Updated dockerfile for CI

.github/workflows/main.yml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     environment: modular-slam-ci
     container:
-      image: ghcr.io/marcin-ochman/modular-slam:v0.0.8-arch
+      image: ghcr.io/marcin-ochman/modular-slam:v0.0.10-conan
       credentials:
         username: marcin-ochman
         password: ${{ secrets.container_registry_token }}
@@ -22,15 +22,15 @@ jobs:
 
     - name: Configure CMake
       shell: bash
-      run: mkdir build; cd build;  cmake -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_CXX_FLAGS="-Wall -pedantic -Wextra" ..; cd -
+      run:  mkdir build; cd build;  cmake -DCMAKE_TOOLCHAIN_FILE=/conan_install/build/Release/generators/conan_toolchain.cmake  -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_CXX_FLAGS="-Wall -pedantic -Wextra" ..; cd -
 
     - name: Build
       shell: bash
-      run: cd build; make -j; cd -
+      run: cd build; source  /conan_install/build/Release/generators/conanrun.sh; make -j; cd -
 
     - name: Test
       working-directory: ${{github.workspace}}/build
-      run: ctest -C ${{env.BUILD_TYPE}} --output-on-failure
+      run: source  /conan_install/build/Release/generators/conanrun.sh; ctest -C ${{env.BUILD_TYPE}} --output-on-failure
 
     - name: Generate Docs
       run: cd build; make doc; cd -;

conanfile.py

@@ -20,12 +20,17 @@ def requirements(self):
         self.requires("nlohmann_json/3.11.3")
         self.requires("trompeloeil/47")
         self.requires("dbow3/c5ae539abddcef43ef64fa130555e2d521098369")
+        self.requires("eigen/3.4.0")
+        self.requires("ceres-solver/2.2.0")
+        self.requires("spdlog/1.13.0")
+        self.requires("glm/cci.20230113")
         self.requires("opencv/4.8.1", force=True)
         self.requires("qt/6.6.2", force=True)
         self.requires("libpng/1.6.43", override=True)
         self.requires("ffmpeg/6.1", override=True)
         self.requires("xkbcommon/1.6.0", override=True)
         self.requires("librealsense/2.53.1")
+        #  TODO  add eigen
 
     def config_options(self):
         if self.settings.os == "Windows":

src/app/CMakeLists.txt

@@ -53,7 +53,7 @@ target_link_libraries(
           Qt6::Core
           ModularSlam::ModularSlam
           OpenGL::GLU
-          glm
+          glm::glm
           ${OpenCV_LIBS})
 
 add_executable(RgbdSlam slam/rgbd_slam.cpp)
@@ -67,7 +67,7 @@ target_link_libraries(
           Qt6::Core
           ModularSlam::ModularSlam
           OpenGL::GLU
-          glm
+          glm::glm
           ${OpenCV_LIBS})
 
 get_target_property(QT_CORE_INCLUDE_DIRS Qt6::Core

src/app/viewer/pointcloud_viewer.cpp

@@ -3,12 +3,12 @@
 
 #include <GL/gl.h>
 #include <QMouseEvent>
+#include <QSurfaceFormat>
 #include <QTimer>
 #include <glm/gtc/type_ptr.hpp>
 #include <glm/gtx/transform.hpp>
 #include <glm/vec3.hpp>
 #include <optional>
-
 // clang-format off
 static const GLfloat textureBoxVertices[] = {
      1.0f, -1.0f,  0.0f, 1.0f, 1.0f,
@@ -76,6 +76,13 @@ void PointcloudViewer::addKeyframe(const KeyframeViewData& keyframe)
 
 void PointcloudViewer::initializeGL()
 {
+    QSurfaceFormat format;
+    format.setDepthBufferSize(24);
+    format.setStencilBufferSize(8);
+    format.setVersion(3, 2);
+    format.setProfile(QSurfaceFormat::CoreProfile);
+    this->setFormat(format);
+
     initializeOpenGLFunctions();
     glEnable(GL_PROGRAM_POINT_SIZE);
     glEnable(GL_BLEND);
@@ -141,6 +148,7 @@ void PointcloudViewer::wheelEvent(QWheelEvent* event)
 
 void PointcloudViewer::keyPressEvent(QKeyEvent* event)
 {
+    qDebug() << "Received ";
     switch(event->key())
     {
         case Qt::Key_A:
@@ -153,7 +161,7 @@ void PointcloudViewer::keyPressEvent(QKeyEvent* event)
             camera.move_forward(0.2f);
             break;
         case Qt::Key_S:
-            camera.move_forward(-0.2f);
+            camera.move_forward(0.2f);
             break;
     }
 }

src/lib/modular_slam/CMakeLists.txt

@@ -51,7 +51,7 @@ target_link_libraries(
           opencv_features2d
           opencv_highgui
           Ceres::ceres
-  PUBLIC realsense2::realsense2 Boost::filesystem Eigen3::Eigen spdlog::spdlog
+  PUBLIC realsense2::realsense2 Boost::boost Eigen3::Eigen spdlog::spdlog
          dbow3::dbow3)
 
 install(

src/lib/modular_slam/include/modular_slam/map/map_interface.hpp

@@ -6,7 +6,6 @@
 #include "modular_slam/slam_component.hpp"
 #include "modular_slam/types/frontend_output.hpp"
 #include <any>
-#include <ceres/types.h>
 #include <limits>
 #include <type_traits>
 

src/lib/modular_slam/include/modular_slam/types/basic_types.hpp

@@ -6,9 +6,6 @@
 #include <Eigen/src/Geometry/AngleAxis.h>
 #include <cstdint>
 
-#include <eigen3/Eigen/src/Core/Matrix.h>
-#include <eigen3/Eigen/src/Geometry/Quaternion.h>
-
 namespace mslam
 {
 

test/CMakeLists.txt

@@ -6,6 +6,7 @@ enable_testing()
 find_package(Catch2 3 REQUIRED)
 find_package(trompeloeil REQUIRED)
 find_package(OpenCV 4 REQUIRED)
+find_package(Boost REQUIRED)
 
 include(Catch)
 
@@ -14,14 +15,16 @@ if(NOT TARGET ModularSlam::ModularSlam)
 endif()
 
 add_library(dummy SHARED dummy.cpp)
+target_link_libraries(dummy PRIVATE Boost::boost)
 add_executable(
   modular_slam_tests plugin_loader_test.cpp rgbd_file_provider_test.cpp
                      parameter_register_test.cpp slam_builder_test.cpp)
 target_compile_definitions(
   modular_slam_tests PRIVATE DUMMY_DIR="$<TARGET_FILE_DIR:dummy>"
                              TEST_DATA_DIR="${CMAKE_CURRENT_SOURCE_DIR}/data")
 target_link_libraries(
-  modular_slam_tests PRIVATE ModularSlam::ModularSlam Catch2::Catch2WithMain
-                             trompeloeil::trompeloeil ${OpenCV_LIBS})
+  modular_slam_tests
+  PRIVATE ModularSlam::ModularSlam Catch2::Catch2WithMain
+          trompeloeil::trompeloeil ${OpenCV_LIBS} Boost::filesystem)
 
 catch_discover_tests(modular_slam_tests)

test/dummy.cpp

@@ -1,7 +1,6 @@
 #define CATCH_CONFIG_MAIN
 
 #include <boost/dll/alias.hpp>
-#include <catch2/catch_test_macros.hpp>
 #include <memory>
 
 std::unique_ptr<int> intFactory()