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Update to OpenCV4 and fix some build errors #790

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Update to OpenCV4 and fix some build errors #790

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3f208be
Add #include <unistd.h> where needed
Windfisch Jul 17, 2019
2033f0e
Fix compilation error: const-ness error when using Eigen
Windfisch Jul 17, 2019
379c763
Update to OpenCV 4
Windfisch Jul 17, 2019
fa0c07e
add IWYU pragmas.
Windfisch Jul 23, 2019
98cecf9
iwyu helper tools
Windfisch Jul 23, 2019
67b9606
iwyu tooling complete
Windfisch Jul 23, 2019
8d21f54
Run include-what-you-use on the code
Windfisch Jul 23, 2019
9e272a8
Cleanup: replace 4-tuple-of-lists by list-of-4-tuples
Windfisch Nov 6, 2019
c7fc197
oops, fix bug introduced by last commit
Windfisch Nov 6, 2019
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -28,7 +28,7 @@ endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.0 QUIET)
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
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2 changes: 2 additions & 0 deletions Examples/Monocular/mono_euroc.cc
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Expand Up @@ -23,8 +23,10 @@
#include<algorithm>
#include<fstream>
#include<chrono>
#include<unistd.h>

#include<opencv2/core/core.hpp>
#include<opencv2/imgcodecs/legacy/constants_c.h>

#include<System.h>

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2 changes: 2 additions & 0 deletions Examples/Monocular/mono_kitti.cc
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Expand Up @@ -24,8 +24,10 @@
#include<fstream>
#include<chrono>
#include<iomanip>
#include<unistd.h>

#include<opencv2/core/core.hpp>
#include<opencv2/imgcodecs/legacy/constants_c.h>

#include"System.h"

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2 changes: 2 additions & 0 deletions Examples/Monocular/mono_tum.cc
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Expand Up @@ -23,8 +23,10 @@
#include<algorithm>
#include<fstream>
#include<chrono>
#include<unistd.h>

#include<opencv2/core/core.hpp>
#include<opencv2/imgcodecs/legacy/constants_c.h>

#include<System.h>

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2 changes: 2 additions & 0 deletions Examples/RGB-D/rgbd_tum.cc
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Expand Up @@ -23,8 +23,10 @@
#include<algorithm>
#include<fstream>
#include<chrono>
#include <unistd.h>

#include<opencv2/core/core.hpp>
#include<opencv2/imgcodecs/legacy/constants_c.h>

#include<System.h>

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2 changes: 1 addition & 1 deletion Examples/ROS/ORB_SLAM2/CMakeLists.txt
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Expand Up @@ -30,7 +30,7 @@ endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)

find_package(OpenCV 3.0 QUIET)
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
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2 changes: 2 additions & 0 deletions Examples/Stereo/stereo_euroc.cc
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Expand Up @@ -24,8 +24,10 @@
#include<fstream>
#include<iomanip>
#include<chrono>
#include<unistd.h>

#include<opencv2/core/core.hpp>
#include<opencv2/imgcodecs/legacy/constants_c.h>

#include<System.h>

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2 changes: 2 additions & 0 deletions Examples/Stereo/stereo_kitti.cc
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Expand Up @@ -24,8 +24,10 @@
#include<fstream>
#include<iomanip>
#include<chrono>
#include<unistd.h>

#include<opencv2/core/core.hpp>
#include<opencv2/imgcodecs/legacy/constants_c.h>

#include<System.h>

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2 changes: 1 addition & 1 deletion Thirdparty/DBoW2/CMakeLists.txt
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Expand Up @@ -24,7 +24,7 @@ set(SRCS_DUTILS
DUtils/Random.cpp
DUtils/Timestamp.cpp)

find_package(OpenCV 3.0 QUIET)
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
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16 changes: 16 additions & 0 deletions gen_imp.sh
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@@ -0,0 +1,16 @@
dir="`pwd`"

echo '['

pushd /usr/include/eigen3/Eigen &> /dev/null
for i in *; do echo " { include: ['@<Eigen/src/$i/.*>', 'private', '<Eigen/$i>', 'public'] },"; done | sed s/\'/\"/g
popd &>/dev/null

echo

pushd /usr/include/opencv4/opencv2 &>/dev/null
for i in *.hpp; do echo " { include: ['@<opencv2/${i%.hpp}/.*.hpp>', 'private', '<opencv2/$i>', 'public'] },"; done | sed s/\'/\"/g
popd &> /dev/null

echo ' { include: ["<this is a dummy that does not exist>", "private", "<blah>", "public"] }'
echo ']'
6 changes: 5 additions & 1 deletion include/Frame.h
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Expand Up @@ -23,14 +23,18 @@

#include<vector>

#include <opencv2/opencv.hpp>
#include <opencv2/core.hpp>
#include <cstddef>

#include "MapPoint.h"
#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"
#include "ORBVocabulary.h"
#include "KeyFrame.h"
#include "ORBextractor.h"

#include <opencv2/opencv.hpp>
namespace ORB_SLAM2 { class ORBextractor; }

namespace ORB_SLAM2
{
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9 changes: 7 additions & 2 deletions include/KeyFrame.h
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Expand Up @@ -21,6 +21,13 @@
#ifndef KEYFRAME_H
#define KEYFRAME_H

#include <stddef.h>
#include <opencv2/core.hpp>
#include <mutex>
#include <map>
#include <set>
#include <vector>

#include "MapPoint.h"
#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"
Expand All @@ -29,8 +36,6 @@
#include "Frame.h"
#include "KeyFrameDatabase.h"

#include <mutex>


namespace ORB_SLAM2
{
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8 changes: 6 additions & 2 deletions include/LocalMapping.h
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Expand Up @@ -21,21 +21,25 @@
#ifndef LOCALMAPPING_H
#define LOCALMAPPING_H

#include <opencv2/core.hpp>
#include <mutex>
#include <list>

#include "KeyFrame.h"
#include "Map.h"
#include "LoopClosing.h"
#include "Tracking.h"
#include "KeyFrameDatabase.h"

#include <mutex>


namespace ORB_SLAM2
{

class Tracking;
class LoopClosing;
class Map;
class KeyFrame;
class MapPoint;

class LocalMapping
{
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21 changes: 16 additions & 5 deletions include/LoopClosing.h
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Expand Up @@ -21,24 +21,35 @@
#ifndef LOOPCLOSING_H
#define LOOPCLOSING_H

#include <opencv2/core.hpp>
#include <thread>
#include <mutex>
#include <Eigen/Core>
#include <functional>
#include <list>
#include <map>
#include <set>
#include <utility>
#include <vector>

#include "KeyFrame.h"
#include "LocalMapping.h"
#include "Map.h"
#include "ORBVocabulary.h"
#include "Tracking.h"

#include "KeyFrameDatabase.h"

#include <thread>
#include <mutex>
#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
#include "Thirdparty/g2o/g2o/types/sim3.h"

namespace ORB_SLAM2
{

class Tracking;
class LocalMapping;
class KeyFrameDatabase;
class KeyFrame;
class Map;
class MapPoint;


class LoopClosing
Expand All @@ -47,7 +58,7 @@ class LoopClosing

typedef pair<set<KeyFrame*>,int> ConsistentGroup;
typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;

public:

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7 changes: 4 additions & 3 deletions include/Map.h
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Expand Up @@ -21,11 +21,12 @@
#ifndef MAP_H
#define MAP_H

#include "MapPoint.h"
#include "KeyFrame.h"
#include <set>

#include <mutex>
#include <vector>

#include "MapPoint.h"
#include "KeyFrame.h"



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2 changes: 1 addition & 1 deletion include/ORBextractor.h
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Expand Up @@ -23,7 +23,7 @@

#include <vector>
#include <list>
#include <opencv/cv.h>
#include <opencv2/core.hpp>


namespace ORB_SLAM2
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12 changes: 11 additions & 1 deletion include/Optimizer.h
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Expand Up @@ -21,18 +21,28 @@
#ifndef OPTIMIZER_H
#define OPTIMIZER_H

#include <stddef.h>
#include <map>
#include <set>
#include <vector>

#include "Map.h"
#include "MapPoint.h"
#include "KeyFrame.h"
#include "LoopClosing.h"
#include "Frame.h"

#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"

namespace g2o { struct Sim3; }

namespace ORB_SLAM2
{

class LoopClosing;
class Frame;
class KeyFrame;
class Map;
class MapPoint;

class Optimizer
{
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7 changes: 7 additions & 0 deletions include/PnPsolver.h
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Expand Up @@ -52,11 +52,18 @@
#define PNPSOLVER_H

#include <opencv2/core/core.hpp>
#include <opencv2/core/core_c.h>
#include <stddef.h>
#include <opencv2/core.hpp>
#include <vector>

#include "MapPoint.h"
#include "Frame.h"

namespace ORB_SLAM2
{
class Frame;
class MapPoint;

class PnPsolver {
public:
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4 changes: 4 additions & 0 deletions include/Sim3Solver.h
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Expand Up @@ -23,6 +23,8 @@
#define SIM3SOLVER_H

#include <opencv2/opencv.hpp>
#include <stddef.h>
#include <opencv2/core.hpp>
#include <vector>

#include "KeyFrame.h"
Expand All @@ -31,6 +33,8 @@

namespace ORB_SLAM2
{
class KeyFrame;
class MapPoint;

class Sim3Solver
{
Expand Down
13 changes: 9 additions & 4 deletions include/Tracking.h
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Expand Up @@ -23,6 +23,7 @@
#define TRACKING_H

#include<opencv2/core/core.hpp>
#include<opencv2/imgproc/imgproc_c.h>
#include<opencv2/features2d/features2d.hpp>

#include"Viewer.h"
Expand Down Expand Up @@ -105,10 +106,14 @@ class Tracking

// Lists used to recover the full camera trajectory at the end of the execution.
// Basically we store the reference keyframe for each frame and its relative transformation
list<cv::Mat> mlRelativeFramePoses;
list<KeyFrame*> mlpReferences;
list<double> mlFrameTimes;
list<bool> mlbLost;
struct TrackedFrame
{
cv::Mat relative_frame_pose;
KeyFrame* reference_keyframe;
double time;
bool lost;
};
list<TrackedFrame> tracked_frames;

// True if local mapping is deactivated and we are performing only localization
bool mbOnlyTracking;
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5 changes: 3 additions & 2 deletions include/Viewer.h
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Expand Up @@ -22,13 +22,14 @@
#ifndef VIEWER_H
#define VIEWER_H

#include <mutex>
#include <string>

#include "FrameDrawer.h"
#include "MapDrawer.h"
#include "Tracking.h"
#include "System.h"

#include <mutex>

namespace ORB_SLAM2
{

Expand Down
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