Merge branch 'master' of https://github.com/openptv/openptv

.gitignore

@@ -3,14 +3,21 @@
 .pydevproject
 .pydevproject.bak
 
-py_bind/optv/*.c
+.idea/
+.vscode/
+env/
 
-*.pyc
+py_bind/c_src
+py_bind/optv/*.c
+py_bind/dist
+py_bind/build
+py_bind/liboptv
 
 liboptv/config.h.in~
-
 liboptv/tests/check_fb.trs
 liboptv/build
-py_bind/build
 *~
 
+py_bind/optv/*.c
+py_bind/build
+*.pyc

.travis.yml

@@ -1,20 +1,19 @@
-language: c
-compiler:
-  - clang
-  - gcc
+language: python
 
 before_install:
   - sudo apt-get -qq update
-  - sudo apt-get install -y cmake
-  - sudo apt-get install -y check
   - sudo apt-get install -y build-essential
   - sudo apt-get install -y git
+  - sudo apt install python-pip
+  - pip install numpy
+  - pip install cython
 
 install: true
 
 script:
-- cd liboptv
-- mkdir _build && cd _build
-- cmake ../
-- make
-- make verify
+- cd py_bind
+- python setup.py prepare
+- python setup.py install
+- cd test
+- pip install nose
+- nosetests

docker/Dockerfile

@@ -0,0 +1,10 @@
+# A Dockerfile for an Ubuntu machine that can compile liboptv and the Cython extensions
+
+FROM ubuntu:18.04
+
+RUN apt-get update
+RUN apt-get --assume-yes install cmake
+RUN apt-get --assume-yes install g++
+RUN apt-get --assume-yes install python-pip
+RUN pip install virtualenv
+RUN virtualenv /env --python=`which python2`

docker/docker-compose.yml

@@ -0,0 +1,10 @@
+# Set up the Ubuntu container so we can develop the Cython code on it
+version: '3'
+services:
+  optv-dev:
+    image: ptv-ubuntu:1
+    build: ./
+    volumes:
+      - ../:/src
+    command: tail -f /dev/null
+

liboptv/.gitignore

@@ -27,4 +27,9 @@ tests/.libs/
 tests/check_fb
 tests/*.o
 
+CMakeCache.txt
+*.cmake
+CMakeFiles/
+install_manifest.txt
+*.so
 stamp-h1

liboptv/CMakeLists.txt

@@ -1,9 +1,9 @@
 cmake_minimum_required(VERSION 2.8)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/CMakeModules/")
 project(OpenPTV)
-enable_testing()
+# enable_testing()
 add_subdirectory(src)
-add_subdirectory(tests)
+# add_subdirectory(tests)
 
 INSTALL(DIRECTORY include/ DESTINATION include/optv/)
 

liboptv/include/vec_utils.h

@@ -7,7 +7,18 @@ doubles.
 
 #include <math.h>
 
-#define EMPTY_CELL 0.0/0.0
+#ifdef NAN
+    #define EMPTY_CELL NAN
+#else
+    #if _MSC_VER <= 1500 // Visual C 2008 - for Python 2.7, or earlier
+        #define MSVC_NAN_REQUIRED
+        double return_nan(void);
+        #define EMPTY_CELL return_nan()
+    #else // More modern compilers or non Visual Studio
+        #define EMPTY_CELL 0.0/0.0
+    #endif
+#endif
+
 #define is_empty(x) isnan(x)
 #define norm(x,y,z) sqrt((x)*(x) + (y)*(y) + (z)*(z))
 

liboptv/src/orientation.c

@@ -262,6 +262,9 @@ double* orient (Calibration* cal_in, control_par *cpar, int nfix, vec3d fix[],
     double *P, *y, *yh, *Xbeta, *resi;
     vec3d glass_dir, tmp_vec, e1, e2;
 
+    double (*X)[NPAR];
+    double (*Xh)[NPAR];
+
     Calibration *cal;
 
     /* small perturbation for translation/rotation in meters and in radians */
@@ -278,8 +281,8 @@ double* orient (Calibration* cal_in, control_par *cpar, int nfix, vec3d fix[],
     Xbeta = (double *) calloc(maxsize, sizeof(double));
     resi = (double *) calloc(maxsize, sizeof(double));
 
-    double (*X)[NPAR] = malloc(sizeof (*X) * maxsize);
-    double (*Xh)[NPAR] = malloc(sizeof (*Xh) * maxsize);
+    X = malloc(sizeof (*X) * maxsize);
+    Xh = malloc(sizeof (*Xh) * maxsize);
 
     for(i = 0; i < maxsize; i++) {
         for(j = 0; j < NPAR; j++) {
@@ -759,13 +762,13 @@ int read_man_ori_fix(vec3d fix4[4], char* calblock_filename,
  * Returns: pointer to a new orient_par structure.
  */
 orient_par* read_orient_par(char *filename) {
+    orient_par *ret;
     FILE * file = fopen(filename, "r");
     if (file == NULL) {
         printf("Could not open orientation parameters file %s.\n", filename);
         return NULL;
     }
 
-    orient_par *ret;
     ret = malloc(sizeof(orient_par));
 
     if (   !(fscanf(file, "%d", &ret->useflag)==1)  /* use every point or every other pt */

liboptv/src/parameters.c

@@ -476,13 +476,14 @@ int compare_mm_np(mm_np *mm_np1, mm_np *mm_np2)
  * Returns: pointer to a new target_par structure.
  */
 target_par* read_target_par(char *filename) {
+    target_par *ret;
+
     FILE * file = fopen(filename, "r");
     if (file == NULL) {
         printf("Could not open target recognition parameters file %s.\n", filename);
         return NULL;
     }
 
-    target_par *ret;
     ret = malloc(sizeof(target_par));
 
     if (   !(fscanf(file, "%d", &ret->gvthres[0])==1)   /* threshold for binarization 1.image */

liboptv/src/track.c

@@ -31,6 +31,9 @@
 #include <stdlib.h>
 #include <stdio.h>
 
+#define _USE_MATH_DEFINES
+#include <math.h>
+
 /* internal-use defines, not needed by the outside world. */
 #define TR_UNUSED -1
 

liboptv/src/vec_utils.c

@@ -9,6 +9,17 @@ the logical structure, and allow optimizing for size as well.
 #include "vec_utils.h"
 #include <math.h>
 
+#ifdef MSVC_NAN_REQUIRED
+
+/* Returns a NAN, which is surprisingly  non-trivial on Visual C for Python 2.7 */
+
+static const unsigned long _explicit_dNAN[2] = {0x00000000, 0x7ff80000};
+double return_nan(void) {
+    return *( double* )_explicit_dNAN;
+}
+
+#endif
+
 /*  vec_init() initializes all components of a 3D vector to NaN.
     
     Arguments:

py_bind/README.txt

@@ -13,49 +13,31 @@ The plan is to add more wrappers as other contributors of liboptv find them
 necessary and choose to add them here.
 
 
-Installation on Linux / OS X
-----------------------------
-This package assumes that liboptv is already installed. If it is not, see the 
-instructions for installing it in the liboptv source code.
+Installation
+------------
+Run pip install openptv, which should install everything.
 
-To build the wrapper, Cython must also be installed. Binary installers are 
-available at www.cython.org. Linux users may simply install from the package 
-manager, Windows users can get it through Python(x,y). If you have installed
-openptv-python from source, then you already have Cython working.
+Building the Package
+--------------------
+The package has to be built from the full repository. Make sure all the dependencies
+in requirements.txt are installed, then run:
 
-The test suite consists of Python code that may be run automatically using the 
-Nose test harness: https://nose.readthedocs.org/en/latest/#
+python setup.py prepare   # This copies the liboptv sources and converts pyx files to C
+python setup.py build     # This builds the package
 
-With the dependencies installed, the optv package is installed by typing the
-following command in a terminal:
+You can then create source distributions and binary wheels:
 
-  sudo python setup.py install
+python setup.py sdist bdist_wheel
 
-Note that on many systems you will first need to obtain administrator 
-privileges. On Linux the 'sudo' command is recommended, as shown above.
+You can upload them to your favorite repository, as they reside in the dist subdirectory.
 
-Installation on Windows
------------------------
-Install liboptv as instructed in the Windows installation section of 
-liboptv/README.txt. This way you already have an MSYS environment,
-which you continue to use here.
+Note: You need to build wheels for each platform you want to support.
 
-At this point, since we are building a Python module, you must have a 
-Python version installed. The Python(x,y) distribution, available from
-https://code.google.com/p/pythonxy/ contains all you need. During the
-installation you will be asked to choose packages. To the default 
-selection add the Cython package. For testing your installation later,
-make sure the ``nose`` package is also installed.
+On Windows, you must install the Visual C++ Compiler for Python 2.7. It can be found here:
+https://www.microsoft.com/en-us/download/details.aspx?id=44266
 
-The commands for installing the Python modules are a bit more elaborate 
-than the Linux instructions because Windows is evil. First one builds the
-package:
+You will need to build the package from a Visual C++ for Python Command Prompt.
 
-  python setup.py build_ext -I/usr/include -L/usr/lib/ --compiler=mingw32
-
-Then installation is simply
-
-  python setup.py install
 
 Testing the installation
 ------------------------

py_bind/requirements.txt

@@ -0,0 +1,4 @@
+Cython==0.29.5
+nose==1.3.7
+numpy==1.16.1
+PyYAML>=4.2b1