Import code for optical flow in the browser

.gitignore

@@ -1,6 +1,9 @@
 # Generated dependencies
 /src/generated
 
+# Generated libraries
+/frontend/public/motion_tracker
+
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]
@@ -143,3 +146,8 @@ Temporary
 
 # libzip build files
 /third-party/libzip
+
+# Eclipse project files
+.cproject
+.project
+.settings

lib/CMakeLists.txt

@@ -0,0 +1,174 @@
+################################################################################
+#
+#  Copyright (C) 2020-2023 retro.ai
+#  This file is part of retro-dapp - https://github.com/RetroAI/retro-dapp
+#
+#  SPDX-License-Identifier: Apache-2.0
+#  See the file LICENSE.md for more information.
+#
+################################################################################
+
+################################################################################
+#
+# Build system for C++ libraries
+#
+# Required CMake variables:
+#
+#   CMAKE_FIND_ROOT_PATH - Point this to dependencies compiled with Emscripten
+#   CMAKE_INSTALL_PREFIX - Point this to the "public" folder
+#
+################################################################################
+
+################################################################################
+#
+# Project settings
+#
+################################################################################
+
+project(retroai)
+
+cmake_minimum_required(VERSION 3.0.0)
+
+set(CMAKE_CXX_STANDARD 17)
+
+################################################################################
+#
+# Dependencies
+#
+################################################################################
+
+find_package(Ceres REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(Glog REQUIRED)
+find_package(OpenCV REQUIRED)
+
+add_definitions(-DCERES_FOUND=1)
+
+################################################################################
+#
+# Define sources
+#
+################################################################################
+
+#
+# Motion tracker
+#
+
+set(MOTION_TRACKER_SOURCES
+  api/imgproc.cpp
+  api/reconstruction.cpp
+  api/scene.cpp
+  api/video.cpp
+  kernels/cpu/cpu_imgproc.cpp
+  kernels/cpu/cpu_reconstruction.cpp
+  kernels/cpu/cpu_scene.cpp
+  kernels/cpu/cpu_video.cpp
+  motion_tracker/motion_tracker.cpp
+  motion_tracker/motion_tracker_embinder.cpp
+  motion_tracker/vision_graph.cpp
+  utils/emscripten_utils.cpp
+  utils/frame_pool.cpp
+  utils/image_utils.cpp
+  utils/math_utils.cpp
+)
+
+################################################################################
+#
+# Build libraries
+#
+# TODO:
+#
+#   * Build properly instead of shelling out
+#   * Could refactor this into macros
+#
+################################################################################
+
+include_directories(
+  ${CMAKE_SOURCE_DIR}
+)
+
+string(APPEND EMSCRIPTEN_LINK_FLAGS
+  "--bind "
+  # "-o dist/engine.js "
+  # " -std=c++11 "
+  # " -O2 "
+  # " --preload-file textures "
+  # " --preload-file shaders "
+  # " --preload-file fonts "
+  # " --pre-js pre-module.j "
+  # " --post-js post-module.j "
+  "-s ALLOW_MEMORY_GROWTH=1 "
+  "-s ASSERTIONS=1 "
+  # " -s DEMANGLE_SUPPORT=1 "
+  # " -s DISABLE_EXCEPTION_CATCHING=0 "
+  "-s ERROR_ON_UNDEFINED_SYMBOLS=0 "
+  # " -s FULL_ES3=1 "
+  # " -s GL_ASSERTIONS=1 "
+  # " -s GL_UNSAFE_OPTS=0 "
+  # " -s INVOKE_RUN=0 "
+  # " -s LEGACY_GL_EMULATION=0 "
+  #"-s LLD_REPORT_UNDEFINED "
+  # " -s OFFSCREENCANVAS_SUPPORT=1 "
+  # " -s SAFE_HEAP=1 "
+  #"-s TOTAL_MEMORY=67108864 "
+  # " -s USE_FREETYPE=1 "
+  # " -s USE_GLFW=3 "
+  # " -s USE_WEBGL2=1 "
+  "-s USE_ZLIB=1 "
+  # " -s WASM=1 "
+)
+
+#
+# Motion tracker
+#
+
+add_executable(motion_tracker
+  ${MOTION_TRACKER_SOURCES}
+)
+
+target_include_directories(motion_tracker PRIVATE
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+target_link_libraries(motion_tracker PRIVATE
+  ${OpenCV_LIBS}
+)
+
+if (${CMAKE_SYSTEM_NAME} MATCHES "Emscripten")
+  set_target_properties(motion_tracker PROPERTIES
+    COMPILE_FLAGS " \
+      -O0 \
+      -g4 \
+      -s DISABLE_EXCEPTION_CATCHING=0 \
+      -s INITIAL_MEMORY=26214400 \
+    "
+    # 26214400 is 25 MiB
+    LINK_FLAGS " \
+      --bind \
+      --source-map-base https://retro.ai/ \
+      -O0 \
+      -g4 \
+      -s DISABLE_EXCEPTION_CATCHING=0 \
+      -s INITIAL_MEMORY=26214400 \
+    "
+  )
+endif ()
+
+################################################################################
+#
+# Install libraries
+#
+################################################################################
+
+#
+# Motion tracker
+#
+
+INSTALL(
+  FILES
+    "${CMAKE_BINARY_DIR}/motion_tracker.js"
+    "${CMAKE_BINARY_DIR}/motion_tracker.wasm"
+    "${CMAKE_BINARY_DIR}/motion_tracker.wasm.map"
+  DESTINATION
+    motion_tracker
+)

lib/build-ci.sh

@@ -0,0 +1,67 @@
+#!/bin/bash
+################################################################################
+#
+#  Copyright (C) 2000-2023 retro.ai
+#  This file is part of retro-dapp - https://github.com/RetroAI/retro-dapp
+#
+#  SPDX-License-Identifier: Apache-2.0
+#  See the file LICENSE.md for more information.
+#
+################################################################################
+
+################################################################################
+#
+# Helper for CI infrastructure. Sets the appropriate paths and calls CMake.
+#
+################################################################################
+
+# Enable strict shell mode
+set -o errexit
+set -o nounset
+set -o pipefail
+
+#
+# Environment paths
+#
+
+# Get the absolute path to this script
+SOURCE_DIRECTORY="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# Directory of the depends build system
+TOOL_DIRECTORY="${SOURCE_DIRECTORY}/../tools"
+
+# Directory for intermediate build files
+BUILD_DIRECTORY="${TOOL_DIRECTORY}/build/cpp-libs"
+
+# Directory of the Emscripten SDK
+EMSDK_DIRECTORY="${TOOL_DIRECTORY}/repos/emsdk"
+
+# Directory of the installed dependency files
+DEPENDS_DIRECTORY="${TOOL_DIRECTORY}/dist"
+
+# Directory to place the generated libraries
+INSTALL_DIRECTORY="${SOURCE_DIRECTORY}/../frontend/public"
+
+# Ensure directories exist
+mkdir -p "${BUILD_DIRECTORY}"
+mkdir -p "${INSTALL_DIRECTORY}"
+
+#
+# Setup environment
+#
+
+source "${EMSDK_DIRECTORY}/emsdk_set_env.sh"
+
+#
+# Call CMake
+#
+
+cd "${BUILD_DIRECTORY}"
+
+emcmake cmake \
+  "${SOURCE_DIRECTORY}" \
+  -DCMAKE_FIND_ROOT_PATH="${DEPENDS_DIRECTORY}" \
+  -DCMAKE_INSTALL_PREFIX="${INSTALL_DIRECTORY}" \
+  $(! command -v ccache &> /dev/null || echo "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache") \
+
+cmake --build "${BUILD_DIRECTORY}" -j$(shell getconf _NPROCESSORS_ONLN) --target install

tools/build-depends.sh

@@ -72,6 +72,9 @@ function depends-all() {
   fi
 
   make -C "${TOOL_DIR}" -j$(getconf _NPROCESSORS_ONLN) ${BUILD_DEPENDS}
+
+  # Build C++ libraries
+  "${CPP_LIBRARY_DIR}/build-ci.sh"
 }
 
 function depends-checkout() {

tools/build-paths.sh

@@ -32,6 +32,9 @@ SOURCE_DIR="src"
 # Directory for generated source
 GENERATED_SOURCE_DIR="${SOURCE_DIR}/generated"
 
+# C++ libraries directory
+CPP_LIBRARY_DIR="lib"
+
 # Tooling directory
 TOOL_DIR="tools"