Active Window Change Detection Implementation

khronos/CMakeLists.txt

@@ -15,19 +15,37 @@ find_package(spatial_hash REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(pose_graph_tools REQUIRED)
 find_package(GTSAM REQUIRED)
-find_package(OpenCV REQUIRED COMPONENTS core imgproc)
+find_package(OpenCV REQUIRED COMPONENTS core imgproc imgcodecs)
 find_package(spark_dsg REQUIRED)
 find_package(kimera_pgmo REQUIRED)
 find_package(hydra REQUIRED)
+find_package(small_gicp REQUIRED)
+find_package(CLI11 REQUIRED)
 
 include(GNUInstallDirs)
 
 #############
 # Libraries #
 #############
 
+add_library(${PROJECT_NAME}_registration
+    src/utils/icp_registration_utils.cpp
+)
+target_include_directories(${PROJECT_NAME}_registration
+    PUBLIC $<INSTALL_INTERFACE:include>
+           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+)
+target_link_libraries(${PROJECT_NAME}_registration
+    PRIVATE small_gicp::small_gicp
+)
+set_property(TARGET ${PROJECT_NAME}_registration PROPERTY POSITION_INDEPENDENT_CODE ON)
+add_library(khronos::${PROJECT_NAME}_registration ALIAS ${PROJECT_NAME}_registration)
+
 add_library(${PROJECT_NAME}
         src/active_window/active_window.cpp
+        src/active_window/change_detection/active_window_change_detector.cpp
+        src/active_window/change_detection/transformation_getter.cpp
+        src/active_window/data/frame_data.cpp
         src/active_window/data/frame_data_buffer.cpp
         src/active_window/data/track.cpp
         src/active_window/integration/object_integrator.cpp
@@ -37,6 +55,7 @@ add_library(${PROJECT_NAME}
         src/active_window/object_detection/instance_forwarding.cpp
         src/active_window/object_extraction/mesh_object_extractor.cpp
         src/active_window/object_extraction/object_worker_pool.cpp
+        src/active_window/track_saver_sink.cpp
         src/active_window/tracking/external_tracker.cpp
         src/active_window/tracking/max_iou_tracker.cpp
         src/backend/backend.cpp
@@ -54,6 +73,7 @@ add_library(${PROJECT_NAME}
         src/spatio_temporal_map/spatio_temporal_map.cpp
         src/spatio_temporal_map/incremental_mesh.cpp
         src/utils/geometry_utils.cpp
+        src/utils/json_utils.cpp
         src/utils/khronos_attribute_utils.cpp
         src/utils/output_file_utils.cpp
         )
@@ -75,11 +95,39 @@ ${PROJECT_NAME}
         spatial_hash::spatial_hash
         ${kimera_pgmo_LIBRARIES}
         ${hydra_LIBRARIES}
+        ${PROJECT_NAME}_registration
         PRIVATE ${tf2_eigen_LIBRARIES}
 )
 set_property(TARGET ${PROJECT_NAME} PROPERTY POSITION_INDEPENDENT_CODE ON)
 add_library(khronos::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
+###############
+# Executables #
+###############
+
+# Standalone round-trip check for Track::save/Track::load (see tracker_debug.md Step 1).
+add_executable(test_track_serialization app/test_track_serialization.cpp)
+target_link_libraries(test_track_serialization PRIVATE ${PROJECT_NAME})
+install(TARGETS test_track_serialization RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+# Replays a saved track's observations through MaxIoUTracker against another loaded track (see
+# tracker_debug.md Step 2).
+add_executable(test_track_association app/test_track_association.cpp)
+target_link_libraries(test_track_association PRIVATE ${PROJECT_NAME} CLI11::CLI11)
+install(TARGETS test_track_association RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+# Standalone round-trip check for FrameData::save/FrameData::load and
+# saveCameraIntrinsics/loadCameraIntrinsics (see tracker_debug.md Step 3).
+add_executable(test_frame_data_serialization app/test_frame_data_serialization.cpp)
+target_link_libraries(test_frame_data_serialization PRIVATE ${PROJECT_NAME})
+install(TARGETS test_frame_data_serialization RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+# Replays an entire saved run through a fresh MaxIoUTracker, with active-window eviction
+# simulation, for parameter tuning (see tracker_debug.md Step 4).
+add_executable(full_run_tracker_replay app/full_run_tracker_replay.cpp)
+target_link_libraries(full_run_tracker_replay PRIVATE ${PROJECT_NAME} CLI11::CLI11)
+install(TARGETS full_run_tracker_replay RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
 ##########
 # Export #
 ##########