dependency compiler error and local setting

CMakeLists.txt

@@ -27,6 +27,11 @@ LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
+IF (NOT DEFINED REPO_DIR)
+    SET(REPO_DIR \".\")
+ENDIF()
+ADD_DEFINITIONS(-DREPO_DIR=${REPO_DIR})
+
 # required libs
 find_package(Eigen3 REQUIRED)
 find_package(OpenCV REQUIRED)

examples/run_dso_euroc.cc

@@ -27,8 +27,8 @@ using namespace ldso;
 
 std::string source = "/home/xiang/Dataset/EUROC/MH_01_easy/cam0";
 std::string output_file = "./results.txt";
-std::string calib = "./examples/EUROC/EUROC.txt";
-std::string vocPath = "./vocab/orbvoc.dbow3";
+std::string calib = std::string(REPO_DIR) + "/examples/EUROC/EUROC.txt";
+std::string vocPath = std::string(REPO_DIR) + "/vocab/orbvoc.dbow3";
 
 int startIdx = 0;
 int endIdx = 100000;

examples/run_dso_kitti.cc

@@ -30,8 +30,8 @@ using namespace ldso;
 
 std::string source = "/media/Data/Dataset/Kitti/dataset/sequences/00";
 std::string output_file = "./results.txt";
-std::string calib = "./examples/Kitti/Kitti00-02.txt";
-std::string vocPath = "./vocab/orbvoc.dbow3";
+std::string calib = std::string(REPO_DIR) + "/examples/Kitti/Kitti00-02.txt";
+std::string vocPath = std::string(REPO_DIR) + "/vocab/orbvoc.dbow3";
 
 int startIdx = 0;
 int endIdx = 100000;

examples/run_dso_tum_mono.cc

@@ -25,7 +25,7 @@ std::string gammaCalib = "/media/gaoxiang/Data1/Dataset/TUM-MONO/sequence_31/pca
 std::string source = "/media/gaoxiang/Data1/Dataset/TUM-MONO/sequence_31/";
 std::string calib = "/media/gaoxiang/Data1/Dataset/TUM-MONO/sequence_31/camera.txt";
 std::string output_file = "./results.txt";
-std::string vocPath = "./vocab/orbvoc.dbow3";
+std::string vocPath = std::string(REPO_DIR) + "/vocab/orbvoc.dbow3";
 
 double rescale = 1;
 bool reversePlay = false;

make_project.sh

@@ -1,25 +1,26 @@
 #!/usr/bin/env bash
 
+set -e
+
 BUILD_TYPE=Release
 NUM_PROC=4
 
 BASEDIR="$PWD"
 
 cd "$BASEDIR/thirdparty/DBoW3"
-mkdir build
+mkdir -p build
 cd build
 cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
 make -j$NUM_PROC
 
 cd "$BASEDIR/thirdparty/g2o"
-mkdir build
+mkdir -p build
 cd build
 cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
 make -j$NUM_PROC
 
 cd "$BASEDIR"
-mkdir build
+mkdir -p build
 cd build
-cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
-make -j$NUM_PROC
-
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DREPO_DIR=\"$BASEDIR\" ..
+make -j$NUM_PROC

thirdparty/g2o/g2o/core/base_binary_edge.h

@@ -56,8 +56,8 @@ namespace g2o {
       typedef typename BaseEdge<D,E>::ErrorVector ErrorVector;
       typedef typename BaseEdge<D,E>::InformationType InformationType;
 
-      typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
-      typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
+      typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & PacketAccessBit ? Aligned : Unaligned > HessianBlockType;
+      typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & PacketAccessBit ? Aligned : Unaligned > HessianBlockTransposedType;
 
       BaseBinaryEdge() : BaseEdge<D,E>(),
       _hessianRowMajor(false),

thirdparty/g2o/g2o/core/base_multi_edge.h

@@ -66,7 +66,7 @@ namespace g2o {
       typedef MatrixXd::MapType JacobianType;
       typedef typename BaseEdge<D,E>::ErrorVector ErrorVector;
       typedef typename BaseEdge<D,E>::InformationType InformationType;
-      typedef Eigen::Map<MatrixXd, MatrixXd::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
+      typedef Eigen::Map<MatrixXd, MatrixXd::Flags & PacketAccessBit ? Aligned : Unaligned > HessianBlockType;
 
       BaseMultiEdge() : BaseEdge<D,E>()
       {

thirdparty/g2o/g2o/core/base_vertex.h

@@ -59,7 +59,7 @@ namespace g2o {
 
     static const int Dimension = D;           ///< dimension of the estimate (minimal) in the manifold space
 
-    typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
+    typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & PacketAccessBit ? Aligned : Unaligned >  HessianBlockType;
 
   public:
     BaseVertex();

thirdparty/g2o/g2o/core/hyper_graph_action.cpp

@@ -252,16 +252,14 @@ namespace g2o {
 
   void applyAction(HyperGraph* graph, HyperGraphElementAction* action, HyperGraphElementAction::Parameters* params, const std::string& typeName)
   {
-    for (HyperGraph::VertexIDMap::iterator it=graph->vertices().begin(); 
-        it!=graph->vertices().end(); ++it){
-      if ( typeName.empty() || typeid(*it->second).name()==typeName){
-        (*action)(it->second, params);
+    for (const auto& it: graph->vertices()){
+      if ( typeName.empty() || typeid(*it.second).name()==typeName){
+        (*action)(it.second, params);
       }
     }
-    for (HyperGraph::EdgeSet::iterator it=graph->edges().begin(); 
-        it!=graph->edges().end(); ++it){
-      if ( typeName.empty() || typeid(**it).name()==typeName)
-        (*action)(*it, params);
+    for (const auto& it: graph->edges()){
+      if ( typeName.empty() || typeid(*it).name()==typeName)
+        (*action)(it, params);
     }
   }
 

thirdparty/g2o/g2o/core/optimizable_graph.cpp

@@ -179,8 +179,9 @@ namespace g2o {
     for (size_t i=0; i<_parameters.size(); i++){
       int index = _parameterIds[i];
       *_parameters[i] = graph()->parameter(index);
-      if (typeid(**_parameters[i]).name()!=_parameterTypes[i]){
-        cerr << __PRETTY_FUNCTION__ << ": FATAL, parameter type mismatch - encountered " << typeid(**_parameters[i]).name() << "; should be " << _parameterTypes[i] << endl;
+      const auto& ref_parameter = **_parameters[i];
+      if (typeid(ref_parameter).name()!=_parameterTypes[i]){
+        cerr << __PRETTY_FUNCTION__ << ": FATAL, parameter type mismatch - encountered " << typeid(ref_parameter).name() << "; should be " << _parameterTypes[i] << endl;
       }
       if (!*_parameters[i]) {
         cerr << __PRETTY_FUNCTION__ << ": FATAL, *_parameters[i] == 0" << endl;