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[ Stable Build ] : Corrects major bugs, and creates buildable repo #798

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[ Stable Build ] : Corrects major bugs, and creates buildable repo #798

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d50d847
[ Stable Build ] : Corrects major bugs
aPR0T0 Aug 23, 2023
4e3b8af
[Minor fixes] : Changes compiler to C14 only
aPR0T0 Aug 23, 2023
2e10516
[ H264 Codec ] : Resolves h264 video encoding problems
aPR0T0 Sep 19, 2023
feb55b3
[ Minor Debugging ] : Changes topic from /camera to /tello
aPR0T0 Sep 20, 2023
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139 changes: 3 additions & 136 deletions CMakeLists.txt
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,21 +12,9 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_EXTENSIONS OFF)
add_definitions(-DCOMPILEDWITHC14)

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

Expand Down Expand Up @@ -267,124 +255,3 @@ if(realsense2_FOUND)
Examples/Calibration/recorder_realsense_T265.cc)
target_link_libraries(recorder_realsense_T265 ${PROJECT_NAME})
endif()

#Old examples

# RGB-D examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D)

add_executable(rgbd_tum_old
Examples_old/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(rgbd_realsense_D435i_old
Examples_old/RGB-D/rgbd_realsense_D435i.cc)
target_link_libraries(rgbd_realsense_D435i_old ${PROJECT_NAME})
endif()


# RGB-D inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D-Inertial)

if(realsense2_FOUND)
add_executable(rgbd_inertial_realsense_D435i_old
Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
target_link_libraries(rgbd_inertial_realsense_D435i_old ${PROJECT_NAME})
endif()

#Stereo examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo)

add_executable(stereo_kitti_old
Examples_old/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti_old ${PROJECT_NAME})

add_executable(stereo_euroc_old
Examples_old/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc_old ${PROJECT_NAME})

add_executable(stereo_tum_vi_old
Examples_old/Stereo/stereo_tum_vi.cc)
target_link_libraries(stereo_tum_vi_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(stereo_realsense_t265_old
Examples_old/Stereo/stereo_realsense_t265.cc)
target_link_libraries(stereo_realsense_t265_old ${PROJECT_NAME})

add_executable(stereo_realsense_D435i_old
Examples_old/Stereo/stereo_realsense_D435i.cc)
target_link_libraries(stereo_realsense_D435i_old ${PROJECT_NAME})
endif()

#Monocular examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular)

add_executable(mono_tum_old
Examples_old/Monocular/mono_tum.cc)
target_link_libraries(mono_tum_old ${PROJECT_NAME})

add_executable(mono_kitti_old
Examples_old/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti_old ${PROJECT_NAME})

add_executable(mono_euroc_old
Examples_old/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc_old ${PROJECT_NAME})

add_executable(mono_tum_vi_old
Examples_old/Monocular/mono_tum_vi.cc)
target_link_libraries(mono_tum_vi_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(mono_realsense_t265_old
Examples_old/Monocular/mono_realsense_t265.cc)
target_link_libraries(mono_realsense_t265_old ${PROJECT_NAME})

add_executable(mono_realsense_D435i_old
Examples_old/Monocular/mono_realsense_D435i.cc)
target_link_libraries(mono_realsense_D435i_old ${PROJECT_NAME})
endif()

#Monocular inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular-Inertial)

add_executable(mono_inertial_euroc_old
Examples_old/Monocular-Inertial/mono_inertial_euroc.cc)
target_link_libraries(mono_inertial_euroc_old ${PROJECT_NAME})

add_executable(mono_inertial_tum_vi_old
Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc)
target_link_libraries(mono_inertial_tum_vi_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(mono_inertial_realsense_t265_old
Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc)
target_link_libraries(mono_inertial_realsense_t265_old ${PROJECT_NAME})

add_executable(mono_inertial_realsense_D435i_old
Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
target_link_libraries(mono_inertial_realsense_D435i_old ${PROJECT_NAME})
endif()

#Stereo Inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo-Inertial)

add_executable(stereo_inertial_euroc_old
Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc_old ${PROJECT_NAME})

add_executable(stereo_inertial_tum_vi_old
Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc)
target_link_libraries(stereo_inertial_tum_vi_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(stereo_inertial_realsense_t265_old
Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
target_link_libraries(stereo_inertial_realsense_t265_old ${PROJECT_NAME})

add_executable(stereo_inertial_realsense_D435i_old
Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
endif()
8 changes: 4 additions & 4 deletions Examples/Monocular-Inertial/mono_inertial_euroc.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,7 @@ int main(int argc, char *argv[])
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -158,7 +158,7 @@ int main(int argc, char *argv[])
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -184,7 +184,7 @@ int main(int argc, char *argv[])
}
}

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -194,7 +194,7 @@ int main(int argc, char *argv[])
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
10 changes: 5 additions & 5 deletions Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -314,7 +314,7 @@ int main(int argc, char **argv) {
if(!image_ready)
cond_image_rec.wait(lk);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
Expand Down Expand Up @@ -365,7 +365,7 @@ int main(int argc, char **argv) {
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -375,7 +375,7 @@ int main(int argc, char **argv) {
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -386,7 +386,7 @@ int main(int argc, char **argv) {
}

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
Expand All @@ -395,7 +395,7 @@ int main(int argc, char **argv) {
// Pass the image to the SLAM system
SLAM.TrackMonocular(im, timestamp, vImuMeas);
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
Expand Down
10 changes: 5 additions & 5 deletions Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -230,7 +230,7 @@ int main(int argc, char **argv)
while(!image_ready)
cond_image_rec.wait(lk);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
Expand All @@ -257,7 +257,7 @@ int main(int argc, char **argv)
else
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -267,7 +267,7 @@ int main(int argc, char **argv)
int height = imCV.rows * imageScale;
cv::resize(imCV, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand Down Expand Up @@ -308,15 +308,15 @@ int main(int argc, char **argv)
}
}

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
#endif
// Pass the image to the SLAM system
SLAM.TrackMonocular(im, timestamp, vImuMeas);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
Expand Down
8 changes: 4 additions & 4 deletions Examples/Monocular-Inertial/mono_inertial_tum_vi.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,7 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -182,7 +182,7 @@ int main(int argc, char **argv)
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -195,7 +195,7 @@ int main(int argc, char **argv)
// cout << "first imu: " << first_imu[seq] << endl;
/*cout << "first imu time: " << fixed << vTimestampsImu[first_imu] << endl;
cout << "size vImu: " << vImuMeas.size() << endl;*/
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -205,7 +205,7 @@ int main(int argc, char **argv)
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
8 changes: 4 additions & 4 deletions Examples/Monocular/mono_euroc.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,7 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -119,7 +119,7 @@ int main(int argc, char **argv)
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -129,7 +129,7 @@ int main(int argc, char **argv)
#endif
}

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -139,7 +139,7 @@ int main(int argc, char **argv)
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
8 changes: 4 additions & 4 deletions Examples/Monocular/mono_kitti.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -88,7 +88,7 @@ int main(int argc, char **argv)
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -98,7 +98,7 @@ int main(int argc, char **argv)
#endif
}

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -107,7 +107,7 @@ int main(int argc, char **argv)
// Pass the image to the SLAM system
SLAM.TrackMonocular(im,tframe,vector<ORB_SLAM3::IMU::Point>(), vstrImageFilenames[ni]);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
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