From 901fbb14e88850b4d5ae1ef4e001c9c68ada6dd7 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 29 Jun 2021 07:51:42 +0200 Subject: [PATCH] new version under progress --- GPU_version/README.md | 15 + GPU_version/svo/.idea/.gitignore | 8 - GPU_version/svo/.idea/.name | 1 - GPU_version/svo/.idea/misc.xml | 4 - GPU_version/svo/.idea/modules.xml | 8 - GPU_version/svo/.idea/vcs.xml | 7 - GPU_version/svo/CMakeLists.txt | 99 - GPU_version/svo/package.xml | 27 - GPU_version/svo/src/bundle_adjustment.cpp | 435 - GPU_version/vio/.idea/.name | 2 +- GPU_version/vio/.idea/modules.xml | 2 +- GPU_version/{svo => vio}/.idea/svo.iml | 0 GPU_version/vio/.idea/svo_ros.iml | 2 - GPU_version/vio/CMakeLists.txt | 100 +- .../{svo => vio}/CMakeModules/FindEigen.cmake | 0 .../{svo => vio}/CMakeModules/FindG2O.cmake | 0 GPU_version/{svo => vio}/Doxyfile | 0 .../vio/cmake-build-debug/CATKIN_IGNORE | 0 .../vio/cmake-build-debug/CMakeCache.txt | 785 + .../CMakeFiles/3.17.5/CMakeCCompiler.cmake | 76 + 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GPU_version/{svo => vio}/src/config.cpp | 5 +- GPU_version/{svo => vio}/src/depth_filter.cpp | 52 +- .../{svo => vio}/src/feature_alignment.cpp | 4 +- .../{svo => vio}/src/feature_detection.cpp | 0 GPU_version/{svo => vio}/src/frame.cpp | 4 +- .../{svo => vio}/src/frame_handler_base.cpp | 0 .../{svo => vio}/src/frame_handler_mono.cpp | 84 +- GPU_version/{svo => vio}/src/homography.cpp | 0 .../{svo => vio}/src/initialization.cpp | 18 +- GPU_version/{svo => vio}/src/map.cpp | 24 +- GPU_version/{svo => vio}/src/matcher.cpp | 11 +- GPU_version/{svo => vio}/src/math_utils.cpp | 0 GPU_version/vio/src/output_helper.cpp | 7 +- GPU_version/{svo => vio}/src/point.cpp | 17 +- .../{svo => vio}/src/pose_optimizer.cpp | 49 +- GPU_version/{svo => vio}/src/reprojector.cpp | 3 +- GPU_version/{svo => vio}/src/robust_cost.cpp | 0 .../{svo => vio}/src/sparse_img_align.cpp | 37 +- GPU_version/{svo => vio}/src/vision.cpp | 2 +- GPU_version/vio/src/visualizer.cpp | 49 +- GPU_version/vio/src/vo_node.cpp | 119 +- GPU_version/{svo => vio}/test/README.md | 0 GPU_version/{svo => vio}/test/benchmark.csv | 0 GPU_version/{svo => vio}/test/data/.gitignore | 0 .../{svo => vio}/test/results/.gitignore | 0 .../{svo => vio}/test/test_depth_filter.cpp | 0 .../test/test_feature_alignment.cpp | 0 .../test/test_feature_detection.cpp | 0 .../{svo => vio}/test/test_matcher.cpp | 0 .../{svo => vio}/test/test_pipeline.cpp | 0 .../{svo => vio}/test/test_pose_optimizer.cpp | 0 .../test/test_sparse_img_align.cpp | 0 GPU_version/{svo => vio}/test/test_utils.h | 0 160 files changed, 31877 insertions(+), 1528 deletions(-) delete mode 100644 GPU_version/svo/.idea/.gitignore delete mode 100644 GPU_version/svo/.idea/.name delete mode 100644 GPU_version/svo/.idea/misc.xml delete mode 100644 GPU_version/svo/.idea/modules.xml delete mode 100644 GPU_version/svo/.idea/vcs.xml delete mode 100644 GPU_version/svo/CMakeLists.txt delete mode 100644 GPU_version/svo/package.xml delete mode 100644 GPU_version/svo/src/bundle_adjustment.cpp rename GPU_version/{svo => vio}/.idea/svo.iml (100%) delete mode 100644 GPU_version/vio/.idea/svo_ros.iml mode change 100644 => 100755 GPU_version/vio/CMakeLists.txt rename GPU_version/{svo => vio}/CMakeModules/FindEigen.cmake (100%) rename GPU_version/{svo => vio}/CMakeModules/FindG2O.cmake (100%) rename GPU_version/{svo => vio}/Doxyfile (100%) mode change 100644 => 100755 create mode 100644 GPU_version/vio/cmake-build-debug/CATKIN_IGNORE create mode 100644 GPU_version/vio/cmake-build-debug/CMakeCache.txt create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CMakeCCompiler.cmake create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CMakeCXXCompiler.cmake create mode 100755 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CMakeDetermineCompilerABI_C.bin create mode 100755 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CMakeDetermineCompilerABI_CXX.bin create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CMakeSystem.cmake create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdC/CMakeCCompilerId.c create mode 100755 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdC/a.out create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/CMakeCXXCompilerId.cpp create mode 100755 GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/a.out create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/CMakeError.log create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/CMakeOutput.log create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/clion-environment.txt create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/clion-log.txt create mode 100644 GPU_version/vio/cmake-build-debug/CMakeFiles/cmake.check_cache create mode 100644 GPU_version/vio/cmake-build-debug/CTestConfiguration.ini create mode 100644 GPU_version/vio/cmake-build-debug/CTestCustom.cmake create mode 100644 GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall create mode 100755 GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py create mode 100755 GPU_version/vio/cmake-build-debug/atomic_configure/env.sh create mode 100644 GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash create mode 100644 GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh create mode 100644 GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh create mode 100644 GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash create mode 100644 GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh create mode 100644 GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh create mode 100644 GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake create mode 100755 GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall create mode 100755 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py create mode 100755 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh create mode 100755 GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh create mode 100755 GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp create mode 100644 GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp create mode 100644 GPU_version/vio/cmake-build-debug/devel/.catkin create mode 100644 GPU_version/vio/cmake-build-debug/devel/.rosinstall create mode 100755 GPU_version/vio/cmake-build-debug/devel/_setup_util.py create mode 100644 GPU_version/vio/cmake-build-debug/devel/cmake.lock create mode 100755 GPU_version/vio/cmake-build-debug/devel/env.sh create mode 100644 GPU_version/vio/cmake-build-debug/devel/local_setup.bash create mode 100644 GPU_version/vio/cmake-build-debug/devel/local_setup.sh create mode 100644 GPU_version/vio/cmake-build-debug/devel/local_setup.zsh create mode 100644 GPU_version/vio/cmake-build-debug/devel/setup.bash create mode 100644 GPU_version/vio/cmake-build-debug/devel/setup.sh create mode 100644 GPU_version/vio/cmake-build-debug/devel/setup.zsh rename GPU_version/{svo => vio}/doc/.gitignore (100%) rename GPU_version/{svo => vio}/doc/notation.ipe (100%) rename GPU_version/{svo => vio}/doc/notation.pdf (100%) rename GPU_version/{svo => vio}/doc/notation.png (100%) rename GPU_version/{svo/src => vio/gtsam}/imu_integration.cpp (94%) mode change 100644 => 100755 rename GPU_version/{svo/include/gpu_svo => vio/gtsam}/imu_integration.h (100%) rename GPU_version/{svo/include/gpu_svo => vio/gtsam}/svoVisionFactor.h (97%) rename GPU_version/{svo/include/gpu_svo => vio/gtsam}/svoVisionFactorLandMark.h (100%) rename GPU_version/{svo/include/gpu_svo => vio/gtsam}/svoVisionFactorSmall.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/abstract_camera.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/aligned_mem.h (100%) rename GPU_version/{svo 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vio}/include/gpu_svo/global.h (51%) rename GPU_version/{svo => vio}/include/gpu_svo/homography.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/initialization.h (91%) rename GPU_version/{svo => vio}/include/gpu_svo/map.h (97%) rename GPU_version/{svo => vio}/include/gpu_svo/matcher.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/math_utils.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/nlls_solver.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/nlls_solver_impl.hpp (79%) rename GPU_version/vio/include/{vio_gpu => gpu_svo}/output_helper.h (97%) rename GPU_version/{svo => vio}/include/gpu_svo/params_helper.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/patch_score.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/point.h (98%) rename GPU_version/{svo => vio}/include/gpu_svo/pose_optimizer.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/reprojector.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/robust_cost.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/sparse_img_align.h (88%) rename GPU_version/{svo => vio}/include/gpu_svo/timer.h (100%) create mode 100644 GPU_version/vio/include/gpu_svo/ukf.h rename GPU_version/{svo => vio}/include/gpu_svo/vision.h (100%) rename GPU_version/vio/include/{vio_gpu => gpu_svo}/visualizer.h (100%) delete mode 100644 GPU_version/vio/include/vio_gpu/params_helper.h rename GPU_version/{svo => vio}/kernel/fast-gray.cl (100%) create mode 100644 GPU_version/vio/out.txt mode change 100644 => 100755 GPU_version/vio/package.xml delete mode 100644 GPU_version/vio/rqt.perspective delete mode 100644 GPU_version/vio/rviz_config.rviz rename GPU_version/{svo => vio}/src/atan_camera.cpp (100%) rename GPU_version/{svo => vio}/src/cl_class.cpp (100%) rename GPU_version/{svo => vio}/src/config.cpp (96%) rename GPU_version/{svo => vio}/src/depth_filter.cpp (90%) rename GPU_version/{svo => vio}/src/feature_alignment.cpp (99%) rename GPU_version/{svo => vio}/src/feature_detection.cpp (100%) rename GPU_version/{svo => vio}/src/frame.cpp (95%) rename GPU_version/{svo => vio}/src/frame_handler_base.cpp (100%) rename GPU_version/{svo => vio}/src/frame_handler_mono.cpp (81%) rename GPU_version/{svo => vio}/src/homography.cpp (100%) rename GPU_version/{svo => vio}/src/initialization.cpp (91%) rename GPU_version/{svo => vio}/src/map.cpp (92%) rename GPU_version/{svo => vio}/src/matcher.cpp (95%) rename GPU_version/{svo => vio}/src/math_utils.cpp (100%) rename GPU_version/{svo => vio}/src/point.cpp (84%) rename GPU_version/{svo => vio}/src/pose_optimizer.cpp (74%) rename GPU_version/{svo => vio}/src/reprojector.cpp (98%) rename GPU_version/{svo => vio}/src/robust_cost.cpp (100%) rename GPU_version/{svo => vio}/src/sparse_img_align.cpp (88%) rename GPU_version/{svo => vio}/src/vision.cpp (99%) rename GPU_version/{svo => vio}/test/README.md (100%) rename GPU_version/{svo => vio}/test/benchmark.csv (100%) rename GPU_version/{svo => vio}/test/data/.gitignore (100%) rename GPU_version/{svo => vio}/test/results/.gitignore (100%) rename GPU_version/{svo => vio}/test/test_depth_filter.cpp (100%) rename GPU_version/{svo => vio}/test/test_feature_alignment.cpp (100%) rename GPU_version/{svo => vio}/test/test_feature_detection.cpp (100%) rename GPU_version/{svo => vio}/test/test_matcher.cpp (100%) rename GPU_version/{svo => vio}/test/test_pipeline.cpp (100%) rename GPU_version/{svo => vio}/test/test_pose_optimizer.cpp (100%) rename GPU_version/{svo => vio}/test/test_sparse_img_align.cpp (100%) rename GPU_version/{svo => vio}/test/test_utils.h (100%) diff --git a/GPU_version/README.md b/GPU_version/README.md index 0db9f73..d429f6c 100755 --- a/GPU_version/README.md +++ b/GPU_version/README.md @@ -49,3 +49,18 @@ See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and You can edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h) CPU_version/vio_svo/param/vo_fast.yaml + +# the GPU_version + +Dose not have dependency with GTSAM, the dependencies are: +1. OpenCV 3 +2. Eigen +3. Sophus https://github.com/strasdat/Sophus.git +4. Boost +5. OpenCL + +if make fails in the build of Sophus with the error lvalue required as left operand of assignment in so2.cpp, see this issue: https://github.com/uzh-rpg/rpg_svo/issues/237 + + + + diff --git a/GPU_version/svo/.idea/.gitignore b/GPU_version/svo/.idea/.gitignore deleted file mode 100644 index 73f69e0..0000000 --- a/GPU_version/svo/.idea/.gitignore +++ /dev/null @@ -1,8 +0,0 @@ -# Default ignored files -/shelf/ -/workspace.xml -# Datasource local storage ignored files -/dataSources/ -/dataSources.local.xml -# Editor-based HTTP Client requests -/httpRequests/ diff --git a/GPU_version/svo/.idea/.name b/GPU_version/svo/.idea/.name deleted file mode 100644 index 4b0f94b..0000000 --- a/GPU_version/svo/.idea/.name +++ /dev/null @@ -1 +0,0 @@ -gpu_svo \ No newline at end of file diff --git a/GPU_version/svo/.idea/misc.xml b/GPU_version/svo/.idea/misc.xml deleted file mode 100644 index 79b3c94..0000000 --- a/GPU_version/svo/.idea/misc.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/GPU_version/svo/.idea/modules.xml b/GPU_version/svo/.idea/modules.xml deleted file mode 100644 index 4c8cf2b..0000000 --- a/GPU_version/svo/.idea/modules.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/GPU_version/svo/.idea/vcs.xml b/GPU_version/svo/.idea/vcs.xml deleted file mode 100644 index 64713b8..0000000 --- a/GPU_version/svo/.idea/vcs.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - \ No newline at end of file diff --git a/GPU_version/svo/CMakeLists.txt b/GPU_version/svo/CMakeLists.txt deleted file mode 100644 index ac021d6..0000000 --- a/GPU_version/svo/CMakeLists.txt +++ /dev/null @@ -1,99 +0,0 @@ -SET(PROJECT_NAME gpu_svo) -PROJECT(${PROJECT_NAME}) -CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) - -SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo -SET(CMAKE_VERBOSE_MAKEFILE OFF) -SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") -set(CMAKE_C_STANDARD 11) -set(CMAKE_CXX_STANDARD 11) - -# Set definitions -ADD_DEFINITIONS(-DSVO_TRACE) -ADD_DEFINITIONS(-DSVO_USE_ROS) - - -# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid -# Set build flags. Set IS_ARM on odroid board as environment variable -SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") -IF(DEFINED ENV{ARM_ARCHITECTURE}) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ") -ELSE() - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") -ENDIF() -SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") - -# Add plain cmake packages -FIND_PACKAGE(OpenCV REQUIRED) -FIND_PACKAGE(Eigen REQUIRED) -FIND_PACKAGE(Sophus REQUIRED) -FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) -FIND_PACKAGE(GTSAM REQUIRED) -FIND_PACKAGE(OpenCL REQUIRED) -FIND_PACKAGE(vikit_common REQUIRED) - -set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}") -FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) -catkin_package( - DEPENDS Eigen OpenCV Sophus Boost fast GTSAM - CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros - INCLUDE_DIRS include - LIBRARIES ${PROJECT_NAME} -) - - -# Include dirs -INCLUDE_DIRECTORIES( - include - kernel - ${Eigen_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${Sophus_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${OpenCL_INCLUDE_DIRS} - ${GTSAM_INCLUDE_DIR} - ${catkin_INCLUDE_DIRS} -) - -# Set link libraries -LIST(APPEND LINK_LIBS - gtsam - ${OpenCV_LIBS} - ${Sophus_LIBRARIES} - ${Boost_LIBRARIES} - ${OpenCL_LIBRARIES} - ${catkin_LIBRARIES} -) - - -# Set sourcefiles -LIST(APPEND SOURCEFILES - src/frame_handler_mono.cpp - src/frame_handler_base.cpp - src/frame.cpp - src/point.cpp - src/map.cpp - src/pose_optimizer.cpp - src/initialization.cpp - src/matcher.cpp - src/reprojector.cpp - src/feature_alignment.cpp - src/feature_detection.cpp - src/depth_filter.cpp - src/config.cpp - src/sparse_img_align.cpp - src/imu_integration.cpp - src/cl_class.cpp - src/atan_camera.cpp - src/math_utils.cpp - src/robust_cost.cpp - src/vision.cpp - src/homography.cpp) - -# Create svo library -ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES}) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} ) -set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11) -set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) -target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for) -ADD_DEFINITIONS(-DKERNEL_DIR=\"${PROJECT_SOURCE_DIR}/kernel\") diff --git a/GPU_version/svo/package.xml b/GPU_version/svo/package.xml deleted file mode 100644 index 8aea0a7..0000000 --- a/GPU_version/svo/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - gpu_svo - 0.1.0 - - Monocular Visual Odometry - - Christian Forster - Christian Forster - GPLv3 - - - catkin - - - cmake_modules - roscpp - roslib - vikit_common - vikit_ros - - - roscpp - roslib - vikit_common - vikit_ros - \ No newline at end of file diff --git a/GPU_version/svo/src/bundle_adjustment.cpp b/GPU_version/svo/src/bundle_adjustment.cpp deleted file mode 100644 index 9bebb61..0000000 --- a/GPU_version/svo/src/bundle_adjustment.cpp +++ /dev/null @@ -1,435 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define SCHUR_TRICK 1 - -namespace svo { -namespace ba { - -void twoViewBA( - Frame* frame1, - Frame* frame2, - double reproj_thresh, - Map* map) -{ - // scale reprojection threshold in pixels to unit plane - reproj_thresh /= frame1->cam_->errorMultiplier2(); - - // init g2o - g2o::SparseOptimizer optimizer; - setupG2o(&optimizer); - - list edges; - size_t v_id = 0; - - // New Keyframe Vertex 1: This Keyframe is set to fixed! - g2oFrameSE3* v_frame1 = createG2oFrameSE3(frame1, v_id++, true); - optimizer.addVertex(v_frame1); - - // New Keyframe Vertex 2 - g2oFrameSE3* v_frame2 = createG2oFrameSE3(frame2, v_id++, false); - optimizer.addVertex(v_frame2); - - // Create Point Vertices - for(Features::iterator it_ftr=frame1->fts_.begin(); it_ftr!=frame1->fts_.end(); ++it_ftr) - { - Point* pt = (*it_ftr)->point; - if(pt == NULL) - continue; - g2oPoint* v_pt = createG2oPoint(pt->pos_, v_id++, false); - optimizer.addVertex(v_pt); - pt->v_pt_ = v_pt; - g2oEdgeSE3* e = createG2oEdgeSE3(v_frame1, v_pt, vk::project2d((*it_ftr)->f), true, reproj_thresh*Config::lobaRobustHuberWidth()); - optimizer.addEdge(e); - edges.push_back(EdgeContainerSE3(e, frame1, *it_ftr)); // TODO feature now links to frame, so we can simplify edge container! - - // find at which index the second frame observes the point - Feature* ftr_frame2 = pt->findFrameRef(frame2); - e = createG2oEdgeSE3(v_frame2, v_pt, vk::project2d(ftr_frame2->f), true, reproj_thresh*Config::lobaRobustHuberWidth()); - optimizer.addEdge(e); - edges.push_back(EdgeContainerSE3(e, frame2, ftr_frame2)); - } - - // Optimization - double init_error, final_error; - runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); - printf("2-View BA: Error before/after = %f / %f\n", init_error, final_error); - - // Update Keyframe Positions - frame1->T_f_w_.rotation_matrix() = v_frame1->estimate().rotation().toRotationMatrix(); - frame1->T_f_w_.translation() = v_frame1->estimate().translation(); - frame2->T_f_w_.rotation_matrix() = v_frame2->estimate().rotation().toRotationMatrix(); - frame2->T_f_w_.translation() = v_frame2->estimate().translation(); - - // Update Mappoint Positions - for(Features::iterator it=frame1->fts_.begin(); it!=frame1->fts_.end(); ++it) - { - if((*it)->point == NULL) - continue; - (*it)->point->pos_ = (*it)->point->v_pt_->estimate(); - (*it)->point->v_pt_ = NULL; - } - - // Find Mappoints with too large reprojection error - const double reproj_thresh_squared = reproj_thresh*reproj_thresh; - size_t n_incorrect_edges = 0; - for(list::iterator it_e = edges.begin(); it_e != edges.end(); ++it_e) - if(it_e->edge->chi2() > reproj_thresh_squared) - { - if(it_e->feature->point != NULL) - { - map->safeDeletePoint(it_e->feature->point); - it_e->feature->point = NULL; - } - ++n_incorrect_edges; - } - - printf("2-View BA: Wrong edges = %zu\n", n_incorrect_edges); -} - -void localBA( - Frame* center_kf, - set* core_kfs, - Map* map, - size_t& n_incorrect_edges_1, - size_t& n_incorrect_edges_2, - double& init_error, - double& final_error) -{ - - // init g2o - g2o::SparseOptimizer optimizer; - setupG2o(&optimizer); - - list edges; - set mps; - list neib_kfs; - size_t v_id = 0; - size_t n_mps = 0; - size_t n_fix_kfs = 0; - size_t n_var_kfs = 1; - size_t n_edges = 0; - n_incorrect_edges_1 = 0; - n_incorrect_edges_2 = 0; - - // Add all core keyframes - for(set::iterator it_kf = core_kfs->begin(); it_kf != core_kfs->end(); ++it_kf) - { - g2oFrameSE3* v_kf = createG2oFrameSE3(it_kf->get(), v_id++, false); - (*it_kf)->v_kf_ = v_kf; - ++n_var_kfs; - assert(optimizer.addVertex(v_kf)); - - // all points that the core keyframes observe are also optimized: - for(Features::iterator it_pt=(*it_kf)->fts_.begin(); it_pt!=(*it_kf)->fts_.end(); ++it_pt) - if((*it_pt)->point != NULL) - mps.insert((*it_pt)->point); - } - - // Now go throug all the points and add a measurement. Add a fixed neighbour - // Keyframe if it is not in the set of core kfs - double reproj_thresh_2 = Config::lobaThresh() / center_kf->cam_->errorMultiplier2(); - double reproj_thresh_1 = Config::poseOptimThresh() / center_kf->cam_->errorMultiplier2(); - double reproj_thresh_1_squared = reproj_thresh_1*reproj_thresh_1; - for(set::iterator it_pt = mps.begin(); it_pt!=mps.end(); ++it_pt) - { - // Create point vertex - g2oPoint* v_pt = createG2oPoint((*it_pt)->pos_, v_id++, false); - (*it_pt)->v_pt_ = v_pt; - assert(optimizer.addVertex(v_pt)); - ++n_mps; - - // Add edges - list::iterator it_obs=(*it_pt)->obs_.begin(); - while(it_obs!=(*it_pt)->obs_.end()) - { - Vector2d error = vk::project2d((*it_obs)->f) - vk::project2d((*it_obs)->frame->w2f((*it_pt)->pos_)); - - if((*it_obs)->frame->v_kf_ == NULL) - { - // frame does not have a vertex yet -> it belongs to the neib kfs and - // is fixed. create one: - g2oFrameSE3* v_kf = createG2oFrameSE3((*it_obs)->frame, v_id++, true); - (*it_obs)->frame->v_kf_ = v_kf; - ++n_fix_kfs; - assert(optimizer.addVertex(v_kf)); - neib_kfs.push_back((*it_obs)->frame); - } - - // create edge - g2oEdgeSE3* e = createG2oEdgeSE3((*it_obs)->frame->v_kf_, v_pt, - vk::project2d((*it_obs)->f), - true, - reproj_thresh_2*Config::lobaRobustHuberWidth(), - 1.0 / (1<<(*it_obs)->level)); - assert(optimizer.addEdge(e)); - edges.push_back(EdgeContainerSE3(e, (*it_obs)->frame, *it_obs)); - ++n_edges; - ++it_obs; - } - } - - // structure only - g2o::StructureOnlySolver<3> structure_only_ba; - g2o::OptimizableGraph::VertexContainer points; - for (g2o::OptimizableGraph::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) - { - g2o::OptimizableGraph::Vertex* v = static_cast(it->second); - if (v->dimension() == 3 && v->edges().size() >= 2) - points.push_back(v); - } - structure_only_ba.calc(points, 10); - - // Optimization - if(Config::lobaNumIter() > 0) - runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); - - // Update Keyframes - for(set::iterator it = core_kfs->begin(); it != core_kfs->end(); ++it) - { - (*it)->T_f_w_ = SE3( (*it)->v_kf_->estimate().rotation(), - (*it)->v_kf_->estimate().translation()); - (*it)->v_kf_ = NULL; - } - - for(list::iterator it = neib_kfs.begin(); it != neib_kfs.end(); ++it) - (*it)->v_kf_ = NULL; - - // Update Mappoints - for(set::iterator it = mps.begin(); it != mps.end(); ++it) - { - (*it)->pos_ = (*it)->v_pt_->estimate(); - (*it)->v_pt_ = NULL; - } - - // Remove Measurements with too large reprojection error - double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; - for(list::iterator it = edges.begin(); it != edges.end(); ++it) - { - if(it->edge->chi2() > reproj_thresh_2_squared) //*(1<feature_->level)) - { - map->removePtFrameRef(it->frame, it->feature); - ++n_incorrect_edges_2; - } - } - - // TODO: delete points and edges! - init_error = sqrt(init_error)*center_kf->cam_->errorMultiplier2(); - final_error = sqrt(final_error)*center_kf->cam_->errorMultiplier2(); -} - -void globalBA(Map* map) -{ - // init g2o - g2o::SparseOptimizer optimizer; - setupG2o(&optimizer); - - list edges; - list< pair > incorrect_edges; - - // Go through all Keyframes - size_t v_id = 0; - double reproj_thresh_2 = Config::lobaThresh() / map->lastKeyframe()->cam_->errorMultiplier2(); - double reproj_thresh_1_squared = Config::poseOptimThresh() / map->lastKeyframe()->cam_->errorMultiplier2(); - reproj_thresh_1_squared *= reproj_thresh_1_squared; - for(list::iterator it_kf = map->keyframes_.begin(); - it_kf != map->keyframes_.end(); ++it_kf) - { - // New Keyframe Vertex - g2oFrameSE3* v_kf = createG2oFrameSE3(it_kf->get(), v_id++, false); - (*it_kf)->v_kf_ = v_kf; - optimizer.addVertex(v_kf); - for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) - { - // for each keyframe add edges to all observed mapoints - Point* mp = (*it_ftr)->point; - if(mp == NULL) - continue; - g2oPoint* v_mp = mp->v_pt_; - if(v_mp == NULL) - { - // mappoint-vertex doesn't exist yet. create a new one: - v_mp = createG2oPoint(mp->pos_, v_id++, false); - mp->v_pt_ = v_mp; - optimizer.addVertex(v_mp); - } - - // Due to merging of mappoints it is possible that references in kfs suddenly - // have a very large reprojection error which may result in distorted results. - Vector2d error = vk::project2d((*it_ftr)->f) - vk::project2d((*it_kf)->w2f(mp->pos_)); - if(error.squaredNorm() > reproj_thresh_1_squared) - incorrect_edges.push_back(pair(*it_kf, *it_ftr)); - else - { - g2oEdgeSE3* e = createG2oEdgeSE3(v_kf, v_mp, vk::project2d((*it_ftr)->f), - true, - reproj_thresh_2*Config::lobaRobustHuberWidth()); - - edges.push_back(EdgeContainerSE3(e, it_kf->get(), *it_ftr)); - optimizer.addEdge(e); - } - } - } - - // Optimization - double init_error=0.0, final_error=0.0; - if(Config::lobaNumIter() > 0) - runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); - - // Update Keyframe and MapPoint Positions - for(list::iterator it_kf = map->keyframes_.begin(); - it_kf != map->keyframes_.end(); ++it_kf) - { - (*it_kf)->T_f_w_ = SE3( (*it_kf)->v_kf_->estimate().rotation(), - (*it_kf)->v_kf_->estimate().translation()); - (*it_kf)->v_kf_ = NULL; - for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) - { - Point* mp = (*it_ftr)->point; - if(mp == NULL) - continue; - if(mp->v_pt_ == NULL) - continue; // mp was updated before - mp->pos_ = mp->v_pt_->estimate(); - mp->v_pt_ = NULL; - } - } - - // Remove Measurements with too large reprojection error - for(list< pair >::iterator it=incorrect_edges.begin(); - it!=incorrect_edges.end(); ++it) - map->removePtFrameRef(it->first.get(), it->second); - - double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; - for(list::iterator it = edges.begin(); it != edges.end(); ++it) - { - if(it->edge->chi2() > reproj_thresh_2_squared) - { - map->removePtFrameRef(it->frame, it->feature); - } - } -} - -void setupG2o(g2o::SparseOptimizer * optimizer) -{ - // TODO: What's happening with all this HEAP stuff? Memory Leak? - optimizer->setVerbose(false); - -#if SCHUR_TRICK - // solver - g2o::BlockSolver_6_3::LinearSolverType* linearSolver; - linearSolver = new g2o::LinearSolverCholmod(); - //linearSolver = new g2o::LinearSolverCSparse(); - - g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver); - g2o::OptimizationAlgorithmLevenberg * solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); -#else - g2o::BlockSolverX::LinearSolverType * linearSolver; - linearSolver = new g2o::LinearSolverCholmod(); - //linearSolver = new g2o::LinearSolverCSparse(); - g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver); - g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); -#endif - - solver->setMaxTrialsAfterFailure(5); - optimizer->setAlgorithm(solver); - - // setup camera - g2o::CameraParameters * cam_params = new g2o::CameraParameters(1.0, Vector2d(0.,0.), 0.); - cam_params->setId(0); - if (!optimizer->addParameter(cam_params)) { - assert(false); - } -} - -void -runSparseBAOptimizer(g2o::SparseOptimizer* optimizer, - unsigned int num_iter, - double& init_error, double& final_error) -{ - optimizer->initializeOptimization(); - optimizer->computeActiveErrors(); - init_error = optimizer->activeChi2(); - optimizer->optimize(num_iter); - final_error = optimizer->activeChi2(); -} - -g2oFrameSE3* -createG2oFrameSE3(Frame* frame, size_t id, bool fixed) -{ - g2oFrameSE3* v = new g2oFrameSE3(); - v->setId(id); - v->setFixed(fixed); - v->setEstimate(g2o::SE3Quat(frame->T_f_w_.unit_quaternion(), frame->T_f_w_.translation())); - return v; -} - -g2oPoint* -createG2oPoint(Vector3d pos, - size_t id, - bool fixed) -{ - g2oPoint* v = new g2oPoint(); - v->setId(id); -#if SCHUR_TRICK - v->setMarginalized(true); -#endif - v->setFixed(fixed); - v->setEstimate(pos); - return v; -} - -g2oEdgeSE3* -createG2oEdgeSE3( g2oFrameSE3* v_frame, - g2oPoint* v_point, - const Vector2d& f_up, - bool robust_kernel, - double huber_width, - double weight) -{ - g2oEdgeSE3* e = new g2oEdgeSE3(); - e->setVertex(0, dynamic_cast(v_point)); - e->setVertex(1, dynamic_cast(v_frame)); - e->setMeasurement(f_up); - e->information() = weight * Eigen::Matrix2d::Identity(2,2); - g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber(); // TODO: memory leak - rk->setDelta(huber_width); - e->setRobustKernel(rk); - e->setParameterId(0, 0); //old: e->setId(v_point->id()); - return e; -} - -} // namespace ba -} // namespace svo diff --git a/GPU_version/vio/.idea/.name b/GPU_version/vio/.idea/.name index 06a578d..19d75c0 100644 --- a/GPU_version/vio/.idea/.name +++ b/GPU_version/vio/.idea/.name @@ -1 +1 @@ -vio_gpu \ No newline at end of file +vio \ No newline at end of file diff --git a/GPU_version/vio/.idea/modules.xml b/GPU_version/vio/.idea/modules.xml index eb3cacf..4c8cf2b 100644 --- a/GPU_version/vio/.idea/modules.xml +++ b/GPU_version/vio/.idea/modules.xml @@ -2,7 +2,7 @@ - + \ No newline at end of file diff --git a/GPU_version/svo/.idea/svo.iml b/GPU_version/vio/.idea/svo.iml similarity index 100% rename from GPU_version/svo/.idea/svo.iml rename to GPU_version/vio/.idea/svo.iml diff --git a/GPU_version/vio/.idea/svo_ros.iml b/GPU_version/vio/.idea/svo_ros.iml deleted file mode 100644 index f08604b..0000000 --- a/GPU_version/vio/.idea/svo_ros.iml +++ /dev/null @@ -1,2 +0,0 @@ - - \ No newline at end of file diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt old mode 100644 new mode 100755 index a9872a4..938c850 --- a/GPU_version/vio/CMakeLists.txt +++ b/GPU_version/vio/CMakeLists.txt @@ -1,92 +1,76 @@ -SET(PROJECT_NAME vio_gpu) +SET(PROJECT_NAME vio) PROJECT(${PROJECT_NAME}) CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) + SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo SET(CMAKE_VERBOSE_MAKEFILE OFF) SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") +set(CMAKE_C_STANDARD 17) +set(CMAKE_CXX_STANDARD 17) +# Set definitions +ADD_DEFINITIONS(-DSVO_TRACE) +ADD_DEFINITIONS(-DSVO_USE_ROS) + + +# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid # Set build flags. Set IS_ARM on odroid board as environment variable SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") IF(DEFINED ENV{ARM_ARCHITECTURE}) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ") ELSE() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") ENDIF() -IF(CMAKE_COMPILER_IS_GNUCC) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") -ELSE() - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -ENDIF() SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") -# Add catkin and required ROS packages -FIND_PACKAGE(catkin REQUIRED COMPONENTS - geometry_msgs - roscpp - cmake_modules - nav_msgs - std_msgs - visualization_msgs - sensor_msgs - image_transport - cv_bridge - tf - gpu_svo - vikit_common - vikit_ros -) - # Add plain cmake packages -FIND_PACKAGE(OpenCV REQUIRED) +FIND_PACKAGE(OpenCV 3 REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) -FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) -FIND_PACKAGE(GTSAM REQUIRED) +FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) FIND_PACKAGE(OpenCL REQUIRED) -# notify catkin to look at the previously found msg files -add_message_files( - FILES - Info.msg +set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}") +FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules image_transport cv_bridge tf geometry_msgs) +catkin_package( + DEPENDS Eigen OpenCV Sophus Boost + CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs + INCLUDE_DIRS include ) -# build the header files from the msg files, and notify catkin about the dependencies -generate_messages( - DEPENDENCIES - geometry_msgs - sensor_msgs -) -# Describe catkin Project -catkin_package( - DEPENDS Eigen OpenCV Sophus Boost - CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf gpu_svo vikit_common vikit_ros geometry_msgs - INCLUDE_DIRS include - LIBRARIES ${PROJECT_NAME}_visualizer -) # Include dirs INCLUDE_DIRECTORIES( include - ${Eigen_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${Sophus_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} + kernel + ${Eigen_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${Sophus_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${OpenCL_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) # Set link libraries -LIST(APPEND LINK_LIBS +LIST(APPEND LINK_LIBS + #gtsam ${OpenCV_LIBS} ${Sophus_LIBRARIES} ${Boost_LIBRARIES} - ${catkin_LIBRARIES} ${OpenCL_LIBRARIES} + ${catkin_LIBRARIES} ) -# Create visualizer library -ADD_LIBRARY(${PROJECT_NAME}_visualizer src/visualizer.cpp) -TARGET_LINK_LIBRARIES(${PROJECT_NAME}_visualizer ${LINK_LIBS} gtsam) - -# Create Executables -ADD_EXECUTABLE(${PROJECT_NAME} src/vo_node.cpp) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${PROJECT_NAME}_visualizer ${LINK_LIBS}) +file(GLOB SRC CONFIGURE_DEPENDS "src/*.cpp") + + + +# Create svo library +ADD_EXECUTABLE(${PROJECT_NAME} ${SRC}) +TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS}) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) +target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for) +ADD_DEFINITIONS(-DKERNEL_DIR=\"${PROJECT_SOURCE_DIR}/kernel\") + + diff --git a/GPU_version/svo/CMakeModules/FindEigen.cmake b/GPU_version/vio/CMakeModules/FindEigen.cmake similarity index 100% rename from GPU_version/svo/CMakeModules/FindEigen.cmake rename to GPU_version/vio/CMakeModules/FindEigen.cmake diff --git a/GPU_version/svo/CMakeModules/FindG2O.cmake b/GPU_version/vio/CMakeModules/FindG2O.cmake similarity index 100% rename from GPU_version/svo/CMakeModules/FindG2O.cmake rename to GPU_version/vio/CMakeModules/FindG2O.cmake diff --git a/GPU_version/svo/Doxyfile b/GPU_version/vio/Doxyfile old mode 100644 new mode 100755 similarity index 100% rename from GPU_version/svo/Doxyfile rename to GPU_version/vio/Doxyfile diff --git a/GPU_version/vio/cmake-build-debug/CATKIN_IGNORE b/GPU_version/vio/cmake-build-debug/CATKIN_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/GPU_version/vio/cmake-build-debug/CMakeCache.txt b/GPU_version/vio/cmake-build-debug/CMakeCache.txt new file mode 100644 index 0000000..d820937 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeCache.txt @@ -0,0 +1,785 @@ +# This is the CMakeCache file. +# For build in directory: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug +# It was generated by CMake: /opt/clion-2020.3.2/bin/cmake/linux/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Builds the googlemock subproject +BUILD_GMOCK:BOOL=ON + +//Builds the googletest subproject +BUILD_GTEST:BOOL=OFF + +//Build shared libraries (DLLs). +BUILD_SHARED_LIBS:BOOL=ON + +//Boost atomic library (debug) +Boost_ATOMIC_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_atomic.so + +//Boost atomic library (release) +Boost_ATOMIC_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_atomic.so + +//Boost chrono library (debug) +Boost_CHRONO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so + +//Boost chrono library (release) +Boost_CHRONO_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so + +//Boost date_time library (debug) +Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//Boost date_time library (release) +Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//The directory containing a CMake configuration file for Boost. +Boost_DIR:PATH=Boost_DIR-NOTFOUND + +//Path to a file. +Boost_INCLUDE_DIR:PATH=/usr/include + +//Boost library directory DEBUG +Boost_LIBRARY_DIR_DEBUG:PATH=/usr/lib/x86_64-linux-gnu + +//Boost library directory RELEASE +Boost_LIBRARY_DIR_RELEASE:PATH=/usr/lib/x86_64-linux-gnu + +//Boost system library (debug) +Boost_SYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so + +//Boost system library (release) +Boost_SYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so + +//Boost thread library (debug) +Boost_THREAD_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so + +//Boost thread library (release) +Boost_THREAD_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so + +//Catkin enable testing +CATKIN_ENABLE_TESTING:BOOL=ON + +//Prefix to apply to package generated via gendebian +CATKIN_PACKAGE_PREFIX:STRING= + +//Catkin skip testing +CATKIN_SKIP_TESTING:BOOL=OFF + +//Replace the CMake install command with a custom implementation +// using symlinks instead of copying resources +CATKIN_SYMLINK_INSTALL:BOOL=OFF + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... +CMAKE_BUILD_TYPE:STRING=Debug + +//Id string of the compiler for the CodeBlocks IDE. Automatically +// detected when left empty +CMAKE_CODEBLOCKS_COMPILER_ID:STRING= + +//The CodeBlocks executable +CMAKE_CODEBLOCKS_EXECUTABLE:FILEPATH=/usr/bin/codeblocks + +//Additional command line arguments when CodeBlocks invokes make. +// Enter e.g. -j to get parallel builds +CMAKE_CODEBLOCKS_MAKE_ARGUMENTS:STRING=-j8 + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-7 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-7 + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the CXX compiler during MINSIZEREL builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the CXX compiler during RELEASE builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the CXX compiler during RELWITHDEBINFO builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-7 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-7 + +//Flags used by the C compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the C compiler during DEBUG builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the C compiler during MINSIZEREL builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the C compiler during RELEASE builds. +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the C compiler during RELWITHDEBINFO builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Path to a program. +CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND + +//Flags used by the linker during all build types. +CMAKE_EXE_LINKER_FLAGS:STRING= + +//Flags used by the linker during DEBUG builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during MINSIZEREL builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during RELEASE builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during RELWITHDEBINFO builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL= + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/usr/local + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules during +// all build types. +CMAKE_MODULE_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of modules during +// DEBUG builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of modules during +// MINSIZEREL builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of modules during +// RELEASE builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of modules during +// RELWITHDEBINFO builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_DESCRIPTION:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_HOMEPAGE_URL:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=vio + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Path to a program. +CMAKE_READELF:FILEPATH=/usr/bin/readelf + +//Flags used by the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries +// during all build types. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of static libraries +// during DEBUG builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of static libraries +// during MINSIZEREL builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a program. +DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen + +//Doxygen found +DOXYGEN_FOUND:BOOL=TRUE + +//Path to a file. +EIGEN_INCLUDE_DIR:PATH=/usr/include/eigen3 + +//Path to a program. +EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy + +//Empy script +EMPY_SCRIPT:STRING=/usr/bin/empy + +//The directory containing a CMake configuration file for GMock. +GMock_DIR:PATH=GMock_DIR-NOTFOUND + +//Path to a file. +GTEST_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND + +//lsb_release executable was found +LSB_FOUND:BOOL=TRUE + +//Path to a program. +LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release + +//Path to a program. +NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7 + +//Path to a file. +OpenCL_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +OpenCL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libOpenCL.so + +//The directory containing a CMake configuration file for OpenCV. +OpenCV_DIR:PATH=/usr/share/OpenCV + +//pkg-config executable +PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python2 + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING=2 + +//Path to a program. +ProcessorCount_cmd_nproc:FILEPATH=/usr/bin/nproc + +//Path to a program. +ProcessorCount_cmd_sysctl:FILEPATH=/sbin/sysctl + +//Path to a library. +RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Enable debian style python package layout +SETUPTOOLS_DEB_LAYOUT:BOOL=ON + +//Name of the computer/site where compile is being run +SITE:STRING=gfuse + +//The directory containing a CMake configuration file for Sophus. +Sophus_DIR:PATH=/root/workstation/Sophus/build + +//LSB Distrib tag +UBUNTU:BOOL=TRUE + +//LSB Distrib - codename tag +UBUNTU_BIONIC:BOOL=TRUE + +//Path to a file. +_gmock_INCLUDES:FILEPATH=/usr/include/gmock/gmock.h + +//Path to a file. +_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc + +//Path to a file. +_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h + +//Path to a file. +_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/melodic/share/catkin/cmake + +//The directory containing a CMake configuration file for cmake_modules. +cmake_modules_DIR:PATH=/opt/ros/melodic/share/cmake_modules/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/melodic/share/cpp_common/cmake + +//Value Computed by CMake +gmock_BINARY_DIR:STATIC=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/gtest/googlemock + +//Dependencies for the target +gmock_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock + +//Build all of Google Mock's own tests. +gmock_build_tests:BOOL=OFF + +//Dependencies for the target +gmock_main_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +googletest-distribution_BINARY_DIR:STATIC=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/gtest + +//Value Computed by CMake +googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/gtest/googlemock/gtest + +//Dependencies for the target +gtest_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest + +//Build gtest's sample programs. 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+ /* __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(__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(__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(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#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(__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 % 10000) +# 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(__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(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 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__)) +# 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(__CRAYXE) || defined(__CRAYXC) +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(__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" + +# 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 + +#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_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" + +# 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 +#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 components. */ +#ifdef 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'}; +#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__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#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(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdC/a.out b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..11b7df452ad29dfd7bf1d9b188856c9e33182403 GIT binary patch literal 8408 zcmeHMZ;Vt|6~D8?!t!Tl2MTn7M#f4FRCd^=A*#)EvO{L4@?ab`%r1OW& zywQb-l59&d&~1tO0b?|pm>6Tf=!aVUV3zPl<0puTMQsyeKv$)@wH3D&7|*%y{AS;K zJ7|q2e&HrF=ic8v=iKwoJNM4HXTI3o*HaS+D72vZq~g)OS_f&DiEFE*L!@1`sfG0Y zh+3oO(|Df7ocVT#(5%yDL^Wug;6b7+*H+^Ie)@>;fx<$jVw!Mx$rX**^9-;uB|?3eZK=a;b94=RtVHla$^1ZnXF8Wn4p>8JmK@3CvLb0Z ztW_DcJ&t$b;{bV&{fGBlT%DqwQKL4B?TCBC>plsd8QB-W!-Cg^BU%zT#$g}+%>~W^ zjXwOZf=7J#0#Uf$hd(6vwFYNhHiMrB?YaxcGxOY(3+MPkn|9&YGdwrr!rkYJF@CGg zI8%FRQA8OpPTDo)E5`W6x(lkj^-BbmANvY@H>_=^-VdlZd=~4pyxm*6de|ua))>Dr zy>FmzqV@wa+nA^y*JRi4h_Sq4m}K5-Slh)jyS__<1I9${w}=|sXN=NKdlfCcgNL+q z{b2d}aI|6V3wnvc3%u&=nB-H;II(p|tJ!dmETrB6wr7cPX4kK2G*w?Nm!}N+x?KAXjRS1XNjB`=3#5{s zhuH`JFiafWE1kGyl#17X+I@$4j58~~PC{q8ZyD!|z?FvARKrgu1KoEBpSTZxq8iQ$ z;#bIHWm4Mk+Ps>InuFEZ@35JU|6 zW?ncu`+nZNK+nywq@#zu;BA4*sp!Qq>fO_`cSk&zIhsl*^M~lP9K?)6J@e*gllej_ zmp#<%v~5x8Y(=MeP-%&yY0DnYiflue=xMk!#qa%Za{9bRAJXOQZM7<%>iw61_om3q`_43VlBBxdo2zSAnr`V9k;R zb!P($!i@88{Lk)`%b#EdY1R2@9hztUG2+)}TPWNUYW!5g;?LEcR8Otm`S=s-^zqE{ zUGzCZe04<8SoS&k43WJrGZ+hnPt|nR&#x(wMUKqp3BE@2NuKWrg<&dH z=5>VDzf^04norF)LT%#<`a|vcP+Kh291E@Q2t|mG_&Y*%`rKtdDDs2*d}8Q9d*Fcw z9(dq^|Az;V=OM2{P6fI|jB1o*NUlpNA^97wfyf`%2tUqP&a=58kL2@~8|MFZubkuY zIXM)Oa~YDXNxG?Cm-$7^Oznh2)MBBHLRSa{LC!ZRd7YT8W@G|(MC5_xx~QPeS7hRmALZaixl>c7hkNJ5%8{wpjx8ZtK#*Q zI*f~*?#-dfe)QrE>SUEb3sN?MI)ayfsTxI~yC#BkQ^x*w!L;r}m3{5SDchI7W&V1M^$e6Aldq6gUtbNzXa@M`wo@43FG^(<9s99UT3K6-wn=a@82>$qapU^;+_uD`Zu#EhFMB)(JbuHl$R^@APjn9pTorH(g$~p0{ zituGs;=e=VKIJsDM2|n-vV=$Gva1t>FRfXra2|r?G~;S^f6bGLuWEdy^4B}QLpb|k zT7J-y!heZqnBuC<7w03wkGd=FLO&G!{yNJg!dZ`hzg!hPpOJO-9f#KZrRee3S>9uu zp4YF3ucZ;O*-cgx{-_&}{`d8|bI-k2;%C22N<3^9{!WdrR1sg@N5%7Y!7dIDN8@U? zEN0pnGtPyv0u{v)IddeP8?w@7!p`Ljrd1qMd_ztr?PMalt#x}_btW#!rA#ZIw~m>~ zteromhVxb?X(o!9%rO#ijZEUSJ*=Jm*7M2EPPvHpCdfR~?Aagd?>4*lbeUA0^U5TY z+4bz6SbuM)cSe^138I_4*=>jhqier1clYh>i1nF!dwQPk9xw-D9ev%bRTmHAg`&3p zUzZD$3Cp%1GFxwKZ}$`&P3Cfnip1-!Fq(-%&K$L}39df&?j^27Dr*)C$%IN}hjS*% z23UmcVpln{C{xhvP@y18=!&NnPFvZLqBTMe_tqAOoywkYBiBQ#7CF6TRqsP-{ZjmJ zY~fl4RU-<=GPX5D)XqC}6unfI%B@FLG@G-N(O5@slWmR2Xe3*V4i!^W+fF4^lt-gh zVN^vE$Fii)p?2Px!J?W?1}4qrlWB_uR8;#XdNge-{)&#|sADI`=$qq_ICJ{7MU$fv zfujkM$H)ig-H^|LMg#}Jd5Uohb=>mE`#{%$QK(3}~C+C%bu z*MR)%(g8)mmycO~cE}@BIY<~^0U(cj6BPFuV$sd-zr%#`-2(E+OF?l@gZEaE0Ua2FzT%TdehmtHA&)UA=V$Kq@w*JV42}^6SQq-f;giSx8PuP~`JeyW zB9CQG%I_!Wt5`^A#5d-7wjc7y-$0-A@%z{Ru}>cN1kgHG?rQKGpo`SuoLj=Ca-YEe zjDCKML9dW(gG(Ougc&JFfR9*o!x;2ULOJ%Ze&v3`Mp2s-`w^dz!+ZQP@h}VIagUi~ zqo}p(@7XWNgWjYmw|pi4lm(h+MRgByfd51t#;`u}vu2U^^ZQo<$zxZd+PeP9pHKaOwM?v_7GsXn)UpK`40%yQ0HUH&aufbSpf=9m8` D$)0nc literal 0 HcmV?d00001 diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/CMakeCXXCompilerId.cpp b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..69cfdba --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,660 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 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(__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(__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(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#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(__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 % 10000) +# 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(__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(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 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__)) +# 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(__CRAYXE) || defined(__CRAYXC) +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(__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" + +# 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 + +#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_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" + +# 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 +#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 components. */ +#ifdef 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'}; +#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_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[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(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/a.out b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/a.out new file mode 100755 index 0000000000000000000000000000000000000000..71c2ceda86a2fae89d661d131b89af3990e37838 GIT binary patch literal 8416 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'/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeTmp' +Building C object CMakeFiles/cmTC_fdf34.dir/CheckSymbolExists.c.o +/usr/bin/cc -o CMakeFiles/cmTC_fdf34.dir/CheckSymbolExists.c.o -c /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeTmp/CheckSymbolExists.c +Linking C executable cmTC_fdf34 +/opt/clion-2020.3.2/bin/cmake/linux/bin/cmake -E cmake_link_script CMakeFiles/cmTC_fdf34.dir/link.txt --verbose=1 +/usr/bin/cc -rdynamic CMakeFiles/cmTC_fdf34.dir/CheckSymbolExists.c.o -o cmTC_fdf34 +make[1]: Leaving directory '/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeTmp' + + +File /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeTmp/CheckSymbolExists.c: +/* */ +#include + +int main(int argc, char** argv) +{ + (void)argv; +#ifndef CL_VERSION_2_2 + return ((int*)(&CL_VERSION_2_2))[argc]; +#else + (void)argc; + return 0; +#endif +} diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-environment.txt b/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-environment.txt new file mode 100644 index 0000000..270d93c --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-environment.txt @@ -0,0 +1,3 @@ +ToolSet: 1.0 (local)Options: + +Options: \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-log.txt b/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-log.txt new file mode 100644 index 0000000..1363506 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-log.txt @@ -0,0 +1,70 @@ +/opt/clion-2020.3.2/bin/cmake/linux/bin/cmake -DCMAKE_BUILD_TYPE=Debug -G "CodeBlocks - Unix Makefiles" /root/Project/ROS/src/vio_svo/GPU_version/svo +-- The C compiler identification is GNU 7.5.0 +-- The CXX compiler identification is GNU 7.5.0 +-- Check for working C compiler: /usr/bin/cc +-- Check for working C compiler: /usr/bin/cc - works +-- Detecting C compiler ABI info +-- Detecting C compiler ABI info - done +-- Detecting C compile features +-- Detecting C compile features - done +-- Check for working CXX compiler: /usr/bin/c++ +-- Check for working CXX compiler: /usr/bin/c++ - works +-- Detecting CXX compiler ABI info +-- Detecting CXX compiler ABI info - done +-- Detecting CXX compile features +-- Detecting CXX compile features - done +-- Found OpenCV: /usr (found suitable version "3.2.0", minimum required is "3") +-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") +-- Checking for module 'eigen3' +-- Found eigen3, version 3.3.4 +-- Found Eigen: /usr/include/eigen3 +-- Eigen found (include: /usr/include/eigen3) +-- Looking for pthread.h +-- Looking for pthread.h - found +-- Performing Test CMAKE_HAVE_LIBC_PTHREAD +-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed +-- Looking for pthread_create in pthreads +-- Looking for pthread_create in pthreads - not found +-- Looking for pthread_create in pthread +-- Looking for pthread_create in pthread - found +-- Found Threads: TRUE +-- Found Boost: /usr/include (found version "1.65.1") found components: thread system chrono date_time atomic +-- Looking for CL_VERSION_2_2 +-- Looking for CL_VERSION_2_2 - found +-- Found OpenCL: /usr/lib/x86_64-linux-gnu/libOpenCL.so (found version "2.2") +-- Using CATKIN_DEVEL_PREFIX: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel +-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic +-- This workspace overlays: /opt/ros/melodic +-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") +-- Using PYTHON_EXECUTABLE: /usr/bin/python2 +-- Using Debian Python package layout +-- Using empy: /usr/bin/empy +-- Using CATKIN_ENABLE_TESTING: ON +-- Call enable_testing() +-- Using CATKIN_TEST_RESULTS_DIR: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/test_results +-- Found gtest sources under '/usr/src/googletest': gtests will be built +-- Found gmock sources under '/usr/src/googletest': gmock will be built +-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") +-- Using Python nosetests: /usr/bin/nosetests-2.7 +-- catkin 0.7.28 +-- BUILD_SHARED_LIBS is on +-- Could NOT find robot_localization (missing: robot_localization_DIR) +-- Could not find the required component 'robot_localization'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. +CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): + Could not find a package configuration file provided by + "robot_localization" with any of the following names: + + robot_localizationConfig.cmake + robot_localization-config.cmake + + Add the installation prefix of "robot_localization" to CMAKE_PREFIX_PATH or + set "robot_localization_DIR" to a directory containing one of the above + files. If "robot_localization" provides a separate development package or + SDK, be sure it has been installed. +Call Stack (most recent call first): + CMakeLists.txt:34 (FIND_PACKAGE) + + +-- Configuring incomplete, errors occurred! +See also "/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeOutput.log". +See also "/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeError.log". diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/cmake.check_cache b/GPU_version/vio/cmake-build-debug/CMakeFiles/cmake.check_cache new file mode 100644 index 0000000..3dccd73 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/cmake.check_cache @@ -0,0 +1 @@ +# This file is generated by cmake for dependency checking of the CMakeCache.txt file diff --git a/GPU_version/vio/cmake-build-debug/CTestConfiguration.ini b/GPU_version/vio/cmake-build-debug/CTestConfiguration.ini new file mode 100644 index 0000000..38e6ab1 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CTestConfiguration.ini @@ -0,0 +1,107 @@ +# This file is configured by CMake automatically as DartConfiguration.tcl +# If you choose not to use CMake, this file may be hand configured, by +# filling in the required variables. + + +# Configuration directories and files +SourceDirectory: /root/Project/ROS/src/vio_svo/GPU_version/svo +BuildDirectory: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug + +# Where to place the cost data store +CostDataFile: + +# Site is something like machine.domain, i.e. pragmatic.crd +Site: gfuse + +# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++ +BuildName: + +# Subprojects +LabelsForSubprojects: + +# Submission information +SubmitURL: + +# Dashboard start time +NightlyStartTime: + +# Commands for the build/test/submit cycle +ConfigureCommand: "/opt/clion-2020.3.2/bin/cmake/linux/bin/cmake" "/root/Project/ROS/src/vio_svo/GPU_version/svo" +MakeCommand: +DefaultCTestConfigurationType: + +# version control +UpdateVersionOnly: + +# CVS options +# Default is "-d -P -A" +CVSCommand: +CVSUpdateOptions: + +# Subversion options +SVNCommand: +SVNOptions: +SVNUpdateOptions: + +# Git options +GITCommand: +GITInitSubmodules: +GITUpdateOptions: +GITUpdateCustom: + +# Perforce options +P4Command: +P4Client: +P4Options: +P4UpdateOptions: +P4UpdateCustom: + +# Generic update command +UpdateCommand: +UpdateOptions: +UpdateType: + +# Compiler info +Compiler: /usr/bin/c++ +CompilerVersion: 7.5.0 + +# Dynamic analysis (MemCheck) +PurifyCommand: +ValgrindCommand: +ValgrindCommandOptions: +DrMemoryCommand: +DrMemoryCommandOptions: +MemoryCheckType: +MemoryCheckSanitizerOptions: +MemoryCheckCommand: +MemoryCheckCommandOptions: +MemoryCheckSuppressionFile: + +# Coverage +CoverageCommand: +CoverageExtraFlags: + +# Cluster commands +SlurmBatchCommand: +SlurmRunCommand: + +# Testing options +# TimeOut is the amount of time in seconds to wait for processes +# to complete during testing. After TimeOut seconds, the +# process will be summarily terminated. +# Currently set to 25 minutes +TimeOut: + +# During parallel testing CTest will not start a new test if doing +# so would cause the system load to exceed this value. +TestLoad: + +UseLaunchers: +CurlOptions: +# warning, if you add new options here that have to do with submit, +# you have to update cmCTestSubmitCommand.cxx + +# For CTest submissions that timeout, these options +# specify behavior for retrying the submission +CTestSubmitRetryDelay: +CTestSubmitRetryCount: diff --git a/GPU_version/vio/cmake-build-debug/CTestCustom.cmake b/GPU_version/vio/cmake-build-debug/CTestCustom.cmake new file mode 100644 index 0000000..14956f3 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CTestCustom.cmake @@ -0,0 +1,2 @@ +set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0) +set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0) diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall b/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall new file mode 100644 index 0000000..b61ff9e --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py b/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh new file mode 100644 index 0000000..d29ab41 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh new file mode 100644 index 0000000..1764d84 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake b/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..b3278c8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.7.28") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh new file mode 100755 index 0000000..d6be91d --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py b/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..b1f2d17 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/opt/ros/melodic'.split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/env.sh') + +output_filename = '/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..6fb13af --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /usr/local/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..f021098 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..b5a330e --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh new file mode 100755 index 0000000..619a325 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel:$CMAKE_PREFIX_PATH" +export PATH='/opt/ros/melodic/bin:/opt/cmake-3.20.0-rc4-linux-x86_64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin' +export ROSLISP_PACKAGE_DIRECTORIES='/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/share/common-lisp' +export ROS_PACKAGE_PATH="/root/Project/ROS/src/vio_svo/GPU_version/svo:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp new file mode 100644 index 0000000..bfd7934 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp @@ -0,0 +1,48 @@ + + + + catkin + 0.7.28 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python3-mock + python-nose + python3-nose + + + + + + diff --git a/GPU_version/vio/cmake-build-debug/devel/.catkin b/GPU_version/vio/cmake-build-debug/devel/.catkin new file mode 100644 index 0000000..749f40c --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/.catkin @@ -0,0 +1 @@ +/root/Project/ROS/src/vio_svo/GPU_version/svo \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/devel/.rosinstall b/GPU_version/vio/cmake-build-debug/devel/.rosinstall new file mode 100644 index 0000000..b61ff9e --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/devel/_setup_util.py b/GPU_version/vio/cmake-build-debug/devel/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/devel/cmake.lock b/GPU_version/vio/cmake-build-debug/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/GPU_version/vio/cmake-build-debug/devel/env.sh b/GPU_version/vio/cmake-build-debug/devel/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.bash b/GPU_version/vio/cmake-build-debug/devel/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.sh b/GPU_version/vio/cmake-build-debug/devel/local_setup.sh new file mode 100644 index 0000000..d29ab41 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh b/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.bash b/GPU_version/vio/cmake-build-debug/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.sh b/GPU_version/vio/cmake-build-debug/devel/setup.sh new file mode 100644 index 0000000..1764d84 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.zsh b/GPU_version/vio/cmake-build-debug/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/svo/doc/.gitignore b/GPU_version/vio/doc/.gitignore similarity index 100% rename from GPU_version/svo/doc/.gitignore rename to GPU_version/vio/doc/.gitignore diff --git a/GPU_version/svo/doc/notation.ipe b/GPU_version/vio/doc/notation.ipe similarity index 100% rename from GPU_version/svo/doc/notation.ipe rename to GPU_version/vio/doc/notation.ipe diff --git a/GPU_version/svo/doc/notation.pdf b/GPU_version/vio/doc/notation.pdf similarity index 100% rename from GPU_version/svo/doc/notation.pdf rename to GPU_version/vio/doc/notation.pdf diff --git a/GPU_version/svo/doc/notation.png b/GPU_version/vio/doc/notation.png similarity index 100% rename from GPU_version/svo/doc/notation.png rename to GPU_version/vio/doc/notation.png diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/vio/gtsam/imu_integration.cpp old mode 100644 new mode 100755 similarity index 94% rename from GPU_version/svo/src/imu_integration.cpp rename to GPU_version/vio/gtsam/imu_integration.cpp index f7d47a2..d2e751b --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/vio/gtsam/imu_integration.cpp @@ -2,17 +2,15 @@ // Created by gfuse on 4/9/21. // //#define NDEBUG -#include "gpu_svo/imu_integration.h" +#include "imu_integration.h" #include #include #include "gpu_svo/feature.h" #include "gpu_svo/point.h" -//#include "gpu_svo/svoVisionFactorSmall.h" #include "gpu_svo/svoVisionFactor.h" -//#include "gpu_svo/svoVisionFactorLandMark.h" #include #include -#include +#include #include #include #define debug 0 @@ -43,14 +41,12 @@ Imu_Integration::~Imu_Integration(){ bool Imu_Integration::update(double* imu){ if(syn)return false; if(imu_factor_id<1)return false; - if(abs(imu[0])<1.0)imu[0]=pow(imu[0],3);//picked up from your code - if(abs(imu[1])<1.0)imu[0]=pow(imu[1],3);//picked up from your code auto in=std::chrono::steady_clock::now(); if(std::chrono::duration(in-t_1).count()>20.0){ t_1=in; - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),0.0005); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[2]-svo::Config::Teta_off(),0.0),0.0005); }else{ - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),std::chrono::duration(in-t_1).count()); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[2]-svo::Config::Teta_off(),0.0),std::chrono::duration(in-t_1).count()); t_1=in; ++imu_n; } diff --git a/GPU_version/svo/include/gpu_svo/imu_integration.h b/GPU_version/vio/gtsam/imu_integration.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/imu_integration.h rename to GPU_version/vio/gtsam/imu_integration.h diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactor.h b/GPU_version/vio/gtsam/svoVisionFactor.h similarity index 97% rename from GPU_version/svo/include/gpu_svo/svoVisionFactor.h rename to GPU_version/vio/gtsam/svoVisionFactor.h index c81bdd5..01ad6da 100644 --- a/GPU_version/svo/include/gpu_svo/svoVisionFactor.h +++ b/GPU_version/vio/gtsam/svoVisionFactor.h @@ -10,8 +10,8 @@ #include #include #include -#include -#include +#include +#include #include namespace svo { diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactorLandMark.h b/GPU_version/vio/gtsam/svoVisionFactorLandMark.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/svoVisionFactorLandMark.h rename to GPU_version/vio/gtsam/svoVisionFactorLandMark.h diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactorSmall.h b/GPU_version/vio/gtsam/svoVisionFactorSmall.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/svoVisionFactorSmall.h rename to GPU_version/vio/gtsam/svoVisionFactorSmall.h diff --git a/GPU_version/svo/include/gpu_svo/abstract_camera.h b/GPU_version/vio/include/gpu_svo/abstract_camera.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/abstract_camera.h rename to GPU_version/vio/include/gpu_svo/abstract_camera.h diff --git a/GPU_version/svo/include/gpu_svo/aligned_mem.h b/GPU_version/vio/include/gpu_svo/aligned_mem.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/aligned_mem.h rename to GPU_version/vio/include/gpu_svo/aligned_mem.h diff --git a/GPU_version/svo/include/gpu_svo/atan_camera.h b/GPU_version/vio/include/gpu_svo/atan_camera.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/atan_camera.h rename to GPU_version/vio/include/gpu_svo/atan_camera.h diff --git a/GPU_version/svo/include/gpu_svo/bundle_adjustment.h b/GPU_version/vio/include/gpu_svo/bundle_adjustment.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/bundle_adjustment.h rename to GPU_version/vio/include/gpu_svo/bundle_adjustment.h diff --git a/GPU_version/vio/include/vio_gpu/camera_loader.h b/GPU_version/vio/include/gpu_svo/camera_loader.h similarity index 100% rename from GPU_version/vio/include/vio_gpu/camera_loader.h rename to GPU_version/vio/include/gpu_svo/camera_loader.h diff --git a/GPU_version/svo/include/gpu_svo/cl.hpp b/GPU_version/vio/include/gpu_svo/cl.hpp similarity index 100% rename from GPU_version/svo/include/gpu_svo/cl.hpp rename to GPU_version/vio/include/gpu_svo/cl.hpp diff --git a/GPU_version/svo/include/gpu_svo/cl_class.h b/GPU_version/vio/include/gpu_svo/cl_class.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/cl_class.h rename to GPU_version/vio/include/gpu_svo/cl_class.h diff --git a/GPU_version/svo/include/gpu_svo/config.h b/GPU_version/vio/include/gpu_svo/config.h similarity index 94% rename from GPU_version/svo/include/gpu_svo/config.h rename to GPU_version/vio/include/gpu_svo/config.h index 9b3c26f..f6d710d 100644 --- a/GPU_version/svo/include/gpu_svo/config.h +++ b/GPU_version/vio/include/gpu_svo/config.h @@ -134,10 +134,11 @@ public: static double& EBP() { return getInstance().ebp; } /// the noise used for projection static double& NRP() { return getInstance().nrp; } - static double& Gravity() { return getInstance().gravity; } - static double& X_off() { return getInstance().acc_x_off; } - static double& Y_off() { return getInstance().acc_y_off; } - static double& Teta_off() { return getInstance().gyr_z_off; } + static double& Svo_Ekf() { return getInstance().svo_ekf; } + static double& X_off() { return getInstance().acc_x_off; } + static double& Y_off() { return getInstance().acc_y_off; } + static double& Teta_off() { return getInstance().gyr_z_off; } + static double& Cmd_Cov() { return getInstance().cmd_cov; } private: @@ -173,7 +174,7 @@ private: size_t max_fts; size_t quality_min_fts; int quality_max_drop_fts; - double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise,gravity,acc_x_off,acc_y_off,gyr_z_off; + double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise,svo_ekf,acc_x_off,acc_y_off,gyr_z_off,cmd_cov; }; } // namespace svo diff --git a/GPU_version/svo/include/gpu_svo/depth_filter.h b/GPU_version/vio/include/gpu_svo/depth_filter.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/depth_filter.h rename to GPU_version/vio/include/gpu_svo/depth_filter.h diff --git a/GPU_version/svo/include/gpu_svo/feature.h b/GPU_version/vio/include/gpu_svo/feature.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/feature.h rename to GPU_version/vio/include/gpu_svo/feature.h diff --git a/GPU_version/svo/include/gpu_svo/feature_alignment.h b/GPU_version/vio/include/gpu_svo/feature_alignment.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/feature_alignment.h rename to GPU_version/vio/include/gpu_svo/feature_alignment.h diff --git a/GPU_version/svo/include/gpu_svo/feature_detection.h b/GPU_version/vio/include/gpu_svo/feature_detection.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/feature_detection.h rename to GPU_version/vio/include/gpu_svo/feature_detection.h diff --git a/GPU_version/svo/include/gpu_svo/for_it.hpp b/GPU_version/vio/include/gpu_svo/for_it.hpp similarity index 100% rename from GPU_version/svo/include/gpu_svo/for_it.hpp rename to GPU_version/vio/include/gpu_svo/for_it.hpp diff --git a/GPU_version/svo/include/gpu_svo/frame.h b/GPU_version/vio/include/gpu_svo/frame.h similarity index 72% rename from GPU_version/svo/include/gpu_svo/frame.h rename to GPU_version/vio/include/gpu_svo/frame.h index 4580be2..e02f1c6 100644 --- a/GPU_version/svo/include/gpu_svo/frame.h +++ b/GPU_version/vio/include/gpu_svo/frame.h @@ -48,7 +48,7 @@ public: double timestamp_; //!< Timestamp of when the image was recorded. vk::AbstractCamera* cam_; //!< Camera model. SE2_5 T_f_w_; //!< Transform (f)rame from (w)orld. - Matrix Cov_; //!< Covariance. + Matrix Cov_; //!< Covariance. ImgPyr img_pyr_; //!< Image Pyramid. Features fts_; //!< List of features in the image. vector key_pts_; //!< Five features and associated 3D points which are used to detect if two frames have overlapping field of view. @@ -93,9 +93,11 @@ public: /// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c). inline Vector2d w2c(const Vector3d& xyz_w) const { - return cam_->world2cam( Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, - xyz_w.y(), - -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_) ); + Eigen::Matrix R; + R<world2cam( SE3(R,Vector3d(T_f_w_.T2_.translation()(0),1e-19,T_f_w_.T2_.translation()(1)))*xyz_w); } /// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c). inline Vector2d w2px(const Vector3d& xyz_w) const { return cam_->world2cam( xyz_w ); } @@ -108,28 +110,53 @@ public: /// Transforms point coordinates in world-frame (w) to camera-frams (f). inline Vector3d w2f(const Vector3d& xyz_w) const { - return Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, - xyz_w.y(), - -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_); + Eigen::Matrix R; + R<inverse() * f; + Eigen::Matrix R; + R<world2cam( f ); } /// Return the pose of the frame in the (w)orld coordinate frame. - inline Vector3d pos() const { return T_f_w_.T->inverse().translation(); } + inline Vector2d pos() const { return T_f_w_.T2_.translation(); } + + inline SE3 se3() const{ + Eigen::Matrix R; + R< R; + R<& J) + Matrix& J) { const double x = xyz_in_f[0]; const double y = xyz_in_f[1]; @@ -137,18 +164,12 @@ public: const double z_inv_2 = z_inv*z_inv; J(0,0) = -z_inv; // -1/z - J(0,1) = 0.0; // 0 - J(0,2) = x*z_inv_2; // x/z^2 - J(0,3) = y*J(0,2); // x*y/z^2 - J(0,4) = -(1.0 + x*J(0,2)); // -(1.0 + x^2/z^2) - J(0,5) = y*z_inv; // y/z + J(0,1) = x*z_inv_2; // x/z^2 + J(0,2) = -(1.0 + pow(x,2)/z_inv_2); // -(1.0 + x^2/z^2) - J(1,0) = 0.0; // 0 - J(1,1) = -z_inv; // -1/z - J(1,2) = y*z_inv_2; // y/z^2 - J(1,3) = 1.0 + y*J(1,2); // 1.0 + y^2/z^2 - J(1,4) = -J(0,3); // -x*y/z^2 - J(1,5) = -x*z_inv; // x/z + J(1,0) = 1e-19; // 0 + J(1,1) = y*z_inv_2; // y/z^2 + J(1,2) = -x*y/z_inv_2; // -x*y/z^2 } inline static void jacobian_l2uv( const Matrix& p, @@ -156,10 +177,10 @@ public: double A = -1.0*sqrt(p.z()); double z_inv = -1/p.z(); J(0,0) = z_inv; - J(0,1) = 0.0; + J(0,1) = 1e-19; J(0,2) = p.x()*A; - J(1,0) = 0.0; + J(1,0) = 1e-19; J(1,1) = z_inv; J(1,2) =A*p.y(); } diff --git a/GPU_version/svo/include/gpu_svo/frame_handler_base.h b/GPU_version/vio/include/gpu_svo/frame_handler_base.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/frame_handler_base.h rename to GPU_version/vio/include/gpu_svo/frame_handler_base.h diff --git a/GPU_version/svo/include/gpu_svo/frame_handler_mono.h b/GPU_version/vio/include/gpu_svo/frame_handler_mono.h similarity index 91% rename from GPU_version/svo/include/gpu_svo/frame_handler_mono.h rename to GPU_version/vio/include/gpu_svo/frame_handler_mono.h index 22180d8..3faa24f 100644 --- a/GPU_version/svo/include/gpu_svo/frame_handler_mono.h +++ b/GPU_version/vio/include/gpu_svo/frame_handler_mono.h @@ -22,7 +22,7 @@ #include #include #include -#include +#include #include namespace svo { @@ -33,11 +33,11 @@ class FrameHandlerMono : public FrameHandlerBase public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init); + FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix& init); virtual ~FrameHandlerMono(); /// Provide an image. - void addImage(const cv::Mat& img, double timestamp); + void addImage(const cv::Mat& img, double timestamp,const ros::Time& time); /// Set the first frame (used for synthetic datasets in benchmark node) void setFirstFrame(const FramePtr& first_frame); @@ -61,7 +61,9 @@ public: const SE3& T_kf_f, const cv::Mat& img, const double timestamp); - std::shared_ptr imu_integPtr_; //Integration of IMU + //std::shared_ptr imu_integPtr_; //Integration of IMU + void UpdateIMU(double* value,const ros::Time& time); + void UpdateCmd(double* value,const ros::Time& time); protected: vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). @@ -73,7 +75,8 @@ protected: initialization::KltHomographyInit* klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. opencl* gpu_fast_; - uint image_count_=0; + ros::Time time_; + UKF ukfPtr_; /// Initialize the visual odometry algorithm. virtual void initialize(); diff --git a/GPU_version/svo/include/gpu_svo/global.h b/GPU_version/vio/include/gpu_svo/global.h similarity index 51% rename from GPU_version/svo/include/gpu_svo/global.h rename to GPU_version/vio/include/gpu_svo/global.h index 2cfd63b..e522a69 100644 --- a/GPU_version/svo/include/gpu_svo/global.h +++ b/GPU_version/vio/include/gpu_svo/global.h @@ -26,6 +26,7 @@ #include #include +#include #include #include #include @@ -49,26 +50,52 @@ namespace svo const double EPS = 0.0000000001; const double PI = 3.14159265; - class SE2_5{ + class SE2_5: public SE2{ public: - double X_,Z_,tetha_,cos_theta_,sin_theta_; - SE3* T; - SE2_5(double x,double z,double tetha):X_(x),Z_(z),tetha_(tetha){ - cos_theta_=cos(tetha_); - sin_theta_=sin(tetha_); - Eigen::Matrix R; - R<= 1) + pitch = std::copysign(M_PI / 2.0, pitch); // use 90 degrees if out of range + else + pitch = std::asin(pitch); + Eigen::Matrix R; + R<= 1) + pitch = std::copysign(M_PI / 2.0, pitch); // use 90 degrees if out of range + else + pitch = std::asin(pitch); + Eigen::Matrix R; + R< R; + R<translation().x(); - Z_=T->translation().z(); - tetha_=asin(2*(T->unit_quaternion().w()*T->unit_quaternion().y()- - T->unit_quaternion().z()*T->unit_quaternion().x())); - cos_theta_=cos(tetha_); - sin_theta_=sin(tetha_); + SE2 getSE2() const{ + return T2_; + } + SE2 inverse() const{ + double yaw=atan(T2_.rotation_matrix()(0,1)/T2_.rotation_matrix()(0,0)); + return SE2(yaw+PI,T2_.translation()); + } + double pitch()const{ + return atan(T2_.rotation_matrix()(0,1)/T2_.rotation_matrix()(0,0)); } ~SE2_5(){} }; diff --git a/GPU_version/svo/include/gpu_svo/homography.h b/GPU_version/vio/include/gpu_svo/homography.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/homography.h rename to GPU_version/vio/include/gpu_svo/homography.h diff --git a/GPU_version/svo/include/gpu_svo/initialization.h b/GPU_version/vio/include/gpu_svo/initialization.h similarity index 91% rename from GPU_version/svo/include/gpu_svo/initialization.h rename to GPU_version/vio/include/gpu_svo/initialization.h index 6c3b3b5..28fddbf 100644 --- a/GPU_version/svo/include/gpu_svo/initialization.h +++ b/GPU_version/vio/include/gpu_svo/initialization.h @@ -19,7 +19,7 @@ #include #include -#include +//#include "../../gtsam/imu_integration.h" namespace svo { @@ -37,7 +37,7 @@ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW FramePtr frame_ref_; - KltHomographyInit(opencl* gpu_fast_):gpu_fast_(gpu_fast_) {}; + KltHomographyInit(opencl* gpu_fast_):gpu_fast_(gpu_fast_),T_cur_from_ref_(0.0,0.0,0.0) {}; ~KltHomographyInit() {}; InitResult addFirstFrame(FramePtr frame_ref); InitResult addSecondFrame(FramePtr frame_ref); @@ -51,7 +51,7 @@ protected: vector disparities_; //!< disparity between first and second frame. vector inliers_; //!< inliers after the geometric check (e.g., Homography). vector xyz_in_cur_; //!< 3D points computed during the geometric check. - SE3 T_cur_from_ref_; //!< computed transformation between the first two frames. + SE2_5 T_cur_from_ref_; //!< computed transformation between the first two frames. opencl* gpu_fast_; }; @@ -79,7 +79,7 @@ void computeHomography( double reprojection_threshold, vector& inliers, vector& xyz_in_cur, - SE3& T_cur_from_ref); + SE2_5& T_cur_from_ref); } // namespace initialization } // namespace svo diff --git a/GPU_version/svo/include/gpu_svo/map.h b/GPU_version/vio/include/gpu_svo/map.h similarity index 97% rename from GPU_version/svo/include/gpu_svo/map.h rename to GPU_version/vio/include/gpu_svo/map.h index 3bee80b..e554088 100644 --- a/GPU_version/svo/include/gpu_svo/map.h +++ b/GPU_version/vio/include/gpu_svo/map.h @@ -103,12 +103,12 @@ public: FramePtr getClosestKeyframe(const FramePtr& frame) const; /// Return the keyframe which is furthest apart from pos. - FramePtr getFurthestKeyframe(const Vector3d& pos) const; + FramePtr getFurthestKeyframe(const Vector2d& pos) const; bool getKeyframeById(const int id, FramePtr& frame) const; /// Transform the whole map with rotation R, translation t and scale s. - void transform(const Matrix3d& R, const Vector3d& t, const double& s); + void transform(const Matrix2d& R, const Vector2d& t, const double& s); /// Empty trash bin of deleted keyframes and map points. We don't delete the /// points immediately to ensure proper cleanup and to provide the visualizer diff --git a/GPU_version/svo/include/gpu_svo/matcher.h b/GPU_version/vio/include/gpu_svo/matcher.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/matcher.h rename to GPU_version/vio/include/gpu_svo/matcher.h diff --git a/GPU_version/svo/include/gpu_svo/math_utils.h b/GPU_version/vio/include/gpu_svo/math_utils.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/math_utils.h rename to GPU_version/vio/include/gpu_svo/math_utils.h diff --git a/GPU_version/svo/include/gpu_svo/nlls_solver.h b/GPU_version/vio/include/gpu_svo/nlls_solver.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/nlls_solver.h rename to GPU_version/vio/include/gpu_svo/nlls_solver.h diff --git a/GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp b/GPU_version/vio/include/gpu_svo/nlls_solver_impl.hpp similarity index 79% rename from GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp rename to GPU_version/vio/include/gpu_svo/nlls_solver_impl.hpp index ec36be8..2ce9302 100644 --- a/GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp +++ b/GPU_version/vio/include/gpu_svo/nlls_solver_impl.hpp @@ -66,8 +66,9 @@ void vk::NLLSSolver::optimizeGaussNewton(ModelType& model) std::cout << "It. " << iter_ << "\t Failure" << "\t new_chi2 = " << new_chi2 - << "\t Error increased. Stop optimizing." - << std::endl; + << "\t Error increased. Stop optimizing.\n"; + // << "H = " << H_ << std::endl + //<< "Jres = " << Jres_ << std::endl; } model = old_model; // rollback break; @@ -87,8 +88,9 @@ void vk::NLLSSolver::optimizeGaussNewton(ModelType& model) << "\t Success" << "\t new_chi2 = " << new_chi2 << "\t n_meas = " << n_meas_ - << "\t x_norm = " << vk::norm_max(x_) - << std::endl; + << "\t x_norm = " << vk::norm_max(x_)<<'\n'; + //<< "\n H = " << H_ << std::endl + //<< "Jres = " << Jres_ << std::endl; } finishIteration(); @@ -133,7 +135,7 @@ void vk::NLLSSolver::optimizeLevenbergMarquardt(ModelType& model) { rho_ = 0; startIteration(); - + bool sign=false; // try to compute and update, if it fails, try with increased mu n_trials_ = 0; do @@ -164,7 +166,7 @@ void vk::NLLSSolver::optimizeLevenbergMarquardt(ModelType& model) // compute error with new model and compare to old error n_meas_ = 0; - new_chi2 = computeResiduals(new_model, false, false); + new_chi2 = computeResiduals(new_model, true, false); rho_ = chi2_-new_chi2; } else @@ -181,7 +183,7 @@ void vk::NLLSSolver::optimizeLevenbergMarquardt(ModelType& model) // update decrased the error -> success model = new_model; chi2_ = new_chi2; - stop_ = vk::norm_max(x_)<=eps_; + stop_ = vk::norm_max(x_)<=eps_ ? true : false; mu_ *= max(1./3., min(1.-pow(2*rho_-1,3), 2./3.)); nu_ = 2.; if(verbose_) @@ -193,29 +195,52 @@ void vk::NLLSSolver::optimizeLevenbergMarquardt(ModelType& model) << "\t new_chi2 = " << new_chi2 << "\t mu = " << mu_ << "\t nu = " << nu_ + << "\t x_norm = " << vk::norm_max(x_) << endl; } } else { - // update increased the error -> fail - mu_ *= nu_; - nu_ *= 2.; - ++n_trials_; - if (n_trials_ >= n_trials_max_) - stop_ = true; - - if(verbose_) - { - cout << "It. " << iter_ - << "\t Trial " << n_trials_ - << "\t Failure" - << "\t n_meas = " << n_meas_ - << "\t new_chi2 = " << new_chi2 - << "\t mu = " << mu_ - << "\t nu = " << nu_ - << endl; + if(sign){ + if(verbose_) + { + cout << "It. " << iter_ + << "\t Trial " << n_trials_ + << "\t Failure" + << "\t n_meas = " << n_meas_ + << "\t new_chi2 = " << new_chi2 + << "\t mu = " << mu_ + << "\t nu = " << nu_ + << "\t x_norm = " << vk::norm_max(x_) + << endl; + } + mu_ /= nu_; + nu_ /= 2.; + ++n_trials_; + if (n_trials_ >= n_trials_max_) + stop_ = true; + sign=false; + }else{ + if(verbose_) + { + cout << "It. " << iter_ + << "\t Trial " << n_trials_ + << "\t Failure" + << "\t n_meas = " << n_meas_ + << "\t new_chi2 = " << new_chi2 + << "\t mu = " << mu_ + << "\t nu = " << nu_ + << "\t x_norm = " << vk::norm_max(x_) + << endl; + } + mu_ *= nu_; + nu_ *= 2.; + ++n_trials_; + if (n_trials_ >= n_trials_max_) + stop_ = true; + sign=true; } + } finishTrial(); diff --git a/GPU_version/vio/include/vio_gpu/output_helper.h b/GPU_version/vio/include/gpu_svo/output_helper.h similarity index 97% rename from GPU_version/vio/include/vio_gpu/output_helper.h rename to GPU_version/vio/include/gpu_svo/output_helper.h index a835def..b1572a8 100644 --- a/GPU_version/vio/include/vio_gpu/output_helper.h +++ b/GPU_version/vio/include/gpu_svo/output_helper.h @@ -14,9 +14,6 @@ #include #include -namespace vk { -namespace output_helper { - using namespace std; using namespace Eigen; @@ -90,8 +87,4 @@ publishFrameMarker (ros::Publisher pub, ros::Duration lifetime = ros::Duration(0.0)); -} // namespace output_helper -} // namespace vk - - #endif /* VIKIT_OUTPUT_HELPER_H_ */ diff --git a/GPU_version/svo/include/gpu_svo/params_helper.h b/GPU_version/vio/include/gpu_svo/params_helper.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/params_helper.h rename to GPU_version/vio/include/gpu_svo/params_helper.h diff --git a/GPU_version/svo/include/gpu_svo/patch_score.h b/GPU_version/vio/include/gpu_svo/patch_score.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/patch_score.h rename to GPU_version/vio/include/gpu_svo/patch_score.h diff --git a/GPU_version/svo/include/gpu_svo/point.h b/GPU_version/vio/include/gpu_svo/point.h similarity index 98% rename from GPU_version/svo/include/gpu_svo/point.h rename to GPU_version/vio/include/gpu_svo/point.h index 81d2769..6b0f900 100644 --- a/GPU_version/svo/include/gpu_svo/point.h +++ b/GPU_version/vio/include/gpu_svo/point.h @@ -77,7 +77,7 @@ public: Feature* findFrameRef(Frame* frame); /// Get Frame with similar viewpoint. - bool getCloseViewObs(const Vector3d& pos, Feature*& obs) const; + bool getCloseViewObs(const Vector2d& pos, Feature*& obs) const; /// Get number of observations. inline size_t nRefs() const { return obs_.size(); } diff --git a/GPU_version/svo/include/gpu_svo/pose_optimizer.h b/GPU_version/vio/include/gpu_svo/pose_optimizer.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/pose_optimizer.h rename to GPU_version/vio/include/gpu_svo/pose_optimizer.h diff --git a/GPU_version/svo/include/gpu_svo/reprojector.h b/GPU_version/vio/include/gpu_svo/reprojector.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/reprojector.h rename to GPU_version/vio/include/gpu_svo/reprojector.h diff --git a/GPU_version/svo/include/gpu_svo/robust_cost.h b/GPU_version/vio/include/gpu_svo/robust_cost.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/robust_cost.h rename to GPU_version/vio/include/gpu_svo/robust_cost.h diff --git a/GPU_version/svo/include/gpu_svo/sparse_img_align.h b/GPU_version/vio/include/gpu_svo/sparse_img_align.h similarity index 88% rename from GPU_version/svo/include/gpu_svo/sparse_img_align.h rename to GPU_version/vio/include/gpu_svo/sparse_img_align.h index 6200066..1fbaace 100644 --- a/GPU_version/svo/include/gpu_svo/sparse_img_align.h +++ b/GPU_version/vio/include/gpu_svo/sparse_img_align.h @@ -20,6 +20,7 @@ #include #include + namespace vk { class AbstractCamera; } @@ -29,10 +30,10 @@ namespace svo { class Feature; /// Optimize the pose of the frame by minimizing the photometric error of feature patches. -class SparseImgAlign : public vk::NLLSSolver<6, SE3> +class SparseImgAlign : public vk::NLLSSolver<3, SE2> { - static const int patch_halfsize_ = 6; - static const int patch_size_ = 6*patch_halfsize_; + static const int patch_halfsize_ = 12; + static const int patch_size_ = 12*patch_halfsize_; static const int patch_area_ = patch_size_*patch_size_; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW @@ -53,7 +54,7 @@ public: /// Return fisher information matrix, i.e. the Hessian of the log-likelihood /// at the converged state. - Matrix getFisherInformation(); + Matrix getFisherInformation(); protected: FramePtr ref_frame_; //!< reference frame, has depth for gradient pixels. @@ -64,13 +65,13 @@ protected: int min_level_; //!< finest pyramid level for the alignment. // cache: - Matrix jacobian_cache_; + Matrix jacobian_cache_; bool have_ref_patch_cache_; cv::Mat ref_patch_cache_; std::vector visible_fts_; void precomputeReferencePatches(); - virtual double computeResiduals(const SE3& model, bool linearize_system, bool compute_weight_scale = false); + virtual double computeResiduals(const SE2& model, bool linearize_system, bool compute_weight_scale = false); virtual int solve(); virtual void update (const ModelType& old_model, ModelType& new_model); virtual void startIteration(); diff --git a/GPU_version/svo/include/gpu_svo/timer.h b/GPU_version/vio/include/gpu_svo/timer.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/timer.h rename to GPU_version/vio/include/gpu_svo/timer.h diff --git a/GPU_version/vio/include/gpu_svo/ukf.h b/GPU_version/vio/include/gpu_svo/ukf.h new file mode 100644 index 0000000..7919c32 --- /dev/null +++ b/GPU_version/vio/include/gpu_svo/ukf.h @@ -0,0 +1,136 @@ +// +// Created by root on 6/8/21. +// +#ifndef GPU_SVO_UKF_H +#define GPU_SVO_UKF_H + +#include +#include +#include "gpu_svo/config.h" +#include +class Base{ +public: + Base(const Eigen::Matrix &init) { + state_=init; + cov_.setIdentity(); + cov_*=0.0001; + }; + virtual ~Base(){ + }; + void predict(double ddx,double ddz,double dpitch,double time){ + if(t_==0.0){ + t_=time; + return; + } + double t=time-t_; + t_=time; + state_h_< G; + G<<1.0,0,t,0,-0.5*pow(t,2)*(ddz*cos(state_(4))+ddx*sin(state_(4))),0, + 0,1.0,0,t,0.5*pow(t,2)*(ddx*cos(state_(4))-ddz*sin(state_(4))),0, + 0,0,1.0,0,-t*(ddz*cos(state_(4))+ddx*sin(state_(4))),0, + 0,0,0,1.0,t*(ddx*cos(state_(4))-ddz*sin(state_(4))),0, + 0,0,0,0,1.0,t*dpitch, + 0,0,0,0,0,1.0; + Eigen::Matrix R; + R<<10.0*svo::Config::ACC_Noise(),0,0,0,0,0, + 0,10.0*svo::Config::ACC_Noise(),0,0,0,0, + 0,0,svo::Config::ACC_Noise(),0,0,0, + 0,0,0,svo::Config::ACC_Noise(),0,0, + 0,0,0,0,10.0*svo::Config::GYO_Noise(),0, + 0,0,0,0,0,svo::Config::GYO_Noise(); + cov_h_=G*cov_*G.transpose()+R; + predict_up=true; + } + void correct(double x, double z, double pitch, double time){ + Eigen::Matrix H; + Eigen::Matrix Q; + Eigen::Matrix E; + Eigen::Matrix k; + t_=time; + H<<0,0,1.0,0,0,0, + 0,0,0,1.0,0,0, + 0,0,0,0,0,1.0; + Q< H; + Eigen::Matrix Q; + Eigen::Matrix E; + Eigen::Matrix k; + t_=time; + ++match; + H<<1.0,0,0,0,0,0, + 0,1.0,0,0,0,0, + 0,0,0,0,1.0,0; + Q< cov_; + Eigen::Matrix state_; + bool predict_up=false; +private: + double t_=0.0; + Eigen::Matrix cov_h_; + Eigen::Matrix state_h_;//state{x,z,dx,dv,pitch} + +}; + +class UKF { +public: + UKF(const Eigen::Matrix& init) : filter_(new Base(init)) { + }; + virtual ~UKF() { + delete filter_; + }; + void UpdateIMU(double x,double z,double pitch,const ros::Time& time) { + while(lock)usleep(5); + lock=true; + //if(abs(x)<1.0)x=pow(x,3);//picked up from your code + //if(abs(z)<1.0)z=pow(z,3);//picked up from your code + if(!filter_->predict_up)filter_->predict(x,z,pitch,1e-9*time.toNSec()); + lock=false; + }; + void UpdateCmd(double x,double z,double pitch,const ros::Time& time) { + while(lock)usleep(5); + lock=true; + filter_->correct(x,z,pitch,1e-9*time.toNSec()); + lock=false; + }; + std::pair,svo::SE2> UpdateSvo(double x,double z,double pitch,size_t match,ros::Time& time) { + while(lock)usleep(5); + lock=true; + filter_->correct(-1.0*x,-1.0*z,pitch,match,1e-9*time.toNSec()); + lock=false; + //std::cout<<"filter cov\n"<cov_<<'\n'; + //std::cout<<"filter state\n"<state_<<'\n'; + Eigen::Matrix cov; + cov<cov_(0,0),filter_->cov_(0,1),filter_->cov_(0,4), + filter_->cov_(1,0),filter_->cov_(1,1),filter_->cov_(1,4), + filter_->cov_(4,0),filter_->cov_(4,1),filter_->cov_(4,4); + svo::SE2 out(filter_->state_(4),Eigen::Vector2d(-1.0*filter_->state_(0),-1.0*filter_->state_(1))); + return std::pair,svo::SE2>(cov,out); + }; +private: + Base* filter_= nullptr; + bool lock=false; +}; +#endif //GPU_SVO_UKF_H diff --git a/GPU_version/svo/include/gpu_svo/vision.h b/GPU_version/vio/include/gpu_svo/vision.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/vision.h rename to GPU_version/vio/include/gpu_svo/vision.h diff --git a/GPU_version/vio/include/vio_gpu/visualizer.h b/GPU_version/vio/include/gpu_svo/visualizer.h similarity index 100% rename from GPU_version/vio/include/vio_gpu/visualizer.h rename to GPU_version/vio/include/gpu_svo/visualizer.h diff --git a/GPU_version/vio/include/vio_gpu/params_helper.h b/GPU_version/vio/include/vio_gpu/params_helper.h deleted file mode 100644 index 1c8967f..0000000 --- a/GPU_version/vio/include/vio_gpu/params_helper.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - * ros_params_helper.h - * - * Created on: Feb 22, 2013 - * Author: cforster - * - * from libpointmatcher_ros - */ - -#ifndef ROS_PARAMS_HELPER_H_ -#define ROS_PARAMS_HELPER_H_ - -#include -#include - -namespace vk { - -inline -bool hasParam(const std::string& name) -{ - return ros::param::has(name); -} - -template -T getParam(const std::string& name, const T& defaultValue) -{ - T v; - if(ros::param::get(name, v)) - { - ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v); - return v; - } - else - ROS_WARN_STREAM("Cannot find value for parameter: " << name << ", assigning default: " << defaultValue); - return defaultValue; -} - -template -T getParam(const std::string& name) -{ - T v; - if(ros::param::get(name, v)) - { - ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v); - return v; - } - else - ROS_ERROR_STREAM("Cannot find value for parameter: " << name); - return T(); -} - -} // namespace vk - -#endif // ROS_PARAMS_HELPER_H_ diff --git a/GPU_version/svo/kernel/fast-gray.cl b/GPU_version/vio/kernel/fast-gray.cl similarity index 100% rename from GPU_version/svo/kernel/fast-gray.cl rename to GPU_version/vio/kernel/fast-gray.cl diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index 032feaf..581e4b1 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,22 +1,18 @@ - + - - + + + - + - - - - - - + - + diff --git a/GPU_version/vio/out.txt b/GPU_version/vio/out.txt new file mode 100644 index 0000000..b027790 --- /dev/null +++ b/GPU_version/vio/out.txt @@ -0,0 +1,26087 @@ +header: + seq: 0 + stamp: + secs: 1624875191 + nsecs: 558718920 + frame_id: "/world" +pose: + pose: + position: + x: 0.0626414404632 + y: -0.0114145588813 + z: 0.0 + orientation: + x: 0.0 + y: 0.0405619092502 + z: 0.0 + w: 0.999177027117 + covariance: [0.07868209584252406, -9.461082738964364e-19, 0.0, 0.0, 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position: + x: 0.0166163353051 + y: -0.0430530963954 + z: 0.0 + orientation: + x: -0.0 + y: -0.0822472404752 + z: -0.0 + w: 0.996611956297 + covariance: [2.648854370068479, -5.4919736476426895e-06, 0.0, 0.0, -0.00048189566741691197, 0.0, -5.491973647643477e-06, 2.648847894412179, 0.0, 0.0, 0.0002940932594437838, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, -0.00048189566741691566, 0.0002940932594437862, 0.0, 0.0, 2.1038345230631976, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07] +--- +header: + seq: 3 + stamp: + secs: 1624875196 + nsecs: 679157019 + frame_id: "/world" +pose: + pose: + position: + x: 0.0185721548702 + y: -0.021561037511 + z: 0.0 + orientation: + x: 0.0 + y: 0.0301557821628 + z: 0.0 + w: 0.999545210985 + covariance: [2.2650572600435086, -6.206231117237778e-07, 0.0, 0.0, -5.1855607892080387e-05, 0.0, -6.206231117238479e-07, 2.265056535524967, 0.0, 0.0, 3.204631952791545e-05, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, 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secs: 1624875197 + nsecs: 399205923 + frame_id: "/world" +pose: + pose: + position: + x: -0.0156086820159 + y: 0.00447412807491 + z: 0.0 + orientation: + x: 0.0 + y: 0.000243722180649 + z: 0.0 + w: 0.9999999703 + covariance: [2.998512383676597, -9.051111680390655e-09, 0.0, 0.0, -3.5665094589854947e-06, 0.0, -9.051111680390632e-09, 2.998512382287478, 0.0, 0.0, 4.628005164744784e-06, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, -3.566509458985493e-06, 4.628005164744786e-06, 0.0, 0.0, 2.996544542977281, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07] +--- +header: + seq: 13 + stamp: + secs: 1624875197 + nsecs: 479234934 + frame_id: "/world" +pose: + pose: + position: + x: -0.00753809395827 + y: -0.013918683117 + z: 0.0 + orientation: + x: 0.0 + y: 7.98221087963e-05 + z: 0.0 + w: 0.999999996814 + covariance: [3.0802457190027672, -1.5789072296466504e-08, 0.0, 0.0, -9.523338022074358e-06, 0.0, -1.578907229646647e-08, 3.0802457174258118, 0.0, 0.0, 3.35105621493877e-06, 0.0, 0.0, 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8.037180861960741e-06, 0.0, 0.0, 1.8250910876171649, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07] +--- diff --git a/GPU_version/vio/package.xml b/GPU_version/vio/package.xml old mode 100644 new mode 100755 index 7f8fbc5..1d8d5a4 --- a/GPU_version/vio/package.xml +++ b/GPU_version/vio/package.xml @@ -1,43 +1,32 @@ - vio_gpu + vio 0.1.0 - Monocular Visual Odometry - ROS Nodes + Monocular Visual Odometry Majid Geravand - Majid Geravand + Gfuse GPLv3 catkin + cmake_modules roscpp - cmake_modules - nav_msgs - std_msgs - visualization_msgs + roslib sensor_msgs image_transport cv_bridge tf - gpu_svo - vikit_common - vikit_ros geometry_msgs - + roscpp - nav_msgs - std_msgs - visualization_msgs - sensor_msgs + roslib image_transport cv_bridge tf - vikit_common - vikit_ros geometry_msgs - gpu_svo \ No newline at end of file diff --git a/GPU_version/vio/param/px30.yaml b/GPU_version/vio/param/px30.yaml index 10fa932..4b69c4f 100644 --- a/GPU_version/vio/param/px30.yaml +++ b/GPU_version/vio/param/px30.yaml @@ -1,8 +1,9 @@ -cam_model: ATAN -cam_width: 640 -cam_height: 480 -cam_fx: 0.463632 -cam_fy: 0.823661 -cam_cx: 0.497465 -cam_cy: 0.498443 -cam_d0: 1.01687 \ No newline at end of file +vio: + cam_model: ATAN + cam_width: 640 + cam_height: 480 + cam_fx: 0.463632 + cam_fy: 0.823661 + cam_cx: 0.497465 + cam_cy: 0.498443 + cam_d0: 1.01687 diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 0aa2c15..90df6be 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -5,18 +5,11 @@ svo: quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad. init_min_tracked: 100 - init_min_disparity: 20 + init_min_disparity: 30 structureoptim_max_pts: 50 kfselect_mindist: 0.05 poseoptim_thresh: 4.0 - ACC_noise: 0.0001 #acc white noise in continuous - GYO_noise: 0.0001 #gyro white noise in continuous - IUC: 0.1 #integration uncertainty continuous - ABC: 0.1 #acc bias in continuous - GBC: 0.1 #gyro bias in continuous - EBP: 0.1 #error in the bias used for preintegration - NRP: 0.001 #noise used for projection in preintegration - gravity: -9.65 - Acceleration_offset_x: 0.0 - Acceleration_offset_y: 0.0 - Gyroscope_offset_z: 0.0 + ACC_noise: 0.1 #acc white noise in continuous in EKF + GYO_noise: 0.1 #gyro white noise in continuous in EKF + svo_ekf: 20 #Svo noise that will be devided by number of Reprojected points after opmization in EKF + Cmd_Cov: 0.05 #control vector noise in EKF diff --git a/GPU_version/vio/rqt.perspective b/GPU_version/vio/rqt.perspective deleted file mode 100644 index 66dd7ef..0000000 --- a/GPU_version/vio/rqt.perspective +++ /dev/null @@ -1,293 +0,0 @@ -{ - 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Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /svo/keyframes - Name: Marker - Namespaces: - cams: true - kfs: true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /svo/points - Name: Marker - Namespaces: - pts: true - trajectory: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /svo/image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Fixed Frame: /world - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 5.48911 - Focal Point: - X: 0.777511 - Y: 0.689927 - Z: -0.445833 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.125204 - Target Frame: - Value: Orbit (rviz) - Yaw: 4.45215 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1416 - Hide Left Dock: false - Hide Right Dock: true - 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Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 2511 - X: 1962 - Y: 24 diff --git a/GPU_version/svo/src/atan_camera.cpp b/GPU_version/vio/src/atan_camera.cpp similarity index 100% rename from GPU_version/svo/src/atan_camera.cpp rename to GPU_version/vio/src/atan_camera.cpp diff --git a/GPU_version/svo/src/cl_class.cpp b/GPU_version/vio/src/cl_class.cpp similarity index 100% rename from GPU_version/svo/src/cl_class.cpp rename to GPU_version/vio/src/cl_class.cpp diff --git a/GPU_version/svo/src/config.cpp b/GPU_version/vio/src/config.cpp similarity index 96% rename from GPU_version/svo/src/config.cpp rename to GPU_version/vio/src/config.cpp index 8801d19..5c3cab7 100644 --- a/GPU_version/svo/src/config.cpp +++ b/GPU_version/vio/src/config.cpp @@ -56,10 +56,11 @@ Config::Config() : gbc(vk::getParam("svo/GBC", 1e-1)), ebp(vk::getParam("svo/EBP", 1e-2)), nrp(vk::getParam("svo/NRP", 1e-5)), - gravity(vk::getParam("svo/gravity", 9.8)), + svo_ekf(vk::getParam("svo/svo_ekf", 30)), acc_x_off(vk::getParam("svo/Acceleration_offset_x", 0.0)), acc_y_off(vk::getParam("svo/Acceleration_offset_y", 0.0)), - gyr_z_off(vk::getParam("svo/Gyroscope_offset_z", 0.0)) + gyr_z_off(vk::getParam("svo/Gyroscope_offset_z", 0.0)), + cmd_cov(vk::getParam("svo/Cmd_Cov", 0.0)) {} Config& Config::getInstance() diff --git a/GPU_version/svo/src/depth_filter.cpp b/GPU_version/vio/src/depth_filter.cpp similarity index 90% rename from GPU_version/svo/src/depth_filter.cpp rename to GPU_version/vio/src/depth_filter.cpp index 4e04b5f..cbf0f33 100644 --- a/GPU_version/svo/src/depth_filter.cpp +++ b/GPU_version/vio/src/depth_filter.cpp @@ -91,8 +91,7 @@ void DepthFilter::addFrame(FramePtr frame) } seeds_updating_halt_ = false; frame_queue_cond_.notify_one(); - } - else{ + }else{ updateSeeds(frame); } @@ -102,19 +101,20 @@ void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_mi { new_keyframe_min_depth_ = depth_min; new_keyframe_mean_depth_ = depth_mean; - ++seeds_cont_; + if(thread_ != NULL) { new_keyframe_ = frame; new_keyframe_set_ = true; seeds_updating_halt_ = true; frame_queue_cond_.notify_one(); - } - else - if(seeds_cont_>5){ + }else if(seeds_cont_>3){ initializeSeeds(frame); seeds_cont_=0; - } + }else if(seeds_cont_==0){ + initializeSeeds(frame); + } + ++seeds_cont_; } void DepthFilter::initializeSeeds(FramePtr frame) @@ -184,7 +184,7 @@ void DepthFilter::updateSeedsLoop() if(new_keyframe_set_) { new_keyframe_set_ = false; - if(seeds_cont_>5){ + if(seeds_cont_>3){ seeds_updating_halt_ = false; } clearFrameQueue(); @@ -198,7 +198,7 @@ void DepthFilter::updateSeedsLoop() } updateSeeds(frame); - if(frame->isKeyframe() && seeds_cont_>5){ + if((frame->isKeyframe() && seeds_cont_>3) ||(frame->isKeyframe() && seeds_cont_==0)){ initializeSeeds(frame); seeds_cont_=0; } @@ -217,7 +217,6 @@ void DepthFilter::updateSeeds(FramePtr frame) const double focal_length = frame->cam_->errorMultiplier2(); double px_noise = 1.0; double px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) - while( it!=seeds_.end()) { // set this value true when seeds updating should be interrupted @@ -229,11 +228,19 @@ void DepthFilter::updateSeeds(FramePtr frame) it = seeds_.erase(it); continue; } - + if(it->ftr->frame == NULL){ + it = seeds_.erase(it); + continue; + } // check if point is visible in the current image - SE3 T_ref_cur = *it->ftr->frame->T_f_w_.T * frame->T_f_w_.T->inverse(); + SE2 T(it->ftr->frame->T_f_w_.getSE2() * frame->T_f_w_.inverse()); + Eigen::Matrix R; + R<mu * it->ftr->f) ); - if(xyz_f.z() < 0.0) { + if(xyz_f.z() < 0.0 && xyz_f.y() < 0.08) { ++it; // behind the camera continue; } @@ -242,29 +249,28 @@ void DepthFilter::updateSeeds(FramePtr frame) continue; } - // we are using inverse depth coordinates - float z_inv_min = it->mu + sqrt(it->sigma2); - float z_inv_max = max(it->mu - sqrt(it->sigma2), 0.00000001f); - if(z_inv_min <0){ + float z_min = it->mu + sqrt(it->sigma2); + float z_max = max(it->mu - sqrt(it->sigma2), 0.00000001f); + + if(z_min < 0){ ++it; continue; } + double z; if(!matcher_.findEpipolarMatchDirect( - *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, z)) + *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_min, 1.0/z_max, z)) { it->b++; // increase outlier probability when no match was found ++it; ++n_failed_matches; continue; } - - // compute tau double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle); double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau)); // update the estimate - updateSeed(1./z, tau_inverse*tau_inverse, &*it); + updateSeed(1.0/z, tau_inverse*tau_inverse, &*it); ++n_updates; if(frame->isKeyframe()) @@ -277,13 +283,13 @@ void DepthFilter::updateSeeds(FramePtr frame) if(sqrt(it->sigma2) < it->z_range/options_.seed_convergence_sigma2_thresh) { assert(it->ftr->point == NULL); // TODO this should not happen anymore - Vector3d xyz_world(it->ftr->frame->T_f_w_.T->inverse() * (it->ftr->f * (1.0/it->mu))); + Vector3d xyz_world(it->ftr->frame->getSE3Inv() * (it->ftr->f/it->mu)); Point* point = new Point(xyz_world, it->ftr); it->ftr->point = point; seed_converged_cb_(point, it->sigma2); // put in candidate list it = seeds_.erase(it); } - else if(isnan(z_inv_min)) + else if(isnan(z_min)) { SVO_WARN_STREAM("z_min is NaN"); it = seeds_.erase(it); diff --git a/GPU_version/svo/src/feature_alignment.cpp b/GPU_version/vio/src/feature_alignment.cpp similarity index 99% rename from GPU_version/svo/src/feature_alignment.cpp rename to GPU_version/vio/src/feature_alignment.cpp index 6232e00..0a3de63 100644 --- a/GPU_version/svo/src/feature_alignment.cpp +++ b/GPU_version/vio/src/feature_alignment.cpp @@ -69,7 +69,7 @@ bool align1D( float v = cur_px_estimate.y(); // termination condition - const float min_update_squared = 0.03*0.03; + const float min_update_squared = 0.5*0.5; const int cur_step = cur_img.step.p[0]; float chi2 = 0; Vector2f update; update.setZero(); @@ -203,7 +203,7 @@ bool align2D( bool sign=true;// + // termination condition - const float min_update_squared = 0.3; + const float min_update_squared = 0.1;//0.001 const int cur_step = cur_img.step.p[0]; // float chi2 = 0; Vector3f update; update.setZero(); diff --git a/GPU_version/svo/src/feature_detection.cpp b/GPU_version/vio/src/feature_detection.cpp similarity index 100% rename from GPU_version/svo/src/feature_detection.cpp rename to GPU_version/vio/src/feature_detection.cpp diff --git a/GPU_version/svo/src/frame.cpp b/GPU_version/vio/src/frame.cpp similarity index 95% rename from GPU_version/svo/src/frame.cpp rename to GPU_version/vio/src/frame.cpp index b425646..30f085f 100644 --- a/GPU_version/svo/src/frame.cpp +++ b/GPU_version/vio/src/frame.cpp @@ -138,9 +138,7 @@ void Frame::removeKeyPoint(Feature* ftr) bool Frame::isVisible(const Vector3d& xyz_w) const { - Vector3d xyz_f = Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, - xyz_w.y(), - -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_); + Vector3d xyz_f = Vector3d(this->getSE3Inv()*xyz_w); if(xyz_f.z() < 0.0) return false; // point is behind the camera Vector2d px = f2c(xyz_f); diff --git a/GPU_version/svo/src/frame_handler_base.cpp b/GPU_version/vio/src/frame_handler_base.cpp similarity index 100% rename from GPU_version/svo/src/frame_handler_base.cpp rename to GPU_version/vio/src/frame_handler_base.cpp diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp similarity index 81% rename from GPU_version/svo/src/frame_handler_mono.cpp rename to GPU_version/vio/src/frame_handler_mono.cpp index a96ad9e..74527d1 100644 --- a/GPU_version/svo/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -24,17 +24,16 @@ #include #include #include -#ifdef USE_BUNDLE_ADJUSTMENT -#include -#endif namespace svo { -FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) : +FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix& init) : FrameHandlerBase(), cam_(cam), reprojector_(cam_, map_), - depth_filter_(NULL) + depth_filter_(NULL), + ukfPtr_(init), + time_(ros::Time::now()) { gpu_fast_= new opencl(); gpu_fast_->make_kernel("fast_gray"); @@ -46,8 +45,7 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) gpu_fast_->write_buf(0,2,1,icorner); gpu_fast_->write_buf(0,3,(1 << 18)); klt_homography_init_=new initialization::KltHomographyInit(gpu_fast_); - initialize(); - imu_integPtr_=std::make_shared(SE_init); + initialize(); } void FrameHandlerMono::initialize() @@ -66,7 +64,7 @@ FrameHandlerMono::~FrameHandlerMono() delete depth_filter_; } -void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) +void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp,const ros::Time& time) { if(!startFrameProcessingCommon(timestamp)) return; @@ -77,7 +75,7 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) // create new frame new_frame_.reset(new Frame(cam_, img.clone(), timestamp)); - + time_=time; // process frame UpdateResult res = RESULT_FAILURE; if(stage_ == STAGE_DEFAULT_FRAME) @@ -105,6 +103,7 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); stage_ = STAGE_SECOND_FRAME; + ukfPtr_.UpdateSvo(new_frame_->T_f_w_.getSE2().translation()(0),new_frame_->T_f_w_.getSE2().translation()(1),new_frame_->T_f_w_.pitch(),1000,time_); SVO_INFO_STREAM("Init: Selected first frame."); return RESULT_IS_KEYFRAME; } @@ -113,18 +112,16 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() { new_frame_->T_f_w_ = last_frame_->T_f_w_; initialization::InitResult res = klt_homography_init_->addSecondFrame(new_frame_); + auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.getSE2().translation()(0),new_frame_->T_f_w_.getSE2().translation()(1),new_frame_->T_f_w_.pitch(),1000,time_); + new_frame_->T_f_w_ = SE2_5(result.second); + new_frame_->Cov_ = result.first; if(res == initialization::NO_KEYFRAME) - return RESULT_NO_KEYFRAME; - + return RESULT_NO_KEYFRAME; new_frame_->setKeyframe(); double depth_mean, depth_min; frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); - if(!imu_integPtr_->init(new_frame_)){ - return RESULT_FAILURE; - } - // add frame to map map_.addKeyframe(new_frame_); stage_ = STAGE_DEFAULT_FRAME; @@ -136,50 +133,36 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() { - bool IMU=false; - SE2_5 tem(0.0,0.0,0.0); - if(imu_integPtr_->preintegrate_predict(tem))if((last_frame_->T_f_w_.T->translation()-tem.T->translation()).norm()>0.5){ - new_frame_->T_f_w_ = tem; - IMU=true; - }else{ - imu_integPtr_->reset(); - new_frame_->T_f_w_ = last_frame_->T_f_w_; - } + + new_frame_->T_f_w_ = last_frame_->T_f_w_; // sparse image align SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::LevenbergMarquardt, false, false); img_align.run(last_frame_, new_frame_); - new_frame_->T_f_w_.set(); + // std::cout<<"img_align:\n"<T_f_w_.getSE2()<<"\n"; // map reprojection & feature alignment reprojector_.reprojectMap(new_frame_, overlap_kfs_); - new_frame_->T_f_w_.set(); - if(IMU)if(!imu_integPtr_->predict(new_frame_,last_frame_,reprojector_.n_matches_)){ - return RESULT_FAILURE; - } size_t sfba_n_edges_final=0; double sfba_thresh, sfba_error_init, sfba_error_final; - new_frame_->T_f_w_.set(); pose_optimizer::optimizeGaussNewton( Config::poseOptimThresh(), Config::poseOptimNumIter(), false, new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final); - - new_frame_->T_f_w_.set(); - - std::cout<<"Reprojection Map: "<<"\t nPoint:"<T_f_w_.T->translation()-new_frame_->T_f_w_.T->translation()).norm()>1.0){ - new_frame_->T_f_w_ = last_frame_->T_f_w_; - return RESULT_NO_KEYFRAME; + if((last_frame_->T_f_w_.getSE2().translation()-new_frame_->T_f_w_.getSE2().translation()).norm()>0.1){ + new_frame_->T_f_w_ = last_frame_->T_f_w_; } + auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.getSE2().translation()(0), + new_frame_->T_f_w_.getSE2().translation()(1),new_frame_->T_f_w_.pitch(),sfba_n_edges_final,time_); + new_frame_->T_f_w_ = SE2_5(result.second); + new_frame_->Cov_ = result.first; + std::cout<<"Reprojection Map nPoint: "<T_f_w_.getSE2().translation()-new_frame_->T_f_w_.getSE2().translation()).norm()<<'\n'; if(sfba_n_edges_final < Config::qualityMinFts() || reprojector_.n_matches_ < Config::qualityMinFts()){ return RESULT_NO_KEYFRAME; } optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter()); - - new_frame_->T_f_w_.set(); // select keyframe core_kfs_.insert(new_frame_); setTrackingQuality(sfba_n_edges_final); @@ -189,13 +172,11 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } double depth_mean, depth_min; - new_frame_->T_f_w_.set(); frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); - if(depth_mean > 50 || depth_mean < 0.0) + if(depth_mean > 50 || depth_min < 0.0) { return RESULT_NO_KEYFRAME; } - if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD)//edited { depth_filter_->addFrame(new_frame_); @@ -203,7 +184,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } new_frame_->setKeyframe(); - new_frame_->T_f_w_.set(); // new keyframe selected for(auto&& it:new_frame_->fts_){ if(it->point != NULL)it->point->addFrameRef(it); @@ -212,7 +192,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // init new depth-filters depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); - // if limited number of keyframes, remove the one furthest apart if(Config::maxNKfs() > 2 && map_.size() >= Config::maxNKfs()) { @@ -221,7 +200,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() map_.safeDeleteFrame(furthest_frame); } - new_frame_->T_f_w_.set(); // add keyframe to map map_.addKeyframe(new_frame_); std::cout<<"Svo pipline was finished\n"; @@ -298,7 +276,7 @@ bool FrameHandlerMono::needNewKf(double scene_depth_mean) if(scene_depth_mean >10.0)return true; for(auto&& it:overlap_kfs_) { - Vector3d relpos = new_frame_->w2f(it.first->pos()); + Vector3d relpos = new_frame_->w2f(Vector3d(it.first->pos()(0),0.0,it.first->pos()(1))); if(fabs(relpos.norm())/scene_depth_mean < Config::kfSelectMinDist()){ return false; } @@ -315,5 +293,13 @@ void FrameHandlerMono::setCoreKfs(size_t n_closest) boost::bind(&pair::second, _2)); std::for_each(overlap_kfs_.begin(), overlap_kfs_.end(), [&](pair& i){ core_kfs_.insert(i.first); }); } +void FrameHandlerMono::UpdateIMU(double* value,const ros::Time& time){ + if(value== nullptr)return; + ukfPtr_.UpdateIMU(value[0],value[1],value[2],time); +} +void FrameHandlerMono::UpdateCmd(double* value,const ros::Time& time){ + if(value== nullptr)return; + ukfPtr_.UpdateCmd(value[0],value[1],value[2],time); +} } // namespace svo diff --git a/GPU_version/svo/src/homography.cpp b/GPU_version/vio/src/homography.cpp similarity index 100% rename from GPU_version/svo/src/homography.cpp rename to GPU_version/vio/src/homography.cpp diff --git a/GPU_version/svo/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp similarity index 91% rename from GPU_version/svo/src/initialization.cpp rename to GPU_version/vio/src/initialization.cpp index 6d54a36..1ca4ced 100644 --- a/GPU_version/svo/src/initialization.cpp +++ b/GPU_version/vio/src/initialization.cpp @@ -69,15 +69,11 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) depth_vec.push_back((xyz_in_cur_[i]).z()); double scene_depth_median = vk::getMedian(depth_vec); double scale = Config::mapScale()/scene_depth_median; - SE3 tem=T_cur_from_ref_ * (*frame_ref_->T_f_w_.T); - frame_cur->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),asin(2*(tem.unit_quaternion().w()*tem.unit_quaternion().y()- - tem.unit_quaternion().z()*tem.unit_quaternion().x()))); - tem.translation() = -frame_cur->T_f_w_.T->rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos())); - frame_cur->T_f_w_.X_ = tem.translation().x(); - frame_cur->T_f_w_.Z_ = tem.translation().z(); - + frame_cur->T_f_w_ = SE2_5(T_cur_from_ref_.getSE2() * frame_ref_->T_f_w_.getSE2()); + frame_cur->T_f_w_.T2_.translation() = -frame_cur->T_f_w_.getSE2().rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos())); + //frame_cur->T_f_w_.T2_.translation() = frame_cur->T_f_w_.getSE2().rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos())); // For each inlier create 3D point and add feature in both frames - SE3 T_world_cur = frame_cur->T_f_w_.T->inverse(); + SE3 T_world_cur = frame_cur->getSE3Inv(); for(vector::iterator it=inliers_.begin(); it!=inliers_.end(); ++it) { Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y); @@ -138,7 +134,7 @@ void trackKlt( vector& f_cur, vector& disparities) { - const double klt_win_size = 45.0;//30.0 + const double klt_win_size = 30.0;//30.0 const int klt_max_iter = 30;//30 const double klt_eps = 0.001; vector status; @@ -180,7 +176,7 @@ void computeHomography( double reprojection_threshold, vector& inliers, vector& xyz_in_cur, - SE3& T_cur_from_ref) + SE2_5& T_cur_from_ref) { vector uv_ref(f_ref.size()); vector uv_cur(f_cur.size()); @@ -196,7 +192,7 @@ void computeHomography( Homography.T_c2_from_c1.rotation_matrix(), Homography.T_c2_from_c1.translation(), reprojection_threshold, focal_length, xyz_in_cur, inliers, outliers); - T_cur_from_ref = Homography.T_c2_from_c1; + T_cur_from_ref=SE2_5(Homography.T_c2_from_c1); } diff --git a/GPU_version/svo/src/map.cpp b/GPU_version/vio/src/map.cpp similarity index 92% rename from GPU_version/svo/src/map.cpp rename to GPU_version/vio/src/map.cpp index 6b27b1c..877d617 100644 --- a/GPU_version/svo/src/map.cpp +++ b/GPU_version/vio/src/map.cpp @@ -59,7 +59,7 @@ bool Map::safeDeleteFrame(FramePtr frame) if(found) return true; - SVO_ERROR_STREAM("Tried to delete Keyframe in map which was not there."); + //SVO_ERROR_STREAM("Tried to delete Keyframe in map which was not there."); return false; } @@ -109,16 +109,17 @@ void Map::getCloseKeyframes( { for(auto kf : keyframes_) { + std::cout<<"key points:"<key_pts_.size())<<'\t'; // check if kf has overlaping field of view with frame, use therefore KeyPoints for(auto keypoint : kf->key_pts_) { if(keypoint == nullptr) - continue; + continue; if(frame->isVisible(keypoint->point->pos_)) { close_kfs.push_back( std::make_pair( - kf, (frame->T_f_w_.T->translation()-kf->T_f_w_.T->translation()).norm())); + kf, (frame->T_f_w_.getSE2().translation()-kf->T_f_w_.getSE2().translation()).norm())); break; // this keyframe has an overlapping field of view -> add to close_kfs } } @@ -145,7 +146,7 @@ FramePtr Map::getClosestKeyframe(const FramePtr& frame) const return close_kfs.front().first; } -FramePtr Map::getFurthestKeyframe(const Vector3d& pos) const +FramePtr Map::getFurthestKeyframe(const Vector2d& pos) const { FramePtr furthest_kf; double maxdist = 0.0; @@ -172,15 +173,16 @@ bool Map::getKeyframeById(const int id, FramePtr& frame) const return found; } -void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) +void Map::transform(const Matrix2d& R, const Vector2d& t, const double& s) { + Eigen::Matrix R3; + R3<pos() + t; - Matrix3d rot = R*(*it)->T_f_w_.T->rotation_matrix().inverse(); - SE3 inv=SE3(rot, pos).inverse(); - (*it)->T_f_w_ = SE2_5(inv.translation().x(),inv.translation().z(),asin(2*(inv.unit_quaternion().w()*inv.unit_quaternion().y()- - inv.unit_quaternion().z()*inv.unit_quaternion().x()))); + SE2_5 tem(SE2(R*(*it)->T_f_w_.inverse().rotation_matrix(),s*R*(*it)->pos() + t)); + (*it)->T_f_w_ = tem.inverse(); for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) { if((*ftr)->point == NULL) @@ -188,7 +190,7 @@ void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) if((*ftr)->point->last_published_ts_ == -1000) continue; (*ftr)->point->last_published_ts_ = -1000; - (*ftr)->point->pos_ = s*R*(*ftr)->point->pos_ + t; + (*ftr)->point->pos_ = s*R3*(*ftr)->point->pos_ + Vector3d(t(0),0.0,t(1)); } } } diff --git a/GPU_version/svo/src/matcher.cpp b/GPU_version/vio/src/matcher.cpp similarity index 95% rename from GPU_version/svo/src/matcher.cpp rename to GPU_version/vio/src/matcher.cpp index b8b9d2d..3e6d47b 100644 --- a/GPU_version/svo/src/matcher.cpp +++ b/GPU_version/vio/src/matcher.cpp @@ -146,8 +146,8 @@ bool Matcher::findMatchDirect( // warp affine warp::getWarpMatrixAffine( *ref_ftr_->frame->cam_, *cur_frame.cam_, ref_ftr_->px, ref_ftr_->f, - (ref_ftr_->frame->pos() - pt.pos_).norm(), - (*cur_frame.T_f_w_.T) * ref_ftr_->frame->T_f_w_.T->inverse(), ref_ftr_->level, A_cur_ref_); + (Vector3d(ref_ftr_->frame->pos()(0),0.0,ref_ftr_->frame->pos()(1)) - pt.pos_).norm(), + cur_frame.se3() * ref_ftr_->frame->getSE3Inv(), ref_ftr_->level, A_cur_ref_); search_level_ = warp::getBestSearchLevel(A_cur_ref_, Config::nPyrLevels()-1); warp::warpAffine(A_cur_ref_, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px, ref_ftr_->level, search_level_, halfpatch_size_+1, patch_with_border_); @@ -185,7 +185,12 @@ bool Matcher::findEpipolarMatchDirect( double& depth) { if(isnan(d_min) || isnan(d_max))return false; - SE3 T_cur_ref = (*cur_frame.T_f_w_.T) * ref_frame.T_f_w_.T->inverse(); + SE2 T(cur_frame.T_f_w_.getSE2() * ref_frame.T_f_w_.inverse()); + Eigen::Matrix R; + R< +#include #include -namespace vk { -namespace output_helper { void publishTfTransform(const Sophus::SE3& T, const ros::Time& stamp, @@ -404,7 +402,4 @@ void publishFrameMarker(ros::Publisher pub, pub.publish(marker); } -} // namespace output_helper -} // namespace vk - diff --git a/GPU_version/svo/src/point.cpp b/GPU_version/vio/src/point.cpp similarity index 84% rename from GPU_version/svo/src/point.cpp rename to GPU_version/vio/src/point.cpp index e7f1f21..aee4bd8 100644 --- a/GPU_version/svo/src/point.cpp +++ b/GPU_version/vio/src/point.cpp @@ -89,20 +89,21 @@ void Point::initNormal() assert(!obs_.empty()); const Feature* ftr = obs_.back(); assert(ftr->frame != NULL); - normal_ = ftr->frame->T_f_w_.T->rotation_matrix().transpose()*(-ftr->f); - normal_information_ = DiagonalMatrix(pow(20/(pos_-ftr->frame->pos()).norm(),2), 1.0, 1.0); + normal_ = ftr->frame->se3().rotation_matrix().transpose()*(-ftr->f); + double x=pow(20/(pos_-Vector3d(ftr->frame->pos()(0),0.0,ftr->frame->pos()(1))).norm(),2); + normal_information_ = DiagonalMatrix(x, 1.0, 1.0); normal_set_ = true; } -bool Point::getCloseViewObs(const Vector3d& framepos, Feature*& ftr) const +bool Point::getCloseViewObs(const Vector2d& framepos, Feature*& ftr) const { // TODO: get frame with same point of view AND same pyramid level! - Vector3d obs_dir(framepos - pos_); obs_dir.normalize(); + Vector3d obs_dir(Vector3d(framepos(0),0.0,framepos(1)) - pos_); obs_dir.normalize(); auto min_it=obs_.begin(); double min_cos_angle = 0; for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it) { - Vector3d dir((*it)->frame->pos() - pos_); dir.normalize(); + Vector3d dir(Vector3d((*it)->frame->pos()(0),0.0,(*it)->frame->pos()(1)) - pos_); dir.normalize(); double cos_angle = obs_dir.dot(dir); if(cos_angle > min_cos_angle) { @@ -133,10 +134,8 @@ void Point::optimize(const size_t n_iter) for(auto it=obs_.begin(); it!=obs_.end(); ++it) { Matrix23d J; - const Vector3d p_in_f(pos_.x()*(*it)->frame->T_f_w_.cos_theta_+pos_.z()*(*it)->frame->T_f_w_.sin_theta_+(*it)->frame->T_f_w_.X_, - pos_.y(), - -pos_.x()*(*it)->frame->T_f_w_.sin_theta_+pos_.z()*(*it)->frame->T_f_w_.cos_theta_+(*it)->frame->T_f_w_.Z_); - Point::jacobian_xyz2uv(p_in_f, (*it)->frame->T_f_w_.T->rotation_matrix(), J); + const Vector3d p_in_f((*it)->frame->se3()*pos_); + Point::jacobian_xyz2uv(p_in_f, (*it)->frame->se3().rotation_matrix(), J); const Vector2d e(vk::project2d((*it)->f) - vk::project2d(p_in_f)); new_chi2 += e.squaredNorm(); A.noalias() += J.transpose() * J; diff --git a/GPU_version/svo/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp similarity index 74% rename from GPU_version/svo/src/pose_optimizer.cpp rename to GPU_version/vio/src/pose_optimizer.cpp index 5dcbee3..79e4686 100644 --- a/GPU_version/svo/src/pose_optimizer.cpp +++ b/GPU_version/vio/src/pose_optimizer.cpp @@ -21,6 +21,7 @@ #include #include #include +#include namespace svo { namespace pose_optimizer { @@ -39,9 +40,9 @@ void optimizeGaussNewton( double chi2(0.0); vector chi2_vec_init, chi2_vec_final; vk::robust_cost::TukeyWeightFunction weight_function; - SE2_5 T_old(frame->T_f_w_.X_,frame->T_f_w_.Z_,frame->T_f_w_.tetha_); - Matrix6d A; - Vector6d b; + SE2_5 T_old(frame->T_f_w_); + Matrix3d A; + Vector3d b; // compute the scale of the error for robust estimation std::vector errors; errors.reserve(frame->fts_.size()); @@ -51,9 +52,7 @@ void optimizeGaussNewton( continue; //Reprojection error Vector2d e = vk::project2d((*it)->f) - - vk::project2d(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, - (*it)->point->pos_.y(), - -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); + - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); e *= 1.0 / (1<<(*it)->level); errors.push_back(e.norm()); @@ -61,12 +60,14 @@ void optimizeGaussNewton( if(errors.empty()) return; vk::robust_cost::MADScaleEstimator scale_estimator; - estimated_scale = scale_estimator.compute(errors); + estimated_scale = 0.5*scale_estimator.compute(errors); num_obs = errors.size(); chi2_vec_init.reserve(num_obs); chi2_vec_final.reserve(num_obs); double scale = estimated_scale; + bool direction=true; + size_t n_direction=0; for(size_t iter=0; iterpoint == NULL) continue; - Matrix26d J; - Vector3d xyz_f(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, - (*it)->point->pos_.y(), - -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); + Matrix23d J; + Vector3d xyz_f(Vector3d(frame->se3()*(*it)->point->pos_)); Frame::jacobian_xyz2uv(xyz_f, J); Vector2d e = vk::project2d((*it)->f) - vk::project2d(xyz_f); double sqrt_inv_cov = 1.0 / (1<<(*it)->level); @@ -99,22 +98,33 @@ void optimizeGaussNewton( new_chi2 += e.squaredNorm()*weight; } // solve linear system - const Vector6d dT(A.ldlt().solve(b)); + const Vector3d dT(A.ldlt().solve(b)); // check if error increased - if((iter > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dT[0])) + if((iter > 0 && new_chi2 > chi2 && n_direction>3) || (bool) std::isnan((double)dT[0])) { if(verbose) std::cout << "it " << iter << "\t FAILURE \t new_chi2 = " << new_chi2 << std::endl; frame->T_f_w_ = T_old; // roll-back break; + }else if((iter > 0 && new_chi2 > chi2 && n_direction<3) ){ + ++n_direction; + scale *=0.5; + if(direction){ + direction=false; + }else{ + direction=true; + } } // update the model - SE3 T_new = SE3::exp(dT)*(*frame->T_f_w_.T); T_old = frame->T_f_w_; - frame->T_f_w_ = SE2_5(T_new.translation().x(),T_new.translation().z(),atan(T_new.rotation_matrix()(0,2)/T_new.rotation_matrix()(0,0))); + if(direction){ + frame->T_f_w_=SE2_5(SE2::exp(dT)*(T_old.getSE2())); + }else{ + frame->T_f_w_=SE2_5(SE2::exp(-1.0*dT)*(T_old.getSE2())); + } chi2 = new_chi2; if(verbose) std::cout << "it " << iter @@ -127,8 +137,8 @@ void optimizeGaussNewton( } // Set covariance as inverse information matrix. Optimistic estimator! - const double pixel_variance=1.0; - frame->Cov_ = pixel_variance*(A*std::pow(frame->cam_->errorMultiplier2(),2)).inverse(); + //const double pixel_variance=1.0; + //frame->Cov_ = pixel_variance*(A*std::pow(frame->cam_->errorMultiplier2(),2)).inverse(); // Remove Measurements with too large reprojection error double reproj_thresh_scaled = reproj_thresh / frame->cam_->errorMultiplier2(); @@ -137,9 +147,7 @@ void optimizeGaussNewton( { if((*it)->point == NULL) continue; - Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, - (*it)->point->pos_.y(), - -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); + Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); double sqrt_inv_cov = 1.0 / (1<<(*it)->level); e *= sqrt_inv_cov; chi2_vec_final.push_back(e.squaredNorm()); @@ -150,7 +158,6 @@ void optimizeGaussNewton( ++n_deleted_refs; } } - error_init=0.0; error_final=0.0; if(!chi2_vec_init.empty()) diff --git a/GPU_version/svo/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp similarity index 98% rename from GPU_version/svo/src/reprojector.cpp rename to GPU_version/vio/src/reprojector.cpp index b7f9022..7a598b6 100644 --- a/GPU_version/svo/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -72,7 +72,7 @@ void Reprojector::reprojectMap( list< pair > close_kfs; map_.getCloseKeyframes(frame, close_kfs); - //std::cout<<"The number of closed frames: "<::second, _1) < boost::bind(&std::pair::second, _2)); @@ -128,7 +128,6 @@ void Reprojector::reprojectMap( } } // unlock the mutex when out of scope //SVO_STOP_TIMER("reproject_candidates"); - // Now we go through each grid cell and select one point to match. // At the end, we should have at maximum one reprojected point per cell. //SVO_START_TIMER("feature_align"); diff --git a/GPU_version/svo/src/robust_cost.cpp b/GPU_version/vio/src/robust_cost.cpp similarity index 100% rename from GPU_version/svo/src/robust_cost.cpp rename to GPU_version/vio/src/robust_cost.cpp diff --git a/GPU_version/svo/src/sparse_img_align.cpp b/GPU_version/vio/src/sparse_img_align.cpp similarity index 88% rename from GPU_version/svo/src/sparse_img_align.cpp rename to GPU_version/vio/src/sparse_img_align.cpp index fbd10d6..533c776 100644 --- a/GPU_version/svo/src/sparse_img_align.cpp +++ b/GPU_version/vio/src/sparse_img_align.cpp @@ -37,7 +37,7 @@ SparseImgAlign::SparseImgAlign( n_iter_init_ = n_iter_; method_ = method; verbose_ = verbose; - eps_ = 0.000001; + eps_ = 0.0001; } size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame) @@ -54,28 +54,27 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame) cur_frame_ = cur_frame; ref_patch_cache_ = cv::Mat(ref_frame_->fts_.size(), patch_area_, CV_32F); jacobian_cache_.resize(Eigen::NoChange, ref_patch_cache_.rows*patch_area_); - visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? - SE3 T_cur_from_ref(*cur_frame_->T_f_w_.T * ref_frame_->T_f_w_.T->inverse()); + //visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? + SE2 T_cur_from_ref(cur_frame_->T_f_w_.getSE2() * ref_frame_->T_f_w_.inverse()); for(level_=max_level_; level_>=min_level_; --level_) { - //visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? - mu_ = 0.1; + visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? + mu_ = 1.0; jacobian_cache_.setZero(); have_ref_patch_cache_ = false; if(verbose_) printf("\nPYRAMID LEVEL %i\n---------------\n", level_); optimize(T_cur_from_ref); } - SE3 tem=T_cur_from_ref * (*ref_frame_->T_f_w_.T); - cur_frame_->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); + cur_frame_->T_f_w_ = SE2_5(T_cur_from_ref * ref_frame_->T_f_w_.getSE2()); return n_meas_/patch_area_; } -Matrix SparseImgAlign::getFisherInformation() +Matrix SparseImgAlign::getFisherInformation() { double sigma_i_sq = 5e-4*255*255; // image noise - Matrix I = H_/sigma_i_sq; + Matrix I = H_/sigma_i_sq; return I; } @@ -85,7 +84,7 @@ void SparseImgAlign::precomputeReferencePatches() const cv::Mat& ref_img = ref_frame_->img_pyr_.at(level_); const int stride = ref_img.cols; const float scale = 1.0f/(1<pos(); + const Vector3d ref_pos(ref_frame_->pos()(0),1e-19,ref_frame_->pos()(1)); const double focal_length = ref_frame_->cam_->errorMultiplier2(); size_t feature_counter = 0; std::vector::iterator visiblity_it = visible_fts_.begin(); @@ -106,9 +105,8 @@ void SparseImgAlign::precomputeReferencePatches() const Vector3d xyz_ref((*it)->f*depth); // evaluate projection jacobian - Matrix frame_jac; + Matrix frame_jac; Frame::jacobian_xyz2uv(xyz_ref, frame_jac); - // compute bilateral interpolation weights for reference image const float subpix_u_ref = u_ref-u_ref_i; const float subpix_v_ref = v_ref-v_ref_i; @@ -143,7 +141,7 @@ void SparseImgAlign::precomputeReferencePatches() } double SparseImgAlign::computeResiduals( - const SE3& T_cur_from_ref, + const SE2& T_cur_from_ref, bool linearize_system, bool compute_weight_scale) { @@ -163,7 +161,7 @@ double SparseImgAlign::computeResiduals( const int stride = cur_img.cols; const int border = patch_halfsize_+1; const float scale = 1.0f/(1<pos()); + const Vector3d ref_pos(ref_frame_->pos()(0),1e-19,ref_frame_->pos()(1)); float chi2 = 0.0; size_t feature_counter = 0; // is used to compute the index of the cached jacobian std::vector::iterator visiblity_it = visible_fts_.begin(); @@ -177,7 +175,9 @@ double SparseImgAlign::computeResiduals( // compute pixel location in cur img const double depth = ((*it)->point->pos_ - ref_pos).norm(); const Vector3d xyz_ref((*it)->f*depth); - const Vector3d xyz_cur(T_cur_from_ref * xyz_ref); + const Vector3d xyz_cur((T_cur_from_ref.rotation_matrix()(0,0)*xyz_ref.x())+(T_cur_from_ref.rotation_matrix()(0,1)*xyz_ref.z())+T_cur_from_ref.translation()(0), + xyz_ref.y(), + -1.0*(T_cur_from_ref.rotation_matrix()(1,0)*xyz_ref.x())+(T_cur_from_ref.rotation_matrix()(1,1)*xyz_ref.z())+T_cur_from_ref.translation()(1)); const Vector2f uv_cur_pyr(cur_frame_->cam_->world2cam(xyz_cur).cast() * scale); const float u_cur = uv_cur_pyr[0]; const float v_cur = uv_cur_pyr[1]; @@ -212,7 +212,7 @@ double SparseImgAlign::computeResiduals( errors.push_back(fabsf(res)); // robustification - float weight = 1.0; + float weight = 2.0; if(use_weights_) { weight = weight_function_->value(res/scale_); } @@ -223,7 +223,7 @@ double SparseImgAlign::computeResiduals( if(linearize_system) { // compute Jacobian, weighted Hessian and weighted "steepest descend images" (times error) - const Vector6d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter)); + const Vector3d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter)); H_.noalias() += J*J.transpose()*weight; Jres_.noalias() -= J*res*weight; if(display_) @@ -232,7 +232,6 @@ double SparseImgAlign::computeResiduals( } } } - // compute the weights on the first iteration if(compute_weight_scale && iter_ == 0) scale_ = scale_estimator_->compute(errors); @@ -252,7 +251,7 @@ void SparseImgAlign::update( const ModelType& T_curold_from_ref, ModelType& T_curnew_from_ref) { - T_curnew_from_ref = T_curold_from_ref * SE3::exp(-x_); + T_curnew_from_ref = T_curold_from_ref * SE2::exp(-1.0*x_); } void SparseImgAlign::startIteration() diff --git a/GPU_version/svo/src/vision.cpp b/GPU_version/vio/src/vision.cpp similarity index 99% rename from GPU_version/svo/src/vision.cpp rename to GPU_version/vio/src/vision.cpp index b6d5f58..e1be729 100644 --- a/GPU_version/svo/src/vision.cpp +++ b/GPU_version/vio/src/vision.cpp @@ -5,7 +5,7 @@ * Author: cforster */ -#include +#include #if __SSE2__ # include diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index b7f860f..43bc4b1 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -14,16 +14,15 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include +#include #include #include #include #include -#include #include #include #include -#include +#include #include namespace svo { @@ -53,31 +52,27 @@ void Visualizer::publishMinimal( header_msg.stamp = ros::Time(timestamp); if(pub_pose_with_cov_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { - Matrix Cov; // publish cam in world frame (Estimated odometry in the worls frame) - SE3 T_world_from_cam(frame->T_f_w_.T->inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera - double yaw=asin(2*(frame->T_f_w_.T->unit_quaternion().w()*frame->T_f_w_.T->unit_quaternion().y()- - frame->T_f_w_.T->unit_quaternion().z()*frame->T_f_w_.T->unit_quaternion().x())); - Quaterniond q; - q = AngleAxisd(0.0, Vector3d::UnitX()) - * AngleAxisd(0.0, Vector3d::UnitY()) - * AngleAxisd(yaw-1.5708, Vector3d::UnitZ()); - Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); + Quaterniond q(AngleAxisd(frame->T_f_w_.pitch(), Vector3d::UnitY())); geometry_msgs::PoseWithCovarianceStampedPtr msg_pose_with_cov(new geometry_msgs::PoseWithCovarianceStamped); msg_pose_with_cov->header = header_msg; - msg_pose_with_cov->pose.pose.position.x = -1.0*T_world_from_cam.translation().x(); - msg_pose_with_cov->pose.pose.position.y = -1.0*T_world_from_cam.translation().z(); + msg_pose_with_cov->pose.pose.position.x = frame->se3().translation().x(); + msg_pose_with_cov->pose.pose.position.y = frame->se3().translation().z(); msg_pose_with_cov->pose.pose.position.z = 0.0; - msg_pose_with_cov->pose.pose.orientation.x = q.x()/q.norm(); - msg_pose_with_cov->pose.pose.orientation.y = q.y()/q.norm(); - msg_pose_with_cov->pose.pose.orientation.z = q.z()/q.norm(); - msg_pose_with_cov->pose.pose.orientation.w = q.w()/q.norm(); - for(size_t i=0; i<36; ++i) - msg_pose_with_cov->pose.covariance[i] = Cov(i%6, i/6); + msg_pose_with_cov->pose.pose.orientation.x = q.x(); + msg_pose_with_cov->pose.pose.orientation.y = q.y(); + msg_pose_with_cov->pose.pose.orientation.z = q.z(); + msg_pose_with_cov->pose.pose.orientation.w = q.w(); + msg_pose_with_cov->pose.covariance = {frame->Cov_(0,0),frame->Cov_(0,1),0.0,0.0,frame->Cov_(0,2),0.0, + frame->Cov_(1,0),frame->Cov_(1,1),0.0,0.0,frame->Cov_(1,2),0.0, + 0.0,0.0,0.0000001,0.0,0.0,0.0, + 0.0,0.0,0.0,0.0000001,0.0,0.0, + frame->Cov_(2,0),frame->Cov_(2,1),0.0,0.0,frame->Cov_(2,2),0.0, + 0.0,0.0,0.0,0.0,0.0,0.0000001}; pub_pose_with_cov_.publish(msg_pose_with_cov); if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0){ - vk::output_helper::publishPointMarker( - pub_points_, Eigen::Vector3d(-1.0*T_world_from_cam.translation().x(),-1.0*T_world_from_cam.translation().z(),0.0), "trajectory", + publishPointMarker( + pub_points_, Eigen::Vector3d(frame->se3().translation().x(),frame->se3().translation().z(),0.0), "trajectory", ros::Time::now(), trace_id_, 0, 0.01, Vector3d(0.,0.,0.5)); } } @@ -92,14 +87,14 @@ void Visualizer::visualizeMarkers( if(frame == NULL) return; - vk::output_helper::publishTfTransform( - *frame->T_f_w_.T*T_world_from_vision_.inverse(), + publishTfTransform( + frame->se3()*T_world_from_vision_.inverse(), ros::Time(frame->timestamp_), "cam_pos", "world", br_); if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) { - vk::output_helper::publishPointMarker( - pub_points_, T_world_from_vision_*frame->pos(), "trajectory", + publishPointMarker( + pub_points_, T_world_from_vision_*Vector3d(frame->pos()(0),0.0,frame->pos()(1)), "trajectory", ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); removeDeletedPts(map); } @@ -110,7 +105,7 @@ void Visualizer::removeDeletedPts(const Map& map) if(pub_points_.getNumSubscribers() > 0) { for(list::const_iterator it=map.trash_points_.begin(); it!=map.trash_points_.end(); ++it) - vk::output_helper::publishPointMarker(pub_points_, Vector3d(), "pts", ros::Time::now(), (*it)->id_, 2, 0.006, Vector3d()); + publishPointMarker(pub_points_, Vector3d(), "pts", ros::Time::now(), (*it)->id_, 2, 0.006, Vector3d()); } } diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index 0087b0c..20e874d 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -13,10 +13,12 @@ // // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include +#define VIO_DEBUG false +#include #include +#include #include -#include +#include #include #include #include @@ -25,13 +27,9 @@ #include #include #include -#include +#include #include - -namespace svo { - -/// SVO Interface class VoNode { public: @@ -39,16 +37,22 @@ public: svo::Visualizer visualizer_; bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) vk::AbstractCamera* cam_; - FILE* logtime; bool quit_; boost::thread* imu_th; VoNode(); ~VoNode(); void imgCb(const sensor_msgs::ImageConstPtr& msg); void imuCb(const sensor_msgs::ImuPtr& imu); - void imu(); + void cmdCb(const geometry_msgs::TwistPtr &imu); + void imu(); private: double* imu_; +#if VIO_DEBUG + FILE* log_= nullptr; + double imu_t_[6]={0.0,0.0,0.0,0.0,0.0,0.0}; +#endif + double* cmd_; + ros::Time imu_time_; }; VoNode::VoNode() : @@ -58,32 +62,42 @@ VoNode::VoNode() : quit_(false) { // Create Camera - imu_=(double *)calloc(static_cast(6), sizeof(double)); + imu_=(double *)calloc(static_cast(3), sizeof(double)); + cmd_=(double *)calloc(static_cast(3), sizeof(double)); if(!vk::camera_loader::loadFromRosNs("vio", cam_)) throw std::runtime_error("Camera model not correctly specified."); // Get initial position and orientation visualizer_.T_world_from_vision_ = Sophus::SE3( - vk::rpy2dcm(Vector3d(vk::getParam("vio/init_rx", 0.0), + vk::rpy2dcm(Eigen::Vector3d(vk::getParam("vio/init_rx", 0.0), vk::getParam("vio/init_ry", 0.0), vk::getParam("vio/init_rz", 0.0))), Eigen::Vector3d(vk::getParam("vio/init_tx", 0.0), vk::getParam("vio/init_ty", 0.0), vk::getParam("vio/init_tz", 0.0))); - // Init VO and start - vo_ = new svo::FrameHandlerMono(cam_,visualizer_.T_world_from_vision_); - vo_->start(); + Eigen::Matrix init; + init<<1e-5,1e-5,1e-5,1e-5,1e-5,1e-5; + vo_ = new svo::FrameHandlerMono(cam_,init); + usleep(500); + +#if VIO_DEBUG +log_ = fopen((std::string(getenv("HOME"))+"/imu_integration.txt").c_str(), "w+"); +#endif + vo_->start(); imu_th=new boost::thread(&VoNode::imu,this); - logtime = fopen((std::string(getenv("HOME"))+"/time.txt").c_str(), "w+"); } VoNode::~VoNode() { quit_=true; - fclose(logtime); + + +#if VIO_DEBUG + fclose(log_); + delete log_; +#endif imu_th->join(); delete imu_th; - delete logtime; delete vo_; delete cam_; } @@ -93,32 +107,70 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) try { auto start=std::chrono::steady_clock::now(); cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image; - vo_->addImage(img, msg->header.stamp.toSec()); + vo_->addImage(img, msg->header.stamp.toSec(),msg->header.stamp); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); - if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) + if(vo_->stage() == svo::FrameHandlerMono::STAGE_PAUSED) usleep(100000); - fprintf(logtime, "%s\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str()); +#if VIO_DEBUG + fprintf(log_, ",,,,,,,%s,%f,%f,%f\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str(),vo_->lastFrame()->T_f_w_.translation()(0), + vo_->lastFrame()->T_f_w_.translation()(1), + acos(vo_->lastFrame()->T_f_w_.getSE2().rotation_matrix()(0,0))); +#endif } catch (cv_bridge::Exception& e) { ROS_ERROR("cv_bridge exception: %s", e.what()); } } void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { - double imu_in[6]; - imu_in[0] = 0.4*imu_[0]+0.6*imu->linear_acceleration.x; - imu_in[1] = 0.4*imu_[1]+0.6*imu->linear_acceleration.y; - imu_in[2] = 0.4*imu_[2]+0.6*imu->linear_acceleration.z; - imu_in[3] = 0.4*imu_[3]+0.6*imu->angular_velocity.x; - imu_in[4] = 0.4*imu_[4]+0.6*imu->angular_velocity.y; - imu_in[5] = 0.4*imu_[5]+0.6*imu->angular_velocity.z; - memcpy(imu_, imu_in, static_cast(6*sizeof(double))); - vo_->imu_integPtr_->update(imu_in); + double imu_in[3]; + if(abs(imu->linear_acceleration.x)>5.0){ + return; + }else{ + imu_in[0]=imu->linear_acceleration.x; + }; + if(abs(imu->linear_acceleration.y)>5.0){ + return; + }else{ + imu_in[1]=imu->linear_acceleration.y; + }; + imu_in[0] = 0.5*imu_[0]+0.5*imu->linear_acceleration.x; + imu_in[1] = 0.5*imu_[1]+0.5*imu->linear_acceleration.y; + imu_in[2] = 0.5*imu_[2]+0.5*imu->angular_velocity.z; + memcpy(imu_, imu_in, static_cast(3*sizeof(double))); +#if VIO_DEBUG + if(imu_t_[5]!=0.0){ + double dt=1e-9*(imu->header.stamp.toNSec()-imu_t_[5]); + imu_t_[0]+=imu_in[0]*dt; + imu_t_[1]+=imu_t_[0]*dt; + imu_t_[2]+=imu_in[1]*dt; + imu_t_[3]+=imu_t_[2]*dt; + imu_t_[4]+=imu_in[2]*dt; + imu_t_[5]=imu->header.stamp.toNSec(); + fprintf(log_, "%f,%f,%f,%f\n",imu_t_[1],imu_t_[3],imu_t_[4],dt); + }else{ + imu_t_[0]=imu_in[0]; + imu_t_[1]=0.0; + imu_t_[2]=imu_in[1]; + imu_t_[3]=0.0; + imu_t_[4]=imu_in[2]; + imu_t_[5]=imu->header.stamp.toNSec(); + } +#endif + vo_->UpdateIMU(imu_in,imu->header.stamp); +} +void VoNode::cmdCb(const geometry_msgs::TwistPtr &cmd) { + double _cmd[3]={cmd->linear.x,cmd->linear.y,cmd->angular.z}; + memcpy(cmd_, _cmd, static_cast(3*sizeof(double))); +#if VIO_DEBUG + fprintf(log_, ",,,,%f,%f,%f\n",_cmd[0],_cmd[1],_cmd[2]); +#endif + vo_->UpdateCmd(_cmd,imu_time_); } void VoNode::imu(){ ros::NodeHandle nh; // subscribe to cam msgs image_transport::ImageTransport it(nh); - image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &svo::VoNode::imgCb, this); + image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &VoNode::imgCb, this); // start processing callbacks while(ros::ok() && !quit_) { @@ -126,20 +178,19 @@ void VoNode::imu(){ } } -} // namespace svo int main(int argc, char **argv) { ros::init(argc, argv, "vio"); - svo::VoNode vo_node; + VoNode vo_node; ros::NodeHandle nh; - ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),1,&svo::VoNode::imuCb, &vo_node); + ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),10,&VoNode::imuCb, &vo_node); + ros::Subscriber cmd_sub=nh.subscribe(vk::getParam("vio/cmd_topic", "cmd/raw"),10,&VoNode::cmdCb, &vo_node); // start processing callbacks while(ros::ok() && !vo_node.quit_) { ros::spinOnce(); usleep(1000); - // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! } printf("SVO terminated.\n"); return 0; diff --git a/GPU_version/svo/test/README.md b/GPU_version/vio/test/README.md similarity index 100% rename from GPU_version/svo/test/README.md rename to GPU_version/vio/test/README.md diff --git a/GPU_version/svo/test/benchmark.csv b/GPU_version/vio/test/benchmark.csv similarity index 100% rename from GPU_version/svo/test/benchmark.csv rename to GPU_version/vio/test/benchmark.csv diff --git a/GPU_version/svo/test/data/.gitignore b/GPU_version/vio/test/data/.gitignore similarity index 100% rename from GPU_version/svo/test/data/.gitignore rename to GPU_version/vio/test/data/.gitignore diff --git a/GPU_version/svo/test/results/.gitignore b/GPU_version/vio/test/results/.gitignore similarity index 100% rename from GPU_version/svo/test/results/.gitignore rename to GPU_version/vio/test/results/.gitignore diff --git a/GPU_version/svo/test/test_depth_filter.cpp b/GPU_version/vio/test/test_depth_filter.cpp similarity index 100% rename from GPU_version/svo/test/test_depth_filter.cpp rename to GPU_version/vio/test/test_depth_filter.cpp diff --git a/GPU_version/svo/test/test_feature_alignment.cpp b/GPU_version/vio/test/test_feature_alignment.cpp similarity index 100% rename from GPU_version/svo/test/test_feature_alignment.cpp rename to GPU_version/vio/test/test_feature_alignment.cpp diff --git a/GPU_version/svo/test/test_feature_detection.cpp b/GPU_version/vio/test/test_feature_detection.cpp similarity index 100% rename from GPU_version/svo/test/test_feature_detection.cpp rename to GPU_version/vio/test/test_feature_detection.cpp diff --git a/GPU_version/svo/test/test_matcher.cpp b/GPU_version/vio/test/test_matcher.cpp similarity index 100% rename from GPU_version/svo/test/test_matcher.cpp rename to GPU_version/vio/test/test_matcher.cpp diff --git a/GPU_version/svo/test/test_pipeline.cpp b/GPU_version/vio/test/test_pipeline.cpp similarity index 100% rename from GPU_version/svo/test/test_pipeline.cpp rename to GPU_version/vio/test/test_pipeline.cpp diff --git a/GPU_version/svo/test/test_pose_optimizer.cpp b/GPU_version/vio/test/test_pose_optimizer.cpp similarity index 100% rename from GPU_version/svo/test/test_pose_optimizer.cpp rename to GPU_version/vio/test/test_pose_optimizer.cpp diff --git a/GPU_version/svo/test/test_sparse_img_align.cpp b/GPU_version/vio/test/test_sparse_img_align.cpp similarity index 100% rename from GPU_version/svo/test/test_sparse_img_align.cpp rename to GPU_version/vio/test/test_sparse_img_align.cpp diff --git a/GPU_version/svo/test/test_utils.h b/GPU_version/vio/test/test_utils.h similarity index 100% rename from GPU_version/svo/test/test_utils.h rename to GPU_version/vio/test/test_utils.h