Merge branch 'demmeln/compile-fixes' into 'master'

macos compile fixes for recent versions of libfmt and ffmpeg

See merge request basalt/basalt!54
This commit is contained in:
Vladyslav Usenko 2022-03-16 12:27:27 +00:00
commit 71d8e30c33
6 changed files with 75 additions and 8 deletions

View File

@ -0,0 +1,65 @@
/**
BSD 3-Clause License
This file is part of the Basalt project.
https://gitlab.com/VladyslavUsenko/basalt.git
Copyright (c) 2022, Vladyslav Usenko and Nikolaus Demmel.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include <fmt/format.h>
#include <fmt/ostream.h>
namespace basalt {
// libfmt's string literal formatter implementation was deprecated in 2021-12,
// so provide our own (see also:
// https://github.com/fmtlib/fmt/issues/2640#issuecomment-1048894376)
namespace literals {
inline auto operator"" _format(const char* s, size_t n) {
return [=](auto&&... args) {
#if FMT_VERSION < 50000
return fmt::format(s, args...);
#elif FMT_VERSION < 80100
return fmt::format(std::string_view(s, n), args...);
#else
return fmt::format(fmt::runtime(std::string_view(s, n)), args...);
#endif
};
}
} // namespace literals
// make the _format string literal available in the whole namespace
using namespace literals;
} // namespace basalt

View File

@ -1,17 +1,15 @@
#include <basalt/utils/assert.h> #include <basalt/utils/assert.h>
#include <basalt/utils/format.hpp>
#include <basalt/utils/time_utils.hpp> #include <basalt/utils/time_utils.hpp>
#include <fstream> #include <fstream>
#include <iomanip> #include <iomanip>
#include <fmt/format.h>
#include <Eigen/Dense> #include <Eigen/Dense>
#include <nlohmann/json.hpp> #include <nlohmann/json.hpp>
namespace basalt { namespace basalt {
using namespace fmt::literals;
// compute the median of an eigen vector // compute the median of an eigen vector
// Note: Changes the order of elements in the vector! // Note: Changes the order of elements in the vector!
// Note: For even sized vectors we don't return the mean of the middle two, but // Note: For even sized vectors we don't return the mean of the middle two, but

View File

@ -41,6 +41,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <basalt/utils/system_utils.h> #include <basalt/utils/system_utils.h>
#include <basalt/vi_estimator/sc_ba_base.h> #include <basalt/vi_estimator/sc_ba_base.h>
#include <basalt/utils/cast_utils.hpp> #include <basalt/utils/cast_utils.hpp>
#include <basalt/utils/format.hpp>
#include <basalt/utils/time_utils.hpp> #include <basalt/utils/time_utils.hpp>
#include <basalt/linearization/linearization_base.hpp> #include <basalt/linearization/linearization_base.hpp>
@ -55,8 +56,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace basalt { namespace basalt {
using namespace fmt::literals;
template <class Scalar_> template <class Scalar_>
SqrtKeypointVioEstimator<Scalar_>::SqrtKeypointVioEstimator( SqrtKeypointVioEstimator<Scalar_>::SqrtKeypointVioEstimator(
const Eigen::Vector3d& g_, const basalt::Calibration<double>& calib_, const Eigen::Vector3d& g_, const basalt::Calibration<double>& calib_,

View File

@ -40,6 +40,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <basalt/utils/assert.h> #include <basalt/utils/assert.h>
#include <basalt/utils/system_utils.h> #include <basalt/utils/system_utils.h>
#include <basalt/utils/cast_utils.hpp> #include <basalt/utils/cast_utils.hpp>
#include <basalt/utils/format.hpp>
#include <basalt/utils/time_utils.hpp> #include <basalt/utils/time_utils.hpp>
#include <basalt/linearization/linearization_base.hpp> #include <basalt/linearization/linearization_base.hpp>
@ -54,8 +55,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace basalt { namespace basalt {
using namespace fmt::literals;
template <class Scalar_> template <class Scalar_>
SqrtKeypointVoEstimator<Scalar_>::SqrtKeypointVoEstimator( SqrtKeypointVoEstimator<Scalar_>::SqrtKeypointVoEstimator(
const basalt::Calibration<double>& calib_, const VioConfig& config_) const basalt::Calibration<double>& calib_, const VioConfig& config_)

View File

@ -65,9 +65,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <basalt/utils/system_utils.h> #include <basalt/utils/system_utils.h>
#include <basalt/utils/vis_utils.h> #include <basalt/utils/vis_utils.h>
#include <basalt/utils/format.hpp>
#include <basalt/utils/time_utils.hpp> #include <basalt/utils/time_utils.hpp>
using namespace fmt::literals; // enable the "..."_format(...) string literal
using namespace basalt::literals;
// GUI functions // GUI functions
void draw_image_overlay(pangolin::View& v, size_t cam_id); void draw_image_overlay(pangolin::View& v, size_t cam_id);

View File

@ -19,6 +19,10 @@ set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
set(BUILD_PANGOLIN_LIBREALSENSE OFF CACHE BOOL "Enable librealsense") set(BUILD_PANGOLIN_LIBREALSENSE OFF CACHE BOOL "Enable librealsense")
set(BUILD_PANGOLIN_LIBREALSENSE2 OFF CACHE BOOL "Enable librealsense2") set(BUILD_PANGOLIN_LIBREALSENSE2 OFF CACHE BOOL "Enable librealsense2")
# disable ffmpeg b/c build is broken on macOS since 2022-02
# see: https://github.com/stevenlovegrove/Pangolin/issues/737
set(BUILD_PANGOLIN_FFMPEG OFF CACHE BOOL "Build support for ffmpeg video input")
set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}") set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
set(EIGEN_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIR}") set(EIGEN_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIR}")