From 3bb45510b5e8caa82eba6ea8f29b104061ff7630 Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <vlad.usenko@tum.de>
Date: Tue, 16 Jul 2019 11:42:06 +0200
Subject: [PATCH] Removed pangolin deps from the main library. Now only
 executables depend on it.

---
 CMakeLists.txt                        | 28 +++++++++++++--------------
 include/basalt/calibration/vignette.h |  4 +---
 src/calibration/cam_calib.cpp         |  6 +++++-
 src/calibration/vignette.cpp          |  7 ++++---
 src/io/marg_data_io.cpp               |  2 --
 5 files changed, 23 insertions(+), 24 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cbcfe6c..6dcda7f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -203,8 +203,6 @@ add_library(basalt SHARED
   src/io/dataset_io.cpp
   src/io/marg_data_io.cpp
   src/calibration/aprilgrid.cpp
-  src/calibration/cam_calib.cpp
-  src/calibration/cam_imu_calib.cpp
   src/calibration/calibraiton_helper.cpp
   src/calibration/vignette.cpp
   src/utils/vio_config.cpp
@@ -217,42 +215,42 @@ add_library(basalt SHARED
   src/utils/keypoints.cpp)
 
 
-target_link_libraries(basalt PUBLIC ${TBB_LIBRARIES} ${STD_CXX_FS} ${OpenCV_LIBS} pangolin PRIVATE rosbag apriltag opengv)
+target_link_libraries(basalt PUBLIC ${TBB_LIBRARIES} ${STD_CXX_FS} ${OpenCV_LIBS} PRIVATE rosbag apriltag opengv)
 
 
-add_executable(basalt_calibrate src/calibrate.cpp)
-target_link_libraries(basalt_calibrate basalt)
+add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp)
+target_link_libraries(basalt_calibrate basalt pangolin)
 
-add_executable(basalt_calibrate_imu src/calibrate_imu.cpp)
-target_link_libraries(basalt_calibrate_imu basalt)
+add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp)
+target_link_libraries(basalt_calibrate_imu basalt pangolin)
 
 
 add_executable(basalt_vio_sim src/vio_sim.cpp)
-target_link_libraries(basalt_vio_sim basalt)
+target_link_libraries(basalt_vio_sim basalt pangolin)
 
 add_executable(basalt_mapper_sim src/mapper_sim.cpp)
-target_link_libraries(basalt_mapper_sim basalt)
+target_link_libraries(basalt_mapper_sim basalt pangolin)
 
 add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
-target_link_libraries(basalt_mapper_sim_naive basalt)
+target_link_libraries(basalt_mapper_sim_naive basalt pangolin)
 
 add_executable(basalt_mapper src/mapper.cpp)
-target_link_libraries(basalt_mapper basalt)
+target_link_libraries(basalt_mapper basalt pangolin)
 
 
 add_executable(basalt_opt_flow src/opt_flow.cpp)
-target_link_libraries(basalt_opt_flow basalt)
+target_link_libraries(basalt_opt_flow basalt pangolin)
 
 add_executable(basalt_vio src/vio.cpp)
-target_link_libraries(basalt_vio basalt)
+target_link_libraries(basalt_vio basalt pangolin)
 
 find_package(realsense2 QUIET)
 if(realsense2_FOUND)
   add_executable(basalt_rs_t265_record src/rs_t265_record.cpp src/device/rs_t265.cpp)
-  target_link_libraries(basalt_rs_t265_record basalt realsense2::realsense2 ${OpenCV_LIBS})
+  target_link_libraries(basalt_rs_t265_record basalt realsense2::realsense2 ${OpenCV_LIBS} pangolin)
 
   add_executable(basalt_rs_t265_vio src/rs_t265_vio.cpp src/device/rs_t265.cpp)
-  target_link_libraries(basalt_rs_t265_vio basalt realsense2::realsense2)
+  target_link_libraries(basalt_rs_t265_vio basalt realsense2::realsense2 pangolin)
 endif()
 
 
diff --git a/include/basalt/calibration/vignette.h b/include/basalt/calibration/vignette.h
index f5061db..584cc56 100644
--- a/include/basalt/calibration/vignette.h
+++ b/include/basalt/calibration/vignette.h
@@ -39,8 +39,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/spline/rd_spline.h>
 
-#include <pangolin/plot/datalog.h>
-
 namespace basalt {
 
 class VignetteEstimator {
@@ -65,7 +63,7 @@ class VignetteEstimator {
 
   void optimize();
 
-  void compute_data_log(pangolin::DataLog &vign_data_log);
+  void compute_data_log(std::vector<std::vector<float>> &vign_data_log);
 
   void save_vign_png(const std::string &path);
 
diff --git a/src/calibration/cam_calib.cpp b/src/calibration/cam_calib.cpp
index e118c9e..ff3ca28 100644
--- a/src/calibration/cam_calib.cpp
+++ b/src/calibration/cam_calib.cpp
@@ -206,7 +206,11 @@ void CamCalib::computeVign() {
 
   ve.optimize();
   ve.compute_error(&reprojected_vignette_error);
-  ve.compute_data_log(vign_data_log);
+
+  std::vector<std::vector<float>> vign_data;
+  ve.compute_data_log(vign_data);
+  vign_data_log.Clear();
+  for (const auto &v : vign_data) vign_data_log.Log(v);
 
   {
     vign_plotter->ClearSeries();
diff --git a/src/calibration/vignette.cpp b/src/calibration/vignette.cpp
index 84b21a6..1729e5d 100644
--- a/src/calibration/vignette.cpp
+++ b/src/calibration/vignette.cpp
@@ -247,7 +247,8 @@ void VignetteEstimator::optimize() {
   }
 }
 
-void VignetteEstimator::compute_data_log(pangolin::DataLog &vign_data_log) {
+void VignetteEstimator::compute_data_log(
+    std::vector<std::vector<float>> &vign_data_log) {
   std::vector<std::vector<double>> num_proj_points(
       2, std::vector<double>(vign_size, 0));
 
@@ -268,7 +269,7 @@ void VignetteEstimator::compute_data_log(pangolin::DataLog &vign_data_log) {
     }
   }
 
-  vign_data_log.Clear();
+  vign_data_log.clear();
   for (size_t i = 0; i < vign_size; i++) {
     std::vector<float> log_data;
     for (size_t j = 0; j < vio_dataset->get_num_cams(); j++) {
@@ -276,7 +277,7 @@ void VignetteEstimator::compute_data_log(pangolin::DataLog &vign_data_log) {
       log_data.push_back(vign_param[j].evaluate(loc)[0]);
       log_data.push_back(num_proj_points[j][i]);
     }
-    vign_data_log.Log(log_data);
+    vign_data_log.push_back(log_data);
   }
 }
 
diff --git a/src/io/marg_data_io.cpp b/src/io/marg_data_io.cpp
index 846b487..11971e8 100644
--- a/src/io/marg_data_io.cpp
+++ b/src/io/marg_data_io.cpp
@@ -35,8 +35,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/io/marg_data_io.h>
 
-#include <pangolin/image/image_io.h>
-
 #include <basalt/serialization/headers_serialization.h>
 
 #include <experimental/filesystem>