update CMake and rename source folder

MobileRoboticsSkoltech · Aug 7, 2021 · 526a898 · 526a898
1 parent 6cdb21d
commit 526a898
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Showing 7 changed files with 56 additions and 63 deletions.
diff --git a/app/src/main/cpp/CMakeLists.txt b/app/src/main/cpp/CMakeLists.txt
@@ -3,28 +3,43 @@ cmake_minimum_required(VERSION 3.14)
 project(twist-n-sync)
 
 include(FetchContent)
+
 FetchContent_Declare(
         cmodule
         URL "https://github.com/scapix-com/cmodule/archive/v1.0.29.tar.gz"
         URL_HASH SHA256=b49019b355423aebacd927e99541b146c900ef416ae1da6a8343a2a274dd4876
 )
+
+FetchContent_Declare(
+        eigen
+        GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+        GIT_TAG origin/master
+)
+
+FetchContent_Declare(
+        spline
+        GIT_REPOSITORY https://github.com/ttk592/spline.git
+        GIT_TAG origin/master
+)
+
 FetchContent_MakeAvailable(cmodule)
+FetchContent_MakeAvailable(eigen)
+FetchContent_MakeAvailable(spline)
 
 set(SCAPIX_BRIDGE "java" CACHE STRING "java")
-set(SCAPIX_PLATFORM "windows" CACHE STRING "one of the folders inside 'source/chat/platform': android, windows")
 set(SCAPIX_JAVA_API "android-28" CACHE STRING "one of the folders inside 'scapix/java_api': jdk-11.0.2, android-28, etc.")
 set(GENERATED_DIR generated/bridge/java)
-set(SOURCE_LIST source/TimeSync.cpp source/util/CubicSpline.cpp source/util/TSUtil.cpp)
+set(SOURCE_LIST twist-n-sync-cpp/TimeSync.cpp twist-n-sync-cpp/util/CubicSpline.cpp twist-n-sync-cpp/util/TSUtil.cpp)
 
 add_library(bridge SHARED ${SOURCE_LIST})
 
 find_package(Scapix REQUIRED)
-scapix_bridge_headers(bridge "com.googleresearch.capturesync.softwaresync" source/TimeSync.h)
+scapix_bridge_headers(bridge "com.googleresearch.capturesync.softwaresync" twist-n-sync-cpp/TimeSync.h)
 
 include_directories(
         ${GENERATED_DIR}
-        source
+        twist-n-sync-cpp
 )
 
-target_include_directories(bridge PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/lib/eigen")
-target_include_directories(bridge PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/lib/spline/src")
+target_include_directories(bridge PUBLIC "${CMAKE_BINARY_DIR}/_deps/eigen-src")
+target_include_directories(bridge PUBLIC "${CMAKE_BINARY_DIR}/_deps/spline-src/src")
diff --git a/app/src/main/cpp/source/TimeSync.cpp → ...rc/main/cpp/twist-n-sync-cpp/TimeSync.cpp b/app/src/main/cpp/source/TimeSync.cpp → ...rc/main/cpp/twist-n-sync-cpp/TimeSync.cpp
@@ -1,7 +1,3 @@
-//
-// Created by achains on 18.07.2021.
-//
-
 #include "TimeSync.h"
 #include "util/TSUtil.h"
 #include "util/CubicSpline.h"
@@ -17,19 +13,19 @@ TimeSync::TimeSync(std::vector<std::vector<double>> const & gyro_first,
                    std::vector<double> const & ts_first,
                    std::vector<double> const & ts_second,
                    bool const & do_resample):
-                        gyro_first_(TSUtil::vectorToEigMatrixX3d(gyro_first)),
-                        gyro_second_(TSUtil::vectorToEigMatrixX3d(gyro_second)),
-                        ts_first_(TSUtil::vectorToEigVectorXd(ts_first)),
-                        ts_second_(TSUtil::vectorToEigVectorXd(ts_second)),
+                        gyro_first_(tsutil::vectorToEigMatrixX3d(gyro_first)),
+                        gyro_second_(tsutil::vectorToEigMatrixX3d(gyro_second)),
+                        ts_first_(tsutil::vectorToEigVectorXd(ts_first)),
+                        ts_second_(tsutil::vectorToEigVectorXd(ts_second)),
                         do_resample_(do_resample) {}
 
 
-TSUtil::CorrData TimeSync::getInitialIndex() const {
+tsutil::CorrData TimeSync::getInitialIndex() const {
 
-    Eigen::VectorXd norm_first = TSUtil::getNormOfRows(gyro_first_);
-    Eigen::VectorXd norm_second = TSUtil::getNormOfRows(gyro_second_);
+    Eigen::VectorXd norm_first = tsutil::getNormOfRows(gyro_first_);
+    Eigen::VectorXd norm_second = tsutil::getNormOfRows(gyro_second_);
 
-    Eigen::VectorXd cross_cor = TSUtil::eigenCrossCor(norm_first, norm_second);
+    Eigen::VectorXd cross_cor = tsutil::eigenCrossCor(norm_second, norm_first);
 
     return {cross_cor, std::distance(cross_cor.begin(), std::max_element(cross_cor.begin(), cross_cor.end()))};
 }
@@ -38,21 +34,21 @@ Eigen::MatrixX3d & TimeSync::interpolateGyro(Eigen::VectorXd const & ts_old, Eig
                                            Eigen::VectorXd const & ts_new, Eigen::MatrixX3d & gyro_new) {
     assert (gyro_old.rows() == gyro_new.rows());
 
-    gyro_new << TSUtil::interpolate(ts_old, gyro_old(Eigen::all, 0), ts_new),
-                TSUtil::interpolate(ts_old, gyro_old(Eigen::all, 1), ts_new),
-                TSUtil::interpolate(ts_old, gyro_old(Eigen::all, 2), ts_new);
+    gyro_new << tsutil::interpolate(ts_old, gyro_old(Eigen::all, 0), ts_new),
+                tsutil::interpolate(ts_old, gyro_old(Eigen::all, 1), ts_new),
+                tsutil::interpolate(ts_old, gyro_old(Eigen::all, 2), ts_new);
     return gyro_new;
 }
 
 void TimeSync::resample(double const & accuracy){
-    double time_first_mean = TSUtil::adjDiffEigen(ts_first_).mean();
-    double time_second_mean = TSUtil::adjDiffEigen(ts_second_).mean();
+    double time_first_mean = tsutil::adjDiffEigen(ts_first_).mean();
+    double time_second_mean = tsutil::adjDiffEigen(ts_second_).mean();
 
     dt_ = std::min({accuracy, time_first_mean, time_second_mean});
 
     if (do_resample_){
-        Eigen::VectorXd ts_first_new = TSUtil::arangeEigen(ts_first_[0], *ts_first_.end() + dt_, dt_);
-        Eigen::VectorXd ts_second_new = TSUtil::arangeEigen(ts_second_[0], *ts_second_.end() + dt_, dt_);
+        Eigen::VectorXd ts_first_new = tsutil::arangeEigen(ts_first_[0], *ts_first_.end() + dt_, dt_);
+        Eigen::VectorXd ts_second_new = tsutil::arangeEigen(ts_second_[0], *ts_second_.end() + dt_, dt_);
 
         TimeSync::interpolateGyro(ts_first_, gyro_first_, ts_first_new, gyro_first_);
         TimeSync::interpolateGyro(ts_second_, gyro_second_, ts_second_new, gyro_second_);
@@ -64,7 +60,7 @@ Eigen::Vector2d TimeSync::obtainRoots(Eigen::VectorXd const & coeffs, Eigen::Ind
     for (auto i = 0; i < order; ++i){
         equation[i] = static_cast<double>(order - i) * coeffs[i];
     }
-    return TSUtil::quadraticRoots(equation.reverse());
+    return tsutil::quadraticRoots(equation.reverse());
 }
 
 void TimeSync::obtainDelay(){
@@ -73,7 +69,7 @@ void TimeSync::obtainDelay(){
     Eigen::Index shift = -gyro_first_.rows() + 1;
 
     // Cross-cor estimation
-    TSUtil::CorrData corr_data = TimeSync::getInitialIndex();
+    tsutil::CorrData corr_data = TimeSync::getInitialIndex();
     corr_data.initial_index += shift;
 
     Eigen::MatrixX3d tmp_xx1;
@@ -105,8 +101,8 @@ void TimeSync::obtainDelay(){
     corr_data = TimeSync::getInitialIndex();
 
     // Cross-cor, based cubic spline coefficients
-    CubicSpline cubic_spline(TSUtil::arangeEigen(0., static_cast<double>(corr_data.cross_cor.size())),
-                                corr_data.cross_cor);
+    CubicSpline cubic_spline(tsutil::arangeEigen(0., static_cast<double>(corr_data.cross_cor.size())),
+                             corr_data.cross_cor);
 
     Eigen::Matrix4Xd spline_coefficients = cubic_spline.getCoefficients();
 

diff --git a/app/src/main/cpp/source/TimeSync.h → app/src/main/cpp/twist-n-sync-cpp/TimeSync.h b/app/src/main/cpp/source/TimeSync.h → app/src/main/cpp/twist-n-sync-cpp/TimeSync.h
@@ -1,7 +1,3 @@
-//
-// Created by achains on 18.07.2021.
-//
-
 #ifndef TWIST_N_SYNC_CPP_MODULE_TIMESYNC_H
 #define TWIST_N_SYNC_CPP_MODULE_TIMESYNC_H
 
@@ -31,7 +27,7 @@ class TimeSync : public scapix::bridge::object<TimeSync> {
 
     static Eigen::Vector2d obtainRoots(Eigen::VectorXd const & coeffs, Eigen::Index const & order);
 
-    TSUtil::CorrData getInitialIndex() const;
+    tsutil::CorrData getInitialIndex() const;
 
     // 3D angular velocities from devices' gyros
     Eigen::MatrixX3d gyro_first_;

diff --git a/app/src/main/cpp/source/util/CubicSpline.cpp → ...cpp/twist-n-sync-cpp/util/CubicSpline.cpp b/app/src/main/cpp/source/util/CubicSpline.cpp → ...cpp/twist-n-sync-cpp/util/CubicSpline.cpp
@@ -1,7 +1,3 @@
-//
-// Created by achains on 26.07.2021.
-//
-
 #include "CubicSpline.h"
 #include "TSUtil.h"
 
@@ -39,8 +35,8 @@ Eigen::Matrix4Xd CubicSpline::getCoefficients() {
         calculateDerivative();
     }
     std::vector<double> Y = m_spline_.get_y();
-    Eigen::VectorXd A = TSUtil::vectorToEigVectorXd(Y);
-    Eigen::VectorXd B = TSUtil::vectorToEigVectorXd(derivative_);
+    Eigen::VectorXd A = tsutil::vectorToEigVectorXd(Y);
+    Eigen::VectorXd B = tsutil::vectorToEigVectorXd(derivative_);
 
     double dx = m_spline_.get_x()[1] - m_spline_.get_x()[0];
 

diff --git a/app/src/main/cpp/source/util/CubicSpline.h → ...n/cpp/twist-n-sync-cpp/util/CubicSpline.h b/app/src/main/cpp/source/util/CubicSpline.h → ...n/cpp/twist-n-sync-cpp/util/CubicSpline.h
@@ -1,7 +1,3 @@
-//
-// Created by achains on 26.07.2021.
-//
-
 #ifndef TWIST_N_SYNC_CPP_MODULE_CUBICSPLINE_H
 #define TWIST_N_SYNC_CPP_MODULE_CUBICSPLINE_H
 

diff --git a/app/src/main/cpp/source/util/TSUtil.cpp → ...main/cpp/twist-n-sync-cpp/util/TSUtil.cpp b/app/src/main/cpp/source/util/TSUtil.cpp → ...main/cpp/twist-n-sync-cpp/util/TSUtil.cpp
@@ -1,15 +1,11 @@
-//
-// Created by achains on 23.07.2021.
-//
-
 #include "TSUtil.h"
 #include "unsupported/Eigen/FFT"
 #include "unsupported/Eigen/Polynomials"
 #include "util/CubicSpline.h"
 
 #include <numeric>
 
-namespace TSUtil {
+namespace tsutil {
 
     Eigen::VectorXd arangeEigen(double start, double const & stop, double const & step){
         Eigen::Index size = std::ceil((stop - start) / step);
@@ -63,20 +59,22 @@ namespace TSUtil {
     Eigen::VectorXd eigenCrossCor(Eigen::VectorXd & data_1, Eigen::VectorXd & data_2){
         // Cross-cor(x, y) = iFFT(FFT(x) * conj(FFT(y)))
 
-        Eigen::Index shift_size_data1 = data_1.size();
-        Eigen::Index shift_size_data2 = data_2.size();
+        Eigen::Index old_data1_size = data_1.size();
+        Eigen::Index old_data2_size = data_2.size();
 
         // Length of Discrete Fourier Transform
-        Eigen::Index N = shift_size_data1 + shift_size_data2 - 1;
+        Eigen::Index N = old_data1_size + old_data2_size - 1;
 
         N = static_cast<Eigen::Index> (std::pow(2, std::ceil(std::log2(N))));
 
+        Eigen::Index shift = N - (old_data1_size + old_data2_size - 1);
+
         // Zero padding both vectors
 
         data_1.conservativeResize(N);
         data_2.conservativeResize(N);
-        for (Eigen::Index i = shift_size_data1; i < N; ++i) data_1[i] = 0.0;
-        for (Eigen::Index i = shift_size_data2; i < N; ++i) data_2[i] = 0.0;
+        for (Eigen::Index i = old_data1_size; i < N; ++i) data_1[i] = 0.0;
+        for (Eigen::Index i = old_data2_size; i < N; ++i) data_2[i] = 0.0;
 
         Eigen::FFT <double> fft;
 
@@ -92,11 +90,11 @@ namespace TSUtil {
         Eigen::VectorXd unbiased_result(N);
         fft.inv(unbiased_result, fft_result);
 
-        // Rotating cross-correlation vector on shift_size_data1
+        // Rotating cross-correlation vector on shift
         Eigen::VectorXd cross_cor(N);
-        cross_cor << unbiased_result(Eigen::seq(shift_size_data1, Eigen::last)),
-        unbiased_result(Eigen::seq(0, shift_size_data1 - 1));
+        cross_cor << unbiased_result(Eigen::seq(old_data1_size, Eigen::last)),
+        unbiased_result(Eigen::seq(0, old_data1_size - 1));
 
-        return cross_cor.reverse();
+        return cross_cor(Eigen::seq(shift, Eigen::last));
     }
 }
diff --git a/app/src/main/cpp/source/util/TSUtil.h → ...c/main/cpp/twist-n-sync-cpp/util/TSUtil.h b/app/src/main/cpp/source/util/TSUtil.h → ...c/main/cpp/twist-n-sync-cpp/util/TSUtil.h
@@ -1,15 +1,11 @@
-//
-// Created by achains on 23.07.2021.
-//
-
 #ifndef TWIST_N_SYNC_CPP_MODULE_TSUTIL_H
 #define TWIST_N_SYNC_CPP_MODULE_TSUTIL_H
 
 #include "Eigen/Core"
 
 #include <vector>
 
-namespace TSUtil {
+namespace tsutil {
     // Implementation of numpy.arange function
     Eigen::VectorXd arangeEigen(double start, double const & stop, double const & step = 1.0);