fix for CI

CMakeLists.txt

@@ -26,7 +26,10 @@ if(LSB_RELEASE_PROGRAM)
     OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
     OUTPUT_STRIP_TRAILING_WHITESPACE)
 
-  if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
+  if(${LSB_RELEASE_ID_SHORT} EQUAL "20.04")
+    set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.67.1, libboost-date-time1.67.1, libboost-program-options1.67.1, libboost-regex1.67.1, libopencv-dev, libglew2.1, libjpeg8, libpng16-16, librealsense2, librealsense2-dkms, librealsense2-gl, librealsense2-utils")
+
+  elseif(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
     set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16, librealsense2, librealsense2-dkms, librealsense2-gl, librealsense2-utils")
 
   elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
@@ -99,6 +102,11 @@ set(BASALT_CXX_FLAGS "-Wall -Wextra -Werror -Wno-error=unused-parameter -ftempla
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
   set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-exceptions -fcolor-diagnostics -frelaxed-template-template-args -Wno-error=deprecated-declarations")
 
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10)
+      # These are disabled to avoid lot's of warnings in Eigen code with clang 10
+      set(BASALT_CXX_FLAGS "${BASALT_HEADERS_CXX_FLAGS} -Wno-error=misleading-indentation -Wno-error=deprecated-copy")
+  endif()
+
   #   - Added TBB_USE_GLIBCXX_VERSION macro to specify the version of GNU
   #     libstdc++ when it cannot be properly recognized, e.g. when used
   #     with Clang on Linux* OS. Adopted from https://github.com/wjakob/tbb
@@ -110,6 +118,11 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "App
   endif()
 else()
   set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-error=maybe-uninitialized -Wno-error=implicit-fallthrough")
+
+  if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9)
+      # These are disabled to avoid lot's of warnings in Eigen code with gcc-9
+      set(BASALT_CXX_FLAGS "${BASALT_HEADERS_CXX_FLAGS} -Wno-error=deprecated-copy")
+  endif()
 endif()
 
 

include/basalt/io/dataset_io_rosbag.h

@@ -235,7 +235,7 @@ class RosbagIO : public DatasetIoInterface {
 
     std::set<int64_t> image_timestamps;
 
-    for (rosbag::MessageInstance const m : view) {
+    for (const rosbag::MessageInstance &m : view) {
       const std::string &topic = m.getTopic();
 
       if (cam_topics.find(topic) != cam_topics.end()) {

thirdparty/apriltag/ethz_apriltag2/include/apriltags/FloatImage.h

@@ -5,21 +5,21 @@
 #include <vector>
 
 namespace DualCoding {
-	typedef unsigned char uchar;
+typedef unsigned char uchar;
-	template<typename T> class Sketch;
+template <typename T>
-}
+class Sketch;
+}  // namespace DualCoding
 
 namespace AprilTags {
 
 //! Represent an image as a vector of floats in [0,1]
 class FloatImage {
-private:
+ private:
   int width;
   int height;
   std::vector<float> pixels;
 
-public:
+ public:
-
   //! Default constructor
   FloatImage();
 
@@ -29,14 +29,16 @@ public:
   //! Constructor that copies pixels from an array
   FloatImage(int widthArg, int heightArg, const std::vector<float>& pArg);
 
+  FloatImage(const FloatImage& other) = default;
+
   FloatImage& operator=(const FloatImage& other);
 
-  float get(int x, int y) const { return pixels[y*width + x]; }
+  float get(int x, int y) const { return pixels[y * width + x]; }
-  void set(int x, int y, float v) { pixels[y*width + x] = v; }
+  void set(int x, int y, float v) { pixels[y * width + x] = v; }
-  
+
   int getWidth() const { return width; }
   int getHeight() const { return height; }
-  int getNumFloatImagePixels() const { return width*height; }
+  int getNumFloatImagePixels() const { return width * height; }
   const std::vector<float>& getFloatImagePixels() const { return pixels; }
 
   //! TODO: Fix decimateAvg function. DO NOT USE!
@@ -45,9 +47,10 @@ public:
   //! Rescale all values so that they are between [0,1]
   void normalize();
 
-  void filterFactoredCentered(const std::vector<float>& fhoriz, const std::vector<float>& fvert);
+  void filterFactoredCentered(const std::vector<float>& fhoriz,
+                              const std::vector<float>& fvert);
 
-  template<typename T>
+  template <typename T>
   void copyToSketch(DualCoding::Sketch<T>& sketch) {
     for (int i = 0; i < getNumFloatImagePixels(); i++)
       sketch[i] = (T)(255.0f * getFloatImagePixels()[i]);
@@ -56,6 +59,6 @@ public:
   void printMinMax() const;
 };
 
-} // namespace
+}  // namespace AprilTags
 
 #endif

thirdparty/basalt-headers

@@ -1 +1 @@
-Subproject commit 1395990144121427d6236444b1643b6fe068f736
+Subproject commit b068d7a967af52fb3c8e261829b16a2403845ef8