From b12caa6711d5a15de121a27d9f92e741d32d2ca0 Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Tue, 19 May 2026 22:18:25 +0000 Subject: [PATCH 1/8] wip Signed-off-by: Charlie Huang --- src/CMakeLists.txt | 8 ++++---- src/calibration/CMakeLists.txt | 34 ++++++++++++++++++++++++++++----- src/camera/CMakeLists.txt | 20 ++++++++++++++++--- src/localization/CMakeLists.txt | 25 +++++++++++++++++++----- src/pathing/CMakeLists.txt | 12 ++++++++++-- src/utils/CMakeLists.txt | 23 ++++++++++++++++++++-- 6 files changed, 101 insertions(+), 21 deletions(-) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 6f88ba2e..f602e955 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -22,15 +22,15 @@ add_subdirectory(test) add_subdirectory(pathing) add_executable(main_bot_main main_bot_main.cc) -target_link_libraries(main_bot_main PRIVATE camera localization utils pathing) +target_link_libraries(main_bot_main PRIVATE utils localization pathing) add_executable(second_bot_main second_bot_main.cc) -target_link_libraries(second_bot_main PRIVATE camera localization utils pathing) +target_link_libraries(second_bot_main PRIVATE utils localization pathing) add_executable(unambiguous_second unambiguous_second.cc) -target_link_libraries(unambiguous_second PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization utils) +target_link_libraries(unambiguous_second PRIVATE utils localization pathing) add_executable(unambiguous_first unambiguous_first.cc) -target_link_libraries(unambiguous_first PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization utils pathing) +target_link_libraries(unambiguous_first PRIVATE utils localization pathing) set(CMAKE_CXX_CLANG_TIDY "") diff --git a/src/calibration/CMakeLists.txt b/src/calibration/CMakeLists.txt index 05fba2e1..237cd2bc 100644 --- a/src/calibration/CMakeLists.txt +++ b/src/calibration/CMakeLists.txt @@ -1,11 +1,35 @@ cmake_minimum_required(VERSION 3.10) -add_executable(intrinsics_calibrate intrinsics_calibrate.cc intrinsics_calibrate_lib.cc) -target_link_libraries(intrinsics_calibrate PRIVATE camera utils) +add_executable(IntrinsicsCalibrate intrinsics_calibrate.cc intrinsics_calibrate_lib.cc) +target_sources(IntrinsicsCalibrate + PRIVATE + intrinsics_calibrate.cc + intrinsics_calibrate_lib.cc +) +target_link_libraries(IntrinsicsCalibrate + PRIVATE + camera + utils +) add_executable(frame_shower frame_shower.cc) -target_link_libraries(frame_shower PRIVATE camera utils) +target_sources(frame_shower + PRIVATE + frame_shower.cc +) +target_link_libraries(frame_shower + PRIVATE + camera + utils +) add_executable(focus_calibrate focus_calibrate.cc) -target_link_libraries(focus_calibrate PRIVATE camera utils) - +target_sources(focus_calibrate + PRIVATE + focus_calibrate.cc +) +target_link_libraries(focus_calibrate + PRIVATE + camera + utils +) diff --git a/src/camera/CMakeLists.txt b/src/camera/CMakeLists.txt index 8159e96e..a019b741 100644 --- a/src/camera/CMakeLists.txt +++ b/src/camera/CMakeLists.txt @@ -1,3 +1,17 @@ -add_library(camera cscore_streamer.cc disk_camera.cc cv_camera.cc select_camera.cc camera_source.cc write_frame.cc camera_constants.cc multi_camera_source.cc) -target_sources(camera PRIVATE uvc_camera.cc) -target_link_libraries(camera PRIVATE utils absl::status uvc) +add_library(camera) +target_sources(camera PRIVATE + cscore_streamer.cc + disk_camera.cc + cv_camera.cc + select_camera.cc + camera_source.cc + write_frame.cc + camera_constants.cc + multi_camera_source.cc + uvc_camera.cc +) +target_link_libraries(camera PRIVATE + utils + absl::status + uvc +) diff --git a/src/localization/CMakeLists.txt b/src/localization/CMakeLists.txt index 438596c8..e2ce216e 100644 --- a/src/localization/CMakeLists.txt +++ b/src/localization/CMakeLists.txt @@ -1,5 +1,20 @@ -cmake_minimum_required(VERSION 3.10) - -add_library(localization gpu_apriltag_detector.cc opencv_apriltag_detector.cc run_localization.cc nvidia_apriltag_detector.cc square_solver.cc joint_solver.cc multi_tag_solver.cc position_receiver.cc unambiguous_estimator.cc simulation_sender.cc networktable_sender.cc) -target_sources(localization PRIVATE multi_camera_detector.cc) -target_link_libraries(localization PUBLIC 971apriltag utils camera wpilibc wpiutil vpi absl::status) +add_library(localization) +target_sources(localization PRIVATE + gpu_apriltag_detector.cc + opencv_apriltag_detector.cc + run_localization.cc + nvidia_apriltag_detector.cc + square_solver.cc + joint_solver.cc + multi_tag_solver.cc + position_receiver.cc + unambiguous_estimator.cc + simulation_sender.cc + networktable_sender.cc + multi_camera_detector.cc +) +target_link_libraries(localization PRIVATE + 971apriltag + utils + camera +) diff --git a/src/pathing/CMakeLists.txt b/src/pathing/CMakeLists.txt index 5d057b96..c4c96868 100644 --- a/src/pathing/CMakeLists.txt +++ b/src/pathing/CMakeLists.txt @@ -1,2 +1,10 @@ -add_library(pathing pathfinding.cc splines.cc controller.cc) -target_link_libraries(pathing PUBLIC wpilibc wpiutil ntcore nlohmann_json::nlohmann_json utils localization ${OpenCV_LIBS}) +add_library(pathing) +target_sources(pathing PRIVATE + pathfinding.cc + splines.cc + controller.cc +) +target_link_libraries(pathing PRIVATE + utils + localization +) diff --git a/src/utils/CMakeLists.txt b/src/utils/CMakeLists.txt index 87daae36..cbd9ca68 100644 --- a/src/utils/CMakeLists.txt +++ b/src/utils/CMakeLists.txt @@ -1,5 +1,24 @@ -add_library(utils timer.cc nt_utils.cc camera_utils.cc log.cc constants_from_json.cc transform.cc) -target_link_libraries(utils PUBLIC wpilibc nlohmann_json::nlohmann_json absl::log absl::check absl::flags absl::flags_parse apriltag ntcore vpi) +add_library(utils) +target_sources(utils + PRIVATE + timer.cc + nt_utils.cc + camera_utils.cc + log.cc + constants_from_json.cc + transform.cc +) +target_link_libraries(utils PUBLIC + wpilibc + nlohmann_json::nlohmann_json + absl::log + absl::check + absl::flags + absl::flags_parse + apriltag + ntcore + vpi +) if(!ENABLE_CLANG_TIDY) target_precompile_headers(utils PUBLIC pch.h) From cc25a93d1e4a8def53deb2dfa49a229378d33d9f Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 20 May 2026 03:02:22 +0000 Subject: [PATCH 2/8] wip Signed-off-by: Charlie Huang --- src/CMakeLists.txt | 2 +- src/calibration/CMakeLists.txt | 2 -- src/localization/CMakeLists.txt | 16 ++++++++++++++++ 3 files changed, 17 insertions(+), 3 deletions(-) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index f602e955..bf63a576 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.10) +cmake_minimum_required(VERSION 4.0) include_directories(${CMAKE_SOURCE_DIR}) diff --git a/src/calibration/CMakeLists.txt b/src/calibration/CMakeLists.txt index 237cd2bc..32a7314a 100644 --- a/src/calibration/CMakeLists.txt +++ b/src/calibration/CMakeLists.txt @@ -1,5 +1,3 @@ -cmake_minimum_required(VERSION 3.10) - add_executable(IntrinsicsCalibrate intrinsics_calibrate.cc intrinsics_calibrate_lib.cc) target_sources(IntrinsicsCalibrate PRIVATE diff --git a/src/localization/CMakeLists.txt b/src/localization/CMakeLists.txt index e2ce216e..f642069d 100644 --- a/src/localization/CMakeLists.txt +++ b/src/localization/CMakeLists.txt @@ -18,3 +18,19 @@ target_link_libraries(localization PRIVATE utils camera ) + +add_library(GPUApriltagDetector) +target_sources(GPUApriltagDetector + PRIVATE + gpu_apriltag_detector.cc + + PUBLIC + FILE_SET HEADERS + BASE_DIRS + FILES + gpu_apriltag_detector.h +) +target_link_libraries(GPUApriltagDetector PRIVATE + 971apriltag + utils +) From fdc08df358aba3e38bbe27f314022bbb2d5e960f Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 20 May 2026 03:12:04 +0000 Subject: [PATCH 3/8] wip Signed-off-by: Charlie Huang --- CMakeLists.txt | 11 ++++++++++- scripts/build.sh | 2 +- src/CMakeLists.txt | 3 ++- src/localization/CMakeLists.txt | 6 ------ 4 files changed, 13 insertions(+), 9 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fc7850f8..4d8a4a65 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,14 @@ cmake_minimum_required(VERSION 3.10) +if(POLICY CMP0135) + cmake_policy(SET CMP0135 NEW) +endif() + +if(POLICY CMP0146) + # Keep compatibility with packages that still use FindCUDA. + cmake_policy(SET CMP0146 OLD) +endif() + set(CMAKE_CUDA_COMPILER "/usr/local/cuda-12.6/bin/nvcc") project(BOS CXX C CUDA) @@ -36,9 +45,9 @@ include(FetchContent) FetchContent_Declare( googletest URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip + DOWNLOAD_EXTRACT_TIMESTAMP TRUE ) FetchContent_MakeAvailable(googletest) add_compile_options(-Wno-psabi) add_subdirectory(src) - diff --git a/scripts/build.sh b/scripts/build.sh index 9721518e..2703ae55 100755 --- a/scripts/build.sh +++ b/scripts/build.sh @@ -22,5 +22,5 @@ else fi git submodule update --init --progress --depth 1 -cmake -DENABLE_CLANG_TIDY=OFF -DCMAKE_BUILD_TYPE=Release -B "$BUILD_DIR" -G Ninja . +cmake -Wno-dev -DENABLE_CLANG_TIDY=OFF -DCMAKE_BUILD_TYPE=Release -B "$BUILD_DIR" -G Ninja . cmake --build "$BUILD_DIR" diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index bf63a576..aaa74500 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,4 +1,5 @@ -cmake_minimum_required(VERSION 4.0) +cmake_minimum_required(VERSION 3.16...4.0) + include_directories(${CMAKE_SOURCE_DIR}) diff --git a/src/localization/CMakeLists.txt b/src/localization/CMakeLists.txt index f642069d..8e60aafc 100644 --- a/src/localization/CMakeLists.txt +++ b/src/localization/CMakeLists.txt @@ -23,12 +23,6 @@ add_library(GPUApriltagDetector) target_sources(GPUApriltagDetector PRIVATE gpu_apriltag_detector.cc - - PUBLIC - FILE_SET HEADERS - BASE_DIRS - FILES - gpu_apriltag_detector.h ) target_link_libraries(GPUApriltagDetector PRIVATE 971apriltag From d01942a3ca7b36d1a9c5cb18c88f566b24a15483 Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 20 May 2026 03:30:30 +0000 Subject: [PATCH 4/8] wip Signed-off-by: Charlie Huang --- src/CMakeLists.txt | 8 +- src/localization/CMakeLists.txt | 126 ++++++++++++++++++++++++++------ 2 files changed, 109 insertions(+), 25 deletions(-) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index aaa74500..87697488 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -23,15 +23,15 @@ add_subdirectory(test) add_subdirectory(pathing) add_executable(main_bot_main main_bot_main.cc) -target_link_libraries(main_bot_main PRIVATE utils localization pathing) +target_link_libraries(main_bot_main PRIVATE utils localization pathing camera) add_executable(second_bot_main second_bot_main.cc) -target_link_libraries(second_bot_main PRIVATE utils localization pathing) +target_link_libraries(second_bot_main PRIVATE utils localization pathing camera) add_executable(unambiguous_second unambiguous_second.cc) -target_link_libraries(unambiguous_second PRIVATE utils localization pathing) +target_link_libraries(unambiguous_second PRIVATE utils localization pathing camera) add_executable(unambiguous_first unambiguous_first.cc) -target_link_libraries(unambiguous_first PRIVATE utils localization pathing) +target_link_libraries(unambiguous_first PRIVATE utils localization pathing camera) set(CMAKE_CXX_CLANG_TIDY "") diff --git a/src/localization/CMakeLists.txt b/src/localization/CMakeLists.txt index 8e60aafc..6b3d1376 100644 --- a/src/localization/CMakeLists.txt +++ b/src/localization/CMakeLists.txt @@ -1,24 +1,3 @@ -add_library(localization) -target_sources(localization PRIVATE - gpu_apriltag_detector.cc - opencv_apriltag_detector.cc - run_localization.cc - nvidia_apriltag_detector.cc - square_solver.cc - joint_solver.cc - multi_tag_solver.cc - position_receiver.cc - unambiguous_estimator.cc - simulation_sender.cc - networktable_sender.cc - multi_camera_detector.cc -) -target_link_libraries(localization PRIVATE - 971apriltag - utils - camera -) - add_library(GPUApriltagDetector) target_sources(GPUApriltagDetector PRIVATE @@ -28,3 +7,108 @@ target_link_libraries(GPUApriltagDetector PRIVATE 971apriltag utils ) + +add_library(OpencvApriltagDetector) +target_sources(OpencvApriltagDetector + PRIVATE + opencv_apriltag_detector.cc +) +target_link_libraries(OpencvApriltagDetector PRIVATE + utils +) + +add_library(NvidiaApriltagDetector) +target_sources(NvidiaApriltagDetector + PRIVATE + nvidia_apriltag_detector.cc +) +target_link_libraries(NvidiaApriltagDetector PRIVATE + utils +) + +add_library(SquareSolver) +target_sources(SquareSolver + PRIVATE + square_solver.cc +) +target_link_libraries(SquareSolver PRIVATE + utils +) + +add_library(JointSolver) +target_sources(JointSolver + PRIVATE + joint_solver.cc +) +target_link_libraries(JointSolver PRIVATE + utils +) + +add_library(MultitagSolver) +target_sources(MultitagSolver + PRIVATE + multi_tag_solver.cc +) +target_link_libraries(MultitagSolver PRIVATE + utils + SquareSolver +) + +add_library(PositionReceiver) +target_sources(PositionReceiver + PRIVATE + position_receiver.cc +) +target_link_libraries(PositionReceiver PRIVATE + utils +) + +add_library(UnambiguousEstimator) +target_sources(UnambiguousEstimator + PRIVATE + unambiguous_estimator.cc +) +target_link_libraries(UnambiguousEstimator PRIVATE + SquareSolver + MultitagSolver + utils +) + +add_library(SimulationSender) +target_sources(SimulationSender + PRIVATE + simulation_sender.cc +) +target_link_libraries(SimulationSender PRIVATE + utils +) + +add_library(NetworktableSender) +target_sources(NetworktableSender + PRIVATE + networktable_sender.cc +) +target_link_libraries(NetworktableSender PRIVATE + utils +) + +add_library(localization) +target_sources(localization + PRIVATE + run_localization.cc + multi_camera_detector.cc +) +target_link_libraries(localization PUBLIC + GPUApriltagDetector + OpencvApriltagDetector + NvidiaApriltagDetector + SquareSolver + JointSolver + MultitagSolver + PositionReceiver + UnambiguousEstimator + SimulationSender + NetworktableSender + utils + camera +) From c49cacdf2ea1ab07fd118127068e8193de639346 Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 20 May 2026 03:47:56 +0000 Subject: [PATCH 5/8] wip Signed-off-by: Charlie Huang --- src/camera/CMakeLists.txt | 102 +++++++++++++++++++++++++++----- src/localization/CMakeLists.txt | 2 +- 2 files changed, 88 insertions(+), 16 deletions(-) diff --git a/src/camera/CMakeLists.txt b/src/camera/CMakeLists.txt index a019b741..ef546bdc 100644 --- a/src/camera/CMakeLists.txt +++ b/src/camera/CMakeLists.txt @@ -1,17 +1,89 @@ -add_library(camera) -target_sources(camera PRIVATE - cscore_streamer.cc - disk_camera.cc - cv_camera.cc - select_camera.cc - camera_source.cc - write_frame.cc - camera_constants.cc - multi_camera_source.cc - uvc_camera.cc -) -target_link_libraries(camera PRIVATE - utils - absl::status +add_library(CscoreStreamer) +target_sources(CscoreStreamer + PRIVATE + cscore_streamer.cc +) +target_link_libraries(CscoreStreamer PRIVATE + utils +) + +add_library(DiskCamera) +target_sources(DiskCamera + PRIVATE + disk_camera.cc +) +target_link_libraries(DiskCamera PRIVATE + utils +) + +add_library(CvCamera) +target_sources(CvCamera + PRIVATE + cv_camera.cc + write_frame.cc + write_frame.cc +) +target_link_libraries(CvCamera PRIVATE + utils +) + +add_library(SelectCamera) +target_sources(SelectCamera + PRIVATE + select_camera.cc +) +target_link_libraries(SelectCamera PRIVATE + DiskCamera + CvCamera + utils +) + +add_library(CameraSource) +target_sources(CameraSource + PRIVATE + camera_source.cc +) +target_link_libraries(CameraSource PRIVATE + utils +) + +add_library(CameraConstants) +target_sources(CameraConstants + PRIVATE + camera_constants.cc +) +target_link_libraries(CameraConstants PRIVATE + utils +) + +add_library(MultiCameraSource) +target_sources(MultiCameraSource + PRIVATE + multi_camera_source.cc +) +target_link_libraries(MultiCameraSource PRIVATE + utils +) + +add_library(UVCCamera) +target_sources(UVCCamera + PRIVATE + uvc_camera.cc +) +target_link_libraries(UVCCamera PRIVATE uvc + absl::status + utils +) + +add_library(camera INTERFACE) +target_link_libraries(camera INTERFACE + CscoreStreamer + DiskCamera + CvCamera + SelectCamera + CameraSource + CameraConstants + MultiCameraSource + UVCCamera ) diff --git a/src/localization/CMakeLists.txt b/src/localization/CMakeLists.txt index 6b3d1376..64652f5c 100644 --- a/src/localization/CMakeLists.txt +++ b/src/localization/CMakeLists.txt @@ -98,7 +98,7 @@ target_sources(localization run_localization.cc multi_camera_detector.cc ) -target_link_libraries(localization PUBLIC +target_link_libraries(localization PRIVATE GPUApriltagDetector OpencvApriltagDetector NvidiaApriltagDetector From ebb4be6947262d2080aa9a16e169f103d9b0490d Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 20 May 2026 04:18:46 +0000 Subject: [PATCH 6/8] wip Signed-off-by: Charlie Huang --- CMakeLists.txt | 2 ++ Testing/Temporary/CTestCostData.txt | 1 + Testing/Temporary/LastTest.log | 3 +++ scripts/run_tests.sh | 13 +------------ src/test/unit_test/CMakeLists.txt | 5 ++++- third_party/971apriltag/CMakeLists.txt | 7 ------- 6 files changed, 11 insertions(+), 20 deletions(-) create mode 100644 Testing/Temporary/CTestCostData.txt create mode 100644 Testing/Temporary/LastTest.log diff --git a/CMakeLists.txt b/CMakeLists.txt index 4d8a4a65..d7214ce5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -31,6 +31,8 @@ option(ENABLE_CLANG_TIDY "Enable clang-tidy for static analysis" ON) include_directories(/usr/local/cuda/include) link_directories(/usr/local/cuda/lib64) +add_compile_options(-march=armv8-a+simd) + find_package(wpilib REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) diff --git a/Testing/Temporary/CTestCostData.txt b/Testing/Temporary/CTestCostData.txt new file mode 100644 index 00000000..ed97d539 --- /dev/null +++ b/Testing/Temporary/CTestCostData.txt @@ -0,0 +1 @@ +--- diff --git a/Testing/Temporary/LastTest.log b/Testing/Temporary/LastTest.log new file mode 100644 index 00000000..7529c148 --- /dev/null +++ b/Testing/Temporary/LastTest.log @@ -0,0 +1,3 @@ +Start testing: May 20 04:14 UTC +---------------------------------------------------------- +End testing: May 20 04:14 UTC diff --git a/scripts/run_tests.sh b/scripts/run_tests.sh index bd112f1e..686d5be2 100755 --- a/scripts/run_tests.sh +++ b/scripts/run_tests.sh @@ -1,14 +1,3 @@ #!/bin/bash -DIR="build/src/test/unit_test" -FAILED=0 - -for file in "$DIR"/*; do - if [[ -x "$file" && -f "$file" ]]; then - echo "Running $file" - "$file" || FAILED=1 - fi -done - -exit $FAILED - +ctest --test-dir build/src/test/unit_test --output-on-failure diff --git a/src/test/unit_test/CMakeLists.txt b/src/test/unit_test/CMakeLists.txt index 28880f18..6b9ce1b2 100644 --- a/src/test/unit_test/CMakeLists.txt +++ b/src/test/unit_test/CMakeLists.txt @@ -1,3 +1,4 @@ +include(GoogleTest) enable_testing() add_executable(joint_solve_test joint_solve_test.cc) @@ -18,6 +19,8 @@ target_link_libraries(matrix PRIVATE localization utils GTest::gtest_main) add_executable(pathing_test pathing_test.cc) target_link_libraries(pathing_test PRIVATE pathing utils nlohmann_json::nlohmann_json GTest::gtest_main) -include(GoogleTest) +gtest_discover_tests(joint_solve_test) gtest_discover_tests(multi_tag_test) gtest_discover_tests(square_solve_test) +gtest_discover_tests(general_solver_test) +# gtest_discover_tests(pathing_test) diff --git a/third_party/971apriltag/CMakeLists.txt b/third_party/971apriltag/CMakeLists.txt index 0feaec03..ce65db2a 100644 --- a/third_party/971apriltag/CMakeLists.txt +++ b/third_party/971apriltag/CMakeLists.txt @@ -1,11 +1,4 @@ -cmake_minimum_required(VERSION 3.10) - -include_directories(. /usr/local/cuda/include ${OpenCV_INCLUDE_DIRS}) -add_compile_options(-march=armv8-a+simd) - find_package(wpilib REQUIRED) -enable_language(CUDA) - add_library(971apriltag_dep) target_sources(971apriltag_dep From 0c49e802a44aa1db8969f5198e14c66dc22d79a8 Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 20 May 2026 04:21:18 +0000 Subject: [PATCH 7/8] wip Signed-off-by: Charlie Huang --- scripts/clang_tidy_build.sh | 1 - src/utils/camera_utils.cc | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/scripts/clang_tidy_build.sh b/scripts/clang_tidy_build.sh index 9dd1515a..019d9370 100755 --- a/scripts/clang_tidy_build.sh +++ b/scripts/clang_tidy_build.sh @@ -5,4 +5,3 @@ git submodule init git submodule update cmake -DENABLE_CLANG_TIDY=ON -B build -G Ninja . cmake --build build -cp -r constants /bos diff --git a/src/utils/camera_utils.cc b/src/utils/camera_utils.cc index d0975b34..f8bd4cf6 100644 --- a/src/utils/camera_utils.cc +++ b/src/utils/camera_utils.cc @@ -3,7 +3,7 @@ #include #include "src/utils/log.h" namespace utils { -auto ReadIntrinsics(const std::string& path) -> nlohmann::json { +nlohmann::json ReadIntrinsics(const std::string& path) { nlohmann::json intrinsics; std::ifstream intrinsics_file(path); From 85264d13ce37afd40f2c047ab74c3b7295981d2d Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 20 May 2026 04:24:31 +0000 Subject: [PATCH 8/8] Revert "wip" This reverts commit 0c49e802a44aa1db8969f5198e14c66dc22d79a8. --- scripts/clang_tidy_build.sh | 1 + src/utils/camera_utils.cc | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/scripts/clang_tidy_build.sh b/scripts/clang_tidy_build.sh index 019d9370..9dd1515a 100755 --- a/scripts/clang_tidy_build.sh +++ b/scripts/clang_tidy_build.sh @@ -5,3 +5,4 @@ git submodule init git submodule update cmake -DENABLE_CLANG_TIDY=ON -B build -G Ninja . cmake --build build +cp -r constants /bos diff --git a/src/utils/camera_utils.cc b/src/utils/camera_utils.cc index f8bd4cf6..d0975b34 100644 --- a/src/utils/camera_utils.cc +++ b/src/utils/camera_utils.cc @@ -3,7 +3,7 @@ #include #include "src/utils/log.h" namespace utils { -nlohmann::json ReadIntrinsics(const std::string& path) { +auto ReadIntrinsics(const std::string& path) -> nlohmann::json { nlohmann::json intrinsics; std::ifstream intrinsics_file(path);