Slam types changes

.clang-tidy

@@ -0,0 +1,25 @@
+---
+Checks: "*,
+        -abseil-*,
+        -altera-*,
+        -android-*,
+        -fuchsia-*,
+        -google-*,
+        -llvm*,
+        -modernize-use-trailing-return-type,
+        -zircon-*,
+        -readability-else-after-return,
+        -readability-static-accessed-through-instance,
+        -readability-avoid-const-params-in-decls,
+        -cppcoreguidelines-non-private-member-variables-in-classes,
+        -misc-non-private-member-variables-in-classes,
+"
+WarningsAsErrors: ''
+HeaderFilterRegex: ''
+FormatStyle:     none
+
+
+
+
+
+

.github/workflows/main.yml

@@ -10,27 +10,27 @@ jobs:
     runs-on: ubuntu-latest
     environment: modular-slam-ci
     container:
-      image: ghcr.io/marcin-ochman/modular-slam:v0.0.6-arch
+      image: ghcr.io/marcin-ochman/modular-slam:v0.0.10-conan
       credentials:
         username: marcin-ochman
         password: ${{ secrets.container_registry_token }}
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: recursive
 
     - name: Configure CMake
       shell: bash
-      run: mkdir build; cd build;  cmake -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ..; cd -
+      run:  mkdir build; cd build;  cmake -DCMAKE_TOOLCHAIN_FILE=/conan_install/build/Release/generators/conan_toolchain.cmake  -DCMAKE_BUILD_TYPE=${{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 -;

.gitignore

@@ -57,3 +57,4 @@ build/
 # Gradle
 .idea/**/gradle.xml
 .idea/**/libraries
+.cache

CMakeLists.txt

@@ -2,10 +2,7 @@ cmake_minimum_required(VERSION 3.19)
 
 project(ModularSlam VERSION 0.0.1)
 
-list(
-  APPEND CMAKE_MODULE_PATH
-  ${CMAKE_CURRENT_SOURCE_DIR}/cmake
-)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

ci/Docker/Dockerfile

@@ -15,6 +15,7 @@ RUN pacman -Syu --noconfirm \
     glm \
     go \
     graphviz \
+    hdf5 \
     htop \
     nlohmann-json \
     opencv \
@@ -23,17 +24,24 @@ RUN pacman -Syu --noconfirm \
     qt5 \
     qt6 \
     valgrind \
+    vtk \
     vim
 
 RUN useradd builduser -m \
   && passwd -d builduser \
   && cd /home/builduser \
   && (printf 'builduser ALL=(ALL) ALL\n' | tee -a /etc/sudoers)
 
+COPY dbow3.patch /modular-slam-data/dbow3.patch
 
 RUN git clone https://aur.archlinux.org/yay.git yay.git && chown builduser -R yay.git && cd yay.git  && sudo -u builduser bash -c "makepkg -si --noconfirm" && cd - && rm -rf yay.git
+RUN git clone https://github.com/rmsalinas/DBow3.git && cd DBow3 && mkdir build && git apply /modular-slam-data/dbow3.patch && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=/opt/dbow3 -DBUILD_UTILS=0 && make install && cd -
+
 
 USER builduser
-RUN yay -Syu --noconfirm librealsense ceres-solver trompeloeil-git
+RUN yay -Syu --noconfirm librealsense ceres-solver spdlog trompeloeil-git
+
+ENV LD_LIBRARY_PATH="/opt/dbow3/lib/:${LD_LIBRARY_PATH}"
+ENV LIBRARY_PATH="/opt/dbow3/lib/:${LIBRARY_PATH}"
 
 USER root