From 6be8ead692a3d68c5f8850651a07ca58d574a83b Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Sun, 23 Apr 2023 10:54:14 +0800 Subject: [PATCH 01/18] Fix bugs in loop detection --- src/KeyFrameDatabase.cc | 23 +++++++++++------------ 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index 13b4da6115..8f3912e154 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -709,20 +709,19 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector &v while(i < lAccScoreAndMatch.size() && (vpLoopCand.size() < nNumCandidates || vpMergeCand.size() < nNumCandidates)) { KeyFrame* pKFi = it->second; - if(pKFi->isBad()) - continue; - - if(!spAlreadyAddedKF.count(pKFi)) - { - if(pKF->GetMap() == pKFi->GetMap() && vpLoopCand.size() < nNumCandidates) - { - vpLoopCand.push_back(pKFi); - } - else if(pKF->GetMap() != pKFi->GetMap() && vpMergeCand.size() < nNumCandidates && !pKFi->GetMap()->IsBad()) + if(pKFi->isBad()){ + if(!spAlreadyAddedKF.count(pKFi)) { - vpMergeCand.push_back(pKFi); + if(pKF->GetMap() == pKFi->GetMap() && vpLoopCand.size() < nNumCandidates) + { + vpLoopCand.push_back(pKFi); + } + else if(pKF->GetMap() != pKFi->GetMap() && vpMergeCand.size() < nNumCandidates && !pKFi->GetMap()->IsBad()) + { + vpMergeCand.push_back(pKFi); + } + spAlreadyAddedKF.insert(pKFi); } - spAlreadyAddedKF.insert(pKFi); } i++; it++; From 133ec2f0ecfd507045ef657f167ac85c5b962f4a Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Tue, 6 Jun 2023 22:08:48 +0800 Subject: [PATCH 02/18] Update src/KeyFrameDatabase.cc Co-authored-by: Nicolas Soncini --- src/KeyFrameDatabase.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index 8f3912e154..defd7b7b6c 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -709,7 +709,7 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector &v while(i < lAccScoreAndMatch.size() && (vpLoopCand.size() < nNumCandidates || vpMergeCand.size() < nNumCandidates)) { KeyFrame* pKFi = it->second; - if(pKFi->isBad()){ + if(!pKFi->isBad()){ if(!spAlreadyAddedKF.count(pKFi)) { if(pKF->GetMap() == pKFi->GetMap() && vpLoopCand.size() < nNumCandidates) From b004e46d88f286d65dba97dd5c97ce6ba5041faf Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Mon, 17 Jul 2023 19:16:05 +0800 Subject: [PATCH 03/18] fix a bug in Sim3Solver.cc --- src/Sim3Solver.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/Sim3Solver.cc b/src/Sim3Solver.cc index b8d3abfb14..b5f47ec99a 100644 --- a/src/Sim3Solver.cc +++ b/src/Sim3Solver.cc @@ -37,10 +37,10 @@ Sim3Solver::Sim3Solver(KeyFrame *pKF1, KeyFrame *pKF2, const vector mnIterations(0), mnBestInliers(0), mbFixScale(bFixScale), pCamera1(pKF1->mpCamera), pCamera2(pKF2->mpCamera) { - bool bDifferentKFs = false; + bool bDifferentKFs = true; if(vpKeyFrameMatchedMP.empty()) { - bDifferentKFs = true; + bDifferentKFs = false; vpKeyFrameMatchedMP = vector(vpMatched12.size(), pKF2); } From c05fff59d14e413295c8bfb36ea367eed0ecb8e1 Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Mon, 17 Jul 2023 19:18:35 +0800 Subject: [PATCH 04/18] fix a bug in ORBmatcher.cc --- src/ORBmatcher.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/ORBmatcher.cc b/src/ORBmatcher.cc index 9129683e4e..2098a84a20 100644 --- a/src/ORBmatcher.cc +++ b/src/ORBmatcher.cc @@ -1082,6 +1082,7 @@ namespace ORB_SLAM3 : (bestIdx2 < pKF2 -> NLeft) ? pKF2 -> mvKeys[bestIdx2] : pKF2 -> mvKeysRight[bestIdx2 - pKF2 -> NLeft]; vMatches12[idx1]=bestIdx2; + vbMatched2[bestIdx2]=true; nmatches++; if(mbCheckOrientation) From 45ea0f5a9f74399979cbba79cc63d4e56f33493f Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Mon, 17 Jul 2023 19:22:24 +0800 Subject: [PATCH 05/18] fix a bug in UpdateConnections in KeyFrame.cc --- src/KeyFrame.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/KeyFrame.cc b/src/KeyFrame.cc index 293ab48182..dfb76918b0 100644 --- a/src/KeyFrame.cc +++ b/src/KeyFrame.cc @@ -424,7 +424,7 @@ void KeyFrame::UpdateConnections(bool upParent) vPairs.reserve(KFcounter.size()); if(!upParent) cout << "UPDATE_CONN: current KF " << mnId << endl; - for(map::iterator mit=KFcounter.begin(), mend=KFcounter.end(); mit!=mend; mit++) + for(map::iterator mit=KFcounter.begin(), mend=KFcounter.end(); mit!=mend;) { if(!upParent) cout << " UPDATE_CONN: KF " << mit->first->mnId << " ; num matches: " << mit->second << endl; @@ -437,7 +437,9 @@ void KeyFrame::UpdateConnections(bool upParent) { vPairs.push_back(make_pair(mit->second,mit->first)); (mit->first)->AddConnection(this,mit->second); - } + mit++; + }else + mit = KFcounter.erase(mit); } if(vPairs.empty()) From b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8 Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Thu, 20 Jul 2023 10:07:08 +0800 Subject: [PATCH 06/18] fix bugs in DetectNBestCandidates in KeyFrameDatabase.cc --- src/KeyFrameDatabase.cc | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index defd7b7b6c..270ee3e9a6 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -655,12 +655,11 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector &v for(list::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++) { KeyFrame* pKFi = *lit; - + float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec); + pKFi->mPlaceRecognitionScore=si; if(pKFi->mnPlaceRecognitionWords>minCommonWords) { nscores++; - float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec); - pKFi->mPlaceRecognitionScore=si; lScoreAndMatch.push_back(make_pair(si,pKFi)); } } From ba5ff019b3190a229720023647469389c2a49f29 Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Thu, 20 Jul 2023 10:58:46 +0800 Subject: [PATCH 07/18] Update README.md --- README.md | 233 +++++------------------------------------------------- 1 file changed, 19 insertions(+), 214 deletions(-) diff --git a/README.md b/README.md index 0ca3a9f2d3..0c35913f66 100644 --- a/README.md +++ b/README.md @@ -1,235 +1,40 @@ -# ORB-SLAM3 +# Some bugs in ORB-SLAM3 +## Changed Codes +#### SearchForTriangulation +https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/ORBmatcher.cc#L1085 -### V1.0, December 22th, 2021 -**Authors:** Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, [José M. M. Montiel](http://webdiis.unizar.es/~josemari/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/). +Forgot to change flags to label matched features. -The [Changelog](https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/Changelog.md) describes the features of each version. +This would cause multiple keypoints in KF1 are matched with same keypoint in KF2; and then all these new map points contain obervations KF1, but KF1 only records one of them. -ORB-SLAM3 is the first real-time SLAM library able to perform **Visual, Visual-Inertial and Multi-Map SLAM** with **monocular, stereo and RGB-D** cameras, using **pin-hole and fisheye** lens models. In all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature, and significantly more accurate. +#### UpdateConnections +https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrame.cc#L427-L443 -We provide examples to run ORB-SLAM3 in the [EuRoC dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) using stereo or monocular, with or without IMU, and in the [TUM-VI dataset](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) using fisheye stereo or monocular, with or without IMU. Videos of some example executions can be found at [ORB-SLAM3 channel](https://www.youtube.com/channel/UCXVt-kXG6T95Z4tVaYlU80Q). +Here caused unidirectional connection. -This software is based on [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) developed by [Raul Mur-Artal](http://webdiis.unizar.es/~raulmur/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/), [J. M. M. Montiel](http://webdiis.unizar.es/~josemari/) and [Dorian Galvez-Lopez](http://doriangalvez.com/) ([DBoW2](https://github.com/dorian3d/DBoW2)). +When updating connection of KF, all other keyframes sharing co-observed mappoints are collected. Only when the weights (number of co-obervations) are larger than a threshold (15), the connections are recorded bidirectionally; otherwise, the records should be erased. - +#### Sim3Solver +https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/Sim3Solver.cc#L40-L43 -### Related Publications: +The flag was set wrong here. -[ORB-SLAM3] Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M. M. Montiel and Juan D. Tardós, **ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM**, *IEEE Transactions on Robotics 37(6):1874-1890, Dec. 2021*. **[PDF](https://arxiv.org/abs/2007.11898)**. +This would cause the index cannot be found properly later, and then less matched map points are collected. -[IMU-Initialization] Carlos Campos, J. M. M. Montiel and Juan D. Tardós, **Inertial-Only Optimization for Visual-Inertial Initialization**, *ICRA 2020*. **[PDF](https://arxiv.org/pdf/2003.05766.pdf)** +#### DetectNBestCandidates +https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L658-L664 -[ORBSLAM-Atlas] Richard Elvira, J. M. M. Montiel and Juan D. Tardós, **ORBSLAM-Atlas: a robust and accurate multi-map system**, *IROS 2019*. **[PDF](https://arxiv.org/pdf/1908.11585.pdf)**. +Only computed scores for keyframes in which the number of common words is larger than a threshold, but the scores of other keyframes may also be used later. -[ORBSLAM-VI] Raúl Mur-Artal, and Juan D. Tardós, **Visual-inertial monocular SLAM with map reuse**, IEEE Robotics and Automation Letters, vol. 2 no. 2, pp. 796-803, 2017. **[PDF](https://arxiv.org/pdf/1610.05949.pdf)**. +https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L710-L726 -[Stereo and RGB-D] Raúl Mur-Artal and Juan D. Tardós. **ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras**. *IEEE Transactions on Robotics,* vol. 33, no. 5, pp. 1255-1262, 2017. **[PDF](https://arxiv.org/pdf/1610.06475.pdf)**. +The iterator was not updated when the keyframe is bad. -[Monocular] Raúl Mur-Artal, José M. M. Montiel and Juan D. Tardós. **ORB-SLAM: A Versatile and Accurate Monocular SLAM System**. *IEEE Transactions on Robotics,* vol. 31, no. 5, pp. 1147-1163, 2015. (**2015 IEEE Transactions on Robotics Best Paper Award**). **[PDF](https://arxiv.org/pdf/1502.00956.pdf)**. -[DBoW2 Place Recognition] Dorian Gálvez-López and Juan D. Tardós. **Bags of Binary Words for Fast Place Recognition in Image Sequences**. *IEEE Transactions on Robotics,* vol. 28, no. 5, pp. 1188-1197, 2012. **[PDF](http://doriangalvez.com/php/dl.php?dlp=GalvezTRO12.pdf)** -# 1. License -ORB-SLAM3 is released under [GPLv3 license](https://github.com/UZ-SLAMLab/ORB_SLAM3/LICENSE). For a list of all code/library dependencies (and associated licenses), please see [Dependencies.md](https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/Dependencies.md). -For a closed-source version of ORB-SLAM3 for commercial purposes, please contact the authors: orbslam (at) unizar (dot) es. -If you use ORB-SLAM3 in an academic work, please cite: - - @article{ORBSLAM3_TRO, - title={{ORB-SLAM3}: An Accurate Open-Source Library for Visual, Visual-Inertial - and Multi-Map {SLAM}}, - author={Campos, Carlos AND Elvira, Richard AND G\´omez, Juan J. AND Montiel, - Jos\'e M. M. AND Tard\'os, Juan D.}, - journal={IEEE Transactions on Robotics}, - volume={37}, - number={6}, - pages={1874-1890}, - year={2021} - } -# 2. Prerequisites -We have tested the library in **Ubuntu 16.04** and **18.04**, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results. -## C++11 or C++0x Compiler -We use the new thread and chrono functionalities of C++11. -## Pangolin -We use [Pangolin](https://github.com/stevenlovegrove/Pangolin) for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin. - -## OpenCV -We use [OpenCV](http://opencv.org) to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. **Required at leat 3.0. Tested with OpenCV 3.2.0 and 4.4.0**. - -## Eigen3 -Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. **Required at least 3.1.0**. - -## DBoW2 and g2o (Included in Thirdparty folder) -We use modified versions of the [DBoW2](https://github.com/dorian3d/DBoW2) library to perform place recognition and [g2o](https://github.com/RainerKuemmerle/g2o) library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the *Thirdparty* folder. - -## Python -Required to calculate the alignment of the trajectory with the ground truth. **Required Numpy module**. - -* (win) http://www.python.org/downloads/windows -* (deb) `sudo apt install libpython2.7-dev` -* (mac) preinstalled with osx - -## ROS (optional) - -We provide some examples to process input of a monocular, monocular-inertial, stereo, stereo-inertial or RGB-D camera using ROS. Building these examples is optional. These have been tested with ROS Melodic under Ubuntu 18.04. - -# 3. Building ORB-SLAM3 library and examples - -Clone the repository: -``` -git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3 -``` - -We provide a script `build.sh` to build the *Thirdparty* libraries and *ORB-SLAM3*. Please make sure you have installed all required dependencies (see section 2). Execute: -``` -cd ORB_SLAM3 -chmod +x build.sh -./build.sh -``` - -This will create **libORB_SLAM3.so** at *lib* folder and the executables in *Examples* folder. - -# 4. Running ORB-SLAM3 with your camera - -Directory `Examples` contains several demo programs and calibration files to run ORB-SLAM3 in all sensor configurations with Intel Realsense cameras T265 and D435i. The steps needed to use your own camera are: - -1. Calibrate your camera following `Calibration_Tutorial.pdf` and write your calibration file `your_camera.yaml` - -2. Modify one of the provided demos to suit your specific camera model, and build it - -3. Connect the camera to your computer using USB3 or the appropriate interface - -4. Run ORB-SLAM3. For example, for our D435i camera, we would execute: - -``` -./Examples/Stereo-Inertial/stereo_inertial_realsense_D435i Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/RealSense_D435i.yaml -``` - -# 5. EuRoC Examples -[EuRoC dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) was recorded with two pinhole cameras and an inertial sensor. We provide an example script to launch EuRoC sequences in all the sensor configurations. - -1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets - -2. Open the script "euroc_examples.sh" in the root of the project. Change **pathDatasetEuroc** variable to point to the directory where the dataset has been uncompressed. - -3. Execute the following script to process all the sequences with all sensor configurations: -``` -./euroc_examples -``` - -## Evaluation -EuRoC provides ground truth for each sequence in the IMU body reference. As pure visual executions report trajectories centered in the left camera, we provide in the "evaluation" folder the transformation of the ground truth to the left camera reference. Visual-inertial trajectories use the ground truth from the dataset. - -Execute the following script to process sequences and compute the RMS ATE: -``` -./euroc_eval_examples -``` - -# 6. TUM-VI Examples -[TUM-VI dataset](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) was recorded with two fisheye cameras and an inertial sensor. - -1. Download a sequence from https://vision.in.tum.de/data/datasets/visual-inertial-dataset and uncompress it. - -2. Open the script "tum_vi_examples.sh" in the root of the project. Change **pathDatasetTUM_VI** variable to point to the directory where the dataset has been uncompressed. - -3. Execute the following script to process all the sequences with all sensor configurations: -``` -./tum_vi_examples -``` - -## Evaluation -In TUM-VI ground truth is only available in the room where all sequences start and end. As a result the error measures the drift at the end of the sequence. - -Execute the following script to process sequences and compute the RMS ATE: -``` -./tum_vi_eval_examples -``` - -# 7. ROS Examples - -### Building the nodes for mono, mono-inertial, stereo, stereo-inertial and RGB-D -Tested with ROS Melodic and ubuntu 18.04. - -1. Add the path including *Examples/ROS/ORB_SLAM3* to the ROS_PACKAGE_PATH environment variable. Open .bashrc file: - ``` - gedit ~/.bashrc - ``` -and add at the end the following line. Replace PATH by the folder where you cloned ORB_SLAM3: - - ``` - export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS - ``` - -2. Execute `build_ros.sh` script: - - ``` - chmod +x build_ros.sh - ./build_ros.sh - ``` - -### Running Monocular Node -For a monocular input from topic `/camera/image_raw` run node ORB_SLAM3/Mono. You will need to provide the vocabulary file and a settings file. See the monocular examples above. - - ``` - rosrun ORB_SLAM3 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE - ``` - -### Running Monocular-Inertial Node -For a monocular input from topic `/camera/image_raw` and an inertial input from topic `/imu`, run node ORB_SLAM3/Mono_Inertial. Setting the optional third argument to true will apply CLAHE equalization to images (Mainly for TUM-VI dataset). - - ``` - rosrun ORB_SLAM3 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE [EQUALIZATION] - ``` - -### Running Stereo Node -For a stereo input from topic `/camera/left/image_raw` and `/camera/right/image_raw` run node ORB_SLAM3/Stereo. You will need to provide the vocabulary file and a settings file. For Pinhole camera model, if you **provide rectification matrices** (see Examples/Stereo/EuRoC.yaml example), the node will recitify the images online, **otherwise images must be pre-rectified**. For FishEye camera model, rectification is not required since system works with original images: - - ``` - rosrun ORB_SLAM3 Stereo PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE ONLINE_RECTIFICATION - ``` - -### Running Stereo-Inertial Node -For a stereo input from topics `/camera/left/image_raw` and `/camera/right/image_raw`, and an inertial input from topic `/imu`, run node ORB_SLAM3/Stereo_Inertial. You will need to provide the vocabulary file and a settings file, including rectification matrices if required in a similar way to Stereo case: - - ``` - rosrun ORB_SLAM3 Stereo_Inertial PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE ONLINE_RECTIFICATION [EQUALIZATION] - ``` - -### Running RGB_D Node -For an RGB-D input from topics `/camera/rgb/image_raw` and `/camera/depth_registered/image_raw`, run node ORB_SLAM3/RGBD. You will need to provide the vocabulary file and a settings file. See the RGB-D example above. - - ``` - rosrun ORB_SLAM3 RGBD PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE - ``` - -**Running ROS example:** Download a rosbag (e.g. V1_02_medium.bag) from the EuRoC dataset (http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets). Open 3 tabs on the terminal and run the following command at each tab for a Stereo-Inertial configuration: - ``` - roscore - ``` - - ``` - rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/EuRoC.yaml true - ``` - - ``` - rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu - ``` - -Once ORB-SLAM3 has loaded the vocabulary, press space in the rosbag tab. - -**Remark:** For rosbags from TUM-VI dataset, some play issue may appear due to chunk size. One possible solution is to rebag them with the default chunk size, for example: - ``` - rosrun rosbag fastrebag.py dataset-room1_512_16.bag dataset-room1_512_16_small_chunks.bag - ``` - -# 8. Running time analysis -A flag in `include\Config.h` activates time measurements. It is necessary to uncomment the line `#define REGISTER_TIMES` to obtain the time stats of one execution which is shown at the terminal and stored in a text file(`ExecTimeMean.txt`). - -# 9. Calibration -You can find a tutorial for visual-inertial calibration and a detailed description of the contents of valid configuration files at `Calibration_Tutorial.pdf` From f56c1969a2a4268d6abefbcff0acbeba31a32932 Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Thu, 20 Jul 2023 14:50:44 +0800 Subject: [PATCH 08/18] Update README.md --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 0c35913f66..a7c077902b 100644 --- a/README.md +++ b/README.md @@ -1,32 +1,32 @@ # Some bugs in ORB-SLAM3 ## Changed Codes #### SearchForTriangulation -https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/ORBmatcher.cc#L1085 +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/ORBmatcher.cc#L1085 Forgot to change flags to label matched features. This would cause multiple keypoints in KF1 are matched with same keypoint in KF2; and then all these new map points contain obervations KF1, but KF1 only records one of them. #### UpdateConnections -https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrame.cc#L427-L443 +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrame.cc#L427-L443 Here caused unidirectional connection. When updating connection of KF, all other keyframes sharing co-observed mappoints are collected. Only when the weights (number of co-obervations) are larger than a threshold (15), the connections are recorded bidirectionally; otherwise, the records should be erased. #### Sim3Solver -https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/Sim3Solver.cc#L40-L43 +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/Sim3Solver.cc#L40-L43 The flag was set wrong here. This would cause the index cannot be found properly later, and then less matched map points are collected. #### DetectNBestCandidates -https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L658-L664 +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L658-L664 Only computed scores for keyframes in which the number of common words is larger than a threshold, but the scores of other keyframes may also be used later. -https://github.com/fishmarch/ORB_SLAM3/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L710-L726 +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L710-L726 The iterator was not updated when the keyframe is bad. From d7288c62c2b3000d4aa9c5acb7f5aa83027a251d Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Wed, 26 Jul 2023 16:32:45 +0800 Subject: [PATCH 09/18] Accelerate DetectNBestCandidates in KeyFrameDatabase.cc --- src/KeyFrameDatabase.cc | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index 270ee3e9a6..33bbc62e0b 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -655,11 +655,11 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector &v for(list::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++) { KeyFrame* pKFi = *lit; - float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec); - pKFi->mPlaceRecognitionScore=si; if(pKFi->mnPlaceRecognitionWords>minCommonWords) { nscores++; + float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec); + pKFi->mPlaceRecognitionScore=si; lScoreAndMatch.push_back(make_pair(si,pKFi)); } } @@ -684,7 +684,11 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector &v KeyFrame* pKF2 = *vit; if(pKF2->mnPlaceRecognitionQuery!=pKF->mnId) continue; - + if(pKF2->mnPlaceRecognitionWords<=minCommonWords){ + float si = mpVoc->score(mBowVec, pKFi->GetBowVector()); + pKF2->mPlaceRecognitionScore=si; + pKF2->mnPlaceRecognitionWords = minCommonWords+1; + } accScore+=pKF2->mPlaceRecognitionScore; if(pKF2->mPlaceRecognitionScore>bestScore) { From 0dff649f4c6c7231d6ac370c8dadea7feec29836 Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Wed, 26 Jul 2023 16:39:09 +0800 Subject: [PATCH 10/18] Update README.md --- README.md | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index a7c077902b..cdb0671654 100644 --- a/README.md +++ b/README.md @@ -22,13 +22,20 @@ The flag was set wrong here. This would cause the index cannot be found properly later, and then less matched map points are collected. #### DetectNBestCandidates +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L710-L726 + +The iterator was not updated when the keyframe is bad. + https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L658-L664 Only computed scores for keyframes in which the number of common words is larger than a threshold, but the scores of other keyframes may also be used later. -https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/b66d0b7eedfb363e5bad0cee8ea12065f2d66ae8/src/KeyFrameDatabase.cc#L710-L726 +**Update:** But this would make this part very slow. Thus the codes are changed as following. + +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/d7288c62c2b3000d4aa9c5acb7f5aa83027a251d/src/KeyFrameDatabase.cc#L687-L691 + + -The iterator was not updated when the keyframe is bad. From 35c2361f82f32b320150a254e1627bcedc455df6 Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Sun, 27 Aug 2023 12:21:37 +0800 Subject: [PATCH 11/18] Update KeyFrameDatabase.cc --- src/KeyFrameDatabase.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index 33bbc62e0b..e190bd54e4 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -685,7 +685,7 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector &v if(pKF2->mnPlaceRecognitionQuery!=pKF->mnId) continue; if(pKF2->mnPlaceRecognitionWords<=minCommonWords){ - float si = mpVoc->score(mBowVec, pKFi->GetBowVector()); + float si = mpVoc->score(pKF->mBowVec,pKF2->mBowVec); pKF2->mPlaceRecognitionScore=si; pKF2->mnPlaceRecognitionWords = minCommonWords+1; } From a109edc446d5c1b041fce5d5bd34450be797faaa Mon Sep 17 00:00:00 2001 From: fishmarch <40687908+fishmarch@users.noreply.github.com> Date: Sun, 27 Aug 2023 12:23:25 +0800 Subject: [PATCH 12/18] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index cdb0671654..fd0f730931 100644 --- a/README.md +++ b/README.md @@ -32,7 +32,7 @@ Only computed scores for keyframes in which the number of common words is larger **Update:** But this would make this part very slow. 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${CMAKE_BUILD_TYPE}) @@ -12,28 +12,30 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3") set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native") set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native") -# Check C++11 or C++0x support -include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) -CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${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 ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") -endif() +set(CMAKE_CXX_STANDARD 14) +add_definitions(-DCOMPILEDWITHC11) +## Check C++11 or C++0x support +#include(CheckCXXCompilerFlag) +#CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +#CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +#if(COMPILER_SUPPORTS_CXX11) +# set(CMAKE_CXX_FLAGS "${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.") +#endif() LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules) find_package(OpenCV 4.4) - if(NOT OpenCV_FOUND) - message(FATAL_ERROR "OpenCV > 4.4 not found.") - endif() +if(NOT OpenCV_FOUND) + message(FATAL_ERROR "OpenCV > 4.4 not found.") +endif() MESSAGE("OPENCV VERSION:") MESSAGE(${OpenCV_VERSION}) @@ -43,12 +45,12 @@ find_package(Pangolin REQUIRED) find_package(realsense2) include_directories( -${PROJECT_SOURCE_DIR} -${PROJECT_SOURCE_DIR}/include -${PROJECT_SOURCE_DIR}/include/CameraModels -${PROJECT_SOURCE_DIR}/Thirdparty/Sophus -${EIGEN3_INCLUDE_DIR} -${Pangolin_INCLUDE_DIRS} + ${PROJECT_SOURCE_DIR} + ${PROJECT_SOURCE_DIR}/include + ${PROJECT_SOURCE_DIR}/include/CameraModels + ${PROJECT_SOURCE_DIR}/Thirdparty/Sophus + ${EIGEN3_INCLUDE_DIR} + ${Pangolin_INCLUDE_DIRS} ) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib) @@ -125,41 +127,41 @@ ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so -lcrypto ) -# If RealSense SDK is found the library is added and its examples compiled -if(realsense2_FOUND) - include_directories(${PROJECT_NAME} - ${realsense_INCLUDE_DIR} - ) - target_link_libraries(${PROJECT_NAME} - ${realsense2_LIBRARY} - ) -endif() +## If RealSense SDK is found the library is added and its examples compiled +#if(realsense2_FOUND) +# include_directories(${PROJECT_NAME} +# ${realsense_INCLUDE_DIR} +# ) +# target_link_libraries(${PROJECT_NAME} +# ${realsense2_LIBRARY} +# ) +#endif() # Build examples -# RGB-D examples -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D) - -add_executable(rgbd_tum - Examples/RGB-D/rgbd_tum.cc) -target_link_libraries(rgbd_tum ${PROJECT_NAME}) - -if(realsense2_FOUND) - add_executable(rgbd_realsense_D435i - Examples/RGB-D/rgbd_realsense_D435i.cc) - target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME}) -endif() - - -# RGB-D inertial examples -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial) - -if(realsense2_FOUND) - add_executable(rgbd_inertial_realsense_D435i - Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc) - target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME}) -endif() +## RGB-D examples +#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D) +# +#add_executable(rgbd_tum +# Examples/RGB-D/rgbd_tum.cc) +#target_link_libraries(rgbd_tum ${PROJECT_NAME}) +# +#if(realsense2_FOUND) +# add_executable(rgbd_realsense_D435i +# Examples/RGB-D/rgbd_realsense_D435i.cc) +# target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME}) +#endif() + + +## RGB-D inertial examples +#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial) +# +#if(realsense2_FOUND) +# add_executable(rgbd_inertial_realsense_D435i +# Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc) +# target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME}) +#endif() #Stereo examples set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo) @@ -176,15 +178,15 @@ add_executable(stereo_tum_vi Examples/Stereo/stereo_tum_vi.cc) target_link_libraries(stereo_tum_vi ${PROJECT_NAME}) -if(realsense2_FOUND) - add_executable(stereo_realsense_t265 - Examples/Stereo/stereo_realsense_t265.cc) - target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME}) - - add_executable(stereo_realsense_D435i - Examples/Stereo/stereo_realsense_D435i.cc) - target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME}) -endif() +#if(realsense2_FOUND) +# add_executable(stereo_realsense_t265 +# Examples/Stereo/stereo_realsense_t265.cc) +# target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME}) +# +# add_executable(stereo_realsense_D435i +# Examples/Stereo/stereo_realsense_D435i.cc) +# target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME}) +#endif() #Monocular examples set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular) @@ -266,125 +268,4 @@ if(realsense2_FOUND) add_executable(recorder_realsense_T265 Examples/Calibration/recorder_realsense_T265.cc) target_link_libraries(recorder_realsense_T265 ${PROJECT_NAME}) -endif() - -#Old examples - -# RGB-D examples -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D) - -add_executable(rgbd_tum_old - Examples_old/RGB-D/rgbd_tum.cc) -target_link_libraries(rgbd_tum_old ${PROJECT_NAME}) - -if(realsense2_FOUND) - add_executable(rgbd_realsense_D435i_old - Examples_old/RGB-D/rgbd_realsense_D435i.cc) - target_link_libraries(rgbd_realsense_D435i_old ${PROJECT_NAME}) -endif() - - -# RGB-D inertial examples -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D-Inertial) - -if(realsense2_FOUND) - add_executable(rgbd_inertial_realsense_D435i_old - Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc) - target_link_libraries(rgbd_inertial_realsense_D435i_old ${PROJECT_NAME}) -endif() - -#Stereo examples -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo) - -add_executable(stereo_kitti_old - Examples_old/Stereo/stereo_kitti.cc) -target_link_libraries(stereo_kitti_old ${PROJECT_NAME}) - -add_executable(stereo_euroc_old - Examples_old/Stereo/stereo_euroc.cc) -target_link_libraries(stereo_euroc_old ${PROJECT_NAME}) - -add_executable(stereo_tum_vi_old - Examples_old/Stereo/stereo_tum_vi.cc) -target_link_libraries(stereo_tum_vi_old ${PROJECT_NAME}) - -if(realsense2_FOUND) - add_executable(stereo_realsense_t265_old - Examples_old/Stereo/stereo_realsense_t265.cc) - target_link_libraries(stereo_realsense_t265_old ${PROJECT_NAME}) - - add_executable(stereo_realsense_D435i_old - Examples_old/Stereo/stereo_realsense_D435i.cc) - target_link_libraries(stereo_realsense_D435i_old ${PROJECT_NAME}) -endif() - -#Monocular examples -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular) - -add_executable(mono_tum_old - Examples_old/Monocular/mono_tum.cc) -target_link_libraries(mono_tum_old ${PROJECT_NAME}) - -add_executable(mono_kitti_old - Examples_old/Monocular/mono_kitti.cc) -target_link_libraries(mono_kitti_old ${PROJECT_NAME}) - -add_executable(mono_euroc_old - Examples_old/Monocular/mono_euroc.cc) -target_link_libraries(mono_euroc_old ${PROJECT_NAME}) - -add_executable(mono_tum_vi_old - Examples_old/Monocular/mono_tum_vi.cc) -target_link_libraries(mono_tum_vi_old ${PROJECT_NAME}) - -if(realsense2_FOUND) - add_executable(mono_realsense_t265_old - Examples_old/Monocular/mono_realsense_t265.cc) - target_link_libraries(mono_realsense_t265_old ${PROJECT_NAME}) - - add_executable(mono_realsense_D435i_old - Examples_old/Monocular/mono_realsense_D435i.cc) - target_link_libraries(mono_realsense_D435i_old ${PROJECT_NAME}) -endif() - -#Monocular inertial examples -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular-Inertial) - -add_executable(mono_inertial_euroc_old - Examples_old/Monocular-Inertial/mono_inertial_euroc.cc) -target_link_libraries(mono_inertial_euroc_old ${PROJECT_NAME}) - -add_executable(mono_inertial_tum_vi_old - Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc) -target_link_libraries(mono_inertial_tum_vi_old ${PROJECT_NAME}) - -if(realsense2_FOUND) - add_executable(mono_inertial_realsense_t265_old - Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc) - target_link_libraries(mono_inertial_realsense_t265_old ${PROJECT_NAME}) - - add_executable(mono_inertial_realsense_D435i_old - Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc) - target_link_libraries(mono_inertial_realsense_D435i_old ${PROJECT_NAME}) -endif() - -#Stereo Inertial examples -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo-Inertial) - -add_executable(stereo_inertial_euroc_old - Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc) -target_link_libraries(stereo_inertial_euroc_old ${PROJECT_NAME}) - -add_executable(stereo_inertial_tum_vi_old - Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc) -target_link_libraries(stereo_inertial_tum_vi_old ${PROJECT_NAME}) - -if(realsense2_FOUND) - add_executable(stereo_inertial_realsense_t265_old - Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc) - target_link_libraries(stereo_inertial_realsense_t265_old ${PROJECT_NAME}) - - add_executable(stereo_inertial_realsense_D435i_old - Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc) - target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME}) -endif() +endif() \ No newline at end of file diff --git a/Examples/Stereo/KITTI00-02.yaml b/Examples/Stereo/KITTI00-02.yaml index 64d5141791..d523a7f7b4 100644 --- a/Examples/Stereo/KITTI00-02.yaml +++ b/Examples/Stereo/KITTI00-02.yaml @@ -57,7 +57,7 @@ Viewer.PointSize: 2.0 Viewer.CameraSize: 0.7 Viewer.CameraLineWidth: 3.0 Viewer.ViewpointX: 0.0 -Viewer.ViewpointY: -100 +Viewer.ViewpointY: -100.0 Viewer.ViewpointZ: -0.1 Viewer.ViewpointF: 2000.0 diff --git a/Examples/Stereo/stereo_kitti.cc b/Examples/Stereo/stereo_kitti.cc index fdc8ef0415..db0041a016 100644 --- a/Examples/Stereo/stereo_kitti.cc +++ b/Examples/Stereo/stereo_kitti.cc @@ -177,8 +177,8 @@ void LoadImages(const string &strPathToSequence, vector &vstrImageLeft, } } - string strPrefixLeft = strPathToSequence + "/image_0/"; - string strPrefixRight = strPathToSequence + "/image_1/"; + string strPrefixLeft = strPathToSequence + "/image_2/"; + string strPrefixRight = strPathToSequence + "/image_3/"; const int nTimes = vTimestamps.size(); vstrImageLeft.resize(nTimes); diff --git a/Thirdparty/DBoW2/CMakeLists.txt b/Thirdparty/DBoW2/CMakeLists.txt index c312b255a8..3f1170c5a3 100644 --- a/Thirdparty/DBoW2/CMakeLists.txt +++ b/Thirdparty/DBoW2/CMakeLists.txt @@ -7,6 +7,8 @@ endif() set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") +set(CMAKE_CXX_STANDARD 14) +add_definitions(-DCOMPILEDWITHC11) set(HDRS_DBOW2 DBoW2/BowVector.h diff --git a/Thirdparty/Sophus/CMakeLists.txt b/Thirdparty/Sophus/CMakeLists.txt index 933445b49b..15b171bcfb 100644 --- a/Thirdparty/Sophus/CMakeLists.txt +++ b/Thirdparty/Sophus/CMakeLists.txt @@ -27,6 +27,8 @@ ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "^MSVC$") ADD_DEFINITIONS("-D _USE_MATH_DEFINES /bigobj /wd4305 /wd4244 /MP") ENDIF() +set(CMAKE_CXX_STANDARD 14) +add_definitions(-DCOMPILEDWITHC11) # Add local path for finding packages, set the local version first list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules") diff --git a/Thirdparty/g2o/CMakeLists.txt b/Thirdparty/g2o/CMakeLists.txt index 1a32ff9a2b..987a4a31b4 100644 --- a/Thirdparty/g2o/CMakeLists.txt +++ b/Thirdparty/g2o/CMakeLists.txt @@ -58,6 +58,8 @@ SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native") SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native") # SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3") # SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3") +set(CMAKE_CXX_STANDARD 14) +add_definitions(-DCOMPILEDWITHC11) # activate warnings !!! SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W") diff --git a/build.sh b/build.sh index 96d1c0941c..7198d9dbee 100755 --- a/build.sh +++ b/build.sh @@ -32,9 +32,9 @@ cd Vocabulary tar -xf ORBvoc.txt.tar.gz cd .. -echo "Configuring and building ORB_SLAM3 ..." - -mkdir build -cd build -cmake .. -DCMAKE_BUILD_TYPE=Release -make -j4 +#echo "Configuring and building ORB_SLAM3 ..." +# +#mkdir build +#cd build +#cmake .. -DCMAKE_BUILD_TYPE=Release +#make -j4 diff --git a/cmake-build-release/.cmake/api/v1/reply/cache-v2-a4a4cb841174c71fba96.json b/cmake-build-release/.cmake/api/v1/reply/cache-v2-a4a4cb841174c71fba96.json new file mode 100644 index 0000000000..8d4ce59a6a --- /dev/null +++ b/cmake-build-release/.cmake/api/v1/reply/cache-v2-a4a4cb841174c71fba96.json @@ -0,0 +1,1595 @@ +{ + "entries" : + [ + { + "name" : "CMAKE_ADDR2LINE", + "properties" : + [ + { + "name" : "ADVANCED", + "value" : "1" + }, + { + "name" : "HELPSTRING", + "value" : "Path to a program." + } + ], + "type" : "FILEPATH", + "value" : "/usr/bin/addr2line" + }, + { + "name" : "CMAKE_AR", + "properties" : + [ + { + "name" : "ADVANCED", + "value" : "1" + }, + { + "name" : "HELPSTRING", + "value" : "Path to a program." + } + ], + "type" : "FILEPATH", + "value" : "/usr/bin/ar" + }, + { + "name" : "CMAKE_BUILD_TYPE", + "properties" : + [ + { + "name" : "HELPSTRING", + "value" : "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel ..." + } + ], + "type" : "STRING", + "value" : "Release" + }, + { + "name" : "CMAKE_CACHEFILE_DIR", + "properties" : + [ + { + "name" : "HELPSTRING", + "value" : "This is the directory where this CMakeCache.txt was created" + } + ], + "type" : "INTERNAL", + "value" : "/home/zxy/myProjects/Anchor_SLAM/cmake-build-release" + }, + { + "name" : "CMAKE_CACHE_MAJOR_VERSION", + "properties" : + [ + { + "name" : "HELPSTRING", + "value" : "Major version of cmake used to create the current loaded cache" + } + ], + "type" : "INTERNAL", + "value" : "3" + }, + { + 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+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; 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0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; 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package configuration file provided by + "realsense2", but CMake did not find one. + + Could not find a package configuration file provided by "realsense2" with + any of the following names: + + realsense2Config.cmake + realsense2-config.cmake + + Add the installation prefix of "realsense2" to CMAKE_PREFIX_PATH or set + "realsense2_DIR" to a directory containing one of the above files. If + "realsense2" provides a separate development package or SDK, be sure it has + been installed. + + +CMake Deprecation Warning at Thirdparty/g2o/CMakeLists.txt:1 (CMAKE_MINIMUM_REQUIRED): + Compatibility with CMake < 3.5 will be removed from a future version of + CMake. + + Update the VERSION argument value or use a ... suffix to tell + CMake that the project does not need compatibility with older versions. + + +-- BUILD TYPE:Release +-- Compiling on Unix +-- Configuring done (0.0s) +-- Generating done (0.0s) +-- Build files have been written to: /home/zxy/myProjects/Anchor_SLAM/cmake-build-release diff --git a/cmake-build-release/CMakeFiles/clion-environment.txt b/cmake-build-release/CMakeFiles/clion-environment.txt new file mode 100644 index 0000000000..af8451106e --- /dev/null +++ b/cmake-build-release/CMakeFiles/clion-environment.txt @@ -0,0 +1,3 @@ +ToolSet: 1.0 (local)Options: + +Options:-DCMAKE_MAKE_PROGRAM=/home/zxy/CLion-2023.2.1/clion-2023.2.1/bin/ninja/linux/x64/ninja \ 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============================================================================= +# ============================================================================= + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__ORB_SLAM3_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX shared library. + +rule CXX_SHARED_LIBRARY_LINKER__ORB_SLAM3_Release + command = $PRE_LINK && /usr/bin/c++ -fPIC $LANGUAGE_COMPILE_FLAGS $ARCH_FLAGS $LINK_FLAGS -shared $SONAME_FLAG$SONAME -o $TARGET_FILE $in $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX shared library $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__stereo_kitti_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__stereo_kitti_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__stereo_euroc_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__stereo_euroc_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__stereo_tum_vi_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__stereo_tum_vi_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__mono_tum_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__mono_tum_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__mono_kitti_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__mono_kitti_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__mono_euroc_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__mono_euroc_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__mono_tum_vi_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__mono_tum_vi_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__mono_inertial_euroc_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__mono_inertial_euroc_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__mono_inertial_tum_vi_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__mono_inertial_tum_vi_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__stereo_inertial_euroc_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__stereo_inertial_euroc_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__stereo_inertial_tum_vi_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX executable. + +rule CXX_EXECUTABLE_LINKER__stereo_inertial_tum_vi_Release + command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX executable $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for running custom commands. + +rule CUSTOM_COMMAND + command = $COMMAND + description = $DESC + + +############################################# +# Rule for compiling C files. + +rule C_COMPILER__g2o_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/cc $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building C object $out + + +############################################# +# Rule for compiling CXX files. + +rule CXX_COMPILER__g2o_unscanned_Release + depfile = $DEP_FILE + deps = gcc + command = ${LAUNCHER}${CODE_CHECK}/usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in + description = Building CXX object $out + + +############################################# +# Rule for linking CXX shared library. + +rule CXX_SHARED_LIBRARY_LINKER__g2o_Release + command = $PRE_LINK && /usr/bin/c++ -fPIC $LANGUAGE_COMPILE_FLAGS $ARCH_FLAGS $LINK_FLAGS -shared $SONAME_FLAG$SONAME -o $TARGET_FILE $in $LINK_PATH $LINK_LIBRARIES && $POST_BUILD + description = Linking CXX shared library $TARGET_FILE + restat = $RESTAT + + +############################################# +# Rule for re-running cmake. + +rule RERUN_CMAKE + command = /home/zxy/CLion-2023.2.1/clion-2023.2.1/bin/cmake/linux/x64/bin/cmake --regenerate-during-build -S/home/zxy/myProjects/Anchor_SLAM -B/home/zxy/myProjects/Anchor_SLAM/cmake-build-release + description = Re-running CMake... + generator = 1 + + +############################################# +# Rule for cleaning all built files. + +rule CLEAN + command = /home/zxy/CLion-2023.2.1/clion-2023.2.1/bin/ninja/linux/x64/ninja 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This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_ARM64EC) -# define ARCHITECTURE_ID "ARM64EC" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__ICCSTM8__) -# define ARCHITECTURE_ID "STM8" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__TI_COMPILER_VERSION__) -# if defined(__TI_ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__MSP430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__TMS320C28XX__) -# define ARCHITECTURE_ID "TMS320C28x" - -# elif defined(__TMS320C6X__) || defined(_TMS320C6X) -# define ARCHITECTURE_ID "TMS320C6x" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -# elif defined(__ADSPSHARC__) -# define ARCHITECTURE_ID "SHARC" - -# elif defined(__ADSPBLACKFIN__) -# define ARCHITECTURE_ID "Blackfin" - -#elif defined(__TASKING__) - -# if defined(__CTC__) || defined(__CPTC__) -# define ARCHITECTURE_ID "TriCore" - -# elif defined(__CMCS__) -# define ARCHITECTURE_ID "MCS" - -# elif defined(__CARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__CARC__) -# define ARCHITECTURE_ID "ARC" - -# elif defined(__C51__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__CPCP__) -# define ARCHITECTURE_ID "PCP" - -# else -# define ARCHITECTURE_ID "" -# endif - -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number. */ -#ifdef COMPILER_VERSION -char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; - -/* Construct a string literal encoding the version number components. */ -#elif defined(COMPILER_VERSION_MAJOR) -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#elif defined(COMPILER_VERSION_INTERNAL_STR) -char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. 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- -#elif defined(__FUJITSU) -# define COMPILER_ID "Fujitsu" -# if defined(__FCC_version__) -# define COMPILER_VERSION __FCC_version__ -# elif defined(__FCC_major__) -# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) -# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) -# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) -# endif -# if defined(__fcc_version) -# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) -# elif defined(__FCC_VERSION) -# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) -# endif - - -#elif defined(__ghs__) -# define COMPILER_ID "GHS" -/* __GHS_VERSION_NUMBER = VVVVRP */ -# ifdef __GHS_VERSION_NUMBER -# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) -# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) -# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) -# endif - -#elif defined(__TASKING__) -# define COMPILER_ID "Tasking" - # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) - # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) -# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) - 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/* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -# endif -# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) - -#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) -# define COMPILER_ID "ARMClang" - # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) - # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) - # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) -# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) - -#elif defined(__clang__) -# define COMPILER_ID "Clang" -# if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -# endif -# define COMPILER_VERSION_MAJOR DEC(__clang_major__) -# define COMPILER_VERSION_MINOR DEC(__clang_minor__) -# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) -# if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -# endif - 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(((__VER__) / 100)*100)) -# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) -# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) -# endif - - -/* These compilers are either not known or too old to define an - identification macro. Try to identify the platform and guess that - it is the native compiler. */ -#elif defined(__hpux) || defined(__hpua) -# define COMPILER_ID "HP" - -#else /* unknown compiler */ -# define COMPILER_ID "" -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; -#ifdef SIMULATE_ID -char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; -#endif - -#ifdef __QNXNTO__ -char const* qnxnto = "INFO" ":" "qnxnto[]"; -#endif - -#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) -char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; -#endif - -#define STRINGIFY_HELPER(X) #X -#define STRINGIFY(X) STRINGIFY_HELPER(X) - -/* Identify known platforms by name. */ -#if defined(__linux) || defined(__linux__) || defined(linux) -# define PLATFORM_ID "Linux" - -#elif defined(__MSYS__) -# define PLATFORM_ID "MSYS" - -#elif defined(__CYGWIN__) -# define PLATFORM_ID "Cygwin" - -#elif defined(__MINGW32__) -# define PLATFORM_ID "MinGW" - -#elif defined(__APPLE__) -# define PLATFORM_ID "Darwin" - -#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) -# define PLATFORM_ID "Windows" - -#elif defined(__FreeBSD__) || defined(__FreeBSD) -# define PLATFORM_ID "FreeBSD" - -#elif defined(__NetBSD__) || defined(__NetBSD) -# define PLATFORM_ID "NetBSD" - -#elif defined(__OpenBSD__) || defined(__OPENBSD) -# define PLATFORM_ID "OpenBSD" - -#elif defined(__sun) || defined(sun) -# define PLATFORM_ID "SunOS" - -#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) -# define PLATFORM_ID "AIX" - -#elif defined(__hpux) || defined(__hpux__) -# define PLATFORM_ID "HP-UX" - -#elif defined(__HAIKU__) -# define PLATFORM_ID "Haiku" - -#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) -# define PLATFORM_ID "BeOS" - -#elif defined(__QNX__) || defined(__QNXNTO__) -# define PLATFORM_ID "QNX" - -#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) -# define PLATFORM_ID "Tru64" - -#elif defined(__riscos) || defined(__riscos__) -# define PLATFORM_ID "RISCos" - -#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) -# define PLATFORM_ID "SINIX" - -#elif defined(__UNIX_SV__) -# define PLATFORM_ID "UNIX_SV" - -#elif defined(__bsdos__) -# define PLATFORM_ID "BSDOS" - -#elif defined(_MPRAS) || defined(MPRAS) -# define PLATFORM_ID "MP-RAS" - -#elif defined(__osf) || defined(__osf__) -# define PLATFORM_ID "OSF1" - -#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) -# define PLATFORM_ID "SCO_SV" - -#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) -# define PLATFORM_ID "ULTRIX" - -#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) -# define PLATFORM_ID "Xenix" - -#elif defined(__WATCOMC__) -# if defined(__LINUX__) -# define PLATFORM_ID "Linux" - -# elif defined(__DOS__) -# define PLATFORM_ID "DOS" - -# elif defined(__OS2__) -# define PLATFORM_ID "OS2" - -# elif defined(__WINDOWS__) -# define PLATFORM_ID "Windows3x" - -# elif defined(__VXWORKS__) -# define PLATFORM_ID "VxWorks" - -# else /* unknown platform */ -# define PLATFORM_ID -# endif - -#elif defined(__INTEGRITY) -# if defined(INT_178B) -# define PLATFORM_ID "Integrity178" - -# else /* regular Integrity */ -# define PLATFORM_ID "Integrity" -# endif - -# elif defined(_ADI_COMPILER) -# define PLATFORM_ID "ADSP" - -#else /* unknown platform */ -# define PLATFORM_ID - -#endif - -/* For windows compilers MSVC and Intel we can determine - the architecture of the compiler being used. This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_ARM64EC) -# define ARCHITECTURE_ID "ARM64EC" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__ICCSTM8__) -# define ARCHITECTURE_ID "STM8" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__TI_COMPILER_VERSION__) -# if defined(__TI_ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__MSP430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__TMS320C28XX__) -# define ARCHITECTURE_ID "TMS320C28x" - -# elif defined(__TMS320C6X__) || defined(_TMS320C6X) -# define ARCHITECTURE_ID "TMS320C6x" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -# elif defined(__ADSPSHARC__) -# define ARCHITECTURE_ID "SHARC" - -# elif defined(__ADSPBLACKFIN__) -# define ARCHITECTURE_ID "Blackfin" - -#elif defined(__TASKING__) - -# if defined(__CTC__) || defined(__CPTC__) -# define ARCHITECTURE_ID "TriCore" - -# elif defined(__CMCS__) -# define ARCHITECTURE_ID "MCS" - -# elif defined(__CARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__CARC__) -# define ARCHITECTURE_ID "ARC" - -# elif defined(__C51__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__CPCP__) -# define ARCHITECTURE_ID "PCP" - -# else -# define ARCHITECTURE_ID "" -# endif - -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number. */ -#ifdef COMPILER_VERSION -char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; - -/* Construct a string literal encoding the version number components. */ -#elif defined(COMPILER_VERSION_MAJOR) -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#elif defined(COMPILER_VERSION_INTERNAL_STR) -char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; 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zH25Dm{FeU+7#IImhu``W@uTtMC7q7{lEZJhTw44W9DeE-;z#4hQ!340HOU_T#w(@8 zzXJ5u_?Q1y96uhCH2<)}-<>}z3WB)tKj82;@{O}-{KpM`&15_NEIzCSr4Ln<40sp+ zvSKRet@wxjLBdMDFvt0ayM*Xv{=eez8?PaKT>PsX{(?VA-xQhuCk%dr!_RdtjsKy; zABq7(iSmCm_$M6x?k=VAk2(CZv&DS;|6@A;J*%DZ?^+uFI?!9=-+Zo^kGrJik8}9- z*OtZ~Ykq*r(Q4us+#awzTzSpwH*8<7UBn z&R=;?`T+Cy7rcZo`Lo!ls0;BEC Date: Fri, 27 Dec 2024 15:20:53 +0800 Subject: [PATCH 15/18] fix a bug in ORBmatcher::SearchByProjection --- src/ORBmatcher.cc | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/ORBmatcher.cc b/src/ORBmatcher.cc index 2098a84a20..ababb53bad 100644 --- a/src/ORBmatcher.cc +++ b/src/ORBmatcher.cc @@ -49,6 +49,10 @@ namespace ORB_SLAM3 for(size_t iMP=0; iMPmnLastFrameSeen == F.mnId) + continue; + if(!pMP->mbTrackInView && !pMP->mbTrackInViewR) continue; From 2710ae8ea6cb1a9aeb5d10c052fea3a6608f37dc Mon Sep 17 00:00:00 2001 From: Xiaoyu Zhang Date: Fri, 27 Dec 2024 15:23:51 +0800 Subject: [PATCH 16/18] Update README.md --- README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index fd0f730931..cf4b2dd2d0 100644 --- a/README.md +++ b/README.md @@ -34,9 +34,11 @@ Only computed scores for keyframes in which the number of common words is larger https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/35c2361f82f32b320150a254e1627bcedc455df6/src/KeyFrameDatabase.cc#L687-L691 +#### SearchByProjection +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/5a0b298d72f54657e11b5fbd71d39dfe14612482/src/ORBmatcher.cc#L53-L54 - +These map points should matched already, and some matching parameters may be not computed. From beb05baccd018cbaf63d5d429f952250def7f67b Mon Sep 17 00:00:00 2001 From: fishmarch Date: Fri, 27 Dec 2024 16:00:15 +0800 Subject: [PATCH 17/18] fix a bug in presave --- include/MapPoint.h | 2 +- src/Map.cc | 12 ++++++++---- src/MapPoint.cc | 6 ++++-- 3 files changed, 13 insertions(+), 7 deletions(-) diff --git a/include/MapPoint.h b/include/MapPoint.h index 29cb4203d0..c6e1a187f0 100644 --- a/include/MapPoint.h +++ b/include/MapPoint.h @@ -157,7 +157,7 @@ class MapPoint void PrintObservations(); - void PreSave(set& spKF,set& spMP); + bool PreSave(set& spKF,set& spMP); void PostLoad(map& mpKFid, map& mpMPid); public: diff --git a/src/Map.cc b/src/Map.cc index f1f8cd041c..8622cfeca8 100644 --- a/src/Map.cc +++ b/src/Map.cc @@ -359,7 +359,8 @@ void Map::SetLastMapChange(int currentChangeId) void Map::PreSave(std::set &spCams) { int nMPWithoutObs = 0; - for(MapPoint* pMPi : mspMapPoints) + vector vMPs = GetAllMapPoints(); + for(MapPoint* pMPi : vMPs) { if(!pMPi || pMPi->isBad()) continue; @@ -390,24 +391,27 @@ void Map::PreSave(std::set &spCams) // Backup of MapPoints mvpBackupMapPoints.clear(); - for(MapPoint* pMPi : mspMapPoints) + vMPs = GetAllMapPoints(); + for(MapPoint* pMPi : vMPs) { if(!pMPi || pMPi->isBad()) continue; + if(pMPi->PreSave(mspKeyFrames,mspMapPoints)) + continue; mvpBackupMapPoints.push_back(pMPi); - pMPi->PreSave(mspKeyFrames,mspMapPoints); } // Backup of KeyFrames mvpBackupKeyFrames.clear(); + std::set spBackupMapPoints(mvpBackupMapPoints.begin(), mvpBackupMapPoints.end()); for(KeyFrame* pKFi : mspKeyFrames) { if(!pKFi || pKFi->isBad()) continue; mvpBackupKeyFrames.push_back(pKFi); - pKFi->PreSave(mspKeyFrames,mspMapPoints, spCams); + pKFi->PreSave(mspKeyFrames,spBackupMapPoints, spCams); } mnBackupKFinitialID = -1; diff --git a/src/MapPoint.cc b/src/MapPoint.cc index 1cf802c233..a3707338ab 100644 --- a/src/MapPoint.cc +++ b/src/MapPoint.cc @@ -569,7 +569,7 @@ void MapPoint::UpdateMap(Map* pMap) mpMap = pMap; } -void MapPoint::PreSave(set& spKF,set& spMP) +bool MapPoint::PreSave(set& spKF,set& spMP) { mBackupReplacedId = -1; if(mpReplaced && spMP.find(mpReplaced) != spMP.end()) @@ -578,7 +578,8 @@ void MapPoint::PreSave(set& spKF,set& spMP) mBackupObservationsId1.clear(); mBackupObservationsId2.clear(); // Save the id and position in each KF who view it - for(std::map >::const_iterator it = mObservations.begin(), end = mObservations.end(); it != end; ++it) + std::map> obs = GetObservations(); + for(std::map >::const_iterator it = obs.begin(), end = obs.end(); it != end; ++it) { KeyFrame* pKFi = it->first; if(spKF.find(pKFi) != spKF.end()) @@ -597,6 +598,7 @@ void MapPoint::PreSave(set& spKF,set& spMP) { mBackupRefKFId = mpRefKF->mnId; } + return mbBad; } void MapPoint::PostLoad(map& mpKFid, map& mpMPid) From 1a99e6ded6393d5b27bc73b9d2e37244d11ab3a0 Mon Sep 17 00:00:00 2001 From: Xiaoyu Zhang Date: Fri, 27 Dec 2024 16:04:17 +0800 Subject: [PATCH 18/18] Update README.md --- README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/README.md b/README.md index cf4b2dd2d0..06015008aa 100644 --- a/README.md +++ b/README.md @@ -40,6 +40,11 @@ https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/5a0b298d72f54657e11b5fbd71d39d These map points should matched already, and some matching parameters may be not computed. +#### PreSave + +https://github.com/fishmarch/ORB_SLAM3_Fixed/blob/beb05baccd018cbaf63d5d429f952250def7f67b/src/Map.cc#L394-L403 +The original codes may invalidate the iterator because of deleting bad map points. +