Implemented some Python bindings for the non-central camera absolute …

CMakeLists.txt

@@ -12,7 +12,10 @@ set (OPENGV_VERSION_MINOR 0)
 #  RelWithDebInfo (CMAKE_C_FLAGS_RELWITHDEBINFO or CMAKE_CXX_FLAGS_RELWITHDEBINFO)
 #  MinSizeRel (CMAKE_C_FLAGS_MINSIZEREL or CMAKE_CXX_FLAGS_MINSIZEREL)
 
-set(CMAKE_BUILD_TYPE Release)
+message("Generated with config types: ${CMAKE_CONFIGURATION_TYPES}")
+# Manual setting:
+#set(CMAKE_BUILD_TYPE Release)
+#set(CMAKE_BUILD_TYPE Debug)
 
 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
@@ -32,7 +35,16 @@ ENDIF()
 IF(MSVC)
   add_compile_options(/wd4514 /wd4267 $<$<CONFIG:DEBUG>:/bigobj>)
 ELSE()
-  add_definitions (-Wall -march=native -O3)
+    IF(CMAKE_BUILD_TYPE MATCHES Debug)
+        set(CMAKE_CXX_FLAGS_DEBUG  "-g -O0")
+        # In the IDE, values are available if you compiled without optimization ie -O0 or just a little bit -O1
+        # If using -O2 or -O3, you get "optimized out" when printing variables [1],
+        message("Adding DEBUG mode to " ${PROJECT_NAME} " " ${CMAKE_CXX_FLAGS_DEBUG})
+    ELSE()
+        set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG ")
+    ENDIF(CMAKE_BUILD_TYPE MATCHES Debug)
+    #add_definitions (-Wall -march=native -O3)
+    add_definitions (-Wall -march=native)
 ENDIF()
 
 IF(BUILD_POSITION_INDEPENDENT_CODE)

doc/addons/01_installation.dox

@@ -5,8 +5,8 @@
  * If you are only interested in using the library under Matlab, now there is a precompiled mex-library for 64-bit systems available. You can download it from:
  *
 \verbatim
-Windows: http://laurentkneip.github.io/publications/opengv.mexw64
-Mac OSX: http://laurentkneip.github.io/publications/opengv.mexmaci64
+Windows: https://dl.dropboxusercontent.com/u/23966023/opengv/opengv.mexw64
+Mac OSX: https://dl.dropboxusercontent.com/u/23966023/opengv/opengv.mexmaci64
 \endverbatim
  *
  * These versions have been added around March 2016, so please be aware that later additions may not be included in this distribution. You can go immediately to \ref page_matlab "Use under Matlab" to receive further instructions on the Matlab interface.

doc/addons/mainpage.dox

@@ -3,8 +3,8 @@
  * <b>Important note:</b> If you are only interested in using the library under Matlab, now there is a precompiled mex-library for 64-bit systems available. You can download it from:
  *
 \verbatim
-Windows: http://laurentkneip.github.io/publications/opengv.mexw64
-Mac OSX: http://laurentkneip.github.io/publications/opengv.mexmaci64
+Windows: https://dl.dropboxusercontent.com/u/23966023/opengv/opengv.mexw64
+Mac OSX: https://dl.dropboxusercontent.com/u/23966023/opengv/opengv.mexmaci64
 \endverbatim
  *
  * These versions have been added around March 2016, so please be aware that later additions may not be included in this distribution. You can go immediately to \ref page_matlab "Use under Matlab" to receive further instructions on the Matlab interface.

python/CMakeLists.txt

@@ -1,21 +1,51 @@
 
-find_package(Boost COMPONENTS python REQUIRED)
+option(BUILD_FOR_PYTHON3 "build pyopengv for Python 3" OFF)
+set(BOOST_PYTHON3_COMPONENT "python3" CACHE STRING "name of the Boost Python 3 component (python3, python-py36 or python-py37)")
+
+if(${BUILD_FOR_PYTHON3})
+    set(BOOST_PYTHON_COMPONENT ${BOOST_PYTHON3_COMPONENT})
+    set(BOOST_NUMPY_COMPONENT numpy3)
+    set(Python_ADDITIONAL_VERSIONS 3.7 3.6)
+    set(Python_VERSION_SUFFIX 3)
+else()
+    set(BOOST_PYTHON_COMPONENT python)
+    set(BOOST_NUMPY_COMPONENT numpy)
+    set(Python_ADDITIONAL_VERSIONS 2.7)
+    set(Python_VERSION_SUFFIX "")
+endif()
+
+find_package(Boost REQUIRED COMPONENTS ${BOOST_PYTHON_COMPONENT})
+
+if(${Boost_VERSION} LESS 106300)
+    message("Not using boost/python/numpy.")
+    set(USE_BOOST_PYTHON_NUMPY "off")
+else()
+    message("Using boost/python/numpy.")
+    set(USE_BOOST_PYTHON_NUMPY "on")
+    add_definitions(-DUSE_BOOST_PYTHON_NUMPY)
+
+    find_package(Boost 1.63 REQUIRED COMPONENTS
+                 ${BOOST_PYTHON_COMPONENT} ${BOOST_NUMPY_COMPONENT})
+endif()
+
 include_directories(${Boost_INCLUDE_DIRS})
 
-set(Python_ADDITIONAL_VERSIONS "2.7")
-find_package(PythonLibs REQUIRED)
+find_package(PythonLibs ${Python_VERSION_SUFFIX} REQUIRED)
 include_directories(${PYTHON_INCLUDE_DIRS})
 
 find_package(NumPy REQUIRED)
 include_directories(${NUMPY_INCLUDE_DIRS})
 
-add_library( pyopengv SHARED pyopengv.cpp )
+add_library(pyopengv SHARED pyopengv.cpp)
 target_link_libraries(pyopengv opengv)
 
 set_target_properties(pyopengv PROPERTIES
     PREFIX ""
     SUFFIX ".so"
+    CXX_STANDARD 11
+    CXX_STANDARD_REQUIRED ON
 )
+
 if(APPLE)
     set_target_properties(pyopengv PROPERTIES
         LINK_FLAGS "-undefined dynamic_lookup"
@@ -30,7 +60,7 @@ endif()
 
 # Find whether to install python libs in site-packages or dist-packages
 execute_process ( COMMAND
-    python -c "import distutils.sysconfig; print 'dist-packages' if distutils.sysconfig.get_python_lib().endswith('dist-packages') else 'site-packages'"
+    python -c "import distutils.sysconfig; print('dist-packages' if distutils.sysconfig.get_python_lib().endswith('dist-packages') else 'site-packages')"
     OUTPUT_VARIABLE PYTHON_SITE_PACKAGES OUTPUT_STRIP_TRAILING_WHITESPACE)
 
 set(PYTHON_INSTALL_DIR