autosquid · wqhot · Oct 10, 2020 · Oct 12, 2020 · Oct 13, 2020 · Oct 13, 2020
diff --git a/.gitignore b/.gitignore
@@ -1,4 +1,3 @@
-<<<<<<< HEAD
 /.clang_complete
 /GPATH
 /GRTAGS
@@ -10,8 +9,6 @@ build
 *.pdf
 *.tex
 *.fdb_latexmk
-=======
->>>>>>> 9ee4789... Initial commit
 # Compiled Object files
 *.slo
 *.lo
@@ -40,3 +37,4 @@ build
 *.exe
 *.out
 *.app
+.vscode/c_cpp_properties.json
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -0,0 +1,27 @@
+{
+    // 使用 IntelliSense 了解相关属性。 
+    // 悬停以查看现有属性的描述。
+    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "(gdb) 启动",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/build/softpositdemo",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "为 gdb 启用整齐打印",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        }
+    ]
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,60 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "*.tcc": "cpp",
+        "chrono": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp",
+        "core": "cpp",
+        "dense": "cpp",
+        "armadillo": "cpp"
+    }
+}
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -0,0 +1,26 @@
+{
+    "tasks": [
+        {
+            "type": "shell",
+            "label": "C/C++: g++ build active file",
+            "command": "/usr/bin/g++",
+            "args": [
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}/${fileBasenameNoExtension}"
+            ],
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        }
+    ],
+    "version": "2.0.0"
+}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,11 +8,9 @@ IF(CMAKE_VERSION VERSION_EQUAL "3.0.0" OR CMAKE_VERSION VERSION_GREATER "3.0.0")
 ENDIF()
 
 # use libc++ for osx
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -std=c++1y")
-
 if (APPLE)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
-endif
+endif()
 
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR})
 set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR})
@@ -40,23 +38,18 @@ if (APPLE)
   set(ALL_LIBS ${Accelerate_LIBRARIES})
 endif()
 
+# find Eigen3
+find_package(Eigen3 3.0.0 REQUIRED)
 
-# find boost
-find_package(Boost)
-link_directories(${Boost_LIBRARY_DIRS})
-
-# armadillo
-find_package(Armadillo REQUIRED)
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}
   ${PROJECT_BINARY_DIR}
-  ${Boost_INCLUDE_DIRS}
-  ${ARMADILLO_INCLUDE_DIRS}
+  "/usr/include/eigen3/"
   )
 
 add_definitions("-D_USE_MATH_DEFINES")
 
-set(ALL_LIBS ${ALL_LIBS} ${Boost_LIBRARIES} ${ARMADILLO_LIBRARIES})
+set(ALL_LIBS ${ALL_LIBS})
 
 
 add_subdirectory(src)
diff --git a/README.md b/README.md
@@ -21,22 +21,20 @@ This repo. provides my cpp implementation.
 # How to Build
 
 ## Dependency
-1. Armadillo
+1. Eigen3
 
-It mainly depends on the Armadillo linear algebra library.
+It mainly depends on the Eigen3 linear algebra library.
 
-2. Boost (Format)
-
-There are also dependency on Boost, and only for outside logging code which can be easily removed.
 
 ## Build Steps
 The project is managed with CMake.
 
 Suggested steps:
 
 ```
-git clone git@github.com:autosquid/softposit.git
+git clone https://github.com/wqhot/softposit-cpp
 cd softposit
+git checkout removearma
 mkdir build
 cd build
 cmake ..

diff --git a/src/demo/demo.cpp b/src/demo/demo.cpp
@@ -6,79 +6,82 @@
 
 int main()
 {
-  std::string name;
-  std::cout<<"hello, "<<name<<std::endl;
+    std::string name;
+    std::cout << "hello, " << name << std::endl;
 
-  std::vector<bloody::point2di_type> imagePts;
-  std::vector<bloody::point3d_type> worldPts;
+    std::vector<bloody::point2di_type> imagePts;
+    std::vector<bloody::point3d_type> worldPts;
 
-  std::vector<int> raw_imagePts {
-    612,
-      117,
-      486,
-      145,
-      567,
-      206,
-      476,
-      234,
-      441,
-      329};
+    std::vector<int> raw_imagePts{
+        612,
+        117,
+        486,
+        145,
+        567,
+        206,
+        476,
+        234,
+        441,
+        329};
 
-  std::cout<<"load image points"<<std::endl;
-  for (uint i=0u; i<raw_imagePts.size(); i+=2){
-    imagePts.push_back(bloody::point2di_type{raw_imagePts[i], raw_imagePts[i+1]});
-  }
+    std::cout << "load image points" << std::endl;
+    for (uint i = 0u; i < raw_imagePts.size(); i += 2)
+    {
+        imagePts.push_back(bloody::point2di_type{raw_imagePts[i], raw_imagePts[i + 1]});
+    }
 
+    std::vector<double> raw_worldPts{-3.7500,
+                                     0,
+                                     0.5000,
+                                     7.5000,
+                                     0,
+                                     2.7500,
+                                     -3.0000,
+                                     -5.0000,
+                                     -2.0000,
+                                     3.0000,
+                                     5.0000,
+                                     -2.0000,
+                                     0,
+                                     2.2500,
+                                     -0.7500,
+                                     0,
+                                     -2.2500,
+                                     -0.7500};
 
-  std::vector<double> raw_worldPts{ -3.7500,
-      0,
-      0.5000,
-      7.5000,
-      0,
-      2.7500,
-      -3.0000,
-      -5.0000,
-      -2.0000,
-      3.0000,
-      5.0000,
-      -2.0000,
-      0,
-      2.2500,
-      -0.7500,
-      0,
-      -2.2500,
-      -0.7500
-      };
+    std::cout << "load world points" << std::endl;
+    for (uint i = 0u; i < raw_worldPts.size(); i += 3)
+    {
+        worldPts.push_back(bloody::point3d_type{raw_worldPts[i], raw_worldPts[i + 1], raw_worldPts[i + 2]});
+    }
 
-  std::cout<<"load world points"<<std::endl;
-  for (uint i=0u; i<raw_worldPts.size(); i+=3){
-    worldPts.push_back(bloody::point3d_type{raw_worldPts[i], raw_worldPts[i+1], raw_worldPts[i+2]});
-  }
+    bloody::Param_type param{2.0E-4, 10.0};
+    bloody::CamInfo_type caminfo{982.1f, bloody::point2di_type{376, 240}};
 
-  bloody::Param_type param{ 2.0E-4, 10.0};
-  bloody::CamInfo_type caminfo{982.1f, bloody::point2di_type{376, 240}};
+    bloody::Pose_type initpose;
 
-  bloody::Pose_type initpose;
+    initpose.rot << 0, -1, 0, 1, 0, 0, 0, 0, 1;
+    initpose.trans = bloody::point3d_type{0, 0, 30};
 
-  initpose.rot = arma::mat("0, 1, 0; -1, 0, 0; 0, 0, 1").t();
-  initpose.trans = bloody::point3d_type{0, 0, 30};
+    auto maybe_pose = softposit(
+        imagePts,
+        worldPts,
+        param,
+        initpose,
+        std::make_pair(caminfo, true));
 
-  auto maybe_pose = softposit(
-    imagePts,
-    worldPts,
-    param,
-    initpose,
-    caminfo
-    );
-
-  if (maybe_pose){
-    auto pose = std::get<0>(*maybe_pose);
-    std::cout<<pose.rot<<std::endl;
-    std::cout<<pose.trans<<std::endl;
-  }else{
-    std::cout<<"failed"<<std::endl;
-  }
-
-  return 0;
+    if (maybe_pose.second)
+    {
+        bloody::Pose_type pose;
+        bloody::match_type match;
+        std::tie(pose, match) = maybe_pose.first;
+        std::cout << pose.rot << std::endl;
+        std::cout << pose.trans << std::endl;
+    }
+    else
+    {
+        std::cout << "failed" << std::endl;
+    }
 
+    return 0;
 }