fix filesystem warnings

include/basalt/utils/filesystem.h

@@ -1,4 +1,70 @@
 #pragma once
 
+// Check for feature test macro for <filesystem>
+#if defined(__cpp_lib_filesystem)
+#define INCLUDE_STD_FILESYSTEM_EXPERIMENTAL 0
+
+// Check for feature test macro for <experimental/filesystem>
+#elif defined(__cpp_lib_experimental_filesystem)
+#define INCLUDE_STD_FILESYSTEM_EXPERIMENTAL 1
+
+// We can't check if headers exist...
+// Let's assume experimental to be safe
+#elif !defined(__has_include)
+#define INCLUDE_STD_FILESYSTEM_EXPERIMENTAL 1
+
+// Check if the header "<filesystem>" exists
+#elif __has_include(<filesystem>)
+
+// If we're compiling on Visual Studio and are not compiling with C++17, we need
+// to use experimental
+#ifdef _MSC_VER
+
+// Check and include header that defines "_HAS_CXX17"
+#if __has_include(<yvals_core.h>)
+#include <yvals_core.h>
+
+// Check for enabled C++17 support
+#if defined(_HAS_CXX17) && _HAS_CXX17
+// We're using C++17, so let's use the normal version
+#define INCLUDE_STD_FILESYSTEM_EXPERIMENTAL 0
+#endif
+#endif
+
+// If the marco isn't defined yet, that means any of the other VS specific
+// checks failed, so we need to use experimental
+#ifndef INCLUDE_STD_FILESYSTEM_EXPERIMENTAL
+#define INCLUDE_STD_FILESYSTEM_EXPERIMENTAL 1
+#endif
+
+// Not on Visual Studio. Let's use the normal version
+#else  // #ifdef _MSC_VER
+#define INCLUDE_STD_FILESYSTEM_EXPERIMENTAL 0
+#endif
+
+// Check if the header "<filesystem>" exists
+#elif __has_include(<experimental/filesystem>)
+#define INCLUDE_STD_FILESYSTEM_EXPERIMENTAL 1
+
+// Fail if neither header is available with a nice error message
+#else
+#error Could not find system header "<filesystem>" or "<experimental/filesystem>"
+#endif
+
+// We priously determined that we need the exprimental version
+#if INCLUDE_STD_FILESYSTEM_EXPERIMENTAL
 #include <experimental/filesystem>
+
+namespace basalt {
 namespace fs = std::experimental::filesystem;
+}
+
+// We have a decent compiler and can use the normal version
+#else
+#include <filesystem>
+
+namespace basalt {
+namespace fs = std::filesystem;
+}
+
+#endif

src/rs_t265_record.cpp

@@ -237,13 +237,13 @@ void startRecording(const std::string &dir_path) {
 
     dataset_dir = dir_path + "dataset_" + get_date() + "/";
 
-    fs::create_directory(dataset_dir);
-    fs::create_directory(dataset_dir + "mav0/");
-    fs::create_directory(dataset_dir + "mav0/cam0/");
-    fs::create_directory(dataset_dir + "mav0/cam0/data/");
-    fs::create_directory(dataset_dir + "mav0/cam1/");
-    fs::create_directory(dataset_dir + "mav0/cam1/data/");
-    fs::create_directory(dataset_dir + "mav0/imu0/");
+    basalt::fs::create_directory(dataset_dir);
+    basalt::fs::create_directory(dataset_dir + "mav0/");
+    basalt::fs::create_directory(dataset_dir + "mav0/cam0/");
+    basalt::fs::create_directory(dataset_dir + "mav0/cam0/data/");
+    basalt::fs::create_directory(dataset_dir + "mav0/cam1/");
+    basalt::fs::create_directory(dataset_dir + "mav0/cam1/data/");
+    basalt::fs::create_directory(dataset_dir + "mav0/imu0/");
 
     cam_data[0].open(dataset_dir + "mav0/cam0/data.csv");
     cam_data[1].open(dataset_dir + "mav0/cam1/data.csv");
@@ -252,7 +252,7 @@ void startRecording(const std::string &dir_path) {
     imu0_data.open(dataset_dir + "mav0/imu0/data.csv");
 
     if (!manual_exposure) {
-      fs::create_directory(dataset_dir + "mav0/realsense0/");
+      basalt::fs::create_directory(dataset_dir + "mav0/realsense0/");
       pose_data.open(dataset_dir + "mav0/realsense0/data.csv");
       pose_data << "#timestamp [ns], p_RS_R_x [m], p_RS_R_y [m], p_RS_R_z [m], "
                    "q_RS_w [], q_RS_x [], q_RS_y [], q_RS_z []\n";

src/time_alignment.cpp

@@ -414,13 +414,15 @@ int main(int argc, char **argv) {
 
     std::string save_button_name = "ui.save_aligned_dataset";
     // Disable save_aligned_dataset button if GT data already exists
-    if (fs::exists(fs::path(dataset_path + "mav0/gt/data.csv"))) {
+    if (basalt::fs::exists(
+            basalt::fs::path(dataset_path + "mav0/gt/data.csv"))) {
       save_button_name += "(disabled)";
     }
 
     pangolin::Var<std::function<void(void)>> save_aligned_dataset(
         save_button_name, [&]() {
-          if (fs::exists(fs::path(dataset_path + "mav0/gt/data.csv"))) {
+          if (basalt::fs::exists(
+                  basalt::fs::path(dataset_path + "mav0/gt/data.csv"))) {
             std::cout << "Aligned ground-truth data already exists, skipping. "
                          "If you want to run the calibration again delete "
                       << dataset_path << "mav0/gt/ folder." << std::endl;
@@ -431,7 +433,7 @@ int main(int argc, char **argv) {
           // output corrected mocap data
           Sophus::SE3d T_mark_i;
           if (use_calib) T_mark_i = mocap_calib.T_i_mark.inverse();
-          fs::create_directory(dataset_path + "mav0/gt/");
+          basalt::fs::create_directory(dataset_path + "mav0/gt/");
           std::ofstream gt_out_stream;
           gt_out_stream.open(dataset_path + "mav0/gt/data.csv");
           gt_out_stream