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Merge branch 'niko_devel' into 'master' 

ci, cmake, macos compatibility

See merge request slam/basalt!1
This commit is contained in:
Vladyslav Usenko 2019-04-24 16:17:58 +00:00
parent de2a225c4a cdd5578092
commit 7da55c9b71
32 changed files with 619 additions and 325 deletions
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7
.clang-format
View File

@ -1,6 +1,7 @@
--- ---
Language: Cpp Language: Cpp
BasedOnStyle: Google BasedOnStyle: Google
IndentWidth: 2 IndentWidth: 2
IncludeBlocks: Preserve
... ...

192
.gitlab-ci.yml
View File

@ -1,83 +1,168 @@
image: vladyslavusenko/b_image:latest image: vladyslavusenko/b_image:latest
variables:
GIT_SUBMODULE_STRATEGY: recursive
BUILD_TYPE: Release
CXX_MARCH: native
CMAKE_INSTALL_PREFIX: /usr/
DEB_DIR: deb
stages: stages:
- build - build
- test - test
- test_results - eval
- eval_results
- deploy - deploy
compile: # template for docker builds with ccache
stage: build .prepare_docker_template: &prepare_docker_definition
variables: tags:
CXX_MARCH: 'corei7-avx' - docker
before_script: before_script:
- mkdir -p ccache - mkdir -p ccache
- export CCACHE_BASEDIR=${PWD} - export CCACHE_BASEDIR=${PWD}
- export CCACHE_DIR=${PWD}/ccache - export CCACHE_DIR=${PWD}/ccache
tags:
- docker
cache: cache:
key: bionic
paths: paths:
- ccache/ - ccache/
key: ${CACHE_KEY}
# template for build & unit test & make deb configurations
.compile_test_package_template: &compile_test_package_definition
stage: build
script: script:
- ./scripts/update_submodules.sh
- mkdir build - mkdir build
- cd build - cd build
- cmake .. -DCMAKE_BUILD_TYPE=Release -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=/usr/ - cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- make -j3 - make -j3
- ctest
- make package - make package
- cd test/ - cd ..
- ctest -V - mkdir $DEB_DIR
- cd ../../ - mv build/*.deb $DEB_DIR/
- mkdir deb_bionic - dpkg -i $DEB_DIR/*.deb
- cp build/*.deb deb_bionic/ # smoke test to see if all executables at least start up
- basalt_calibrate --help
- basalt_calibrate_imu --help
- basalt_mapper --help
- basalt_mapper_sim --help
- basalt_mapper_sim_naive --help
- basalt_opt_flow --help
- basalt_vio --help
- basalt_vio_sim --help
# template for build & unit test configurations (no deb)
.compile_test_template: &compile_test_definition
stage: build
script:
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- make -j3
- ctest
# smoke test to see if all executables at least start up
- ./basalt_calibrate --help
- ./basalt_calibrate_imu --help
- ./basalt_mapper --help
- ./basalt_mapper_sim --help
- ./basalt_mapper_sim_naive --help
- ./basalt_opt_flow --help
- ./basalt_vio --help
- ./basalt_vio_sim --help
# template to test debian
.test_deb_template: &test_deb_definition
stage: test
tags:
- docker
variables:
GIT_STRATEGY: none
script:
- dpkg -i $DEB_DIR/*.deb
# smoke test to see if all executables at least start up
- basalt_calibrate --help
- basalt_calibrate_imu --help
- basalt_mapper --help
- basalt_mapper_sim --help
- basalt_mapper_sim_naive --help
- basalt_opt_flow --help
- basalt_vio --help
- basalt_vio_sim --help
bionic-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
variables:
CXX_MARCH: 'corei7-avx'
DEB_DIR: deb_bionic
CACHE_KEY: bionic-release
artifacts: artifacts:
paths: paths:
- deb_bionic/*.deb - deb_bionic/*.deb
- scripts/eval_full/* - scripts/eval_full/*
expire_in: 1 week expire_in: 1 week
compile_16_04: xenial-release-compile:
stage: build <<: *prepare_docker_definition
<<: *compile_test_package_definition
image: vladyslavusenko/b_image_xenial:latest
variables: variables:
CXX_MARCH: 'corei7-avx' CXX_MARCH: 'corei7-avx'
before_script: DEB_DIR: deb_xenial
- mkdir -p ccache CACHE_KEY: xenial-release
- export CCACHE_BASEDIR=${PWD}
- export CCACHE_DIR=${PWD}/ccache
tags:
- docker
cache:
key: xenial
paths:
- ccache/
script:
- ./scripts/update_submodules.sh
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=Release -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=/usr/
- make -j3
- make package
- cd test/
- ctest -V
- cd ../../
- mkdir deb_xenial
- cp build/*.deb deb_xenial/
artifacts: artifacts:
paths: paths:
- deb_xenial/*.deb - deb_xenial/*.deb
expire_in: 1 week expire_in: 1 week
only:
- master
image: vladyslavusenko/b_image_xenial:latest
bionic-debug-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
variables:
BUILD_TYPE: Debug
CACHE_KEY: bionic-debug
eval_euroc: bionic-relwithdebinfo-compile:
stage: test <<: *prepare_docker_definition
parallel: 10 <<: *compile_test_package_definition
variables:
BUILD_TYPE: RelWithDebInfo
CACHE_KEY: bionic-relwithdebinfo
elcapitan-relwithdebinfo-compile:
<<: *compile_test_definition
tags: [macos, "10.11"]
variables:
BUILD_TYPE: RelWithDebInfo
# check if clang-format would make any changes
clang-format:
tags: tags:
- dataset-eval - docker
stage: build
variables:
GIT_SUBMODULE_STRATEGY: none
script:
- ./scripts/clang-format-all.sh
# check if any files are now modified and error if yes
- (if git diff --name-only --diff-filter=M | grep '\..pp$'; then echo $'\n Some files are not properly formatted. You can use "./scripts/clang-format-all.sh".\n'; git diff --diff-filter=M; false; fi)
bionic-test:
<<: *test_deb_definition
variables:
DEB_DIR: deb_bionic
xenial-test:
<<: *test_deb_definition
image: vladyslavusenko/b_image_xenial:latest
variables:
DEB_DIR: deb_xenial
# evaluate on EuRoC sequences
eval_euroc:
stage: eval
parallel: 10
tags: [docker, dataset-eval]
variables: variables:
GIT_STRATEGY: none GIT_STRATEGY: none
only: only:
@ -91,13 +176,14 @@ eval_euroc:
- cd scripts/eval_full - cd scripts/eval_full
- ./run_evaluations.sh - ./run_evaluations.sh
# aggregate results for all EuRoC sequences
gen_results_euroc: gen_results_euroc:
stage: test_results stage: eval_results
variables: variables:
GIT_STRATEGY: none GIT_STRATEGY: none
when: on_success
tags: tags:
- docker - docker
when: on_success
only: only:
- master - master
artifacts: artifacts:
@ -109,11 +195,15 @@ gen_results_euroc:
- cat euroc_results.txt - cat euroc_results.txt
- mv euroc_results.txt ../../ - mv euroc_results.txt ../../
# deploy deb packages
deploy: deploy:
stage: deploy stage: deploy
variables:
GIT_STRATEGY: none
tags: tags:
- docker - docker
only:
- master
before_script: before_script:
- eval $(ssh-agent -s) - eval $(ssh-agent -s)
- echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
@ -121,10 +211,6 @@ deploy:
- chmod 700 ~/.ssh - chmod 700 ~/.ssh
- echo "$SSH_KNOWN_HOSTS" > ~/.ssh/known_hosts - echo "$SSH_KNOWN_HOSTS" > ~/.ssh/known_hosts
- chmod 644 ~/.ssh/known_hosts - chmod 644 ~/.ssh/known_hosts
variables:
GIT_STRATEGY: none
only:
- master
script: script:
- scp $SCP_FLAGS deb_xenial/*.deb $REPOSITORY_URL/xenial/ - scp $SCP_FLAGS deb_xenial/*.deb $REPOSITORY_URL/xenial/
- scp $SCP_FLAGS deb_bionic/*.deb $REPOSITORY_URL/bionic/ - scp $SCP_FLAGS deb_bionic/*.deb $REPOSITORY_URL/bionic/

271
CMakeLists.txt
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@ -1,9 +1,14 @@
cmake_minimum_required(VERSION 3.8) cmake_minimum_required(VERSION 3.10)
include("thirdparty/basalt-headers/cmake_modules/PreProjectWorkarounds.cmake")
project(basalt) project(basalt)
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/" ${CMAKE_MODULE_PATH}) set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/" ${CMAKE_MODULE_PATH})
set(EIGEN_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/basalt-headers/thirdparty/eigen") if(NOT EIGEN_ROOT)
set(EIGEN_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/basalt-headers/thirdparty/eigen")
endif()
string(TOLOWER "${PROJECT_NAME}" PROJECT_NAME_LOWERCASE) string(TOLOWER "${PROJECT_NAME}" PROJECT_NAME_LOWERCASE)
find_program(DPKG_PROGRAM dpkg DOC "dpkg program of Debian-based systems") find_program(DPKG_PROGRAM dpkg DOC "dpkg program of Debian-based systems")
@ -11,89 +16,163 @@ if(DPKG_PROGRAM)
execute_process( execute_process(
COMMAND ${DPKG_PROGRAM} --print-architecture COMMAND ${DPKG_PROGRAM} --print-architecture
OUTPUT_VARIABLE CPACK_DEBIAN_PACKAGE_ARCHITECTURE OUTPUT_VARIABLE CPACK_DEBIAN_PACKAGE_ARCHITECTURE
OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_STRIP_TRAILING_WHITESPACE)
)
endif(DPKG_PROGRAM) endif(DPKG_PROGRAM)
find_program(LSB_RELEASE_PROGRAM lsb_release DOC "lsb_release program of Debian-based systems") find_program(LSB_RELEASE_PROGRAM lsb_release DOC "lsb_release program of Debian-based systems")
if(LSB_RELEASE_PROGRAM) if(LSB_RELEASE_PROGRAM)
execute_process(COMMAND ${LSB_RELEASE_PROGRAM} -rs execute_process(COMMAND ${LSB_RELEASE_PROGRAM} -rs
OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_STRIP_TRAILING_WHITESPACE)
)
if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04") if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16") set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16")
elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.58.0, libboost-date-time1.58.0, libboost-program-options1.58.0, libboost-regex1.58.0, libopencv-dev, libglew1.13, libjpeg8, libpng12-0") set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.58.0, libboost-date-time1.58.0, libboost-program-options1.58.0, libboost-regex1.58.0, libopencv-dev, libglew1.13, libjpeg8, libpng12-0")
endif(${LSB_RELEASE_ID_SHORT} EQUAL "18.04") endif()
endif(LSB_RELEASE_PROGRAM) endif(LSB_RELEASE_PROGRAM)
string(TIMESTAMP PROJECT_VERSION_REVISION "%Y%m%d%H%M") string(TIMESTAMP PROJECT_VERSION_REVISION "%Y%m%d%H%M")
SET(CPACK_GENERATOR "DEB") set(CPACK_GENERATOR "DEB")
SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>") set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>")
SET(CPACK_PACKAGE_VERSION_MAJOR "0") set(CPACK_PACKAGE_VERSION_MAJOR "0")
SET(CPACK_PACKAGE_VERSION_MINOR "1") set(CPACK_PACKAGE_VERSION_MINOR "1")
SET(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}") set(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}")
SET(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_DEPENDS}) set(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_DEPENDS})
SET(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}") set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE") set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
include(CPack) include(CPack)
# Configure CCache if available # Configure CCache if available
find_program(CCACHE_PROGRAM ccache) if (NOT CMAKE_C_COMPILER_LAUNCHER AND NOT CMAKE_CXX_COMPILER_LAUNCHER)
if(CCACHE_PROGRAM) find_program(CCACHE_PROGRAM ccache)
message(STATUS "Found ccache: ${CCACHE_PROGRAM}") if(CCACHE_PROGRAM)
set(CMAKE_C_COMPILER_LAUNCHER ${CCACHE_PROGRAM}) message(STATUS "Found ccache: ${CCACHE_PROGRAM}")
set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE_PROGRAM}) set(CMAKE_C_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
endif(CCACHE_PROGRAM) set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
else()
message(STATUS "Dind't find ccache")
endif()
else()
message(STATUS "Compiler launcher already set. Not configuring ccache.")
message(STATUS "CMAKE_C_COMPILER_LAUNCHER: ${CMAKE_C_COMPILER_LAUNCHER}")
message(STATUS "CMAKE_CXX_COMPILER_LAUNCHER: ${CMAKE_CXX_COMPILER_LAUNCHER}")
endif()
IF( NOT CMAKE_BUILD_TYPE ) if( NOT CMAKE_BUILD_TYPE )
SET( CMAKE_BUILD_TYPE Release) set( CMAKE_BUILD_TYPE Release)
ENDIF() endif()
if(NOT CXX_MARCH)
set(CXX_MARCH native)
endif()
IF(NOT CXX_MARCH)
SET(CXX_MARCH native)
ENDIF()
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF) set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_POSITION_INDEPENDENT_CODE ON) set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Flags used for CHECK_CXX_SOURCE_COMPILES # Flags used for CHECK_CXX_SOURCE_COMPILES
set(CMAKE_REQUIRED_FLAGS "-Wno-unused-variable -Wno-unused-value") set(CMAKE_REQUIRED_FLAGS "-Wno-error")
IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") # save flags passed by user
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g") set(BASALT_PASSED_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}") set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # cmake default: "-g"
SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics -fopenmp") set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # cmake default: "-O2 -g -DNDEBUG"
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "AppleClang") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG") # cmake default: "-O3 -DNDEBUG"
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}") # base set of compile flags
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}") set(BASALT_CXX_FLAGS "-Wall -Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0")
SET(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-deprecated-register -Wno-deprecated-declarations -Wno-sign-compare -Wno-exceptions -Wno-missing-field-initializers -Wno-unused-parameter -Wno-unused-private-field -Qunused-arguments -fcolor-diagnostics -nostdinc++")
include_directories(/usr/local/opt/llvm/include/c++/v1) # clang-specific compile flags
link_directories(/usr/local/opt/llvm/lib) if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
SET(STD_CXX_FS c++fs) set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-exceptions -fcolor-diagnostics")
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") endif()
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}") # Set platform / compiler specific compile flags and checks
SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -std=c++11 -Wno-misleading-indentation -Wno-sign-compare -Wno-maybe-uninitialized -Wno-int-in-bool-context -Wno-implicit-fallthrough -Wno-unused-parameter -Wno-deprecated-declarations -ftemplate-backtrace-limit=0 -fopenmp") if(APPLE)
SET(STD_CXX_FS stdc++fs) # Need to investigate how to reliably detect and use OpenMP on macOS...
ENDIF() set(USE_OPENMP_DEFAULT Off)
# Among others, setting CMAKE_FIND_FRAMEWORK to LAST fixed issues
# with installed Mono that contains old headers (libpng, ...).
# See: https://github.com/openMVG/openMVG/issues/1349#issuecomment-401492811
set(CMAKE_FIND_FRAMEWORK LAST)
# use brewed llvm's libc++
add_compile_options("-nostdinc++")
include_directories("/usr/local/opt/llvm/include/c++/v1")
link_directories("/usr/local/opt/llvm/lib")
set(STD_CXX_FS c++fs)
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
message(STATUS "Detected macOS with non-Apple clang")
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
message(STATUS "Detected macOS with Apple clang")
# Apple clang on macOS < 10.14 Mojave is too old
if(CMAKE_SYSTEM_VERSION VERSION_LESS 18.0.0)
message(WARNING "Detected Darwin version ${CMAKE_SYSTEM_VERSION}, which is earlier than macos 10.14 Mojave. Apple clang is too old and not supported. Use clang from homebrew.")
endif()
else()
message(WARNING "Detected macOS with unsupported compiler ${CMAKE_CXX_COMPILER_ID}")
endif()
elseif(UNIX)
set(USE_OPENMP_DEFAULT On)
# assume libstdc++
set(STD_CXX_FS stdc++fs)
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
set(LINUX_CLANG 1)
message(STATUS "Detected Linux with clang.")
message(WARNING "Clang on Linux is currently not fully supported. You'll likely need to get a recent version of TBB.")
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
message(STATUS "Detected Linux with gcc.")
else()
message(WARNING "Detected Linux with unsupported compiler ${CMAKE_CXX_COMPILER_ID}")
endif()
else()
message(WARNING "Only Linux and macOS are currently supported")
endif()
# OpenMP option and compile flags
option(USE_OPENMP "Use OpenMP (e.g. for parallel computation in Eigen)" ${USE_OPENMP_DEFAULT})
if(USE_OPENMP)
message(STATUS "OpenMP Enabled")
set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -fopenmp")
else()
message(STATUS "OpenMP Disabled")
endif()
# setup combined compiler flags
set(CMAKE_CXX_FLAGS "${BASALT_CXX_FLAGS} -march=${CXX_MARCH} ${BASALT_PASSED_CXX_FLAGS}")
set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT}) set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT})
find_package(Eigen3 3.3.7 REQUIRED) find_package(Eigen3 3.3.7 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR}) include_directories(${EIGEN3_INCLUDE_DIR})
message(STATUS "Found Eigen headers in: ${EIGEN3_INCLUDE_DIR}") message(STATUS "Found Eigen headers in: ${EIGEN3_INCLUDE_DIR}")
if(NOT EIGEN3_INCLUDE_DIR MATCHES "^${EIGEN_ROOT}")
message(WARNING "Found Eigen headers are outside of specified EIGEN_ROOT '${EIGEN_ROOT}'")
endif()
find_package(TBB REQUIRED) find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIR}) include_directories(${TBB_INCLUDE_DIR})
@ -103,26 +182,9 @@ include_directories(${OpenCV_INCLUDE_DIR})
message(STATUS "Found OpenCV headers in: ${OpenCV_INCLUDE_DIR}") message(STATUS "Found OpenCV headers in: ${OpenCV_INCLUDE_DIR}")
message(STATUS "Found OpenCV_LIBS: ${OpenCV_LIBS}") message(STATUS "Found OpenCV_LIBS: ${OpenCV_LIBS}")
add_subdirectory(thirdparty/ros)
add_subdirectory(thirdparty/apriltag)
add_subdirectory(thirdparty/DBoW3)
add_subdirectory(thirdparty)
set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
add_subdirectory(thirdparty/opengv EXCLUDE_FROM_ALL)
# Hack to disable CPack in Pangolin.
macro(include)
if(NOT ${ARGV0} STREQUAL "CPack")
_include(${ARGN})
endif()
endmacro()
add_subdirectory(thirdparty/Pangolin EXCLUDE_FROM_ALL)
include_directories(thirdparty/basalt-headers/thirdparty/Sophus) include_directories(thirdparty/basalt-headers/thirdparty/Sophus)
include_directories(thirdparty/basalt-headers/thirdparty/cereal/include) include_directories(thirdparty/basalt-headers/thirdparty/cereal/include)
@ -135,76 +197,71 @@ include_directories(include)
add_library(basalt SHARED add_library(basalt SHARED
src/io/dataset_io.cpp src/io/dataset_io.cpp
src/io/marg_data_io.cpp src/io/marg_data_io.cpp
src/calibration/cam_calib.cpp src/calibration/cam_calib.cpp
src/calibration/cam_imu_calib.cpp src/calibration/cam_imu_calib.cpp
src/calibration/calibraiton_helper.cpp src/calibration/calibraiton_helper.cpp
src/calibration/vignette.cpp src/calibration/vignette.cpp
src/utils/vio_config.cpp src/utils/vio_config.cpp
src/optical_flow/optical_flow.cpp src/optical_flow/optical_flow.cpp
src/vi_estimator/keypoint_vio.cpp src/vi_estimator/keypoint_vio.cpp
src/vi_estimator/keypoint_vio_linearize.cpp src/vi_estimator/keypoint_vio_linearize.cpp
src/vi_estimator/vio_estimator.cpp src/vi_estimator/vio_estimator.cpp
src/vi_estimator/ba_base.cpp src/vi_estimator/ba_base.cpp
src/vi_estimator/nfr_mapper.cpp src/vi_estimator/nfr_mapper.cpp
src/utils/keypoints.cpp) src/utils/keypoints.cpp)
target_link_libraries(basalt rosbag pangolin apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${OpenCV_LIBS} opengv ${STD_CXX_FS} DBoW3) target_link_libraries(basalt PUBLIC ${TBB_LIBRARIES} ${STD_CXX_FS} ${OpenCV_LIBS} pangolin PRIVATE rosbag apriltag opengv DBoW3)
add_executable(basalt_calibrate src/calibrate.cpp) add_executable(basalt_calibrate src/calibrate.cpp)
target_link_libraries(basalt_calibrate ${Pangolin_LIBRARIES} apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${rosbag_LIBRARIES} basalt) target_link_libraries(basalt_calibrate basalt)
add_executable(basalt_calibrate_imu src/calibrate_imu.cpp) add_executable(basalt_calibrate_imu src/calibrate_imu.cpp)
target_link_libraries(basalt_calibrate_imu ${Pangolin_LIBRARIES} apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${rosbag_LIBRARIES} basalt) target_link_libraries(basalt_calibrate_imu basalt)
add_executable(basalt_vio_sim src/vio_sim.cpp ) add_executable(basalt_vio_sim src/vio_sim.cpp)
target_link_libraries(basalt_vio_sim ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt) target_link_libraries(basalt_vio_sim basalt)
add_executable(basalt_mapper_sim src/mapper_sim.cpp ) add_executable(basalt_mapper_sim src/mapper_sim.cpp)
target_link_libraries(basalt_mapper_sim ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt) target_link_libraries(basalt_mapper_sim basalt)
add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp) add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
target_link_libraries(basalt_mapper_sim_naive ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt) target_link_libraries(basalt_mapper_sim_naive basalt)
add_executable(basalt_mapper src/mapper.cpp) add_executable(basalt_mapper src/mapper.cpp)
target_link_libraries(basalt_mapper ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt) target_link_libraries(basalt_mapper basalt)
add_executable(basalt_opt_flow src/opt_flow.cpp) add_executable(basalt_opt_flow src/opt_flow.cpp)
target_link_libraries(basalt_opt_flow ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} basalt) target_link_libraries(basalt_opt_flow basalt)
add_executable(basalt_vio src/vio.cpp) add_executable(basalt_vio src/vio.cpp)
target_link_libraries(basalt_vio ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} basalt) target_link_libraries(basalt_vio basalt)
install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt
EXPORT BasaltTargets EXPORT BasaltTargets
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
)
file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json") file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json")
INSTALL(FILES ${CONFIG_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/data/basalt-data/orbvoc.dbow3 install(FILES ${CONFIG_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/data/basalt-data/orbvoc.dbow3
DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt)
)
# Replace install() to do-nothing macro. # Replace install() to do-nothing macro.
macro(install) macro(install)
endmacro() endmacro()
# Include subproject (or any other CMake code) with "disabled" install(). # Include subproject (or any other CMake code) with "disabled" install().
enable_testing()
add_subdirectory(thirdparty/basalt-headers/test) add_subdirectory(thirdparty/basalt-headers/test)
add_subdirectory(test) add_subdirectory(test)
# Restore original install() behavior. # Restore original install() behavior.
macro(install) macro(install)
_install(${ARGN}) _install(${ARGN})
endmacro() endmacro()

2
README.md
View File

@ -42,7 +42,7 @@ Update the Ubuntu package index and install Basalt:
sudo apt-get update sudo apt-get update
sudo apt-get install basalt sudo apt-get install basalt
``` ```
### Source installation for Ubuntu 18.04 and MacOS 10.14 Mojave ### Source installation for Ubuntu 18.04 and MacOS >= 10.11 El Capitan
Clone the source code for the project and build it. For MacOS you should have [Homebrew](https://brew.sh/) installed. Clone the source code for the project and build it. For MacOS you should have [Homebrew](https://brew.sh/) installed.
``` ```
git clone --recursive https://gitlab.com/VladyslavUsenko/basalt.git git clone --recursive https://gitlab.com/VladyslavUsenko/basalt.git

2
include/basalt/calibration/vignette.h
View File

@ -84,4 +84,4 @@ class VignetteEstimator {
std::vector<double> irradiance; std::vector<double> irradiance;
std::vector<basalt::RdSpline<1, SPLINE_N>> vign_param; std::vector<basalt::RdSpline<1, SPLINE_N>> vign_param;
}; };
} } // namespace basalt

5
include/basalt/io/dataset_io.h
View File

@ -179,8 +179,9 @@ template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
inline inline
typename std::enable_if<_Rows == Eigen::Dynamic || _Cols == Eigen::Dynamic, typename std::enable_if<_Rows == Eigen::Dynamic || _Cols == Eigen::Dynamic,
void>::type void>::type
load(Archive &ar, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, load(Archive &ar,
_MaxCols> &matrix) { Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
&matrix) {
std::int32_t rows; std::int32_t rows;
std::int32_t cols; std::int32_t cols;
ar(rows); ar(rows);

35
include/basalt/optimization/spline_linearize.h
View File

@ -135,9 +135,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
// std::cout << "time " << time << std::endl; // std::cout << "time " << time << std::endl;
// std::cout << "sline.minTime() " << spline.minTime() << std::endl; // std::cout << "sline.minTime() " << spline.minTime() << std::endl;
BASALT_ASSERT_STREAM(time_ns >= spline->minTimeNs(), BASALT_ASSERT_STREAM(
"time " << time_ns << " spline.minTimeNs() " time_ns >= spline->minTimeNs(),
<< spline->minTimeNs()); "time " << time_ns << " spline.minTimeNs() " << spline->minTimeNs());
// Residual from current value of spline // Residual from current value of spline
Vector3 residual_pos = Vector3 residual_pos =
@ -207,12 +207,12 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
// std::cout << "time " << t << std::endl; // std::cout << "time " << t << std::endl;
// std::cout << "sline.minTime() " << spline.minTime() << std::endl; // std::cout << "sline.minTime() " << spline.minTime() << std::endl;
BASALT_ASSERT_STREAM(t >= spline->minTimeNs(), BASALT_ASSERT_STREAM(
"t " << t << " spline.minTime() " t >= spline->minTimeNs(),
<< spline->minTimeNs()); "t " << t << " spline.minTime() " << spline->minTimeNs());
BASALT_ASSERT_STREAM(t <= spline->maxTimeNs(), BASALT_ASSERT_STREAM(
"t " << t << " spline.maxTime() " t <= spline->maxTimeNs(),
<< spline->maxTimeNs()); "t " << t << " spline.maxTime() " << spline->maxTimeNs());
Vector3 residual = spline->accelResidual( Vector3 residual = spline->accelResidual(
t, pm.data, this->common_data.calibration->calib_accel_bias, t, pm.data, this->common_data.calibration->calib_accel_bias,
@ -255,8 +255,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
BASALT_ASSERT(start_j < opt_size); BASALT_ASSERT(start_j < opt_size);
accum.template addH<POSE_SIZE, POSE_SIZE>( accum.template addH<POSE_SIZE, POSE_SIZE>(
start_i, start_j, accel_var_inv * J.d_val_d_knot[i].transpose() * start_i, start_j,
J.d_val_d_knot[j]); accel_var_inv * J.d_val_d_knot[i].transpose() *
J.d_val_d_knot[j]);
} }
accum.template addH<ACCEL_BIAS_SIZE, POSE_SIZE>( accum.template addH<ACCEL_BIAS_SIZE, POSE_SIZE>(
start_bias, start_i, start_bias, start_i,
@ -497,9 +498,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
if (time_ns < spline->minTimeNs() || time_ns >= spline->maxTimeNs()) if (time_ns < spline->minTimeNs() || time_ns >= spline->maxTimeNs())
continue; continue;
BASALT_ASSERT_STREAM(time_ns >= spline->minTimeNs(), BASALT_ASSERT_STREAM(
"time " << time_ns << " spline.minTimeNs() " time_ns >= spline->minTimeNs(),
<< spline->minTimeNs()); "time " << time_ns << " spline.minTimeNs() " << spline->minTimeNs());
const SE3 T_moc_w = this->common_data.mocap_calibration->T_moc_w; const SE3 T_moc_w = this->common_data.mocap_calibration->T_moc_w;
const SE3 T_i_mark = this->common_data.mocap_calibration->T_i_mark; const SE3 T_i_mark = this->common_data.mocap_calibration->T_i_mark;
@ -563,9 +564,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
d_res_d_T_w_i.transpose() * residual); d_res_d_T_w_i.transpose() * residual);
accum.template addH<POSE_SIZE, POSE_SIZE>( accum.template addH<POSE_SIZE, POSE_SIZE>(
start_T_moc_w, start_i, mocap_var_inv * start_T_moc_w, start_i,
d_res_d_T_moc_w.transpose() * mocap_var_inv * d_res_d_T_moc_w.transpose() * d_res_d_T_w_i *
d_res_d_T_w_i * J_pose.d_val_d_knot[i]); J_pose.d_val_d_knot[i]);
accum.template addH<POSE_SIZE, POSE_SIZE>( accum.template addH<POSE_SIZE, POSE_SIZE>(
start_T_i_mark, start_i, start_T_i_mark, start_i,

4
include/basalt/utils/common_types.h
View File

@ -238,7 +238,7 @@ using ImageProjections = std::map<TimeCamId, ImageProjection>;
/// inlier projections indexed per track /// inlier projections indexed per track
using TrackProjections = using TrackProjections =
std::unordered_map<TrackId, std::map<TimeCamId, ProjectedLandmarkConstPtr>>; std::unordered_map<TrackId, std::map<TimeCamId, ProjectedLandmarkConstPtr>>;
} } // namespace basalt
namespace cereal { namespace cereal {
@ -251,4 +251,4 @@ template <class Archive>
void serialize(Archive& ar, basalt::MatchData& c) { void serialize(Archive& ar, basalt::MatchData& c) {
ar(c.T_i_j, c.matches, c.inliers); ar(c.T_i_j, c.matches, c.inliers);
} }
} } // namespace cereal

2
include/basalt/utils/keypoints.h
View File

@ -53,7 +53,7 @@ namespace basalt {
typedef std::bitset<256> Descriptor; typedef std::bitset<256> Descriptor;
void detectKeypointsMapping(const basalt::Image<const uint16_t>& img_raw, void detectKeypointsMapping(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int num_features); KeypointsData& kd, int num_features);
void detectKeypoints(const basalt::Image<const uint16_t>& img_raw, void detectKeypoints(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int PATCH_SIZE = 32, KeypointsData& kd, int PATCH_SIZE = 32,

2
include/basalt/utils/nfr.h
View File

@ -117,4 +117,4 @@ inline Sophus::Vector2d rollPitchError(
return res.head<2>(); return res.head<2>();
} }
} } // namespace basalt

6
include/basalt/utils/sim_utils.h
View File

@ -43,13 +43,11 @@ struct SimObservations {
std::vector<int> id; std::vector<int> id;
}; };
} } // namespace basalt
namespace cereal { namespace cereal {
template <class Archive> template <class Archive>
void serialize(Archive& ar, basalt::SimObservations& c) { void serialize(Archive& ar, basalt::SimObservations& c) {
ar(c.pos, c.id); ar(c.pos, c.id);
} }
} } // namespace cereal

5
include/basalt/utils/tracks.h
View File

@ -47,11 +47,8 @@
#include <basalt/utils/common_types.h> #include <basalt/utils/common_types.h>
#include <basalt/utils/union_find.h> #include <basalt/utils/union_find.h>
namespace basalt { namespace basalt {
/// TrackBuild class creates feature tracks from matches /// TrackBuild class creates feature tracks from matches
struct TrackBuilder { struct TrackBuilder {
std::map<ImageFeaturePair, TrackId> map_node_to_index; std::map<ImageFeaturePair, TrackId> map_node_to_index;
@ -222,4 +219,4 @@ bool GetSharedTracks(const TimeCamId& image_id, const FeatureTracks& all_tracks,
return !track_ids.empty(); return !track_ids.empty();
} }
} } // namespace basalt

40
include/basalt/vi_estimator/ba_base.h
View File

@ -174,6 +174,7 @@ class BundleAdjustmentBase {
if (d_res_d_p) { if (d_res_d_p) {
Eigen::Matrix<double, 4, 3> Jpp; Eigen::Matrix<double, 4, 3> Jpp;
Jpp.setZero();
Jpp.block<3, 2>(0, 0) = T_t_h.topLeftCorner<3, 4>() * Jup; Jpp.block<3, 2>(0, 0) = T_t_h.topLeftCorner<3, 4>() * Jup;
Jpp.col(2) = T_t_h.col(3); Jpp.col(2) = T_t_h.col(3);
@ -215,6 +216,7 @@ class BundleAdjustmentBase {
if (d_res_d_p) { if (d_res_d_p) {
Eigen::Matrix<double, 4, 3> Jpp; Eigen::Matrix<double, 4, 3> Jpp;
Jpp.setZero();
Jpp.block<4, 2>(0, 0) = Jup; Jpp.block<4, 2>(0, 0) = Jup;
Jpp.col(2).setZero(); Jpp.col(2).setZero();
@ -284,28 +286,32 @@ class BundleAdjustmentBase {
continue; continue;
accum.template addH<POSE_SIZE, POSE_SIZE>( accum.template addH<POSE_SIZE, POSE_SIZE>(
abs_h_idx, abs_h_idx, rld.d_rel_d_h[i].transpose() * abs_h_idx, abs_h_idx,
rel_H.block<POSE_SIZE, POSE_SIZE>( rld.d_rel_d_h[i].transpose() *
POSE_SIZE * i, POSE_SIZE * j) * rel_H.block<POSE_SIZE, POSE_SIZE>(POSE_SIZE * i,
rld.d_rel_d_h[j]); POSE_SIZE * j) *
rld.d_rel_d_h[j]);
accum.template addH<POSE_SIZE, POSE_SIZE>( accum.template addH<POSE_SIZE, POSE_SIZE>(
abs_ti_idx, abs_h_idx, rld.d_rel_d_t[i].transpose() * abs_ti_idx, abs_h_idx,
rel_H.block<POSE_SIZE, POSE_SIZE>( rld.d_rel_d_t[i].transpose() *
POSE_SIZE * i, POSE_SIZE * j) * rel_H.block<POSE_SIZE, POSE_SIZE>(POSE_SIZE * i,
rld.d_rel_d_h[j]); POSE_SIZE * j) *
rld.d_rel_d_h[j]);
accum.template addH<POSE_SIZE, POSE_SIZE>( accum.template addH<POSE_SIZE, POSE_SIZE>(
abs_h_idx, abs_tj_idx, rld.d_rel_d_h[i].transpose() * abs_h_idx, abs_tj_idx,
rel_H.block<POSE_SIZE, POSE_SIZE>( rld.d_rel_d_h[i].transpose() *
POSE_SIZE * i, POSE_SIZE * j) * rel_H.block<POSE_SIZE, POSE_SIZE>(POSE_SIZE * i,
rld.d_rel_d_t[j]); POSE_SIZE * j) *
rld.d_rel_d_t[j]);
accum.template addH<POSE_SIZE, POSE_SIZE>( accum.template addH<POSE_SIZE, POSE_SIZE>(
abs_ti_idx, abs_tj_idx, rld.d_rel_d_t[i].transpose() * abs_ti_idx, abs_tj_idx,
rel_H.block<POSE_SIZE, POSE_SIZE>( rld.d_rel_d_t[i].transpose() *
POSE_SIZE * i, POSE_SIZE * j) * rel_H.block<POSE_SIZE, POSE_SIZE>(POSE_SIZE * i,
rld.d_rel_d_t[j]); POSE_SIZE * j) *
rld.d_rel_d_t[j]);
} }
} }
} }
@ -369,4 +375,4 @@ class BundleAdjustmentBase {
basalt::Calibration<double> calib; basalt::Calibration<double> calib;
}; };
} } // namespace basalt

43
scripts/clang-format-all.sh Executable file
View File

@ -0,0 +1,43 @@
#!/usr/bin/env bash
# Format all source files in the project.
# Optionally take folder as argument; default is full inlude and src dirs.
set -e
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
FOLDER="${1:-$SCRIPT_DIR/../include $SCRIPT_DIR/../src $SCRIPT_DIR/../test/src}"
CLANG_FORMAT_COMMANDS="clang-format-9 clang-format-8 clang-format"
# find the first available command:
for CMD in $CLANG_FORMAT_COMMANDS; do
if hash $CMD 2>/dev/null; then
CLANG_FORMAT_CMD=$CMD
break
fi
done
if [ -z $CLANG_FORMAT_CMD ]; then
echo "clang-format not installed..."
exit 1
fi
# clang format check version
MAJOR_VERSION_NEEDED=8
MAJOR_VERSION_DETECTED=`$CLANG_FORMAT_CMD -version | sed -n -E 's/.*version ([0-9]+).*/\1/p'`
if [ -z $MAJOR_VERSION_DETECTED ]; then
echo "Failed to parse major version (`$CLANG_FORMAT_CMD -version`)"
exit 1
fi
echo "clang-format version $MAJOR_VERSION_DETECTED (`$CLANG_FORMAT_CMD -version`)"
if [ $MAJOR_VERSION_DETECTED -lt $MAJOR_VERSION_NEEDED ]; then
echo "Looks like your clang format is too old; need at least version $MAJOR_VERSION_NEEDED"
exit 1
fi
find $FOLDER -iname "*.?pp" -or -iname "*.h" | xargs $CLANG_FORMAT_CMD -verbose -i

15
scripts/install_mac_os_deps.sh
View File

@ -1,4 +1,15 @@
#!/bin/sh #!/bin/sh
brew install clang-format tbb glew eigen ccache brew install \
brew install --with-toolchain llvm boost \
opencv \
cmake \
pkgconfig \
lz4 \
clang-format \
tbb \
glew \
eigen \
ccache
brew install llvm

1
src/calibrate.cpp
View File

@ -33,7 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <basalt/calibration/cam_calib.h> #include <basalt/calibration/cam_calib.h>
#include <tbb/tbb.h> #include <tbb/tbb.h>

1
src/calibration/vignette.cpp
View File

@ -33,7 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <basalt/calibration/vignette.h> #include <basalt/calibration/vignette.h>
namespace basalt { namespace basalt {

1
src/io/dataset_io.cpp
View File

@ -33,7 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <basalt/io/dataset_io.h> #include <basalt/io/dataset_io.h>
#include <basalt/io/dataset_io_euroc.h> #include <basalt/io/dataset_io_euroc.h>
#include <basalt/io/dataset_io_rosbag.h> #include <basalt/io/dataset_io_rosbag.h>

2
src/mapper.cpp
View File

@ -323,7 +323,7 @@ int main(int argc, char** argv) {
std::this_thread::sleep_for(std::chrono::milliseconds(50)); std::this_thread::sleep_for(std::chrono::milliseconds(50));
} }
} else { } else {
//optimize(); // optimize();
detect(); detect();
match(); match();
tracks(); tracks();

3
src/mapper_sim.cpp
View File

@ -33,7 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <algorithm> #include <algorithm>
#include <chrono> #include <chrono>
#include <iostream> #include <iostream>
@ -120,7 +119,7 @@ double alignButton();
void setup_points(); void setup_points();
constexpr int UI_WIDTH = 200; constexpr int UI_WIDTH = 200;
constexpr int NUM_FRAMES = 500; // constexpr int NUM_FRAMES = 500;
basalt::Calibration<double> calib; basalt::Calibration<double> calib;

5
src/mapper_sim_naive.cpp
View File

@ -33,7 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <algorithm> #include <algorithm>
#include <chrono> #include <chrono>
#include <iostream> #include <iostream>
@ -492,8 +491,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) { if (os.is_open()) {
cereal::JSONInputArchive archive(os); cereal::JSONInputArchive archive(os);
archive(calib); archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size() std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< " cameras" << std::endl; << std::endl;
} else { } else {
std::cerr << "could not load camera calibration " << calib_path std::cerr << "could not load camera calibration " << calib_path

5
src/opt_flow.cpp
View File

@ -33,7 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <algorithm> #include <algorithm>
#include <chrono> #include <chrono>
#include <iostream> #include <iostream>
@ -321,8 +320,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) { if (os.is_open()) {
cereal::JSONInputArchive archive(os); cereal::JSONInputArchive archive(os);
archive(calib); archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size() std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< " cameras" << std::endl; << std::endl;
} else { } else {
std::cerr << "could not load camera calibration " << calib_path std::cerr << "could not load camera calibration " << calib_path

1
src/optical_flow/optical_flow.cpp
View File

@ -33,7 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <basalt/optical_flow/optical_flow.h> #include <basalt/optical_flow/optical_flow.h>
#include <basalt/optical_flow/frame_to_frame_optical_flow.h> #include <basalt/optical_flow/frame_to_frame_optical_flow.h>

2
src/utils/keypoints.cpp
View File

@ -128,7 +128,7 @@ const static char pattern_31_y_b[256] = {
-11}; -11};
void detectKeypointsMapping(const basalt::Image<const uint16_t>& img_raw, void detectKeypointsMapping(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int num_features) { KeypointsData& kd, int num_features) {
cv::Mat image(img_raw.h, img_raw.w, CV_8U); cv::Mat image(img_raw.h, img_raw.w, CV_8U);
uint8_t* dst = image.ptr(); uint8_t* dst = image.ptr();

5
src/vi_estimator/ba_base.cpp
View File

@ -33,8 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <basalt/vi_estimator/ba_base.h> #include <basalt/vi_estimator/ba_base.h>
#include <tbb/parallel_for.h> #include <tbb/parallel_for.h>
@ -354,7 +352,6 @@ void BundleAdjustmentBase::linearizeHelper(
} }
} }
} }
}); });
for (const auto& rld : rld_vec) error += rld.error; for (const auto& rld : rld_vec) error += rld.error;
@ -522,4 +519,4 @@ void BundleAdjustmentBase::marginalizeHelper(Eigen::MatrixXd& abs_H,
abs_H.resize(0, 0); abs_H.resize(0, 0);
abs_b.resize(0); abs_b.resize(0);
} }
} } // namespace basalt

11
src/vio_sim.cpp
View File

@ -33,7 +33,6 @@ 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. OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <algorithm> #include <algorithm>
#include <chrono> #include <chrono>
#include <iostream> #include <iostream>
@ -541,8 +540,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) { if (os.is_open()) {
cereal::JSONInputArchive archive(os); cereal::JSONInputArchive archive(os);
archive(calib); archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size() std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< " cameras" << std::endl; << std::endl;
} else { } else {
std::cerr << "could not load camera calibration " << calib_path std::cerr << "could not load camera calibration " << calib_path
@ -595,9 +594,9 @@ void compute_projections() {
void gen_data() { void gen_data() {
for (size_t i = 0; i < calib.intrinsics.size(); i++) { for (size_t i = 0; i < calib.intrinsics.size(); i++) {
images.emplace_back(); images.emplace_back();
images.back() = pangolin::TypedImage( images.back() =
calib.resolution[i][0], calib.resolution[i][1], pangolin::TypedImage(calib.resolution[i][0], calib.resolution[i][1],
pangolin::PixelFormatFromString("GRAY8")); pangolin::PixelFormatFromString("GRAY8"));
images.back().Fill(200); images.back().Fill(200);
} }

27
test/CMakeLists.txt
View File

@ -1,31 +1,28 @@
cmake_minimum_required(VERSION 3.2) cmake_minimum_required(VERSION 3.10)
find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIR})
set(GTEST_MAIN_LIBRARY gtest_main)
set(GTEST_LIBRARY gtest)
# Note: add_subdirectory(googletest ...) is called in basalt-headers
include_directories(../thirdparty/basalt-headers/test/include) include_directories(../thirdparty/basalt-headers/test/include)
add_executable(test_image src/test_image.cpp) add_executable(test_image src/test_image.cpp)
target_link_libraries(test_image ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${OpenCV_LIBS} basalt) target_link_libraries(test_image gtest gtest_main basalt)
add_executable(test_spline_opt src/test_spline_opt.cpp) add_executable(test_spline_opt src/test_spline_opt.cpp)
target_link_libraries(test_spline_opt ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt) target_link_libraries(test_spline_opt gtest gtest_main basalt)
add_executable(test_vio src/test_vio.cpp) add_executable(test_vio src/test_vio.cpp)
target_link_libraries(test_vio ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt) target_link_libraries(test_vio gtest gtest_main basalt)
add_executable(test_nfr src/test_nfr.cpp) add_executable(test_nfr src/test_nfr.cpp)
target_link_libraries(test_nfr ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt) target_link_libraries(test_nfr gtest gtest_main basalt)
enable_testing() enable_testing()
add_test(test_image test_image COMMAND Test) include(GoogleTest)
add_test(test_spline_opt test_spline_opt COMMAND Test)
add_test(test_vio test_vio COMMAND Test) gtest_discover_tests(test_image DISCOVERY_TIMEOUT 60)
add_test(test_nfr test_nfr COMMAND Test) gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 60)
gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 60)
gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 60)

17
test/src/test_image.cpp
View File

@ -27,14 +27,15 @@ TEST(Pattern, ImageInterp) {
// std::cerr << "vg\n" << vg << std::endl; // std::cerr << "vg\n" << vg << std::endl;
test_jacobian("d_val_d_p", J, test_jacobian(
[&](const Eigen::Vector2d &x) { "d_val_d_p", J,
Eigen::Matrix<double, 1, 1> res; [&](const Eigen::Vector2d &x) {
Eigen::Vector2d p1 = offset + x; Eigen::Matrix<double, 1, 1> res;
res[0] = img.interpGrad(p1)[0]; Eigen::Vector2d p1 = offset + x;
return res; res[0] = img.interpGrad(p1)[0];
}, return res;
Eigen::Vector2d::Zero(), 1.0); },
Eigen::Vector2d::Zero(), 1.0);
} }
TEST(Image, ImageInterpolate) { TEST(Image, ImageInterpolate) {

82
test/src/test_nfr.cpp
View File

@ -34,29 +34,29 @@ TEST(PreIntegrationTestSuite, RelPoseTest) {
{ {
Sophus::Vector6d x0; Sophus::Vector6d x0;
x0.setZero(); x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i, test_jacobian(
[&](const Sophus::Vector6d& x) { "d_res_d_T_w_i", d_res_d_T_w_i,
auto T_w_i_new = T_w_i; [&](const Sophus::Vector6d& x) {
basalt::PoseState::incPose(x, T_w_i_new); auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::relPoseError(T_i_j, T_w_i_new, T_w_j); return basalt::relPoseError(T_i_j, T_w_i_new, T_w_j);
},
}, x0);
x0);
} }
{ {
Sophus::Vector6d x0; Sophus::Vector6d x0;
x0.setZero(); x0.setZero();
test_jacobian("d_res_d_T_w_j", d_res_d_T_w_j, test_jacobian(
[&](const Sophus::Vector6d& x) { "d_res_d_T_w_j", d_res_d_T_w_j,
auto T_w_j_new = T_w_j; [&](const Sophus::Vector6d& x) {
basalt::PoseState::incPose(x, T_w_j_new); auto T_w_j_new = T_w_j;
basalt::PoseState::incPose(x, T_w_j_new);
return basalt::relPoseError(T_i_j, T_w_i, T_w_j_new); return basalt::relPoseError(T_i_j, T_w_i, T_w_j_new);
},
}, x0);
x0);
} }
} }
@ -71,15 +71,15 @@ TEST(PreIntegrationTestSuite, AbsPositionTest) {
{ {
Sophus::Vector6d x0; Sophus::Vector6d x0;
x0.setZero(); x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i, test_jacobian(
[&](const Sophus::Vector6d& x) { "d_res_d_T_w_i", d_res_d_T_w_i,
auto T_w_i_new = T_w_i; [&](const Sophus::Vector6d& x) {
basalt::PoseState::incPose(x, T_w_i_new); auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::absPositionError(T_w_i_new, pos); return basalt::absPositionError(T_w_i_new, pos);
},
}, x0);
x0);
} }
} }
@ -97,17 +97,17 @@ TEST(PreIntegrationTestSuite, YawTest) {
{ {
Sophus::Vector6d x0; Sophus::Vector6d x0;
x0.setZero(); x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i, test_jacobian(
[&](const Sophus::Vector6d& x) { "d_res_d_T_w_i", d_res_d_T_w_i,
auto T_w_i_new = T_w_i; [&](const Sophus::Vector6d& x) {
basalt::PoseState::incPose(x, T_w_i_new); auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
double res = basalt::yawError(T_w_i_new, yaw_dir_body); double res = basalt::yawError(T_w_i_new, yaw_dir_body);
return Eigen::Matrix<double, 1, 1>(res); return Eigen::Matrix<double, 1, 1>(res);
},
}, x0);
x0);
} }
} }
@ -124,14 +124,14 @@ TEST(PreIntegrationTestSuite, RollPitchTest) {
{ {
Sophus::Vector6d x0; Sophus::Vector6d x0;
x0.setZero(); x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i, test_jacobian(
[&](const Sophus::Vector6d& x) { "d_res_d_T_w_i", d_res_d_T_w_i,
auto T_w_i_new = T_w_i; [&](const Sophus::Vector6d& x) {
basalt::PoseState::incPose(x, T_w_i_new); auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::rollPitchError(T_w_i_new, R_w_i); return basalt::rollPitchError(T_w_i_new, R_w_i);
},
}, x0);
x0);
} }
} }

44
test/src/test_vio.cpp
View File

@ -372,37 +372,37 @@ TEST(PreIntegrationTestSuite, LinearizePointsTest) {
{ {
Sophus::Vector6d x0; Sophus::Vector6d x0;
x0.setZero(); x0.setZero();
test_jacobian("d_res_d_xi", d_res_d_xi, test_jacobian(
[&](const Sophus::Vector6d& x) { "d_res_d_xi", d_res_d_xi,
Eigen::Matrix4d T_t_h_new = [&](const Sophus::Vector6d& x) {
(Sophus::expd(x) * T_t_h_sophus).matrix(); Eigen::Matrix4d T_t_h_new = (Sophus::expd(x) * T_t_h_sophus).matrix();
Eigen::Vector2d res; Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint( basalt::KeypointVioEstimator::linearizePoint(kpt_obs, kpt_pos,
kpt_obs, kpt_pos, T_t_h_new, cam, res); T_t_h_new, cam, res);
return res; return res;
}, },
x0); x0);
} }
{ {
Eigen::Vector3d x0; Eigen::Vector3d x0;
x0.setZero(); x0.setZero();
test_jacobian("d_res_d_p", d_res_d_p, test_jacobian(
[&](const Eigen::Vector3d& x) { "d_res_d_p", d_res_d_p,
basalt::KeypointVioEstimator::KeypointPosition kpt_pos_new = [&](const Eigen::Vector3d& x) {
kpt_pos; basalt::KeypointVioEstimator::KeypointPosition kpt_pos_new = kpt_pos;
kpt_pos_new.dir += x.head<2>(); kpt_pos_new.dir += x.head<2>();
kpt_pos_new.id += x[2]; kpt_pos_new.id += x[2];
Eigen::Vector2d res; Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint( basalt::KeypointVioEstimator::linearizePoint(kpt_obs, kpt_pos_new,
kpt_obs, kpt_pos_new, T_t_h, cam, res); T_t_h, cam, res);
return res; return res;
}, },
x0); x0);
} }
} }

106
thirdparty/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,106 @@
cmake_minimum_required(VERSION 3.10)
add_subdirectory(ros EXCLUDE_FROM_ALL)
add_subdirectory(apriltag EXCLUDE_FROM_ALL)
add_subdirectory(DBoW3 EXCLUDE_FROM_ALL)
set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
set(BUILD_TOOLS OFF CACHE BOOL "Enable BUILD_TOOLS")
set(CMAKE_EXPORT_NO_PACKAGE_REGISTRY ON)
set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
set(EIGEN_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIR}")
add_subdirectory(opengv EXCLUDE_FROM_ALL)
# Hack to disable CPack in Pangolin.
macro(include)
if(NOT ${ARGV0} STREQUAL "CPack")
_include(${ARGN})
endif()
endmacro()
add_subdirectory(Pangolin EXCLUDE_FROM_ALL)
# fix aprilgrid
target_compile_options(apriltag PRIVATE "-Wno-unused-private-field")
# fix opengv: c++17 and debug postfix
set_target_properties(opengv PROPERTIES
CXX_STANDARD 17
DEBUG_POSTFIX "")
# fix opengv: compile options (CMAKE_CXX_FLAGS is overwritten by Opengv)
target_compile_options(opengv PRIVATE
-Wno-unused-private-field
-march=${CXX_MARCH}
${BASALT_PASSED_CXX_FLAGS})
# TODO: enable once mpark issue is fixed upstream pangolin
#set_target_properties(pangolin PROPERTIES
# CXX_STANDARD 17)
# fix pangolin: gcc
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
target_compile_options(pangolin PRIVATE "-Wno-implicit-fallthrough")
endif()
# fix pangolin: macOS
if(APPLE)
target_compile_options(pangolin PRIVATE "-Wno-objc-missing-super-calls")
endif()
# fix pangolin: macOS >= 10.14 Mojave
if(APPLE AND CMAKE_SYSTEM_VERSION VERSION_GREATER_EQUAL 18.0.0)
target_compile_options(pangolin PRIVATE "-Wno-deprecated-declarations")
endif()
# fix pangolin: clang
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
target_compile_options(pangolin PRIVATE "-Wno-null-pointer-arithmetic")
endif()
# fix pangolin: clang >= 8.0
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 8.0.0)
target_compile_options(pangolin PRIVATE "-Wno-defaulted-function-deleted")
endif()
# check here the directories for the pangolin and opengv targets, and
# confirm that the eigen-related include dirs match.
foreach(_target opengv pangolin)
get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
foreach(_dir IN LISTS _include_dirs)
if("${_dir}" MATCHES ".*/eigen3?(/unsupported)?$")
if(NOT _dir MATCHES "^${EIGEN3_INCLUDE_DIR}.*")
endif()
endif()
endforeach()
endforeach()
# opengv and pangolin assume that eigen is found outside the source
# directory and thus include it in INTERFACE_INCLUDE_DIRECTORIES,
# which makes cmake complain that that property contains paths in the
# source folder. Thus, we update the property to only include these
# eigen paths in the "BUILD_INTERFACE" (not "INSTALL").
if (EIGEN3_INCLUDE_DIR MATCHES "^${CMAKE_SOURCE_DIR}.*")
foreach(_target opengv pangolin)
get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
set(_include_dirs_new "")
foreach(_dir IN LISTS _include_dirs)
if(_dir MATCHES ".*/eigen(/unsupported)?$")
string(REGEX REPLACE "(^${CMAKE_SOURCE_DIR}.*$)" "$<BUILD_INTERFACE:\\1>" _dir "${_dir}")
endif()
list(APPEND _include_dirs_new "${_dir}")
endforeach()
set_target_properties(${_target} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${_include_dirs_new}")
endforeach()
endif()

2
thirdparty/basalt-headers vendored

@ -1 +1 @@
Subproject commit 4a771353447a0dd4e47a0041ada6385363a34f3b Subproject commit 292ee346506b73f691b96108cafc53d589e8b7b3