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Installation (CPP)

Requirements

  • C++14 or later compiler
  • GCC 7.5+
  • CMake 3.15+
  • LAPACK & BLAS
    1. If using conda, conda install -c conda-forge lapack
    2. If sudo is available, apt update & apt -y install libatlas-base-dev

Optional:

  • Conan (for using pre-built 3rd-party libraries) 
    # 0. install conan
pip install conan

# 1. first run
conan profile new --detect --force default
conan profile update settings.compiler.libcxx=libstdc++11 default

# 2. add conan artifactory
conan remote add openxrlab http://conan.openxrlab.org.cn/artifactory/api/conan/openxrlab

# 3. check
conan remote list

Compilation

git clone https://github.com/openxrlab/xrprimer.git
cd xrprimer/

# build and install deps
cmake -S. -Bbuild_deps -D3RT_FROM_LOCAL=ON
cmake --build build_deps -j4

# compiler xrprimer
cmake -S. -Bbuild [Compilation options]
cmake --build build --target install -j4

It is currently tested on Linux and iOS. Ideally it can be also compiled on macOS or Windows.

Compilation options

Get external dependencies

  • 3RT_FROM_LOCAL Dependencies library will be built or find in local host. default: OFF
  • 3RT_FROM_CONAN Dependencies library will be download from openxrlab conan remote. default: OFF

Config xrprimer

  • ENABLE_TEST Enable unit test. default: OFF
  • PYTHON_BINDING Enable Python binding. default: ON
#1. First run, get external dependencies, will install external deps to 3rdparty
cmake -S. -Bbuild_deps <-D3RT_FROM_LOCAL=ON/-D3RT_FROM_CONAN=ON>
cmake --build build_deps

#2. build xrprimer
cmake -S. -Bbuild -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install
cmake --build build --target install

Compilation on iOS

Refer to build_ios.sh for more details.

Test

CPP library

# compile (Skip the following two lines if it has been compiled)
cmake -S. -Bbuild -DCMAKE_BUILD_TYPE=Release -DENABLE_TEST=ON
cmake --build build -j4

# run test
cd build
wget -q https://openxrlab-share-mainland.oss-cn-hangzhou.aliyuncs.com/xrprimer/xrprimer.tar.gz && tar -xzf xrprimer.tar.gz && rm xrprimer.tar.gz
ln -sfn xrprimer/test test
./bin/test_calibrator

Python library

# compile (Skip the following two lines if it has been compiled)
cmake -S. -Bbuild -DCMAKE_BUILD_TYPE=Release -DENABLE_TEST=ON
cmake --build build -j4

# run test
cd build
wget -q https://openxrlab-share-mainland.oss-cn-hangzhou.aliyuncs.com/xrprimer/xrprimer.tar.gz && tar -xzf xrprimer.tar.gz && rm xrprimer.tar.gz
PYTHONPATH=./lib/ python ../cpp/tests/test_multi_camera_calibrator.py

How to link in C++ projects

see cpp sample

cmake_minimum_required(VERSION 3.16)

project(sample)

# set path for find XRPrimer package (config mode)
set(XRPrimer_DIR "<package_path>/lib/cmake")
find_package(XRPrimer REQUIRED)

add_executable(sample sample.cpp)

target_link_libraries(sample XRPrimer::xrprimer)