Add a CI build in Github workflow, transition to vcpkg

.clang-format

@@ -0,0 +1 @@
+BasedOnStyle: Google

.github/workflows/cmake_ci.yaml

@@ -0,0 +1,73 @@
+name: Build
+
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+  workflow_dispatch:
+
+jobs:
+  build-project:
+    name: Build Project
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout Project
+        uses: actions/checkout@v4.2.2
+        with:
+          submodules: true
+
+      # Load the set of APT dependencies from the install_apt_dependencies scripts
+      # to reduce repetition
+      - name: Generate dependency list
+        id: generate_deps
+        run: |
+              # Run your script and capture its output into a shell variable
+              SCRIPT_OUTPUT=$(./install_apt_dependencies.sh --deps)
+
+              # Write the variable to the GITHUB_OUTPUT file
+              echo "apt_deps=$SCRIPT_OUTPUT" >> "$GITHUB_OUTPUT"
+
+      - name: Install apt dependencies
+        uses: awalsh128/cache-apt-pkgs-action@latest
+        with:
+          packages: ${{ steps.generate_deps.outputs.apt_deps }}
+          version: 1.0
+
+      # I think this necessary to ensure alternatives are set up (for libblas, etc)
+      # It's not properly set up when restoring packages from cache
+      - name: Force install libblas and liblapack
+        run: sudo apt-get install --reinstall libblas-dev liblapack-dev
+        shell: bash
+
+      # Based on sample workflow from https://github.com/lukka/CppCMakeVcpkgTemplate/blob/v11/.github/workflows/hosted-ninja-vcpkg_submod.yml
+      - uses: lukka/get-cmake@latest
+
+      #
+      - name: Cache vcpkg
+        uses: actions/cache@v4
+        with:
+          path: ${{ github.workspace }}/vcpkg_cache
+          key: vcpkg-${{ matrix.triplet }}-${{ hashFiles('vcpkg.json', 'vcpkg_overlay/**', 'CMakeLists.txt', '**/CMakeLists.txt', 'CMakePresets.json') }}
+
+      - name: Restore from cache and setup vcpkg executable and data files.
+        uses: lukka/run-vcpkg@v11
+        with:
+          doNotCache: false
+          vcpkgGitCommitId: e3db8f65d2414c301c29a8467c6aee94e3ba09fc
+
+      # Note: if the preset misses the "configuration", it is possible to explicitly select the
+      # configuration with the additional `--config` flag, e.g.:
+      #   buildPreset: 'ninja-vcpkg'
+      #   buildPresetAdditionalArgs: "[`--config`, `Release`]"
+      #   testPreset: 'ninja-vcpkg'
+      #   testPresetAdditionalArgs: "[`--config`, `Release`]"
+      - name: Run CMake+vcpkg+Ninja+CTest to build packages and generate/build/test the code.
+        uses: lukka/run-cmake@v10
+        env:
+          VCPKG_BINARY_SOURCES: clear;files,${{ github.workspace }}/vcpkg_cache,readwrite
+          VCPKG_DEFAULT_TRIPLET: ${{ matrix.triplet }}
+        with:
+          configurePreset: 'ninja-multi-vcpkg'
+          buildPreset: 'ninja-vcpkg-release'
+          testPreset: 'test-release'

.gitignore

@@ -66,6 +66,7 @@ Thirdparty/g2o/config.h
 Thirdparty/g2o/lib/
 Vocabulary/ORBvoc.txt
 build/
+builds/
 
 lib/
 

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "vcpkg"]
+	path = vcpkg
+	url = https://github.com/microsoft/vcpkg.git

CMakeLists.txt

@@ -25,14 +25,16 @@ find_package(OpenCV 4.4)
 MESSAGE("OPENCV VERSION:")
 MESSAGE(${OpenCV_VERSION})
 
-find_package(Eigen3 3.1.0 REQUIRED)
-find_package(Pangolin REQUIRED)
-find_package(Sophus REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(Pangolin CONFIG REQUIRED)
+find_package(Sophus CONFIG REQUIRED)
 find_package(g2o REQUIRED)
 find_package(fmt REQUIRED)
 find_package(spdlog REQUIRED)
 find_package(Boost REQUIRED COMPONENTS serialization)
 
+add_subdirectory(Thirdparty/DBoW2)
+
 include_directories(
         ${PROJECT_SOURCE_DIR}
         ${PROJECT_SOURCE_DIR}/include
@@ -73,13 +75,14 @@ add_library(${PROJECT_NAME} SHARED
         src/TwoViewReconstruction.cc
         src/Viewer.cc
 )
+target_compile_definitions(${PROJECT_NAME} PUBLIC REGISTER_TIMES)
 
 target_link_libraries(${PROJECT_NAME}
         ${OpenCV_LIBS}
         Eigen3::Eigen
         Sophus::Sophus
         ${Pangolin_LIBRARIES}
-        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
+        DBoW2
         fmt::fmt
         g2o::core
         g2o::types_sim3

CMakePresets.json

@@ -0,0 +1,59 @@
+{
+  "version": 8,
+  "cmakeMinimumRequired": {
+    "major": 3,
+    "minor": 21,
+    "patch": 0
+  },
+  "configurePresets": [
+    {
+      "name": "ninja-multi-vcpkg",
+      "displayName": "Ninja Multi-Config",
+      "description": "Configure with vcpkg toolchain and generate Ninja project files for all configurations",
+      "binaryDir": "${sourceDir}/builds/${presetName}",
+      "generator": "Ninja Multi-Config",
+      "toolchainFile": "${sourceDir}/vcpkg/scripts/buildsystems/vcpkg.cmake"
+    }
+  ],
+  "buildPresets": [
+    {
+      "name": "ninja-vcpkg-debug",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build (Debug)",
+      "description": "Build with Ninja/vcpkg (Debug)",
+      "configuration": "Debug"
+    },
+    {
+      "name": "ninja-vcpkg-release",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build (Release)",
+      "description": "Build with Ninja/vcpkg (Release)",
+      "configuration": "Release"
+    }
+  ],
+  "testPresets": [
+    {
+      "name": "test-ninja-vcpkg",
+      "configurePreset": "ninja-multi-vcpkg",
+      "hidden": true
+    },
+    {
+      "name": "test-debug",
+      "description": "Test (Debug)",
+      "displayName": "Test (Debug)",
+      "configuration": "Debug",
+      "inherits": [
+        "test-ninja-vcpkg"
+      ]
+    },
+    {
+      "name": "test-release",
+      "description": "Test (Release)",
+      "displayName": "Test (Release)",
+      "configuration": "Release",
+      "inherits": [
+        "test-ninja-vcpkg"
+      ]
+    }
+  ]
+}

README.md

@@ -1,15 +1,39 @@
 > [!NOTE]
-> This is my personal "working" fork of ORBSLAM3, which focuses on integrating ORBSLAM3 into ROS2.   The actual ROS2 integration is implemented in [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2).
+> This is my personal "working" fork of ORBSLAM3, which is part of a larger effort to integrate ORBSLAM3 into ROS2.   This repo remains (distantly) related to the author's original upstream repo, and contains no ROS2-specific code.   The actual ROS2 integration is implemented in [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) which includes this repo as a submodule.
 
-Relative to the original code, this repo contains multiple updates:
+As I dug further into the code, I got more opinionated and have made multiple stylistic changes.   My intention is to make only positive readability, portability and performance improvements but YMMV:
 
-* I removed the "ThirdParty" copies of "Sophus" and "g2o" in lieu of packages which can be installed "rosdep" (or `apt`).  Due to API changes, this necessitated some syntactically invasive (but functionally equivalent) changes.
-* This branch contains preliminary migration to [spdlog](https://github.com/gabime/spdlog) as a more controllable logging backend.  This is a slow-motion migration to better manage text output from ORBSLAM3.
-* As I dug further into the code, I got more opinionated.  I also added [pre-commit](.pre-commit-config.yaml), which introduced significant textual changes.   No going back!
-* [`Thirdparty/tl/`](Thirdparty/tl/) includes a copy of [TartanLlama's expected](https://github.com/TartanLlama/expected) which is released under the [CC0-1.0 (Public doamin) license](http://creativecommons.org/publicdomain/zero/1.0/)
+* Started modernization, currently to C++17
+* Replace bare pointers with managed pointers in most cases.
+* Minor updates to the System and Setting initialization procedure, primarily to separate creation of the Settings (from a file or otherwise) from the initialization of System, and provide more paths to catching and reporting errors during initialization.  See the [Examples/](Examples/).
+* Added [pre-commit](.pre-commit-config.yaml), which introduced significant textual changes.
+* Cleanup on dependencies:
+   * Removed built-in `g2o` and `Sophus` sources, get these from a dependency manager (vcpkg for non-ROS, and rosdep for ROS)
+   * Add [TartanLlama's expected](https://github.com/TartanLlama/expected) which is released under the [CC0-1.0 (Public doamin) license](http://creativecommons.org/publicdomain/zero/1.0/)  (this may be remove if/when I standardize on C++20)
+* I am only targetting Ubuntu 24.04 right now.   I've updated the build process as follows:
+   * When building for ROS2, use [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) which includes this repo as a submodule.   Dependencies (g2o, Sophus, Pangolin) are included from ROS apt via rosdep.
+   * For non-ROS builds, I am now using `vcpkg` as a dependency manager as it can build the non-apt-gettable dependencies (Pangolin).   **However** I am using overlays to preferentially use apt versions of packages whenever feasible (ffmpeg, etc).
+   * In some cases (`g2o` and its dependencies) we use vcpkg's version to ensure dependencies stay in sycn.
+* Other minor changes:
+   * Removed integrated Realsense support.    Realsense-enabled binaries should go in a separate package.
 
-> [!WARNING]
-> I _am not_ testing this repo outside of ROS2.   I am *only* checking [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) in a ROS2 / colcon environment.   I do not expect this to build with `cmake` nor do I expect the original `Examples/` to run.
+
+## Building
+
+I am only testing on Ubuntu 24.04.
+
+As noted above, I prefer to use system packages as much as possible and use `vcpkg` for dependencies with no published binaries (outside of ROS).  To override this behavior and have vcpkg build additional packages from source, remove the relevant directories from the [`vcpkg_overlays/`](vcpkg_overlays/) directory.
+
+I've gone full koolaid and adopted `ninja` as a builder as well.
+
+To build in Ubuntu, use the convenience scripts:
+
+```
+./install_apt_dependencies.sh
+./build.sh
+```
+
+This will build Release versions the ORB_SLAM3 library and all of the `Examples`.
 
 -----
 -----

build.sh

@@ -1,40 +1,9 @@
-echo "Configuring and building Thirdparty/DBoW2 ..."
+# Options are "release" and "debug" (see CMakePresets.json)
+BUILD_TYPE=${BUILD_TYPE:-release}
 
-cd Thirdparty/DBoW2
-mkdir build
-cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j2
-
-cd ../../g2o
-
-echo "Configuring and building Thirdparty/g2o ..."
-
-mkdir build
-cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j2
-
-cd ../../Sophus
-
-echo "Configuring and building Thirdparty/Sophus ..."
-
-mkdir build
-cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j2
-
-cd ../../../
-
-echo "Uncompress vocabulary ..."
-
-cd Vocabulary
-tar -xf ORBvoc.txt.tar.gz
+git submodule sync vcpkg
+cd vcpkg && ./bootstrap-vcpkg.sh
 cd ..
 
-echo "Configuring and building ORB_SLAM3 ..."
-
-mkdir build
-cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j2
+cmake --preset ninja-multi-vcpkg
+cmake --build --preset ninja-vcpkg-${BUILD_TYPE}

install_apt_dependencies.sh

@@ -0,0 +1,41 @@
+#!/usr/bin/bash
+
+APT_DEPENDENCIES="cmake \
+                  g++ \
+                  libavcodec-dev \
+                  libavdevice-dev \
+                  libavfilter-dev \
+                  libavformat-dev \
+                  libavutil-dev \
+                  libblas-dev \
+                  libboost-serialization-dev \
+                  libc++-dev \
+                  libegl1-mesa-dev \
+                  libeigen3-dev \
+                  libepoxy-dev \
+                  libfmt-dev \
+                  libgl1-mesa-dev \
+                  libgles2-mesa-dev \
+                  libglew-dev \
+                  liblapack-dev \
+                  libopencv-dev \
+                  libspdlog-dev \
+                  libswresample-dev \
+                  libswscale-dev \
+                  libwayland-dev \
+                  libx11-dev \
+                  libxkbcommon-dev \
+                  nasm \
+                  ninja-build \
+                  wayland-protocols"
+
+
+myarg=$1
+if [[ "$myarg" = "--deps" ]]; then
+    echo $APT_DEPENDENCIES
+    exit 0
+fi
+
+
+sudo apt-get update && \
+sudo apt-get install --no-install-recommends -y $APT_DEPENDENCIES

src/Settings.cc

@@ -117,7 +117,7 @@ void Settings::setMonoCamera(CameraType type, const std::vector<float>& k,
     //       vOverlapping;
     // }
   } else {
-    spdlog::error("Error: {} not known", type);
+    spdlog::error("Error: {} not known", static_cast<int>(type));
     exit(-1);
   }
 }

vcpkg.json

@@ -0,0 +1,21 @@
+{
+  "name": "main",
+  "version-string": "latest",
+  "configuration": {
+    "default-registry":
+        {
+          "kind": "git",
+          "baseline": "e3db8f65d2414c301c29a8467c6aee94e3ba09fc",
+          "repository": "https://github.com/Microsoft/vcpkg"
+        },
+    "overlay-ports": [
+      "vcpkg_overlay"
+    ]
+  },
+  "dependencies": [
+    "pangolin",
+    "sophus",
+    "g2o",
+    "eigen3"
+  ]
+}

vcpkg_overlay/ffmpeg/portfile.cmake

@@ -0,0 +1 @@
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)

vcpkg_overlay/ffmpeg/vcpkg.json

@@ -0,0 +1,24 @@
+{
+  "name": "ffmpeg",
+  "version": "6.1.1",
+  "features": {
+    "avcodec": {
+      "description": ""
+    },
+    "avdevice": {
+      "description": ""
+    },
+    "avfilter": {
+      "description": ""
+    },
+    "avformat": {
+      "description": ""
+    },
+    "swresample": {
+      "description": ""
+    },
+    "swscale": {
+      "description": ""
+    }
+  }
+}