Merge branch 'main' of https://github.com/cpvrlab/SLProject4

cpvrlab · Jan 22, 2024 · 77a6dda · 77a6dda
2 parents 5e7a570 + 5f92f0e
commit 77a6dda
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diff --git a/.github/workflows/build-dep-assimp.yml b/.github/workflows/build-dep-assimp.yml
@@ -0,0 +1,23 @@
+name: Build Dependancy Assimp
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build-linux:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Run build script
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_assimp_for_linux.sh v5.0.0
+
+    - name: Archive prebuilt assimp 
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-assimp-linux
+        path: ${{ github.workspace }}/externals/prebuilt/linux_assimp_v5.0.0
+
+
diff --git a/.github/workflows/build-dep-g2o.yml b/.github/workflows/build-dep-g2o.yml
@@ -0,0 +1,62 @@
+name: Build dependancy G2O
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build-windows:
+    runs-on: windows-2022
+
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ilammy/msvc-dev-cmd@v1
+
+    - name: Run build script
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_g2o_x64.bat
+
+    - name: Archive prebuilt g2o
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-g2o-windows
+        path: ${{ github.workspace }}/externals/prebuild_scripts/g2o/INSTALL-vs
+
+  build-linux:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Run build script
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_g2o_for_linux.sh
+
+    - name: Archive prebuilt g2o
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-g2o-linux
+        path: ${{ github.workspace }}/externals/prebuilt/linux_g2o
+  build-macos:
+    runs-on: macos-13
+    steps:
+    - uses: actions/checkout@v3
+    - name: Run build script intel
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: arch -x86_64 ./build_g2o_for_mac64.sh
+
+    - name: Run build script arm
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_g2o_for_macArm64.sh
+
+    - name: Archive prebuilt g2o intel
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-g2o-mac64
+        path: ${{ github.workspace }}/externals/prebuilt/mac64_g2o_20170730
+
+    - name: Archive prebuilt g2o arm
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-g2o-arm64
+        path: ${{ github.workspace }}/externals/prebuilt/macArm64_g2o_20170730
+
diff --git a/.github/workflows/build-dep-glfw.yml b/.github/workflows/build-dep-glfw.yml
@@ -0,0 +1,30 @@
+name: Build dependancy GLFW
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build-linux:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: apt update
+      run: sudo apt-get update
+
+    - name: install xorg-dev
+      run: sudo apt-get install -y xorg-dev
+
+    - name: Run build script
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_glfw_for_linux.sh 3.3.2
+
+    - name: Archive prebuilt glfw
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-glfw-linux
+        path: ${{ github.workspace }}/externals/prebuilt/linux_glfw_3.3.2
+
+
+
diff --git a/.github/workflows/build-dep-opencv.yml b/.github/workflows/build-dep-opencv.yml
@@ -0,0 +1,51 @@
+name: Build dependancy OpenCV
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build-windows:
+    runs-on: windows-2022
+
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ilammy/msvc-dev-cmd@v1
+
+    - name: Run build script
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_opencv_w_contrib_for_win64.bat 4.7.0
+
+    - name: Archive prebuilt opencv
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-opencv-windows
+        path: ${{ github.workspace }}/externals/prebuild_scripts/win64_opencv_4.7.0
+  build-linux:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Run build script
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_opencv_w_contrib_for_linux.sh 4.7.0
+
+    - name: Archive prebuilt opencv
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-opencv-linux
+        path: ${{ github.workspace }}/externals/prebuilt/linux_opencv_4.7.0
+  build-macos:
+    runs-on: macos-13
+    steps:
+    - uses: actions/checkout@v3
+    - name: Run build script intel
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: arch -x86_64 ./build_opencv_w_contrib_for_mac64.sh 4.7.0
+
+    - name: Archive prebuilt opencv intel
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-opencv-mac intel
+        path: ${{ github.workspace }}/externals/prebuild_scripts/opencv/build/mac64_opencv_4.7.0
+
diff --git a/.github/workflows/build-dep-openssl.yml b/.github/workflows/build-dep-openssl.yml
@@ -0,0 +1,70 @@
+name: Build dependancy OpenSSL
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build-windows:
+    runs-on: windows-2022
+
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ilammy/msvc-dev-cmd@v1
+    - uses: ilammy/setup-nasm@v1
+
+    #- name: Install winget
+    #  uses: Cyberboss/install-winget@v1
+
+    #- name: Install nasm
+    #  run: winget install -e --id NASM.NASM
+    #- name: Download nasm
+    #  uses: https://www.nasm.us/pub/nasm/releasebuilds/2.16.01/win64/nasm-2.16.01-win64.zip
+
+    #- name: Choco install nasm
+    #  uses: crazy-max/ghaction-chocolatey@v3
+    #  with: 
+    #    args: install nasm
+
+    - name: Run build script
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_openssl_for_win64.bat
+
+    - name: Archive prebuilt openssl windows
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-openssl-windows
+        path: ${{ github.workspace }}/externals/prebuilt/win64_openssl
+
+  build-linux:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Run build script
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_openssl_for_linux.sh
+
+    - name: Archive prebuilt linux
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-openssl-linux
+        path: ${{ github.workspace }}/externals/prebuilt/linux_openssl_1.1.1h
+  build-macos:
+    runs-on: macos-13
+    steps:
+    - uses: actions/checkout@v3
+    - name: Run build script intel
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: arch -x86_64 ./build_openssl_for_mac64_and_iosV8.sh
+
+    - name: Archive prebuilt openssl intel
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-openssl-mac64
+        path: ${{ github.workspace }}/externals/prebuilt/mac64_openssl_1.1.1g
+
+    - name: Archive prebuilt openssl ios
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-openssl-ios
+        path: ${{ github.workspace }}/externals/prebuilt/iosV8_openssl_1.1.1g
diff --git a/.github/workflows/build-x86_64-linux.yml b/.github/workflows/build-x86_64-linux.yml
@@ -0,0 +1,29 @@
+name: Build linux-x86
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - main
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: apt update
+      run: sudo apt-get update
+
+    - name: install xorg-dev
+      run: sudo apt-get install -y xorg-dev
+
+    - name: install libtbb
+      run: sudo apt-get install -y libtbb-dev
+
+    - name: Configure CMake
+      run: cmake -B ${{ github.workspace }}/build -DCMAKE_BUILD_TYPE=Debug -DSL_DOWNLOAD_DATA=OFF -DSL_BUILD_WITH_KTX=OFF -DSL_BUILD_WITH_MEDIAPIPE=OFF
+
+    - name: Build
+      run: cmake --build ${{ github.workspace }}/build
diff --git a/cmake/DownloadPrebuilts.cmake b/cmake/DownloadPrebuilts.cmake
@@ -789,7 +789,8 @@ elseif ("${SYSTEM_NAME_UPPER}" STREQUAL "DARWIN" AND
     foreach (lib ${g2o_LINK_LIBS})
         add_library(${lib} SHARED IMPORTED)
         set_target_properties(${lib} PROPERTIES
-                IMPORTED_LOCATION "${g2o_DIR}/Debug/lib${lib}.dylib"
+                IMPORTED_LOCATION "${g2o_DIR}/Release/lib${lib}.dylib"
+                IMPORTED_LOCATION_DEBUG "${g2o_DIR}/Debug/lib${lib}.dylib"
                 INTERFACE_INCLUDE_DIRECTORIES "${g2o_INCLUDE_DIR}")
         set(g2o_LIBS ${g2o_LIBS} ${lib})
     endforeach (lib)

diff --git a/externals/prebuild_scripts/build_g2o_for_mac64.sh b/externals/prebuild_scripts/build_g2o_for_mac64.sh
@@ -38,6 +38,7 @@ cmake \
     -DCMAKE_BUILD_TYPE=Debug \
     -DCMAKE_DEBUG_POSTFIX="" \
     -DEIGEN3_INCLUDE_DIR=../eigen \
+    -DG2O_USE_OPENGL=off \
     ../..
 
 # finally build it

diff --git a/externals/prebuild_scripts/build_g2o_for_macArm64.sh b/externals/prebuild_scripts/build_g2o_for_macArm64.sh
@@ -60,6 +60,7 @@ cmake \
     -DG2O_BUILD_EXAMPLES=off \
     -DCMAKE_BUILD_TYPE=Release \
     -DEIGEN3_INCLUDE_DIR=../eigen \
+    -DG2O_USE_OPENGL=off \
     ../..
 
 # finally build it

diff --git a/modules/wai/source/orb_slam/Optimizer.cpp b/modules/wai/source/orb_slam/Optimizer.cpp
@@ -24,6 +24,7 @@
 #include <orb_slam/Converter.h>
 #include <AverageTiming.h>
 #include <mutex>
+#include <SL.h>
 
 #define CHI2_1 5.991f
 #define CHI2_2 5.991f