Fix move semantics in triangulate_poses to improve performance

.gitignore

@@ -1,4 +1,5 @@
 rpt_wrap.*
+rptPYTHON_wrap.*
 rpt.py
 *.bin
 

CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.18)
+
+project(RapidPoseTriangulation
+    VERSION 0.1.0
+    LANGUAGES CXX
+    DESCRIPTION "Rapid Pose Triangulation library with Python bindings"
+)
+
+# Global settings
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# Add subdirectories
+add_subdirectory(rpt)
+add_subdirectory(swig)

dockerfile

@@ -32,9 +32,9 @@ RUN cat /onnxruntime/cmake/deps.txt && \
 ENV PATH=/usr/local/nvidia/bin:/usr/local/cuda/bin:/cmake-3.30.1-linux-x86_64/bin:${PATH}
 ARG CMAKE_CUDA_ARCHITECTURES=75;80;90
 ENV TRT_VERSION=10.5.0.18
-RUN /bin/sh onnxruntime/dockerfiles/scripts/install_common_deps.sh
-RUN /bin/sh onnxruntime/dockerfiles/scripts/checkout_submodules.sh ${trt_version}
-RUN ls
+RUN /bin/sh onnxruntime/dockerfiles/scripts/install_common_deps.sh \
+    && /bin/sh onnxruntime/dockerfiles/scripts/checkout_submodules.sh ${trt_version}
+
 RUN cd onnxruntime && \
     /bin/sh build.sh --allow_running_as_root --parallel --build_shared_lib \
       --cuda_home /usr/local/cuda --cudnn_home /usr/lib/x86_64-linux-gnu/ --use_tensorrt \

rpt/CMakeLists.txt

@@ -0,0 +1,24 @@
+# RPT Core Library
+
+set(RPT_SOURCES
+    camera.cpp
+    interface.cpp
+    triangulator.cpp
+)
+
+add_library(rpt_core STATIC ${RPT_SOURCES})
+
+target_include_directories(rpt_core PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_compile_options(rpt_core PRIVATE
+    -fPIC
+    -march=native
+    -Wall
+)
+
+# Release mode optimizations
+target_compile_options(rpt_core PRIVATE
+    $<$<CONFIG:Release>:-O3;-flto=auto>
+)

rpt/camera.cpp

@@ -3,6 +3,7 @@
 #include <iomanip>
 #include <sstream>
 #include <vector>
+#include <cmath>
 
 #include "camera.hpp"
 
@@ -208,7 +209,7 @@ void CameraInternal::undistort_point_fisheye(std::array<float, 3> &p, const std:
     // https://github.com/opencv/opencv/blob/4.x/modules/calib3d/src/fisheye.cpp#L429
 
     float theta_d = std::sqrt(p[0] * p[0] + p[1] * p[1]);
-    float pi_half = std::numbers::pi * 0.5;
+    float pi_half = M_PI * 0.5;
     theta_d = std::min(std::max(-pi_half, theta_d), pi_half);
 
     if (theta_d < 1e-6)

rpt/triangulator.cpp

@@ -377,7 +377,7 @@ std::vector<std::vector<std::array<float, 4>>> TriangulatorInternal::triangulate
         // Triangulate and score
         auto [pose3d, score] = triangulate_and_score(
             pose1_core, pose2_core, cam1, cam2, roomparams, core_limbs_idx);
-        all_scored_poses[i] = std::move(std::make_pair(pose3d, score));
+        all_scored_poses[i] = std::make_pair(std::move(pose3d), score);
     }
 
     // Drop low scoring poses

swig/CMakeLists.txt

@@ -0,0 +1,43 @@
+# SWIG Python bindings for RapidPoseTriangulation
+
+# Find required packages
+find_package(SWIG REQUIRED COMPONENTS python)
+find_package(Python3 REQUIRED COMPONENTS Development)
+
+# Include SWIG macros
+include(UseSWIG)
+
+# Compiler flags for SWIG wrapper
+set(RPT_COMPILE_FLAGS -fPIC -march=native -Wall)
+
+# Release mode optimizations
+list(APPEND RPT_COMPILE_FLAGS $<$<CONFIG:Release>:-O3;-flto=auto>)
+
+# SWIG interface
+set_property(SOURCE rpt.i PROPERTY CPLUSPLUS ON)
+set_property(SOURCE rpt.i PROPERTY SWIG_MODULE_NAME rpt)
+
+# Set output directory for generated files to match original Makefile behavior
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+
+swig_add_library(rpt
+    TYPE MODULE
+    LANGUAGE python
+    OUTPUT_DIR ${CMAKE_CURRENT_SOURCE_DIR}
+    OUTFILE_DIR ${CMAKE_CURRENT_SOURCE_DIR}
+    SOURCES rpt.i
+)
+
+# Link the SWIG module
+target_link_libraries(rpt PRIVATE rpt_core Python3::Module)
+target_compile_options(rpt PRIVATE ${RPT_COMPILE_FLAGS})
+
+# Set the output directory
+set_target_properties(rpt PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+# Ensure SWIG can find headers
+target_include_directories(rpt PRIVATE
+    ${Python3_INCLUDE_DIRS}
+)

swig/Makefile

@@ -1,14 +0,0 @@
-# Standard compile options for the C++ executable
-FLAGS = -fPIC -O3 -march=native -Wall -Werror -flto=auto
-
-# The Python interface through SWIG
-PYTHON_VERSION = $(shell python3 -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}");')
-PYTHONI = -I/usr/include/python$(PYTHON_VERSION)/
-PYTHONL = -Xlinker -export-dynamic
-
-# Default super-target
-all:
-	cd ../rpt/ && g++ $(FLAGS) -std=c++2a -c *.cpp ; cd ../swig/
-	swig -c++ -python -keyword -o rpt_wrap.cxx rpt.i
-	g++ $(FLAGS) $(PYTHONI) -c rpt_wrap.cxx -o rpt_wrap.o
-	g++ $(FLAGS) $(PYTHONL) -shared ../rpt/*.o rpt_wrap.o -o _rpt.so