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Merge jaku fix #884

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Merge jaku fix #884

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2720272
Added C++14 compatibility
richard-elvira Sep 27, 2022
bc347c1
Updated mono_euroc flag to show viewer
richard-elvira Sep 27, 2022
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
5e0815a
Resolved merge conflicts by accepting upstream changes.
danielhertz Apr 20, 2024
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14 changes: 7 additions & 7 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,18 +14,18 @@ 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++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
if(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
add_definitions(-DCOMPILEDWITHC14)
message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${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.")
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
Expand Down
17 changes: 1 addition & 16 deletions Examples/Monocular-Inertial/mono_inertial_euroc.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -148,21 +148,14 @@ int main(int argc, char *argv[])
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif
#endif
int width = im.cols * imageScale;
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
SLAM.InsertResizeTime(t_resize);
#endif
Expand All @@ -184,21 +177,13 @@ int main(int argc, char *argv[])
}
}

#ifdef COMPILEDWITHC11
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();
#endif

// Pass the image to the SLAM system
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
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();
#endif

#ifdef REGISTER_TIMES
t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
Expand Down
23 changes: 3 additions & 20 deletions Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc
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Expand Up @@ -314,11 +314,8 @@ int main(int argc, char **argv) {
if(!image_ready)
cond_image_rec.wait(lk);

#ifdef COMPILEDWITHC11
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();
#endif


if(count_im_buffer>1)
cout << count_im_buffer -1 << " dropped frs\n";
Expand Down Expand Up @@ -365,41 +362,27 @@ int main(int argc, char **argv) {
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif
#endif
int width = im.cols * imageScale;
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
SLAM.InsertResizeTime(t_resize);
#endif
}

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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
#endif
// Pass the image to the SLAM system
SLAM.TrackMonocular(im, timestamp, vImuMeas);
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Track - t_Start_Track).count();
SLAM.InsertTrackTime(t_track);
#endif
Expand Down
24 changes: 3 additions & 21 deletions Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -230,11 +230,7 @@ int main(int argc, char **argv)
while(!image_ready)
cond_image_rec.wait(lk);

#ifdef COMPILEDWITHC11
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();
#endif
std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();

if(count_im_buffer>1)
cout << count_im_buffer -1 << " dropped frs\n";
Expand All @@ -257,21 +253,14 @@ int main(int argc, char **argv)
else
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif
#endif
int width = imCV.cols * imageScale;
int height = imCV.rows * imageScale;
cv::resize(imCV, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
SLAM.InsertResizeTime(t_resize);
#endif
Expand Down Expand Up @@ -308,19 +297,12 @@ int main(int argc, char **argv)
}
}

#ifdef COMPILEDWITHC11
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
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();
#endif

#ifdef REGISTER_TIMES
t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Track - t_Start_Track).count();
Expand Down
18 changes: 2 additions & 16 deletions Examples/Monocular-Inertial/mono_inertial_tum_vi.cc
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Expand Up @@ -172,21 +172,14 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif
#endif
int width = im.cols * imageScale;
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
SLAM.InsertResizeTime(t_resize);
#endif
Expand All @@ -195,21 +188,14 @@ 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

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();
#endif

// Pass the image to the SLAM system
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
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();
#endif

#ifdef REGISTER_TIMES
t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
Expand Down
19 changes: 2 additions & 17 deletions Examples/Monocular/mono_euroc.cc
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Expand Up @@ -80,7 +80,7 @@ int main(int argc, char **argv)
int fps = 20;
float dT = 1.f/fps;
// Create SLAM system. It initializes all system threads and gets ready to process frames.
ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);
ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);
float imageScale = SLAM.GetImageScale();

double t_resize = 0.f;
Expand Down Expand Up @@ -109,41 +109,26 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif
#endif
int width = im.cols * imageScale;
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
SLAM.InsertResizeTime(t_resize);
#endif
}

#ifdef COMPILEDWITHC11
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();
#endif

// Pass the image to the SLAM system
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
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();
#endif

#ifdef REGISTER_TIMES
t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
Expand Down
17 changes: 1 addition & 16 deletions Examples/Monocular/mono_kitti.cc
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Expand Up @@ -78,40 +78,25 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif
#endif
int width = im.cols * imageScale;
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
SLAM.InsertResizeTime(t_resize);
#endif
}

#ifdef COMPILEDWITHC11
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();
#endif

// Pass the image to the SLAM system
SLAM.TrackMonocular(im,tframe,vector<ORB_SLAM3::IMU::Point>(), vstrImageFilenames[ni]);

#ifdef COMPILEDWITHC11
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();
#endif

#ifdef REGISTER_TIMES
t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
Expand Down
24 changes: 3 additions & 21 deletions Examples/Monocular/mono_realsense_D435i.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -228,11 +228,7 @@ int main(int argc, char **argv) {
if(!image_ready)
cond_image_rec.wait(lk);

#ifdef COMPILEDWITHC11
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();
#endif

if(count_im_buffer>1)
cout << count_im_buffer -1 << " dropped frs\n";
Expand All @@ -247,45 +243,31 @@ int main(int argc, char **argv) {
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif
#endif
int width = im.cols * imageScale;
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
SLAM.InsertResizeTime(t_resize);
#endif
}

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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
#endif
// Stereo images are already rectified.
SLAM.TrackMonocular(im, timestamp);
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
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();
#endif

t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Track - t_Start_Track).count();
SLAM.InsertTrackTime(t_track);
#endif
}
cout << "System shutdown!\n";
}
}
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