Merge branch 'calibration'

.gitlab-ci.yml

@@ -16,7 +16,6 @@ test_crates:
   image: ubuntu:focal
   script:
     - _packaging/setup-ubuntu-base.sh
-    - _packaging/setup-opencv-4.9.0-static.sh
     - export PATH="$PATH:$CARGO_HOME/bin"
 
     - export RUSTFLAGS="-D warnings"
@@ -50,25 +49,33 @@ test_crates:
     - cd $CI_PROJECT_DIR/bui-backend-session
     - cargo test --release
 
-    # Test braid-april-cal, which requires opencv
-    - cd $CI_PROJECT_DIR/braid-april-cal
-    # run test in release mode, otherwise slow
-    - PKG_CONFIG_PATH=/opt/opencv-4.9.0-static/lib/pkgconfig OPENCV_STATIC=1 cargo test --release --features solve-pnp
-    - cd ..
+    # Test braid-april-cal
+    - cd $CI_PROJECT_DIR/geometry/braid-april-cal
+    - cargo test --release
 
-    # Test braid-april-cal, which requires opencv
-    - cd braid-april-cal/flytrax-apriltags-calibration
-    - PKG_CONFIG_PATH=/opt/opencv-4.9.0-static/lib/pkgconfig OPENCV_STATIC=1 cargo test --release
-    - cd ../..
+    # Test bundle-adj
+    - cd $CI_PROJECT_DIR/geometry/bundle-adj
+    - cargo test --release
 
-    # flytrax-csv-to-braidz, which requires opencv
-    - cd flytrax-csv-to-braidz
-    - PKG_CONFIG_PATH=/opt/opencv-4.9.0-static/lib/pkgconfig OPENCV_STATIC=1 cargo test --release --features "with_apriltags"
+    # Test braid-april-cal-cli
+    - cd $CI_PROJECT_DIR/geometry/braid-april-cal/braid-april-cal-cli
+    - cargo test --release
+
+    # Test flytrax-apriltags-calibration
+    - cd $CI_PROJECT_DIR/geometry/braid-april-cal/flytrax-apriltags-calibration
+    - cargo test --release
+
+    # Test flytrax-csv-to-braidz
+    - cd $CI_PROJECT_DIR/flytrax-csv-to-braidz
+    - cargo test --release --features "with_apriltags"
     - cd ..
 
+    # Install opencv
+    - cd $CI_PROJECT_DIR
+    - _packaging/setup-opencv-4.9.0-static.sh
+
     # Test freemovr-calibration, which requires opencv
     - cd freemovr-calibration
-    # run test in release mode, otherwise slow
     - PKG_CONFIG_PATH=/opt/opencv-4.9.0-static/lib/pkgconfig OPENCV_STATIC=1 cargo test --release --features "opencv"
     - cd ..
 
@@ -139,7 +146,7 @@ test_flydra2:
     # cargo run --bin braid-offline-retrack -- -d ..\..\rust-cam-testing-data\20200622_111457.braid -o tmp
 
 test_crates_rust_stable:
-  image: rust:1.83
+  image: rust:1.85
   script:
     - apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y llvm-dev libclang-dev clang
 
@@ -161,7 +168,7 @@ test_crates_rust_stable:
     - cargo test --features rerun-io
 
     # Test braid-april-cal-webapp
-    - cd $CI_PROJECT_DIR/braid-april-cal/braid-april-cal-webapp
+    - cd $CI_PROJECT_DIR/geometry/braid-april-cal/braid-april-cal-webapp
     - cargo test
 
     # Test datetime-conversion
@@ -257,21 +264,20 @@ test_crates_rust_stable:
     - cd ../..
 
 test_crates_rust_nightly:
-  image: rust:1.83
+  image: rust:1.85
   script:
     - export RUSTFLAGS="-D warnings"
 
     # Use known good nightly
-    - rustup update --no-self-update nightly-2024-12-14
+    - rustup update --no-self-update nightly-2025-02-14
 
     # Test imops with nightly features
-    - cd imops
-    - cargo +nightly-2024-12-14 test --no-default-features --features std,simd
-    - cd ..
+    - cd $CI_PROJECT_DIR/imops
+    - cargo +nightly-2025-02-14 test --no-default-features --features std,simd
 
     # Test fastfreeimage
-    - cd fastfreeimage
-    - cargo +nightly-2024-12-14 test --features portsimd
+    - cd $CI_PROJECT_DIR/fastfreeimage
+    - cargo +nightly-2025-02-14 test --features portsimd
     - cd ..
 
 test_flydra_feature_detector:
@@ -338,7 +344,7 @@ led-box-standalone-ubuntu2004-deb:
     name: "led-box-standalone-debs-${CI_COMMIT_SHA}"
 
 build-freemovr-calibration:
-  image: rust:1.83
+  image: rust:1.85
   script:
     - export RUSTFLAGS="-D warnings"
     - cd freemovr-calibration/freemovr-calibration-cli
@@ -353,7 +359,7 @@ build-freemovr-calibration:
     name: "freemovr-cal-linux-${CI_COMMIT_SHA}"
 
 build-freemovr-calibration-webapp:
-  image: rust:1.83
+  image: rust:1.85
   script:
     - export RUSTFLAGS="-D warnings"
     - export PATH="$PATH:$CARGO_HOME/bin"
@@ -565,14 +571,13 @@ flytrax-csv-to-braidz-binary:
   variables:
     GIT_SUBMODULE_STRATEGY: recursive
   script:
-    - _packaging/setup-opencv-4.9.0-static.sh
     - curl https://sh.rustup.rs -sSf | sh -s -- --profile minimal -y
     - export PATH="$PATH:$CARGO_HOME/bin"
     - export RUSTFLAGS="-D warnings"
 
     - cd $CI_PROJECT_DIR/flytrax-csv-to-braidz
-    - OPENCV_STATIC=1 PKG_CONFIG_PATH=/opt/opencv-4.9.0-static/lib/pkgconfig cargo test --release --features "with_apriltags"
-    - OPENCV_STATIC=1 PKG_CONFIG_PATH=/opt/opencv-4.9.0-static/lib/pkgconfig cargo build --release --features "with_apriltags"
+    - cargo test --release --features "with_apriltags"
+    - cargo build --release --features "with_apriltags"
 
     - mkdir -p $CI_PROJECT_DIR/build
     - ldd -v $CI_PROJECT_DIR/target/release/flytrax-csv-to-braidz
@@ -690,7 +695,6 @@ extra-programs:
   image: ubuntu:focal
   script:
     - apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y curl clang libclang-dev pkg-config dpkg-dev debhelper zip
-    - _packaging/setup-opencv-4.9.0-static.sh
     - curl https://sh.rustup.rs -sSf | sh -s -- --profile minimal -y
     - source $CARGO_HOME/env
     - export RUSTFLAGS="-D warnings"
@@ -710,7 +714,7 @@ extra-programs:
     - cp $CI_PROJECT_DIR/target/release/braidz-mcsc $CI_PROJECT_DIR/build
 
     - cd $CI_PROJECT_DIR/braidz-export-rrd
-    - PKG_CONFIG_PATH=/opt/opencv-4.9.0-static/lib/pkgconfig OPENCV_STATIC=1 cargo build --release
+    - cargo build --release
     - ldd -v $CI_PROJECT_DIR/target/release/braidz-export-rrd
     - cp ../target/release/braidz-export-rrd $CI_PROJECT_DIR/build
 
@@ -752,7 +756,7 @@ fmf-cli:
     name: "fmf-cli-${CI_COMMIT_SHA}"
 
 braid-webapps:
-  image: rust:1.83
+  image: rust:1.85
   script:
     - export RUSTFLAGS="-D warnings"
 
@@ -772,12 +776,10 @@ braid-webapps:
     - cd braidz-viewer
     - cargo update -p wasm-bindgen --precise 0.2.100
     - ./build.sh
-    - cd ..
 
-    - cd braid-april-cal/braid-april-cal-webapp
+    - cd $CI_PROJECT_DIR/geometry/braid-april-cal/braid-april-cal-webapp
     - cargo update -p wasm-bindgen --precise 0.2.100
     - ./build.sh
-    - cd ../..
 
 braid-run-binary:
   # Build on Ubuntu Focal (20.04) but doesn't link libraries with
@@ -818,7 +820,7 @@ braid-run-binary:
     name: "braid-run-binary-${CI_COMMIT_SHA}"
 
 led-box-linux:
-  image: rust:1.83
+  image: rust:1.85
   script:
     - apt-get update
     - DEBIAN_FRONTEND=noninteractive apt-get install -y libudev-dev
@@ -834,7 +836,7 @@ led-box-linux:
     name: "led-box-linux-${CI_COMMIT_SHA}"
 
 led-box-firmware:
-  image: rust:1.83
+  image: rust:1.85
   script:
     - rustc --version
     - cd led-box/led-box-firmware
@@ -1045,7 +1047,7 @@ build_simple:
     - cargo build --release
 
 test_user_guide:
-  image: rust:1.83
+  image: rust:1.85
   script:
     - cd strand-braid-user/users-guide
     - curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.18/mdbook-v0.4.18-x86_64-unknown-linux-gnu.tar.gz | tar -xz

Cargo.toml

@@ -11,9 +11,6 @@ members = [
     "braid/braid-run/braid_frontend",
     "braid/braidz-writer",
     "braid/braidz-writer/cli",
-    "braid-april-cal",
-    "braid-april-cal/braid-april-cal-webapp",
-    "braid-april-cal/flytrax-apriltags-calibration",
     "braid-config-data",
     "braid-offline",
     "braid-process-video",
@@ -51,7 +48,12 @@ members = [
     "freemovr-calibration/freemovr-calibration-cli",
     "freemovr-calibration/freemovr-calibration-webapp",
     "freemovr-calibration/ncollide-geom",
+    "geometry/braid-april-cal",
+    "geometry/braid-april-cal/braid-april-cal-cli",
+    "geometry/braid-april-cal/braid-april-cal-webapp",
+    "geometry/braid-april-cal/flytrax-apriltags-calibration",
     "geometry/braidz-mcsc",
+    "geometry/bundle-adj",
     "geometry/camcal",
     "geometry/flydra-mvg",
     "geometry/mcsc-structs",
@@ -64,6 +66,7 @@ members = [
     "geometry/refraction/bisection-search",
     "geometry/simple-obj-parse",
     "geometry/textured-tri-mesh",
+    "geometry/undistort-image",
     "http-video-streaming",
     "http-video-streaming/http-video-streaming-types",
     "imops",
@@ -131,14 +134,14 @@ debug = true
 adskalman = "0.16"
 anyhow = "1"
 approx = "0.5"
-apriltag-sys = "0.3"
 async-change-tracker = "0.3.4"
 axum = "0.8.1"
 axum-token-auth = "0.2.0"
 base64 = "0.12"
 byteorder = "1"
 bytes = "1.6"
 cam-geom = { version = "0.15", features = ["serde-serialize"] }
+camino = "1.1.9"
 chrono = { version = "0.4.38", features = ["serde"] }
 clap = { version = "4.4.3", features = ["derive", "env", "string"] }
 configure = "0.1.1"
@@ -177,6 +180,7 @@ hyper-util = { version = "0.1.1", features = [
 ] }
 iana-time-zone = "0.1"
 image = { version = "0.25", default-features = false, features = [
+    "bmp",
     "jpeg",
     "png",
     "tiff",
@@ -189,6 +193,7 @@ js-sys = "0.3.77"
 json-lines = { version = "0.1.0", features = ["codec"] }
 lazy_static = "1.4"
 less-avc = "0.1.4"
+levenberg-marquardt = "0.14.0"
 libc = "0.2"
 libflate = "0.1"
 log = "0.4"
@@ -265,7 +270,7 @@ basic-frame = { path = "basic-frame" }
 bisection-search = { path = "geometry/refraction/bisection-search" }
 bg-movie-writer = { path = "media-utils/bg-movie-writer" }
 braid = { path = "braid" }
-braid-april-cal = { path = "braid-april-cal" }
+braid-april-cal = { path = "geometry/braid-april-cal" }
 braid-config-data = { path = "braid-config-data" }
 braid-http-session = { path = "braid-http-session" }
 braid-offline = { path = "braid-offline" }
@@ -275,6 +280,7 @@ braidz-writer = { path = "braid/braidz-writer" }
 bui-backend-session = { path = "bui-backend-session" }
 bui-backend-session-types = { path = "bui-backend-session/types" }
 build-util = { path = "build-util" }
+bundle-adj = { path = "geometry/bundle-adj" }
 camcal = { path = "geometry/camcal" }
 ci2 = { path = "camera/ci2" }
 ci2-async = { path = "camera/ci2-async" }
@@ -301,7 +307,7 @@ flydra-pt-detect-cfg = { path = "flydra-feature-detector/flydra-pt-detect-cfg" }
 flydra-types = { path = "flydra-types", default-features = false }
 flydra-mvg = { path = "geometry/flydra-mvg" }
 flydra2 = { path = "flydra2", default-features = false }
-flytrax-apriltags-calibration = { path = "braid-april-cal/flytrax-apriltags-calibration" }
+flytrax-apriltags-calibration = { path = "geometry/braid-april-cal/flytrax-apriltags-calibration" }
 flytrax-io = { path = "strand-cam/flytrax-io" }
 fmf = { path = "media-utils/fmf" }
 font-drawing = { path = "media-utils/font-drawing" }
@@ -332,6 +338,7 @@ textured-tri-mesh = { path = "geometry/textured-tri-mesh" }
 tiff-decoder = { path = "media-utils/tiff-decoder" }
 tracking = { path = "tracking" }
 ufmf = { path = "media-utils/ufmf" }
+undistort-image = { path = "geometry/undistort-image" }
 vimba = { path = "camera/vimba" }
 withkey = { path = "utils/withkey" }
 y4m-writer = { path = "media-utils/y4m-writer" }

ads-apriltag/Cargo.toml

@@ -7,7 +7,7 @@ edition = "2021"
 rust-version = "1.76"
 
 [dependencies]
-apriltag-sys.workspace = true
+apriltag-sys = "0.3"
 machine-vision-formats.workspace = true
 
 [dev-dependencies]

basic-frame/src/dynamic_frame.rs

@@ -162,15 +162,18 @@ impl DynamicFrame {
     /// Return the image as a `BasicFrame` converting the data to the requested
     /// pixel format as necessary.
     ///
-    /// Note that although this consumes [Self], it does not make sense to
-    /// implement a variant which takes only a reference because the data must
-    /// be copied in that case anyway.
+    /// If the requested pixel format is the current pixel format, this moves
+    /// the data (without reallocation or copying). Otherwise, the data is
+    /// converted.
     ///
     /// To avoid converting the data, use [Self::as_basic].
     pub fn into_pixel_format<FMT>(self) -> Result<BasicFrame<FMT>, convert_image::Error>
     where
         FMT: PixelFormat,
     {
+        // TODO: return a CowImage that views data when it doesn't need to be
+        // converted and allocates new data when it does.
+
         let pixfmt = formats::pixel_format::pixfmt::<FMT>().unwrap();
         if pixfmt == self.pixel_format() {
             // Fast path. Simply return the data.

braidz-export-rrd/Cargo.toml

@@ -21,7 +21,6 @@ nalgebra.workspace = true
 regex.workspace = true
 machine-vision-formats.workspace = true
 rayon = "1.9.0"
-opencv = { version = "0.90", optional = true }
 
 braidz-parser.workspace = true
 env-tracing-logger.workspace = true
@@ -30,12 +29,12 @@ braidz-types.workspace = true
 flydra-types.workspace = true
 convert-image.workspace = true
 frame-source.workspace = true
-basic-frame.workspace = true
+basic-frame = { workspace = true, features = ["convert-image"] }
 ci2-remote-control.workspace = true
 mp4-writer = { workspace = true, features = ["nv-encode"] }
+undistort-image.workspace = true
 
 [features]
-default = ["undistort-images", "openh264-encode"]
+default = ["openh264-encode"]
 
-undistort-images = ["opencv", "basic-frame/convert-image"]
 openh264-encode = ["mp4-writer/openh264-encode", "frame-source/openh264"]