Add kimera spectacular data provider

WORKSPACE

@@ -522,7 +522,8 @@ http_archive(
   strip_prefix="opengv-91f4b19c73450833a40e463ad3648aae80b3a7f3",
   build_file="//third_party:BUILD.opengv",
   patch_args = ["-p1"],
-  patches = ["//third_party:opengv_0001-prefix-unsupported-eigen-include-paths.patch"],
+  patches = ["//third_party:opengv_0001-prefix-unsupported-eigen-include-paths.patch",
+             "//third_party:opengv_0002-unused-parameter.patch"],
   integrity = "sha256-gIK3IvE6rGDpxvN3BA+EPFKPvZ7Zi7Ix33IIcm2RULA="
 )
 
@@ -539,12 +540,7 @@ http_archive(
   urls = ["https://github.com/ewfuentes/Kimera-VIO/archive/master.zip"],
   strip_prefix = "Kimera-VIO-master",
   build_file = "//third_party:BUILD.kimera_vio",
-  integrity = "sha256-8fLHPn8JPWffnnXEA0gJbZrBhoGpK0Gw80I3oWXpgZg=",
-  patch_args = ["-p1"],
-  patches = [
-    "//third_party:kimera_vio_0001-add-missing-includes.patch",
-    "//third_party:kimera_vio_0002-add-override-markers.patch",
-  ]
+  integrity = "sha256-+hQBAPv4bDRbYnH1iXeuHTNsWnfXgqZ0FoUTv6usQ/k=",
 )
 
 http_archive(

common/BUILD

@@ -105,4 +105,4 @@ cc_test(
     "@bs_thread_pool",
     "@com_google_googletest//:gtest_main",
   ],
-)
+)

common/video.cc

@@ -0,0 +1,15 @@
+#include "opencv2/opencv.hpp"
+
+namespace robot::common {
+
+bool images_equal(const cv::Mat& img1, const cv::Mat& img2) {
+    if (img1.size() != img2.size() || img1.type() != img2.type()) {
+        return false;
+    }
+    cv::Mat diff;
+    cv::absdiff(img1, img2, diff);
+    diff = diff.reshape(1);
+    return cv::countNonZero(diff) == 0;
+}
+
+}  // namespace robot::common

common/video.hh

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "opencv2/opencv.hpp"
+
+namespace robot::common {
+
+bool images_equal(const cv::Mat& img1, const cv::Mat& img2);
+
+}

common/video/BUILD

@@ -0,0 +1,21 @@
+package(features=["warning_compile_flags"])
+
+cc_library(
+  name = "image_compare",
+  hdrs = ["image_compare.hh"],
+  srcs = ["image_compare.cc"],
+  deps = [
+    "@eigen//:eigen",
+    "@opencv",
+  ],
+  visibility = ["//visibility:public"],
+)
+
+cc_test(
+  name = "image_compare_test",
+  srcs = ["image_compare_test.cc"],
+  deps = [
+    ":image_compare",
+    "@com_google_googletest//:gtest_main",
+  ]
+)

common/video/image_compare.cc

@@ -0,0 +1,15 @@
+#include "opencv2/opencv.hpp"
+
+namespace robot::common::video {
+
+bool images_equal(const cv::Mat& img1, const cv::Mat& img2) {
+    if (img1.size() != img2.size() || img1.type() != img2.type()) {
+        return false;
+    }
+    cv::Mat diff;
+    cv::absdiff(img1, img2, diff);
+    diff = diff.reshape(1);
+    return cv::countNonZero(diff) == 0;
+}
+
+}  // namespace robot::common::video

common/video/image_compare.hh

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "opencv2/opencv.hpp"
+
+namespace robot::common::video {
+
+bool images_equal(const cv::Mat& img1, const cv::Mat& img2);
+
+}

common/video/image_compare_test.cc

@@ -0,0 +1,33 @@
+#include "common/video/image_compare.hh"
+
+#include <gtest/gtest.h>
+
+#include "opencv2/opencv.hpp"
+
+namespace robot::common::video {
+
+TEST(ImageCompareTest, ImagesEqual_SameImages) {
+    cv::Mat img1 = cv::Mat::zeros(100, 100, CV_8UC3);
+    cv::Mat img2 = img1.clone();
+    EXPECT_TRUE(images_equal(img1, img2));
+}
+
+TEST(ImageCompareTest, ImagesEqual_DifferentSizes) {
+    cv::Mat img1 = cv::Mat::zeros(100, 100, CV_8UC3);
+    cv::Mat img2 = cv::Mat::zeros(200, 200, CV_8UC3);
+    EXPECT_FALSE(images_equal(img1, img2));
+}
+
+TEST(ImageCompareTest, ImagesEqual_DifferentTypes) {
+    cv::Mat img1 = cv::Mat::zeros(100, 100, CV_8UC3);
+    cv::Mat img2 = cv::Mat::zeros(100, 100, CV_8UC1);
+    EXPECT_FALSE(images_equal(img1, img2));
+}
+
+TEST(ImageCompareTest, ImagesEqual_DifferentContent) {
+    cv::Mat img1 = cv::Mat::zeros(100, 100, CV_8UC3);
+    cv::Mat img2 = cv::Mat::ones(100, 100, CV_8UC3);
+    EXPECT_FALSE(images_equal(img1, img2));
+}
+
+}  // namespace robot::common::video

experimental/overhead_matching/BUILD

@@ -1,5 +1,3 @@
-
-
 package(features=["warning_compile_flags"])
 
 load("@pybind11_bazel//:build_defs.bzl", "pybind_extension")
@@ -31,6 +29,7 @@ cc_test(
 	":spectacular_log",
 	"@com_google_googletest//:gtest_main",
 	"@fmt",
+    "//common/video:image_compare",
     ]
 )
 
@@ -50,3 +49,35 @@ py_binary(
 	requirement("numpy"),
     ],
 )
+
+
+cc_library(
+    name = "kimera_spectacular_data_provider",
+    hdrs = ["kimera_spectacular_data_provider.hh"],
+    srcs = ["kimera_spectacular_data_provider.cc"],
+    copts = ["-Wno-sign-compare"],
+    deps = [
+        "@kimera_vio",
+        ":spectacular_log",
+    ]
+)
+cc_test(
+    name = "kimera_spectacular_data_provider_test",
+    srcs = ["kimera_spectacular_data_provider_test.cc"],
+    data = ["@spectacular_log_snippet//:files"],
+    copts = ["-Wno-sign-compare"],
+    deps = [
+        ":kimera_spectacular_data_provider",
+        "@com_google_googletest//:gtest_main",
+        "//common/video:image_compare",
+    ]
+)
+cc_test(
+    name = "kimera_vio_pipeline_test",
+    srcs = ["kimera_vio_pipeline_test.cc"],
+    copts = ["-Wno-sign-compare"],
+    deps = [
+	":kimera_spectacular_data_provider",
+	"@com_google_googletest//:gtest_main",
+    ]
+)