 20;
 
     EXPECT_NO_THROW(ORBDetectorParams config2(num_features,
@@ -79,17 +79,6 @@ TEST(ORBDetectorTests, BadEdgeThreshold) {
     ASSERT_THROW(ORBDetector bad_edgethreshold(config), std::invalid_argument);
 }
 
-TEST(ORBDetectorTests, BadScoreType) {
-    ORBDetectorParams config;
-
-    config.score_type = -1;
-
-    ASSERT_THROW(ORBDetector bad_scoretype1(config), std::invalid_argument);
-
-    config.score_type = 2;
-    ASSERT_THROW(ORBDetector bad_scoretype2(config), std::invalid_argument);
-}
-
 TEST(ORBDetectorTests, BadFastThreshold) {
     ORBDetectorParams config;
     config.fast_threshold = 0;
@@ -147,10 +136,6 @@ TEST(ORBDetectorTests, BadNewConfiguration) {
     config4.edge_threshold = -1;
     ASSERT_THROW(detector.configure(config4), std::invalid_argument);
 
-    ORBDetectorParams config5;
-    config5.score_type = -1;
-    ASSERT_THROW(detector.configure(config5), std::invalid_argument);
-
     ORBDetectorParams config6;
     config6.fast_threshold = -1;
     ASSERT_THROW(detector.configure(config6), std::invalid_argument);