Merge pull request #356 from oddkiva/enh-add-kalman-filter

WIP: scaffold kalman filter code.
oddkiva · Dec 11, 2023 · a9c9dbf · a9c9dbf
2 parents 1ae5bef + 01521c2
commit a9c9dbf
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Showing 49 changed files with 1,288 additions and 150 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -18,7 +18,7 @@ jobs:
         # os:  [macos-latest, windows-latest]
         include:
           - os: ubuntu-latest
-            container: 'oddkiva/sara-devel:cuda12.1.0-ubuntu22.04-trt8.6-swift5.9-halide16.0.0'
+            container: 'oddkiva/sara-devel:cuda12.1.0-ubuntu22.04-trt8.6-swift5.9.1-halide16.0.0'
           - os: ubuntu-latest
             container: 'oddkiva/sara-emsdk-devel:latest'
 

diff --git a/build.py b/build.py
@@ -28,7 +28,7 @@
 UBUNTU_VERSION = "22.04"
 CUDA_VERSION = "12.1.0"
 TRT_VERSION = "8.6"
-SWIFT_VERSION = "5.9"
+SWIFT_VERSION = "5.9.1"
 HALIDE_VERSION = "16.0.0"
 
 # Docker
@@ -285,7 +285,7 @@ def run_project_tests(build_dir: str, build_type: str,
         command_line.append("|".join(tests_excluded))
 
     if PROJECT_TYPE == "Xcode":
-        command_line += ["--config", build_type]
+        command_line += ["-C", build_type]
 
     execute(command_line, build_dir)
 

diff --git a/cpp/drafts/MatchPropagation/cpp/src/EmpiricalValidation/EvaluateOutlierResistance.cpp b/cpp/drafts/MatchPropagation/cpp/src/EmpiricalValidation/EvaluateOutlierResistance.cpp
@@ -113,7 +113,7 @@ namespace DO::Sara {
     comment += "\n\tsquaredEll = " + to_string(squared_ell);
     comment += "\n\tK = " + to_string(K);
     comment += "\n\trho_min = " + to_string(rho_min);
-    comment + "_inlierThres_" + to_string(inlier_thres);
+    comment += "\n\tinlierThres = " + to_string(inlier_thres);
     print_stage(comment);
 
     // Get subset of matches.

diff --git a/cpp/examples/Kalpana/ImPlot/CMakeLists.txt b/cpp/examples/Kalpana/ImPlot/CMakeLists.txt
@@ -17,3 +17,4 @@ target_compile_definitions(
   implot_example
   PRIVATE $<$<NOT:$<BOOL:${BUILD_SHARED_LIBS}>>:DO_SARA_STATIC> #
 )
+set_target_properties(implot_example PROPERTIES FOLDER "Examples/Shakti/ImPlot")
diff --git a/cpp/examples/Shakti/Vulkan/Common/CMakeLists.txt b/cpp/examples/Shakti/Vulkan/Common/CMakeLists.txt
@@ -3,3 +3,4 @@ add_library(
   HostUniforms.hpp #
   SignalHandler.hpp SignalHandler.cpp)
 target_include_directories(SignalHandler PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
+set_target_properties(SignalHandler PROPERTIES FOLDER "Examples/Shakti/Vulkan")
diff --git a/cpp/examples/Shakti/Vulkan/Common/HostUniforms.hpp b/cpp/examples/Shakti/Vulkan/Common/HostUniforms.hpp
@@ -9,10 +9,9 @@ struct ModelViewProjectionStack
   {
     model.setIdentity();
     view.setIdentity();
-    projection.setIdentity();
   }
 
   Eigen::Transform<float, 3, Eigen::Projective> model;
   Eigen::Transform<float, 3, Eigen::Projective> view;
-  Eigen::Transform<float, 3, Eigen::Projective> projection;
+  Eigen::Matrix4f projection = Eigen::Matrix4f::Identity();
 };
diff --git a/cpp/examples/Shakti/Vulkan/hello_vulkan_image/CMakeLists.txt b/cpp/examples/Shakti/Vulkan/hello_vulkan_image/CMakeLists.txt
@@ -3,7 +3,8 @@ target_link_libraries(
   hello_vulkan_image
   PRIVATE SignalHandler #
           DO::Sara::Core #
-          DO::Sara::ImageIO #
+          DO::Sara::ImageProcessing #
+          DO::Sara::VideoIO #
           DO::Shakti::Vulkan)
 set_target_properties(hello_vulkan_image PROPERTIES FOLDER
                                                     "Examples/Shakti/Vulkan")

diff --git a/cpp/examples/Shakti/Vulkan/hello_vulkan_image/Geometry.hpp b/cpp/examples/Shakti/Vulkan/hello_vulkan_image/Geometry.hpp
@@ -21,7 +21,6 @@
 struct Vertex
 {
   Eigen::Vector2f pos;
-  Eigen::Vector3f color;
   Eigen::Vector2f uv;
 
   static auto get_binding_description() -> VkVertexInputBindingDescription
@@ -38,25 +37,19 @@ struct Vertex
       -> std::vector<VkVertexInputAttributeDescription>
   {
     auto attribute_descriptions =
-        std::vector<VkVertexInputAttributeDescription>(3);
+        std::vector<VkVertexInputAttributeDescription>(2);
 
     // Position
     attribute_descriptions[0].binding = 0;
     attribute_descriptions[0].location = 0;
     attribute_descriptions[0].format = VK_FORMAT_R32G32_SFLOAT;
     attribute_descriptions[0].offset = offsetof(Vertex, pos);
 
-    // Color
+    // UV texture coords
     attribute_descriptions[1].binding = 0;
     attribute_descriptions[1].location = 1;
-    attribute_descriptions[1].format = VK_FORMAT_R32G32B32_SFLOAT;
-    attribute_descriptions[1].offset = offsetof(Vertex, color);
-
-    // UV texture coords
-    attribute_descriptions[2].binding = 0;
-    attribute_descriptions[2].location = 2;
-    attribute_descriptions[2].format = VK_FORMAT_R32G32_SFLOAT;
-    attribute_descriptions[2].offset = offsetof(Vertex, uv);
+    attribute_descriptions[1].format = VK_FORMAT_R32G32_SFLOAT;
+    attribute_descriptions[1].offset = offsetof(Vertex, uv);
 
     return attribute_descriptions;
   }