Merge branch 'enh-pursue-chessboard-detection' into 'master'

ENH: improvements in the chessboard corner detection and memory leak fixes. See merge request DO-CV/sara!398
oddkiva · Aug 1, 2022 · 3a6876a · 3a6876a
2 parents cd1a9cc + 3d66cd8
commit 3a6876a
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -42,6 +42,8 @@ set(BUILD_SHARED_LIBS ${SARA_BUILD_SHARED_LIBS})
 # Add Sara to the CMake module path.
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
+include(sara_create_asan_build_type)
+
 # Import macros and configure Sara library version.
 include(sara_macros)
 sara_dissect_version()

diff --git a/TODO.md b/TODO.md
@@ -1,17 +1,8 @@
-OPENGL
-======
-- Learn how to use framebuffer for texture streaming.
-
 VULKAN
 ======
 - Hello Triangle tutorial.
 
 
-Autocalibration with radial distortion
-======================================
-Reimplement Fitzgibbon's approach (fundamental matrix with one radial distortion
-coefficients).
-
 Bundle Adjustment Tests
 =======================
 

diff --git a/build.sh b/build.sh
@@ -77,11 +77,10 @@ function build_library()
 
   # Use latest Qt version instead of the system Qt.
   #
-  # TODO: migrate to Qt6.
-  # if [ "${platform_name}" == "Linux" ]; then
-  #   cmake_options+="-DQt5_DIR=${HOME}/opt/Qt-5.15.0-amd64/lib/cmake/Qt5 "
-  if [ "${platform_name}" == "Darwin" ]; then
-    cmake_options+="-DSARA_USE_QT6:BOOL=ON "
+  cmake_options+="-DSARA_USE_QT6:BOOL=ON "
+  if [ "${platform_name}" == "Linux" ]; then
+    my_cmake_prefix_paths="/usr/local/Qt-6.3.1"
+  elif [ "${platform_name}" == "Darwin" ]; then
     cmake_options+="-DQt6_DIR=$(brew --prefix qt)/lib/cmake/Qt6 "
   fi
 
@@ -107,9 +106,8 @@ function build_library()
   # Compile Halide code.
   cmake_options+="-DSARA_USE_HALIDE:BOOL=ON "
   if [ "${platform_name}" == "Linux" ]; then
-    cmake_options+="-DCMAKE_PREFIX_PATH=$HOME/opt/Halide-13.0.0-x86-64-linux "
-  fi
-  if [ "${platform_name}" == "Darwin" ]; then
+    my_cmake_prefix_paths="${my_cmake_prefix_paths};$HOME/opt/Halide-14.0.0-x86-64-linux"
+  elif [ "${platform_name}" == "Darwin" ]; then
     cmake_options+="-DLLVM_DIR=$(brew --prefix llvm)/lib/cmake/llvm "
   fi
 
@@ -118,6 +116,8 @@ function build_library()
     cmake_options+="-DNvidiaVideoCodec_ROOT=${HOME}/opt/Video_Codec_SDK_11.0.10 "
   fi
 
+  cmake_options+="-DCMAKE_PREFIX_PATH=${my_cmake_prefix_paths} "
+
   # Use OpenCV tools
   cmake_options+="-DSARA_USE_OPENCV:BOOL=ON"
 

diff --git a/cmake/asan_suppressions.txt b/cmake/asan_suppressions.txt
@@ -0,0 +1,18 @@
+# The address sanitizer has problem with OpenCL.
+#
+# This is documented in:
+# - https://github.com/ddemidov/vexcl/issues/204
+# In particular, it complains `clGetPlatformIDs`.
+
+# Turn off complaints related to Swift bindings.
+leak:Foundation
+
+# Qt
+#
+# On NVIDIA platforms, there seems to be memory leaks related to OpenGL...
+# Maybe it is related to this:
+# https://forums.developer.nvidia.com/t/possible-memory-leak-in-the-510-60-linux-driver/214123
+#
+# Luckily the memory leak does not show up on the GitLab CI.
+leak:dbus
+leak:nvidia-glcore
diff --git a/cmake/sara_configure_cxx_compiler.cmake b/cmake/sara_configure_cxx_compiler.cmake
@@ -36,7 +36,7 @@ if (UNIX)
   set(CMAKE_CXX_FLAGS_RELEASE "-O3")
   set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g -DNDEBUG")
   # Additional flags for Debug builds to code coverage.
-  set(CMAKE_CXX_FLAGS_DEBUG "-g -O0 -DDEBUG -D_DEBUG -fno-inline")
+  set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g -DDEBUG -D_DEBUG")
   if (NOT APPLE)
     set(CMAKE_CXX_FLAGS_DEBUG
       "${CMAKE_CXX_FLAGS_DEBUG} -fprofile-arcs -ftest-coverage")
@@ -48,10 +48,6 @@ if (CMAKE_SYSTEM_NAME STREQUAL Emscripten)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fexceptions")
   set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fexceptions)
 
-  # Silence Eigen compile warnings.
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-copy-with-user-provided-copy")
-
   # Additional flags for Release builds.
   set(CMAKE_CXX_FLAGS_RELEASE -O3)
   set(CMAKE_CXX_FLAGS_RELWITHDEBINFO -O2)

diff --git a/cmake/sara_create_asan_build_type.cmake b/cmake/sara_create_asan_build_type.cmake
@@ -0,0 +1,41 @@
+# From: https://stackoverflow.com/questions/44320465/whats-the-proper-way-to-enable-addresssanitizer-in-cmake-that-works-in-xcode
+
+get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+
+if(isMultiConfig)
+  if(NOT "Asan" IN_LIST CMAKE_CONFIGURATION_TYPES)
+    list(APPEND CMAKE_CONFIGURATION_TYPES Asan)
+  endif()
+else()
+  set(allowedBuildTypes Asan Debug Release RelWithDebInfo MinSizeRel)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
+
+  if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
+    message(FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
+  endif()
+endif()
+
+set(CMAKE_C_FLAGS_ASAN
+    "${CMAKE_C_FLAGS_DEBUG} -O0 -g -fsanitize=address -fno-omit-frame-pointer"
+    CACHE STRING
+          "Flags used by the C compiler for Asan build type or configuration."
+          FORCE)
+
+set(CMAKE_CXX_FLAGS_ASAN
+    "${CMAKE_CXX_FLAGS_DEBUG} -O0 -g -DDEBUG -D_DEBUG -fsanitize=address -fno-omit-frame-pointer"
+    CACHE STRING
+          "Flags used by the C++ compiler for Asan build type or configuration."
+          FORCE)
+
+set(CMAKE_EXE_LINKER_FLAGS_ASAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
+    CACHE STRING
+          "Linker flags to be used to create executables for Asan build type."
+          FORCE)
+
+set(CMAKE_SHARED_LINKER_FLAGS_ASAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
+    CACHE
+      STRING
+      "Linker lags to be used to create shared libraries for Asan build type."
+      FORCE)
diff --git a/cpp/drafts/OpenCL/Core/Context.hpp b/cpp/drafts/OpenCL/Core/Context.hpp
@@ -27,7 +27,7 @@ namespace DO::Sara {
   class Context
   {
   public:
-    Context(const Device& device)
+    inline Context(const Device& device)
     {
       auto err = cl_int{};
       _context =
@@ -42,22 +42,22 @@ namespace DO::Sara {
                              sizeof(_ref_count), &_ref_count, nullptr);
     }
 
-    ~Context()
+    inline ~Context()
     {
       auto err = clReleaseContext(_context);
       if (err < 0)
-        std::cerr << format("Error: failed to release OpenCL program! %s\n",
+        std::cerr << format("Error: failed to release OpenCL context! %s\n",
                             get_error_string(err))
                   << std::endl;
     }
 
-    operator cl_context() const
+    inline operator cl_context() const
     {
       return _context;
     }
 
     template <typename T>
-    void push_property(cl_uint key, T value)
+    inline void push_property(cl_uint key, T value)
     {
       _properties.push_back(key);
       _properties.push_back(reinterpret_cast<cl_context_properties>(value));

diff --git a/cpp/drafts/OpenCL/Core/DeviceBuffer.hpp b/cpp/drafts/OpenCL/Core/DeviceBuffer.hpp
@@ -23,42 +23,44 @@ namespace DO::Sara {
   class DeviceBuffer
   {
   public:
-    DeviceBuffer() = default;
+    inline DeviceBuffer() = default;
 
-    DeviceBuffer(Context& context, T* data, size_t size,
-                 cl_mem_flags flags = CL_MEM_READ_WRITE)
+    inline DeviceBuffer(Context& context, T* data, size_t size,
+                        cl_mem_flags flags = CL_MEM_READ_WRITE)
       : _data(data)
       , _size(size)
       , _buffer(nullptr)
     {
       auto err = cl_int{};
       _buffer = clCreateBuffer(context, flags, size * sizeof(T), _data, &err);
-      if (err < 0)
+      if (err != CL_SUCCESS)
         throw std::runtime_error(
             format("Error: failed to allocate buffer in device memory! %s\n",
                    get_error_string(err)));
     }
 
-    ~DeviceBuffer()
+    inline ~DeviceBuffer()
     {
-      auto err = clReleaseMemObject(_buffer);
-      if (err < 0)
-        std::cerr << format("Error: failed to release buffer in device memory! %s",
-                            get_error_string(err)) << std::endl;
+      const auto err = clReleaseMemObject(_buffer);
+      if (err != CL_SUCCESS)
+        std::cerr << format(
+                         "Error: failed to release buffer in device memory! %s",
+                         get_error_string(err))
+                  << std::endl;
     }
 
-    operator cl_mem&()
+    inline operator cl_mem&()
     {
       return _buffer;
     }
 
-    size_t size() const
+    inline size_t size() const
     {
       return _size;
     }
 
   private:
-    T *_data = nullptr;
+    T* _data = nullptr;
     size_t _size = 0;
     cl_mem _buffer = nullptr;
   };

diff --git a/cpp/drafts/OpenCL/Core/Platform.hpp b/cpp/drafts/OpenCL/Core/Platform.hpp
@@ -22,7 +22,6 @@
 #include <vector>
 
 
-
 namespace DO::Sara {
 
   //! @addtogroup OpenCL
@@ -38,63 +37,68 @@ namespace DO::Sara {
     std::string profile;
     std::string extensions;
 
-    friend inline std::ostream& operator<<(std::ostream& os, const Platform& p)
+    friend inline auto operator<<(std::ostream& os, const Platform& p)
+        -> std::ostream&
     {
       const auto length = static_cast<int>(std::string("Extensions  ").size());
       using std::left;
       using std::setw;
-      os << left << setw(length) << "ID"         << ":  " << p.id << "\n";
-      os << left << setw(length) << "Name"       << ":  " << p.name << "\n";
-      os << left << setw(length) << "Vendor"     << ":  " << p.vendor << "\n";
-      os << left << setw(length) << "Version"    << ":  " << p.version << "\n";
-      os << left << setw(length) << "Profile"    << ":  " << p.profile << "\n";
-      os << left << setw(length) << "Extensions" << ":  " << p.extensions << "\n";
+      os << left << setw(length) << "ID"
+         << ":  " << p.id << "\n";
+      os << left << setw(length) << "Name"
+         << ":  " << p.name << "\n";
+      os << left << setw(length) << "Vendor"
+         << ":  " << p.vendor << "\n";
+      os << left << setw(length) << "Version"
+         << ":  " << p.version << "\n";
+      os << left << setw(length) << "Profile"
+         << ":  " << p.profile << "\n";
+      os << left << setw(length) << "Extensions"
+         << ":  " << p.extensions << "\n";
       return os;
     }
   };
 
   //! @brief Read the OpenCL platform.
   template <int _InfoType>
-  std::string get_platform_info(cl_platform_id platform_id)
+  inline auto get_platform_info(cl_platform_id platform_id) -> std::string
   {
     cl_int err;
 
     size_t buffer_length;
     err = clGetPlatformInfo(platform_id, _InfoType, 0, nullptr, &buffer_length);
     if (err < 0)
-      throw std::runtime_error(format(
-      "Error: cannot get platform info! %s",
-      get_error_string(err)));
+      throw std::runtime_error(
+          format("Error: cannot get platform info! %s", get_error_string(err)));
 
     std::vector<char> buffer;
     buffer.resize(buffer_length);
     err = clGetPlatformInfo(platform_id, _InfoType, buffer_length, &buffer[0],
                             nullptr);
     if (err < 0)
-      throw std::runtime_error(format(
-      "Error: cannot get platform info! %s",
-      get_error_string(err)));
+      throw std::runtime_error(
+          format("Error: cannot get platform info! %s", get_error_string(err)));
 
     return std::string(buffer.begin(), buffer.end());
   }
 
 
-  std::vector<Platform> get_platforms()
+  inline auto get_platforms() -> std::vector<Platform>
   {
     cl_int err;
 
     cl_uint num_platforms;
     err = clGetPlatformIDs(1, nullptr, &num_platforms);
     if (err < 0)
       throw std::runtime_error(format(
-      "Error: cannot get number of platforms! %s", get_error_string(err)));
+          "Error: cannot get number of platforms! %s", get_error_string(err)));
 
     std::vector<cl_platform_id> platform_ids(num_platforms);
     err = clGetPlatformIDs(num_platforms, &platform_ids[0], nullptr);
     if (err < 0)
-      throw std::runtime_error(format(
-      "Error: cannot get the list of platforms",
-      get_error_string(err)));
+      throw std::runtime_error(format("Error: cannot get the list of platforms",
+                                      get_error_string(err)));
+
 
     std::vector<Platform> platforms(num_platforms);
     for (cl_uint i = 0; i < num_platforms; ++i)

diff --git a/cpp/drafts/OpenCL/test/test_opencl_device_buffer.cpp b/cpp/drafts/OpenCL/test/test_opencl_device_buffer.cpp
@@ -28,7 +28,9 @@ BOOST_AUTO_TEST_CASE(test_buffer)
   Device device = get_devices(platform, CL_DEVICE_TYPE_ALL).front();
   Context context(device);
 
-  float in_array[10];
-  DeviceBuffer<float> in_array_buffer(context, in_array, 10,
-                                      CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR);
+  {
+    float in_array[10];
+    DeviceBuffer<float> in_array_buffer(context, in_array, 10,
+                                        CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR);
+  }
 }