RobotVision CMake refactor + Tracker service introduction

controller/src/robot_vision/CMakeLists.txt

@@ -2,96 +2,103 @@
 # SPDX-License-Identifier: Apache-2.0
 # This file is licensed under Apache 2.0 License.
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.21)
+
+#####################################################################
+# Project
+#####################################################################
+
+project(RobotVision VERSION 1.1.0 LANGUAGES CXX)
 
-include(FindPkgConfig)
 include(GNUInstallDirs)
-include(ExternalProject)
-include(FetchContent)
-include(CMakePackageConfigHelpers)
-
-project(RobotVision VERSION 1.1.0)
-
-set(CMAKE_CXX_STANDARD 14)
-set(PROJECT_NAMESPACE rv)
-
-# Security hardening flags (Intel Secure Coding Standards)
-add_compile_options(
-  -fstack-protector-strong
-  -fstack-clash-protection
-  -U_FORTIFY_SOURCE
-  -D_FORTIFY_SOURCE=3
-  -Wformat
-  -Wformat-security
-  -fno-strict-overflow
-  -fno-delete-null-pointer-checks
-)
+include(cmake/security_options.cmake)  # scene_define_security_options()
+include(cmake/opencv_shim.cmake)       # rv_ensure_opencv_target()
 
-# Security hardening linker flags
-add_link_options(
-  -Wl,-z,relro,-z,now
-  -Wl,-z,noexecstack
-)
+set(RV_CXX_STANDARD 17 CACHE STRING "C++ standard for RobotVision targets")
 
-set(ROBOT_VISION_BUILD_INSTALL_PREFIX ${CMAKE_CURRENT_BINARY_DIR}/install)
+option(BUILD_PYTHON_BINDINGS "Build Python bindings with pybind11" ON)
+option(BUILD_TESTING "Build tests" OFF)
+option(BUILD_BENCHMARKS "Build performance benchmarks" OFF)
 
-option(BUILD_TESTING OFF)
-set(PROJECT_BUILD_TESTING BUILD_TESTING)
+# Shared security hardening flags (reused by tracker via rv::security_options).
+scene_define_security_options(rv_security_options)
+add_library(rv::security_options ALIAS rv_security_options)
 
-# Required packages
-find_package(OpenCV REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(Python REQUIRED COMPONENTS Interpreter Development)
-find_package(pybind11 CONFIG REQUIRED)
+#####################################################################
+# Dependencies
+#####################################################################
+
+find_package(OpenCV CONFIG REQUIRED)
+find_package(Eigen3 CONFIG REQUIRED)
 find_package(OpenMP REQUIRED)
 
-message(STATUS ${Python_INCLUDE_DIRS} ${Python_VERSION} ${Python_LIBRARIES})
+# Normalize OpenCV usage to the synthetic opencv::opencv imported target.
+rv_ensure_opencv_target()
+
+if(BUILD_PYTHON_BINDINGS)
+  find_package(Python REQUIRED COMPONENTS Interpreter Development)
+  find_package(pybind11 CONFIG REQUIRED)
+  message(STATUS "Python include dirs: ${Python_INCLUDE_DIRS} version: ${Python_VERSION} libs: ${Python_LIBRARIES}")
+endif()
+
+#####################################################################
+# Library
+#####################################################################
 
 set(PROJECT_SOURCE_LIST
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/TrackedObject.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/CAModel.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/CVModel.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/CPModel.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/CTRVModel.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/UnscentedKalmanFilter.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/ObjectMatching.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/MultiModelKalmanEstimator.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/TrackManager.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/Classification.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/MultipleObjectTracker.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/TrackTracker.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/tracking/CameraUtils.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/apollo/connected_component_analysis.cpp
-  ${CMAKE_SOURCE_DIR}/src/rv/apollo/multi_hm_bipartite_graph_matcher.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/TrackedObject.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/CAModel.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/CVModel.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/CPModel.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/CTRVModel.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/UnscentedKalmanFilter.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/ObjectMatching.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/MultiModelKalmanEstimator.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/TrackManager.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/Classification.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/MultipleObjectTracker.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/TrackTracker.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/tracking/CameraUtils.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/apollo/connected_component_analysis.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/rv/apollo/multi_hm_bipartite_graph_matcher.cpp
 )
 
 add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_LIST} )
 
 target_include_directories(${PROJECT_NAME}
 PUBLIC
-${CMAKE_SOURCE_DIR}/include
-${OpenCV_INCLUDE_DIRS}
-${EIGEN3_INCLUDE_DIR}
-${PYTHON_INCLUDE_DIRS}
-${pybind11_INCLUDE_DIRS})
+  ${CMAKE_CURRENT_SOURCE_DIR}/include  
+)
 
-target_link_libraries(${PROJECT_NAME} PUBLIC ${OpenCV_LIBS} ${Python_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
+    Eigen3::Eigen
+    opencv::opencv
+    OpenMP::OpenMP_CXX
+  PRIVATE
+    rv::security_options
+)
 
-if(OpenMP_CXX_FOUND)
-  target_link_libraries(${PROJECT_NAME} PUBLIC OpenMP::OpenMP_CXX)
-endif()
+set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD ${RV_CXX_STANDARD})
+set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)
 
-set(TRACKING_MODULE_SOURCE_LIST
-  ${CMAKE_SOURCE_DIR}/python/src/robot_vision/extensions/tracking.cpp
-)
+#####################################################################
+# Python bindings
+#####################################################################
+
+if(BUILD_PYTHON_BINDINGS)
+  set(TRACKING_MODULE_SOURCE_LIST
+    ${CMAKE_CURRENT_SOURCE_DIR}/python/src/robot_vision/extensions/tracking.cpp
+  )
 
-pybind11_add_module(tracking MODULE ${TRACKING_MODULE_SOURCE_LIST})
-target_link_libraries(tracking PUBLIC ${PROJECT_NAME})
+  pybind11_add_module(tracking MODULE ${TRACKING_MODULE_SOURCE_LIST})
+  target_link_libraries(tracking PUBLIC ${PROJECT_NAME} Python::Python)
+
+  pybind11_add_module(types MODULE  ${CMAKE_CURRENT_SOURCE_DIR}/python/src/robot_vision/extensions/types.cpp)
+  target_link_libraries(types PUBLIC ${PROJECT_NAME} Python::Python)
+endif()
 
-pybind11_add_module(types MODULE  ${CMAKE_SOURCE_DIR}/python/src/robot_vision/extensions/types.cpp)
-target_link_libraries(types PUBLIC ${PROJECT_NAME})
 
-set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14)
 
 #####################################################################
 # install
@@ -104,16 +111,16 @@ install(TARGETS ${PROJECT_NAME} DESTINATION lib)
 #####################################################################
 
 # Not working with ceres, ceres brings gtest as static lib gtest
-if(PROJECT_BUILD_TESTING)
-  include(${CMAKE_SOURCE_DIR}/cmake/gtest.cmake)
+if(BUILD_TESTING)
+  include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/gtest.cmake)
+  enable_testing()
   add_subdirectory(test)
-endif(PROJECT_BUILD_TESTING)
+endif(BUILD_TESTING)
 
 #####################################################################
 # benchmarks
 #####################################################################
 
-option(BUILD_BENCHMARKS "Build performance benchmarks" OFF)
 if(BUILD_BENCHMARKS)
   add_subdirectory(benchmarks)
 endif(BUILD_BENCHMARKS)

controller/src/robot_vision/Makefile

@@ -1,7 +1,7 @@
 # SPDX-FileCopyrightText: (C) 2025 Intel Corporation
 # SPDX-License-Identifier: Apache-2.0
 
-.PHONY: clean docs help install docserve test
+.PHONY: clean docs help install docserve test cpp-tests
 .DEFAULT_GOAL := test
 
 clean:
@@ -13,6 +13,7 @@ clean:
 	rm -r docs/_build/ || true
 	rm -r docs/generated/ || true
 	find . -name __pycache__ | xargs rm -r || true
+	rm -r build-rv-tests || true
 
 docshtml:
 	$(MAKE) -C docs html
@@ -23,5 +24,10 @@ docspdf:
 test:
 	python3 setup.py test
 
+cpp-tests:
+	cmake -S . -B build-rv-tests -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDINGS=OFF
+	cmake --build build-rv-tests
+	cd build-rv-tests && ctest
+
 docserve:
 	cd docs/_build/html && python3 -m http.server 8000

controller/src/robot_vision/benchmarks/CMakeLists.txt

@@ -4,10 +4,6 @@
 #####################################################################
 # robot vision benchmarks
 #####################################################################
-
-set(CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_STANDARD 14)
-
 # Check if benchmark library is available
 find_package(benchmark QUIET)
 
@@ -21,6 +17,9 @@ if(benchmark_FOUND)
     )
 
     add_executable(${BENCHMARK_EXEC_NAME} ${BENCHMARK_SOURCES})
+
+    set_property(TARGET ${BENCHMARK_EXEC_NAME} PROPERTY CXX_STANDARD ${RV_CXX_STANDARD})
+    set_property(TARGET ${BENCHMARK_EXEC_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)
 
     target_compile_options(${BENCHMARK_EXEC_NAME} PRIVATE 
         -fno-access-control
@@ -30,13 +29,13 @@ if(benchmark_FOUND)
 
     target_include_directories(${BENCHMARK_EXEC_NAME}
         PRIVATE
-        ${CMAKE_SOURCE_DIR}/include
-        ${CMAKE_SOURCE_DIR}/controller/src/robot_vision/include
+        ${PROJECT_SOURCE_DIR}/include
     )
 
     target_link_libraries(${BENCHMARK_EXEC_NAME}
         PRIVATE
         ${PROJECT_NAME}
+        rv::security_options
         benchmark::benchmark
         benchmark::benchmark_main
     )

controller/src/robot_vision/cmake/opencv_shim.cmake

@@ -0,0 +1,32 @@
+# SPDX-FileCopyrightText: 2025-2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+# This file is licensed under Apache 2.0 License.
+
+# Ensure a unified OpenCV imported target exists.
+#
+# In our Ubuntu-based controller build we rely on system OpenCV
+# (OpenCV_DIR is set to /usr/lib/x86_64-linux-gnu/cmake/opencv4).
+# That config does not define a single opencv::opencv target, but
+# instead exposes either opencv_world or an OpenCV_LIBS list. To keep
+# RobotVision linking against a modern imported target everywhere,
+# we synthesize opencv::opencv from those system-provided libraries.
+
+function(rv_ensure_opencv_target)
+  if(TARGET opencv::opencv)
+    return()
+  endif()
+
+  if(TARGET opencv_world)
+    add_library(opencv::opencv INTERFACE IMPORTED)
+    set_target_properties(opencv::opencv PROPERTIES
+      INTERFACE_LINK_LIBRARIES opencv_world
+    )
+  elseif(DEFINED OpenCV_LIBS)
+    add_library(opencv::opencv INTERFACE IMPORTED)
+    set_target_properties(opencv::opencv PROPERTIES
+      INTERFACE_LINK_LIBRARIES "${OpenCV_LIBS}"
+    )
+  else()
+    message(FATAL_ERROR "OpenCV found but no opencv::opencv target or OpenCV_LIBS defined")
+  endif()
+endfunction()

controller/src/robot_vision/cmake/security_options.cmake

@@ -0,0 +1,45 @@
+# SPDX-FileCopyrightText: 2025-2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+# This file is licensed under Apache 2.0 License.
+
+# RobotVision security options helpers.
+#
+# This module defines scene_define_security_options(), which creates an
+# INTERFACE target with common security hardening flags. It replaces the
+# previous implementation that lived under scene_common.
+#
+# Usage:
+#   scene_define_security_options(<target_name>)
+#
+# The caller is responsible for creating any ALIAS targets (for example
+# rv::security_options or Tracker::security_options) that point at the
+# created INTERFACE library.
+
+function(scene_define_security_options target_name)
+	if(TARGET "${target_name}")
+		return()
+	endif()
+
+	add_library("${target_name}" INTERFACE)
+
+	# Security hardening flags (Intel Secure Coding Standards).
+	# Applied only for non-Debug builds so debugging stays easy.
+	if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+		target_compile_options("${target_name}" INTERFACE
+			-fstack-protector-strong
+			-fstack-clash-protection
+			-U_FORTIFY_SOURCE
+			-D_FORTIFY_SOURCE=3
+			-Wformat
+			-Wformat-security
+			-fno-strict-overflow
+			-fno-delete-null-pointer-checks
+		)
+
+		target_link_options("${target_name}" INTERFACE
+			-Wl,-z,relro,-z,now
+			-Wl,-z,noexecstack
+		)
+	endif()
+endfunction()
+

controller/src/robot_vision/include/rv/apollo/gated_hungarian_bigraph_matcher.hpp

@@ -181,7 +181,7 @@ template <typename T> void GatedHungarianMatcher<T>::MatchInit()
   auto find_ret = compare_fun_map.find(opt_flag_);
   CHECK(find_ret != compare_fun_map.end());
   compare_fun_ = find_ret->second;
-  is_valid_cost_ = std::bind1st(compare_fun_, cost_thresh_);
+  is_valid_cost_ = [this](T value) { return compare_fun_(cost_thresh_, value); };
 
   /* check the validity of bound_value */
   CHECK(!is_valid_cost_(bound_value_));

controller/src/robot_vision/test/CMakeLists.txt

@@ -7,26 +7,27 @@
 #####################################################################
 set(EXEC_NAME RobotVisionTests)
 
-set(CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_STANDARD 17)
-
 set(TEST_SOURCES
   main.cpp
   TrackingTests.cpp
 )
 
 add_executable(${EXEC_NAME} ${TEST_SOURCES})
 
+set_property(TARGET ${EXEC_NAME} PROPERTY CXX_STANDARD ${RV_CXX_STANDARD})
+set_property(TARGET ${EXEC_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)
+
 target_compile_options(${EXEC_NAME} PRIVATE -fno-access-control)
 
 target_include_directories(${EXEC_NAME}
   PRIVATE
-  ${CMAKE_SOURCE_DIR}/include
+  ${PROJECT_SOURCE_DIR}/include
 )
 
 target_link_libraries(${EXEC_NAME}
   PRIVATE
   ${PROJECT_NAME}
+  rv::security_options
   GTest::gtest_main
 )
 add_test(NAME ${EXEC_NAME} COMMAND ${EXEC_NAME})