[ Stable Build ] : Corrects major bugs

aPR0T0 · Aug 23, 2023 · d50d847 · d50d847
1 parent 4452a3c
commit d50d847
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Showing 386 changed files with 528 additions and 7,798,209 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,12 +14,12 @@ 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++14" COMPILER_SUPPORTS_CXX14)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-   add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+   add_definitions(-DCOMPILEDWITHC14)
+   message(STATUS "Using flag -std=c++14.")
 elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
    add_definitions(-DCOMPILEDWITHC0X)
@@ -267,124 +267,3 @@ 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()
diff --git a/Examples/Monocular-Inertial/mono_inertial_euroc.cc b/Examples/Monocular-Inertial/mono_inertial_euroc.cc
@@ -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();
@@ -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();
@@ -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();
@@ -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();

diff --git a/Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc b/Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc
@@ -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();
@@ -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();
@@ -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();
@@ -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();
@@ -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();

diff --git a/Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc b/Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc
@@ -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();
@@ -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();
@@ -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();
@@ -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();

diff --git a/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc b/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc
@@ -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();
@@ -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();
@@ -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();
@@ -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();

diff --git a/Examples/Monocular/mono_euroc.cc b/Examples/Monocular/mono_euroc.cc
@@ -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();
@@ -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();
@@ -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();
@@ -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();

diff --git a/Examples/Monocular/mono_kitti.cc b/Examples/Monocular/mono_kitti.cc
@@ -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();
@@ -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();
@@ -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();
@@ -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();