Changes to permit new opencv version

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "third_party/experiments"]
-	path = third_party/experiments
-	url = https://github.com/jpanikulam/experiments.git

third_party/experiments/.clang-format

@@ -0,0 +1,12 @@
+# Set "style": "File" in your local sublime clang-format config
+# This will make sublime look in the current repo
+
+BasedOnStyle: Google
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AllowShortFunctionsOnASingleLine: None
+BinPackParameters: false
+ColumnLimit: 90
+ExperimentalAutoDetectBinPacking: true
+PenaltyReturnTypeOnItsOwnLine: 10000

third_party/experiments/.gitattributes

@@ -0,0 +1,6 @@
+*.png binary
+*.stl binary
+*.pgm binary
+*.ppm binary
+*.dae binary
+*.jpg binary

third_party/experiments/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# IPython Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# dotenv
+.env
+
+# virtualenv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject
+
+bin/
+tmp/
+
+*.sublime-workspace
+
+

third_party/experiments/CMakeLists.txt

@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 2.8)
+
+set(BASEPATH "${CMAKE_CURRENT_SOURCE_DIR}")
+include_directories("${BASEPATH}/third_party/Sophus")
+include_directories("${BASEPATH}/third_party/eigen3")
+include_directories("${BASEPATH}")
+
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+
+#########################
+# GTest
+#
+enable_testing()
+find_package(GTest REQUIRED)
+include_directories(${GTEST_INCLUDE_DIRS})
+
+#########################
+# OpenCV
+#
+find_package(OpenCV REQUIRED)
+
+#########################
+# OpenGL
+#
+find_package(OpenGL REQUIRED)
+include_directories( ${OPENGL_INCLUDE_DIRS})
+
+#########################
+# GLFW
+#
+find_package(PkgConfig REQUIRED)
+pkg_search_module(GLFW REQUIRED glfw3)
+include_directories(${GLFW_INCLUDE_DIRS})
+
+#########################
+# GLEW
+#
+find_package(GLEW REQUIRED)
+
+#########################
+# ASSIMP
+#
+find_package(ASSIMP REQUIRED)
+
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/run)
+
+macro(add_test test_name test_file test_libs)
+    add_executable(
+        ${test_name}
+        ${test_file}
+    )
+    set_target_properties(
+        ${test_name}
+        PROPERTIES
+        RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/test
+    )
+    target_link_libraries(${test_name} ${test_libs} ${GTEST_LIBRARIES} pthread)
+endmacro(add_test)
+
+execute_process(
+    COMMAND pymake -v success -p "${CMAKE_CURRENT_SOURCE_DIR}"
+    RESULT_VARIABLE ret
+)
+if(ret EQUAL "1")
+    message(FATAL_ERROR "Could not run pymake; run sudo pip install generate-cmake")
+endif()
+
+set(CMAKE_CXX_COMPILER "g++-7")
+set(CMAKE_CXX_FLAGS "--std=c++17 -g -O1 -fno-omit-frame-pointer -Wall -Wno-deprecated-declarations ${CMAKE_CXX_FLAGS}")
+
+add_subdirectory(tmp)
+target_compile_definitions(environment PRIVATE ASSET_PATH="${BASEPATH}/data")
+# add_definitions(-DEIGEN_MAX_ALIGN_BYTES=0)
+# add_definitions(-DEIGEN_MAX_STATIC_ALIGN_BYTES=0)

third_party/experiments/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2017 Jake
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

third_party/experiments/clang/find_functions.py

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+import os
+
+from clang import cindex
+from clang.cindex import CursorKind
+import clang
+
+
+kinds = set()
+
+
+def visitor(cursor, path, go=False):
+    children = list(cursor.get_children())
+    # print '  has {0} children'.format(len(children))
+
+    if (cursor.kind not in kinds):
+        print cursor.kind, ':', cursor.location.file, cursor.spelling
+
+    kinds.add(cursor.kind)
+
+    if cursor.kind == clang.cindex.CursorKind.INCLUSION_DIRECTIVE:
+        print 'ffff'
+        print cursor.spelling
+
+    if cursor.kind in [CursorKind.UNEXPOSED_EXPR, CursorKind.UNEXPOSED_DECL, CursorKind.TRANSLATION_UNIT]:
+        print cursor.kind, ':', cursor.location.file, cursor.spelling
+
+    if (cursor.location.file is not None):
+        if (os.path.realpath(cursor.location.file.name) != path):
+            return
+
+    if (cursor.location.file is not None and cursor.kind == clang.cindex.CursorKind.CXX_METHOD):
+        path = os.path.realpath(cursor.location.file.name)
+
+        print os.path.split(path)[-1], cursor.spelling
+        for child in children:
+            visitor(child, path)
+
+    for child in children:
+        visitor(child, path)
+
+
+if __name__ == '__main__':
+    cindex.Config.set_library_path('/usr/lib/llvm-3.8/lib')
+    path = '/home/jacob/repos/experiments/geometry/spatial/bounding_volume_hierarchy.hh'
+
+    index = cindex.Index.create()
+
+    include_paths = [
+        "/home/jacob/repos/experiments/geometry/spatial",
+        "/home/jacob/repos/experiments/",
+        "/home/jacob/repos/third_party/Sophus",
+        "/home/jacob/repos/third_party/eigen3",
+    ]
+
+    include_args = map(lambda o: "-I" + o, include_paths)
+
+    tu = index.parse(path, args=include_args)
+
+    for incl in tu.get_includes():
+        name = os.path.realpath(incl.location.file.name)
+
+        if name.startswith('/home/jacob/repos/experiments/') and incl.depth <= 3:
+            # print incl.location.file.name, ': ', incl.source.name, ': ', incl.depth
+            location = os.path.split(incl.location.file.name)[-1]
+            source = os.path.split(incl.source.name)[-1]
+            include = os.path.split(incl.include.name)[-1]
+
+            outstr = "loc: {0: <50} src: {1: <50} incl: {2: <40} depth: {3: <10}".format(
+                location,
+                source,
+                include,
+                incl.depth,
+            )
+            print outstr
+
+    print '---'
+
+    visitor(tu.cursor, path)
+
+    print kinds

third_party/experiments/clustering/meanshift_view.cc

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+#include "clustering/spatial_hash.hh"
+
+#include "viewer/window_2d.hh"
+
+#include "out.hh"
+
+#include "eigen.hh"
+#include <map>
+
+namespace clustering {
+using Vec2 = Eigen::Vector2d;
+using Vec3 = Eigen::Vector3d;
+using Vec4 = Eigen::Vector4d;
+
+struct MeanShiftState {
+  std::vector<Vec2> initial_points;
+  std::vector<Vec2> current_points;
+};
+
+Vec2 local_mean(const std::vector<Vec2> &points,
+                const int index,
+                const double window_size) {
+  Vec2 mean = Vec2::Zero();
+  int added = 0;
+  for (const auto &pt : points) {
+    const double dist = (pt - points[index]).norm();
+    if (dist < window_size) {
+      mean += pt;
+      ++added;
+    }
+  }
+  mean /= static_cast<double>(added);
+  return mean;
+}
+
+void shift_means(Vout<std::vector<Vec2>> points, const double radius) {
+  constexpr double DAMPING = 0.1;
+
+  for (size_t k = 0; k < points->size(); ++k) {
+    const Vec2 lmean = local_mean(*points, k, radius);
+    const Vec2 direction = lmean - points[k];
+    points[k] += DAMPING * direction;
+  }
+}
+
+void run() {
+  auto viewer = viewer::get_window2d("Meanshift View");
+
+  constexpr int NUM_PTS = 500;
+  std::vector<Vec2> points(NUM_PTS);
+  for (int k = 0; k < 250; ++k) {
+    points[k] = (Vec2::Random() * 2.0) + Vec2(-1, -1.5);
+  }
+
+  for (int k = 250; k < NUM_PTS; ++k) {
+    points[k] = (Vec2::Random() * 2.0) + Vec2(1, 1.5);
+  }
+
+  std::vector<Vec2> deformed_pts(points);
+
+  constexpr double MEANSHIFT_RADIUS = 1.0;
+  for (int k = 0; k < 100; ++k) {
+    viewer->clear();
+    viewer->add_points({points, Vec4(0.0, 1.0, 0.0, 0.8)});
+    shift_means(vout(deformed_pts), MEANSHIFT_RADIUS);
+    viewer->add_points({deformed_pts, Vec4(1.0, 0.0, 0.0, 0.8)});
+    viewer->spin_until_step();
+  }
+
+  //
+  // Compute the cluster identities using an lsh
+  //
+
+  const std::vector<HashInt> identities = spatial_hash(deformed_pts, 100.0);
+  std::map<HashInt, std::vector<Vec2>> identified_points;
+  for (size_t k = 0; k < identities.size(); ++k) {
+    const HashInt id = identities[k];
+    identified_points[id].push_back(points[k]);
+  }
+
+  //
+  // Draw the identified points
+  //
+
+  viewer->clear();
+  for (const auto &pt_group : identified_points) {
+    const Vec3 color = (Vec3::Random() + Vec3::Ones()) * 0.5;
+    const Vec4 color_and_alpha = (Vec4() << color, 1.0).finished();
+    viewer->add_points({pt_group.second, color_and_alpha});
+  }
+  viewer->spin_until_step();
+}
+}  // namespace clustering
+
+int main() {
+  clustering::run();
+}