Skip to content
Snippets Groups Projects
Commit d1eed341 authored by Mederic Fourmy's avatar Mederic Fourmy
Browse files

Merge branch '1-publisher-for-visual-odometry' into 'devel' 

Resolve "Publisher for visual odometry"

Closes #1

See merge request !1
parents 627235af 64072ebd
No related branches found
No related tags found
2 merge requests!3After cmake and const refactor,!1Resolve "Publisher for visual odometry"
Pipeline #10747 passed
Stage: license
    Stage: build_and_test
      Expand all Hide whitespace changes
      Inline Side-by-side
      .gitignore 0 → 100644
      + 4
      − 0
      View file @ d1eed341
      .vscode/
      .cproject
      .project
      .settings/language.settings.xml
      CMakeLists.txt
      + 29
      − 175
      View file @ d1eed341
      cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 3.0.2)
      project(wolf_ros_vision) project(wolf_ros_vision)
      ## Compile as C++14 ## Compile as C++14
      ...@@ -6,113 +6,32 @@ add_compile_options(-std=c++14) ...@@ -6,113 +6,32 @@ add_compile_options(-std=c++14)
      # -fPIC and -rdynamic ensure unique singleton instance across shared libraries (for factories) see: https://stackoverflow.com/a/8626922 # -fPIC and -rdynamic ensure unique singleton instance across shared libraries (for factories) see: https://stackoverflow.com/a/8626922
      SET(CMAKE_CXX_FLAGS "-fPIC -rdynamic") SET(CMAKE_CXX_FLAGS "-fPIC -rdynamic")
      # SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
      ## Find catkin macros and libraries ## Find catkin macros and libraries
      ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
      ## is used, also find other catkin packages
      find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
      roscpp roscpp
      rospy
      sensor_msgs sensor_msgs
      std_msgs
      tf
      dynamic_reconfigure
      wolf_ros_node wolf_ros_node
      cv_bridge cv_bridge
      image_transport image_transport
      ) )
      ## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
      # find_package(Boost REQUIRED COMPONENTS system) find_package(OpenCV REQUIRED)
      # find_package(Ceres REQUIRED)
      # find_package(Eigen3 REQUIRED)
      find_package(wolfcore REQUIRED) find_package(wolfcore REQUIRED)
      find_package(wolfvision REQUIRED) find_package(wolfvision REQUIRED)
      ## Uncomment this if the package has a setup.py. This macro ensures
      ## modules and global scripts declared therein get installed
      ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
      # catkin_python_setup()
      ################################################
      ## Declare ROS messages, services and actions ##
      ################################################
      ## To declare and build messages, services or actions from within this
      ## package, follow these steps:
      ## * Let MSG_DEP_SET be the set of packages whose message types you use in
      ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
      ## * In the file package.xml:
      ## * add a build_depend tag for "message_generation"
      ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
      ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
      ## but can be declared for certainty nonetheless:
      ## * add a exec_depend tag for "message_runtime"
      ## * In this file (CMakeLists.txt):
      ## * add "message_generation" and every package in MSG_DEP_SET to
      ## find_package(catkin REQUIRED COMPONENTS ...)
      ## * add "message_runtime" and every package in MSG_DEP_SET to
      ## catkin_package(CATKIN_DEPENDS ...)
      ## * uncomment the add_*_files sections below as needed
      ## and list every .msg/.srv/.action file to be processed
      ## * uncomment the generate_messages entry below
      ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
      ## Generate messages in the 'msg' folder
      # add_message_files(
      # FILES
      # Message1.msg
      # Message2.msg
      # )
      ## Generate services in the 'srv' folder
      # add_service_files(
      # FILES
      # Service1.srv
      # Service2.srv
      # )
      ## Generate actions in the 'action' folder
      # add_action_files(
      # FILES
      # Action1.action
      # Action2.action
      # )
      ## Generate added messages and services with any dependencies listed here
      #generate_messages(
      # DEPENDENCIES
      #)
      ################################################
      ## Declare ROS dynamic reconfigure parameters ##
      ################################################
      ## To declare and build dynamic reconfigure parameters within this
      ## package, follow these steps:
      ## * In the file package.xml:
      ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
      ## * In this file (CMakeLists.txt):
      ## * add "dynamic_reconfigure" to
      ## find_package(catkin REQUIRED COMPONENTS ...)
      ## * uncomment the "generate_dynamic_reconfigure_options" section below
      ## and list every .cfg file to be processed
      ## Generate dynamic reconfigure parameters in the 'cfg' folder
      #generate_dynamic_reconfigure_options(
      # cfg/WolfROS.cfg
      #)
      ################################### ###################################
      ## catkin specific configuration ## ## catkin specific configuration ##
      ################################### ###################################
      ## The catkin_package macro generates cmake config files for your package
      ## Declare things to be passed to dependent projects
      ## INCLUDE_DIRS: uncomment this if your package contains header files
      ## LIBRARIES: libraries you create in this project that dependent projects also need
      ## CATKIN_DEPENDS: catkin_packages dependent projects also need
      ## DEPENDS: system dependencies of this project that dependent projects also need
      catkin_package( catkin_package(
      # INCLUDE_DIRS include CATKIN_DEPENDS rospy sensor_msgs
      # LIBRARIES wolf_ros1
      # CATKIN_DEPENDS roscpp sensor_msgs std_msgs
      # DEPENDS system_lib
      ) )
      ########### ###########
      ...@@ -130,91 +49,26 @@ include_directories( ...@@ -130,91 +49,26 @@ include_directories(
      ${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
      ${CERES_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}
      ) )
      # link_directories(/usr/local/lib/iri-algorithms)
      ## Declare a C++ library
      add_library(subscriber_${PROJECT_NAME}
      src/subscriber_camera.cpp)
      #add_library(publisher_${PROJECT_NAME}
      # src/publisher_camera.cpp)
      ## Add cmake target dependencies of the library ## Declare a C++ library
      ## as an example, code may need to be generated before libraries add_library(publisher_${PROJECT_NAME} src/publisher_vision.cpp)
      ## either from message generation or dynamic reconfigure add_library(subscriber_${PROJECT_NAME} src/subscriber_camera.cpp)
      # add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
      # add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
      ## Declare a C++ executable
      ## With catkin_make all packages are built within a single CMake context
      ## The recommended prefix ensures that target names across packages don't collide
      ## Rename C++ executable without prefix
      ## The above recommended prefix causes long target names, the following renames the
      ## target back to the shorter version for ease of user use
      ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg"
      # set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
      ## Add cmake target dependencies of the executable
      ## same as for the library above
      #add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
      #add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
      ## Specify libraries to link a library or executable target against ## Specify libraries to link a library or executable target against
      target_link_libraries(subscriber_${PROJECT_NAME} target_link_libraries(subscriber_${PROJECT_NAME}
      ${wolfcore_LIBRARIES} ${wolfcore_LIBRARIES}
      ${wolfvision_LIBRARIES} ${wolfvision_LIBRARIES}
      ${vision_utils_LIBRARY} ${catkin_LIBRARIES}
      ${catkin_LIBRARIES} ${sensor_msgs_LIBRARIES}
      ) )
      #target_link_libraries(publisher_${PROJECT_NAME} target_link_libraries(publisher_${PROJECT_NAME}
      # ${wolfcore_LIBRARIES} ${wolfcore_LIBRARIES}
      # ${wolfvision_LIBRARIES} ${wolfvision_LIBRARIES}
      # ${sensor_msgs_LIBRARIES} ${catkin_LIBRARIES}
      # ) ${sensor_msgs_LIBRARIES}
      )
      #############
      ## Install ## # Declar a python script
      ############# catkin_install_python(PROGRAMS scripts/publisher_camera_info.py
      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
      # all install targets should use catkin DESTINATION variables )
      # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
      ## Mark executable scripts (Python etc.) for installation
      ## in contrast to setup.py, you can choose the destination
      # install(PROGRAMS
      # scripts/my_python_script
      # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
      # )
      ## Mark executables and/or libraries for installation
      # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
      # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
      # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
      # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
      # )
      ## Mark cpp header files for installation
      # install(DIRECTORY include/${PROJECT_NAME}/
      # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
      # FILES_MATCHING PATTERN "*.h"
      # PATTERN ".svn" EXCLUDE
      # )
      ## Mark other files for installation (e.g. launch and bag files, etc.)
      # install(FILES
      # # myfile1
      # # myfile2
      # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
      # )
      #############
      ## Testing ##
      #############
      ## Add gtest based cpp test target and link libraries
      # catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_ros.cpp)
      # if(TARGET ${PROJECT_NAME}-test)
      # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
      # endif()
      ## Add folders to be run by python nosetests
      # catkin_add_nosetests(test)
      include/publisher_vision.h 0 → 100644
      + 191
      − 0
      View file @ d1eed341
      //--------LICENSE_START--------
      //
      // Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
      // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
      // All rights reserved.
      //
      // This file is part of WOLF
      // WOLF is free software: you can redistribute it and/or modify
      // it under the terms of the GNU Lesser General Public License as published by
      // the Free Software Foundation, either version 3 of the License, or
      // at your option) any later version.
      //
      // This program is distributed in the hope that it will be useful,
      // but WITHOUT ANY WARRANTY; without even the implied warranty of
      // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
      // GNU Lesser General Public License for more details.
      //
      // You should have received a copy of the GNU Lesser General Public License
      // along with this program. If not, see <http://www.gnu.org/licenses/>.
      //
      //--------LICENSE_END--------
      #ifndef PUBLISHER_VISION_DEBUG_H_
      #define PUBLISHER_VISION_DEBUG_H_
      /**************************
      * WOLF includes *
      **************************/
      #include "core/common/wolf.h"
      #include "vision/processor/processor_visual_odometry.h"
      #include <core/utils/params_server.h>
      #include "publisher.h"
      /**************************
      * ROS includes *
      **************************/
      #include <ros/ros.h>
      #include <sensor_msgs/Image.h>
      #include <cv_bridge/cv_bridge.h>
      #include <image_transport/image_transport.h>
      namespace wolf
      {
      enum Color {BLUE = 0,
      GREEN,
      YELLOW,
      MAGENTA,
      CYAN,
      GREY,
      RED
      };
      class PublisherVisionDebug : public Publisher
      {
      public:
      PublisherVisionDebug(const std::string& _unique_name,
      const ParamsServer& _server,
      const ProblemConstPtr _problem);
      WOLF_PUBLISHER_CREATE(PublisherVisionDebug);
      virtual ~PublisherVisionDebug(){};
      void initialize(ros::NodeHandle &nh, const std::string& topic) override;
      bool ready() override;
      void publishDerived() override;
      protected:
      ProcessorVisualOdometryConstPtr processor_vision_;
      CaptureBaseConstPtr last_capture_;
      std::string topic_preprocessor_;
      struct Feature {
      double thickness_;
      int size_pix_;
      Color color_;
      };
      struct Tracks {
      bool show_id_;
      double size_id_;
      double thickness_;
      bool min_max_on_alive_tracks_;
      Color color_;
      int min_luminosity_;
      int max_luminosity_;
      Feature feature_last_;
      Feature feature_kfs_;
      };
      struct Tracks_preprocess {
      bool show_;
      bool show_on_diff_topic_;
      bool show_features_;
      double thickness_;
      Color color_;
      };
      struct Landmarks {
      bool show_id_;
      double size_id_;
      int size_pix_;
      Color color_;
      };
      Tracks tracks_;
      Tracks_preprocess tracks_preprocess_;
      Landmarks landmarks_;
      image_transport::Publisher publisher_image_;
      image_transport::Publisher publisher_image_preprocess_;
      image_transport::ImageTransport img_transport_;
      private:
      cv::Scalar primaryColor(Color _color);
      cv::Scalar colorTrackAndFeatures(int _nb_feature_in_track,
      int _max_feature_in_tracks,
      int _min_feature_in_tracks,
      Color _color_of_features);
      /*
      Convert a string corresponding to a color to its corresponding Color enum value
      */
      Color colorStringToEnum(const std::string _color);
      /*
      Search for the maximum and minimum of features in one track in the track matrix
      */
      std::pair<int, int> minMaxAliveTrackLength(const TrackMatrix &_track_matrix, CaptureBaseConstPtr _cap_img) const;
      /*
      Return a unique RGB color vector depending on the lenght of the track given,
      so the longer is the track the darker it is
      */
      // std::vector<int> colorTrackAndFeatures(int _nb_feature_in_track, int _max_feature_in_tracks, int _min_feature_in_tracks, Color _color_of_features);
      /*
      Return a RGB color vector coresponding to the color asked
      */
      // std::vector<int> primaryColor(Color _color_of_lmks);
      /*
      Change an image to show tracks and features within it
      */
      void showTracks(cv::Mat _image, const TrackMatrix& _track_matrix, CaptureBaseConstPtr _cap_img);
      /*
      Return the transformation from world to camera
      */
      Eigen::Isometry3d getTcw (const CaptureBaseConstPtr _capture) const;
      /*
      Transform Tcw into matrix for multiplication purpose
      */
      Eigen::Matrix4d getTcwMatrix (const CaptureBaseConstPtr _capture) const;
      /*
      Return the projection matrix of a sensor (linked to a capture)
      */
      Eigen::Matrix<double, 3, 4> getProjectionMatrix (const CaptureBaseConstPtr _capture) const;
      /*
      Return only the landmark associated to a feature in last keyframes
      */
      LandmarkBaseConstPtr getAssociatedLandmark(const TrackMatrix& _track_matrix, const FeatureBaseConstPtr& _ftr);
      /*
      Return the projection of a landmark in the frame
      */
      Eigen::Vector2d projectLandmarkHp (const Eigen::Matrix<double, 3, 4>& _trf_proj_mat, const LandmarkBaseConstPtr _lmk);
      /*
      Print one landmark into the capture
      */
      void showLandmark (cv::Mat _image, const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr);
      /*
      Print all of the landmarks associated with the capture
      */
      void showLandmarks (cv::Mat _image, const TrackMatrix& _track_matrix, const CaptureBaseConstPtr& _cap);
      /*
      Change an image to show tracks and features from the preprocess within it
      */
      void showTracksPreprocess (cv::Mat _image, const CaptureImageConstPtr& _origin, const CaptureImageConstPtr& _last);
      };
      WOLF_REGISTER_PUBLISHER(PublisherVisionDebug)
      }
      #endif
      include/subscriber_camera.h
      + 1
      − 0
      View file @ d1eed341
      ...@@ -62,6 +62,7 @@ class SubscriberCamera : public Subscriber ...@@ -62,6 +62,7 @@ class SubscriberCamera : public Subscriber
      SubscriberCamera(const std::string& _unique_name, SubscriberCamera(const std::string& _unique_name,
      const ParamsServer& _server, const ParamsServer& _server,
      const SensorBasePtr _sensor_ptr); const SensorBasePtr _sensor_ptr);
      virtual ~SubscriberCamera(){};
      WOLF_SUBSCRIBER_CREATE(SubscriberCamera); WOLF_SUBSCRIBER_CREATE(SubscriberCamera);
      virtual void initialize(ros::NodeHandle& nh, const std::string& topic); virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
      ......
      package.xml
      + 5
      − 41
      View file @ d1eed341
      ...@@ -4,69 +4,33 @@ ...@@ -4,69 +4,33 @@
      <version>0.0.0</version> <version>0.0.0</version>
      <description>The wolf_ros package of WOLF project</description> <description>The wolf_ros package of WOLF project</description>
      <!-- One maintainer tag required, multiple allowed, one person per tag -->
      <!-- Example: -->
      <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
      <maintainer email="jvallve@iri.upc.edu">jvallve</maintainer> <maintainer email="jvallve@iri.upc.edu">jvallve</maintainer>
      <!-- One license tag required, multiple allowed, one license per tag -->
      <!-- Commonly used license strings: -->
      <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
      <license>TODO</license> <license>TODO</license>
      <!-- Url tags are optional, but multiple are allowed, one per tag -->
      <!-- Optional attribute type can be: website, bugtracker, or repository -->
      <!-- Example: -->
      <!-- <url type="website">http://wiki.ros.org/wolf_ros1</url> -->
      <!-- Author tags are optional, multiple are allowed, one per tag -->
      <!-- Authors do not have to be maintainers, but could be -->
      <!-- Example: -->
      <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
      <!-- The *depend tags are used to specify dependencies -->
      <!-- Dependencies can be catkin packages or system dependencies -->
      <!-- Examples: -->
      <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
      <!-- <depend>roscpp</depend> -->
      <!-- Note that this is equivalent to the following: -->
      <!-- <build_depend>roscpp</build_depend> -->
      <!-- <exec_depend>roscpp</exec_depend> -->
      <!-- Use build_depend for packages you need at compile time: -->
      <!-- <build_depend>message_generation</build_depend> -->
      <!-- Use build_export_depend for packages you need in order to build against this package: -->
      <!-- <build_export_depend>message_generation</build_export_depend> -->
      <!-- Use buildtool_depend for build tool packages: -->
      <!-- <buildtool_depend>catkin</buildtool_depend> -->
      <!-- Use exec_depend for packages you need at runtime: -->
      <!-- <exec_depend>message_runtime</exec_depend> -->
      <!-- Use test_depend for packages you need only for testing: -->
      <!-- <test_depend>gtest</test_depend> -->
      <!-- Use doc_depend for packages you need only for building documentation: -->
      <!-- <doc_depend>doxygen</doc_depend> -->
      <buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
      <build_depend>roscpp</build_depend> <build_depend>roscpp</build_depend>
      <build_depend>rospy</build_depend>
      <build_depend>sensor_msgs</build_depend> <build_depend>sensor_msgs</build_depend>
      <build_depend>std_msgs</build_depend> <build_depend>std_msgs</build_depend>
      <build_depend>tf</build_depend> <build_depend>tf</build_depend>
      <build_depend>wolf_ros_node</build_depend> <build_depend>wolf_ros_node</build_depend>
      <build_export_depend>roscpp</build_export_depend> <build_export_depend>roscpp</build_export_depend>
      <build_export_depend>sensor_msgs</build_export_depend> <build_export_depend>sensor_msgs</build_export_depend>
      <build_export_depend>std_msgs</build_export_depend> <build_export_depend>std_msgs</build_export_depend>
      <build_export_depend>tf</build_export_depend> <build_export_depend>tf</build_export_depend>
      <exec_depend>roscpp</exec_depend> <exec_depend>roscpp</exec_depend>
      <exec_depend>rospy</exec_depend>
      <exec_depend>sensor_msgs</exec_depend> <exec_depend>sensor_msgs</exec_depend>
      <exec_depend>std_msgs</exec_depend> <exec_depend>std_msgs</exec_depend>
      <exec_depend>tf</exec_depend> <exec_depend>tf</exec_depend>
      <exec_depend>wolf_ros_node</exec_depend> <exec_depend>wolf_ros_node</exec_depend>
      <!-- The export tag contains other, unspecified, tags -->
      <export> <export>
      <!-- Other tools can request additional information be placed here -->
      </export> </export>
      </package> </package>
      scripts/publisher_camera_info.py 0 → 100644
      + 81
      − 0
      View file @ d1eed341
      #!/usr/bin/env python3
      import sys
      import copy
      from pure_eval import CannotEval
      import yaml
      import numpy as np
      import rospy
      from sensor_msgs.msg import CameraInfo
      from sensor_msgs.msg import Image
      def kvec2mat(fx, fy, cx, cy):
      return np.array([
      fx, 0, cx,
      0, fy, cy,
      0, 0, 0
      ]).reshape((3,3))
      def kmat2vec(K):
      # fx, fy, cx, cy
      return [K[0,0], K[1,1], K[0,2], K[1,2]]
      class CameraInfoPublisher:
      def __init__(self, topic_image_info_out, camera_yaml_path) -> None:
      self.topic_image_info_out = topic_image_info_out
      self.camera_yaml_path = camera_yaml_path
      self.camera_info_msg = self.read_camera_info(camera_yaml_path)
      self.publisher = rospy.Publisher(topic_image_info_out, CameraInfo, queue_size=10)
      def read_camera_info(self, path: str) -> CameraInfo:
      with open(path, 'r') as f:
      d = yaml.safe_load(f)
      # extract the important info and format them
      return self.extract_info_standard_yaml(d)
      def extract_info_standard_yaml(self, params: dict) -> CameraInfo:
      # The yaml file should have the same structure as the ones used for wolf sensor camera
      w = params['width']
      h = params['height']
      Kvec = params['camera_matrix']['data']
      distortion_model = params['distortion_model']
      D = params['distortion_coefficients']['data']
      R = params['rectification_matrix']['data']
      P = params['projection_matrix']['data']
      msg_args = {
      'width': w,
      'height': h,
      'K': Kvec,
      'distortion_model': distortion_model,
      'D': D,
      'R': R,
      'P': P,
      }
      return CameraInfo(**msg_args)
      def publish_cam_info(self, image_msg: Image):
      # take the header from image msg, replace the camera info header and then publish
      self.camera_info_msg.header = image_msg.header
      self.publisher.publish(self.camera_info_msg)
      if __name__ == '__main__':
      camera_yaml_path = rospy.get_param("camera_yaml_path")
      topic_image_raw_in = rospy.get_param("topic_image_raw_in")
      topic_image_info_out = rospy.get_param("topic_image_info_out")
      rospy.init_node('camera_info_publisher', anonymous=True)
      ci_publisher = CameraInfoPublisher(topic_image_info_out, camera_yaml_path)
      sub = rospy.Subscriber(topic_image_raw_in, Image, ci_publisher.publish_cam_info)
      print('Listening on ', sub.name)
      rospy.spin()
      \ No newline at end of file
      src/publisher_vision.cpp 0 → 100644
      + 674
      − 0
      View file @ d1eed341
      This diff is collapsed.
      0% or .
      You are about to add 0 people to the discussion. Proceed with caution.
      Finish editing this message first!
      Please register or to comment