Highly opinionated code cleanup

.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

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.28)
 project(ORB_SLAM3)
 
 IF(NOT CMAKE_BUILD_TYPE)
@@ -7,14 +7,13 @@ ENDIF()
 
 MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
-set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
-set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
+# Squelch "reorder" warnings, there are many
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall -Wno-reorder")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-reorder")
+set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native -O3")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native -O3")
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_EXTENSIONS OFF)
-add_definitions(-DCOMPILEDWITHC14)
+set(CMAKE_CXX_STANDARD 17)
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
@@ -26,104 +25,74 @@ find_package(OpenCV 4.4)
 MESSAGE("OPENCV VERSION:")
 MESSAGE(${OpenCV_VERSION})
 
-find_package(Eigen3 3.1.0 REQUIRED)
-find_package(Pangolin REQUIRED)
-find_package(realsense2)
-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
-${PROJECT_SOURCE_DIR}/include/CameraModels
-${EIGEN3_INCLUDE_DIR}
-${Pangolin_INCLUDE_DIRS}
+        ${PROJECT_SOURCE_DIR}
+        ${PROJECT_SOURCE_DIR}/include
+        ${PROJECT_SOURCE_DIR}/include/CameraModels
+        ${EIGEN3_INCLUDE_DIR}
+        ${Pangolin_INCLUDE_DIRS}
 )
 
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
 add_library(${PROJECT_NAME} SHARED
-src/System.cc
-src/Tracking.cc
-src/LocalMapping.cc
-src/LoopClosing.cc
-src/ORBextractor.cc
-src/ORBmatcher.cc
-src/FrameDrawer.cc
-src/Converter.cc
-src/MapPoint.cc
-src/KeyFrame.cc
-src/Atlas.cc
-src/Map.cc
-src/MapDrawer.cc
-src/Optimizer.cc
-src/Frame.cc
-src/KeyFrameDatabase.cc
-src/Sim3Solver.cc
-src/Viewer.cc
-src/ImuTypes.cc
-src/G2oTypes.cc
-src/CameraModels/Pinhole.cpp
-src/CameraModels/KannalaBrandt8.cpp
-src/OptimizableTypes.cpp
-src/MLPnPsolver.cpp
-src/GeometricTools.cc
-src/TwoViewReconstruction.cc
-src/Config.cc
-src/Settings.cc
-include/System.h
-include/Tracking.h
-include/LocalMapping.h
-include/LoopClosing.h
-include/ORBextractor.h
-include/ORBmatcher.h
-include/FrameDrawer.h
-include/Converter.h
-include/MapPoint.h
-include/KeyFrame.h
-include/Atlas.h
-include/Map.h
-include/MapDrawer.h
-include/Optimizer.h
-include/Frame.h
-include/KeyFrameDatabase.h
-include/Sim3Solver.h
-include/Viewer.h
-include/ImuTypes.h
-include/G2oTypes.h
-include/CameraModels/GeometricCamera.h
-include/CameraModels/Pinhole.h
-include/CameraModels/KannalaBrandt8.h
-include/OptimizableTypes.h
-include/MLPnPsolver.h
-include/GeometricTools.h
-include/TwoViewReconstruction.h
-include/SerializationUtils.h
-include/Config.h
-include/Settings.h)
-
-add_subdirectory(Thirdparty/g2o)
+        src/Atlas.cc
+        src/CameraModels/KannalaBrandt8.cpp
+        src/CameraModels/Pinhole.cpp
+        src/Converter.cc
+        src/Frame.cc
+        src/FrameDrawer.cc
+        src/G2oTypes.cc
+        src/GeometricTools.cc
+        src/ImuTypes.cc
+        src/KeyFrame.cc
+        src/KeyFrameDatabase.cc
+        src/LocalMapping.cc
+        src/LoopClosing.cc
+        src/Map.cc
+        src/MapDrawer.cc
+        src/MapPoint.cc
+        src/MLPnPsolver.cpp
+        src/OptimizableTypes.cpp
+        src/Optimizer.cc
+        src/ORBextractor.cc
+        src/ORBmatcher.cc
+        src/Settings.cc
+        src/SettingsLoader.cc
+        src/Sim3Solver.cc
+        src/System.cc
+        src/Tracking.cc
+        src/TwoViewReconstruction.cc
+        src/Viewer.cc
+)
+target_compile_definitions(${PROJECT_NAME} PUBLIC REGISTER_TIMES)
 
 target_link_libraries(${PROJECT_NAME}
-${OpenCV_LIBS}
-${EIGEN3_LIBS}
-${Pangolin_LIBRARIES}
-${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
--lboost_serialization
--lcrypto
+        ${OpenCV_LIBS}
+        Eigen3::Eigen
+        Sophus::Sophus
+        ${Pangolin_LIBRARIES}
+        DBoW2
+        fmt::fmt
+        g2o::core
+        g2o::types_sim3
+        g2o::types_slam3d
+        spdlog::spdlog
+        Boost::boost
+        Boost::serialization
+        -lcrypto
 )
 
-# If RealSense SDK is found the library is added and its examples compiled
-if(realsense2_FOUND)
-    include_directories(${PROJECT_NAME}
-    ${realsense_INCLUDE_DIR}
-    )
-    target_link_libraries(${PROJECT_NAME}
-    ${realsense2_LIBRARY}
-    )
-endif()
-
-
 # Build examples
 
 # RGB-D examples
@@ -133,22 +102,6 @@ add_executable(rgbd_tum
         Examples/RGB-D/rgbd_tum.cc)
 target_link_libraries(rgbd_tum ${PROJECT_NAME})
 
-if(realsense2_FOUND)
-    add_executable(rgbd_realsense_D435i
-            Examples/RGB-D/rgbd_realsense_D435i.cc)
-    target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME})
-endif()
-
-
-# RGB-D inertial examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial)
-
-if(realsense2_FOUND)
-    add_executable(rgbd_inertial_realsense_D435i
-            Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
-    target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME})
-endif()
-
 #Stereo examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
 
@@ -164,16 +117,6 @@ add_executable(stereo_tum_vi
         Examples/Stereo/stereo_tum_vi.cc)
 target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
 
-if(realsense2_FOUND)
-    add_executable(stereo_realsense_t265
-            Examples/Stereo/stereo_realsense_t265.cc)
-    target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME})
-
-    add_executable(stereo_realsense_D435i
-            Examples/Stereo/stereo_realsense_D435i.cc)
-    target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME})
-endif()
-
 #Monocular examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
 
@@ -193,16 +136,6 @@ add_executable(mono_tum_vi
         Examples/Monocular/mono_tum_vi.cc)
 target_link_libraries(mono_tum_vi ${PROJECT_NAME})
 
-if(realsense2_FOUND)
-    add_executable(mono_realsense_t265
-            Examples/Monocular/mono_realsense_t265.cc)
-    target_link_libraries(mono_realsense_t265 ${PROJECT_NAME})
-
-    add_executable(mono_realsense_D435i
-            Examples/Monocular/mono_realsense_D435i.cc)
-    target_link_libraries(mono_realsense_D435i ${PROJECT_NAME})
-endif()
-
 #Monocular inertial examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)
 
@@ -214,16 +147,6 @@ add_executable(mono_inertial_tum_vi
         Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
 target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
 
-if(realsense2_FOUND)
-    add_executable(mono_inertial_realsense_t265
-            Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc)
-    target_link_libraries(mono_inertial_realsense_t265 ${PROJECT_NAME})
-
-    add_executable(mono_inertial_realsense_D435i
-            Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
-    target_link_libraries(mono_inertial_realsense_D435i ${PROJECT_NAME})
-endif()
-
 #Stereo Inertial examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)
 
@@ -234,24 +157,3 @@ target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
 add_executable(stereo_inertial_tum_vi
         Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
 target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})
-
-if(realsense2_FOUND)
-    add_executable(stereo_inertial_realsense_t265
-            Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
-    target_link_libraries(stereo_inertial_realsense_t265 ${PROJECT_NAME})
-
-    add_executable(stereo_inertial_realsense_D435i
-            Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
-    target_link_libraries(stereo_inertial_realsense_D435i ${PROJECT_NAME})
-endif()
-
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Calibration)
-if(realsense2_FOUND)
-    add_executable(recorder_realsense_D435i
-            Examples/Calibration/recorder_realsense_D435i.cc)
-    target_link_libraries(recorder_realsense_D435i ${PROJECT_NAME})
-
-    add_executable(recorder_realsense_T265
-            Examples/Calibration/recorder_realsense_T265.cc)
-    target_link_libraries(recorder_realsense_T265 ${PROJECT_NAME})
-endif()