Merge pull request #45 from kobejean/jean

Update `g2o` to fix `g2o_viewer`
kobejean · Feb 21, 2022 · 1cfc226 · 1cfc226
2 parents a1a7567 + 191ed4d
commit 1cfc226
Show file tree

Hide file tree

Showing 535 changed files with 29,310 additions and 27,760 deletions.
diff --git a/script/build_frameworks.bash b/script/build_frameworks.bash
@@ -6,7 +6,7 @@ rm -rf build/frameworks
 mkdir build/frameworks
 
 ./script/build_lar_framework.bash
-# ./script/build_g2o_framework.bash
+./script/build_g2o_framework.bash
 
 # Uncomment if opencv needs to be rebuilt
 # Otherwise just download the framework from here: https://github.com/kobejean/lar/releases/download/v0.5.0/opencv2.xcframework.zip

diff --git a/thirdparty/g2o/.clang-format b/thirdparty/g2o/.clang-format
@@ -0,0 +1,212 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignArrayOfStructures: None
+AlignConsecutiveMacros: None
+AlignConsecutiveAssignments: None
+AlignConsecutiveBitFields: None
+AlignConsecutiveDeclarations: None
+AlignEscapedNewlines: Left
+AlignOperands:   Align
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortEnumsOnASingleLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+AttributeMacros:
+  - __capability
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: Never
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  BeforeLambdaBody: false
+  BeforeWhile:     false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeConceptDeclarations: true
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: true
+DisableFormat:   false
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IfMacros:
+  - KJ_IF_MAYBE
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+    CaseSensitive:   false
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
+IndentAccessModifiers: false
+IndentCaseLabels: true
+IndentCaseBlocks: false
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentExternBlock: AfterExternBlock
+IndentRequires:  false
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+InsertTrailingCommas: None
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+LambdaBodyIndentation: Signature
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PenaltyIndentedWhitespace: 0
+PointerAlignment: Left
+PPIndentWidth:   -1
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+      - ParseTestProto
+      - ParsePartialTestProto
+    CanonicalDelimiter: pb
+    BasedOnStyle:    google
+ReferenceAlignment: Pointer
+ReflowComments:  true
+ShortNamespaceLines: 1
+SortIncludes:    CaseSensitive
+SortJavaStaticImport: Before
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceAroundPointerQualifiers: Default
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  Never
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInLineCommentPrefix:
+  Minimum:         1
+  Maximum:         -1
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+BitFieldColonSpacing: Both
+Standard:        Auto
+StatementAttributeLikeMacros:
+  - Q_EMIT
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+WhitespaceSensitiveMacros:
+  - STRINGIZE
+  - PP_STRINGIZE
+  - BOOST_PP_STRINGIZE
+  - NS_SWIFT_NAME
+  - CF_SWIFT_NAME
+...
+
diff --git a/thirdparty/g2o/.codacy.yaml b/thirdparty/g2o/.codacy.yaml
@@ -1,5 +1,6 @@
 exclude_paths:
-  - 'EXTERNAL/**'
+  - 'script/**'
+  - 'g2o/EXTERNAL/**'
   - g2o/examples/interactive_slam/slam_parser/parser/bison_parser.cpp
   - g2o/examples/interactive_slam/slam_parser/parser/flex_scanner.cpp
   - g2o/examples/interactive_slam/slam_parser/parser/FlexLexer.h
diff --git a/thirdparty/g2o/.github/workflows/ci.yml b/thirdparty/g2o/.github/workflows/ci.yml
@@ -50,6 +50,12 @@ jobs:
           echo github.event_name: ${{github.event_name}}
           echo runner.os: ${{runner.os}}
 
+      - name: ccache
+        uses: hendrikmuhs/ccache-action@v1
+        with:
+          key: ${{ matrix.os }}-${{ matrix.type }}
+          max-size: 1000M
+
       - name: Install dependencies on Ubuntu
         if: runner.os == 'Linux'
         run: |
@@ -67,7 +73,7 @@ jobs:
       - name: Configure CMake
         run: |
           cmake --version
-          cmake -B ${{github.workspace}}/build -DBUILD_UNITTESTS=ON -DBUILD_CODE_COVERAGE=${{matrix.config.do_coverage}} -DCMAKE_BUILD_TYPE=${{matrix.config.build_type}}
+          cmake -B ${{github.workspace}}/build -DBUILD_UNITTESTS=ON -DBUILD_CODE_COVERAGE=${{matrix.config.do_coverage}} -DCMAKE_BUILD_TYPE=${{matrix.config.build_type}} -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
 
       - name: Build Introspection
         shell: bash

diff --git a/thirdparty/g2o/.github/workflows/clang-format.yml b/thirdparty/g2o/.github/workflows/clang-format.yml
@@ -0,0 +1,26 @@
+name: Clang-format-check
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  checkout-and-check-formatting:
+    runs-on: ubuntu-20.04
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Install clang
+        run: |
+          echo "deb http://apt.llvm.org/focal/ llvm-toolchain-focal-13 main" | sudo tee -a /etc/apt/sources.list.d/clang.list
+          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
+          sudo apt-get update
+          sudo apt-get install clang-format-13
+          sudo ln -s /usr/lib/llvm-13/bin/clang-format /usr/local/bin/clang-format
+          clang-format --version
+
+      - name: clang format check
+        run: bash script/run-style-check-diff.sh
diff --git a/thirdparty/g2o/CMakeLists.txt b/thirdparty/g2o/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.14)
 set(CMAKE_LEGACY_CYGWIN_WIN32 0)
 
 project(g2o)

diff --git a/thirdparty/g2o/README.md b/thirdparty/g2o/README.md
@@ -111,7 +111,7 @@ will install g2o together with its required dependencies. In this case no manual
 
 If using [vcpkg](https://github.com/Microsoft/vcpkg), then
 
-`scripts\install-deps-windows.bat`
+`script\install-deps-windows.bat`
 
 will build and install the required dependencies. The location of `vcpkg` and required triplet are determined by the environment variables `VCPKG_ROOT_DIR` and `VCPKG_DEFAULT_TRIPLET`.
 

diff --git a/thirdparty/g2o/appveyor.yml b/thirdparty/g2o/appveyor.yml
@@ -18,7 +18,7 @@ build:
   project: c:\projects\g2o\build\g2o.sln
 
 install:
-  - set QTDIR=C:\Qt\5.15.1\msvc2019_64
+  - set QTDIR=C:\Qt\5.15.2\msvc2019_64
   - set PATH=%PATH%;%QTDIR%\bin
   - ps: wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.zip -outfile eigen3.zip
   - cmd: 7z x eigen3.zip -o"C:\projects" -y > nul

diff --git a/thirdparty/g2o/benchmarks/jacobian_timing_tests.cpp b/thirdparty/g2o/benchmarks/jacobian_timing_tests.cpp
@@ -3,12 +3,13 @@
 #include "g2o/core/dynamic_aligned_buffer.hpp"
 
 #ifdef G2O_USE_VENDORED_CERES
-  #include "g2o/EXTERNAL/ceres/fixed_array.h"
+#include "g2o/EXTERNAL/ceres/fixed_array.h"
 #else
-  #include <ceres/internal/fixed_array.h>
+#include <ceres/internal/fixed_array.h>
 #endif
 
-// Test several different ways of evaluating Jacobians to see the impact of different ways of implementing stuff.
+// Test several different ways of evaluating Jacobians to see the impact of
+// different ways of implementing stuff.
 
 template <typename number_t, int D>
 void BM_FixedArray(benchmark::State& state) {
@@ -76,7 +77,8 @@ void BM_VariableArrayPointer(benchmark::State& state) {
 template <typename number_t, int D>
 void BM_StaticEigenMatrix(benchmark::State& state) {
   while (state.KeepRunning()) {
-    Eigen::Matrix<number_t, D, 1> add_vi = Eigen::Matrix<number_t, D, 1>::Zero();
+    Eigen::Matrix<number_t, D, 1> add_vi =
+        Eigen::Matrix<number_t, D, 1>::Zero();
     for (int i = 0; i < D; ++i) {
       benchmark::DoNotOptimize(add_vi[i] = 1);
       benchmark::DoNotOptimize(add_vi[i] = -1);
@@ -88,7 +90,8 @@ void BM_StaticEigenMatrix(benchmark::State& state) {
 template <typename number_t, int D>
 void BM_StaticEigenMatrixPointer(benchmark::State& state) {
   while (state.KeepRunning()) {
-    Eigen::Matrix<number_t, D, 1> add_vi = Eigen::Matrix<number_t, D, 1>::Zero();
+    Eigen::Matrix<number_t, D, 1> add_vi =
+        Eigen::Matrix<number_t, D, 1>::Zero();
     number_t* v = add_vi.data();
     for (int i = 0; i < D; ++i) {
       benchmark::DoNotOptimize((*v) = 1);
@@ -210,19 +213,19 @@ void BM_ClassFixedArrayDynamic(benchmark::State& state) {
   }
 }
 
-#define DECLARE_TESTS(N, D)                                    \
-  BENCHMARK_TEMPLATE2(BM_FixedArray, N, D);                    \
-  BENCHMARK_TEMPLATE2(BM_FixedArrayPointer, N, D);             \
-  BENCHMARK_TEMPLATE(BM_VariableArray, N)->Arg(D);             \
-  BENCHMARK_TEMPLATE(BM_VariableArrayPointer, N)->Arg(D);      \
-  BENCHMARK_TEMPLATE2(BM_StaticEigenMatrix, N, D);             \
-  BENCHMARK_TEMPLATE2(BM_StaticEigenMatrixPointer, N, D);      \
-  BENCHMARK_TEMPLATE(BM_DynamicEigenMatrix, N)->Arg(D);        \
-  BENCHMARK_TEMPLATE(BM_DynamicEigenMatrixPointer, N)->Arg(D); \
-  BENCHMARK_TEMPLATE2(BM_DynamicAlignedBuffer, N, D);          \
-  BENCHMARK_TEMPLATE2(BM_DynamicAlignedPointerBuffer, N, D);   \
-  BENCHMARK_TEMPLATE(BM_StaticDynamicPointerHybrid, N)->Arg(D);\
-  BENCHMARK_TEMPLATE(BM_ClassFixedArrayStatic, N, D);               \
+#define DECLARE_TESTS(N, D)                                     \
+  BENCHMARK_TEMPLATE2(BM_FixedArray, N, D);                     \
+  BENCHMARK_TEMPLATE2(BM_FixedArrayPointer, N, D);              \
+  BENCHMARK_TEMPLATE(BM_VariableArray, N)->Arg(D);              \
+  BENCHMARK_TEMPLATE(BM_VariableArrayPointer, N)->Arg(D);       \
+  BENCHMARK_TEMPLATE2(BM_StaticEigenMatrix, N, D);              \
+  BENCHMARK_TEMPLATE2(BM_StaticEigenMatrixPointer, N, D);       \
+  BENCHMARK_TEMPLATE(BM_DynamicEigenMatrix, N)->Arg(D);         \
+  BENCHMARK_TEMPLATE(BM_DynamicEigenMatrixPointer, N)->Arg(D);  \
+  BENCHMARK_TEMPLATE2(BM_DynamicAlignedBuffer, N, D);           \
+  BENCHMARK_TEMPLATE2(BM_DynamicAlignedPointerBuffer, N, D);    \
+  BENCHMARK_TEMPLATE(BM_StaticDynamicPointerHybrid, N)->Arg(D); \
+  BENCHMARK_TEMPLATE(BM_ClassFixedArrayStatic, N, D);           \
   BENCHMARK_TEMPLATE(BM_ClassFixedArrayDynamic, N)->Arg(D);
 
 /*

diff --git a/thirdparty/g2o/g2o/apps/g2o_cli/CMakeLists.txt b/thirdparty/g2o/g2o/apps/g2o_cli/CMakeLists.txt
@@ -41,7 +41,6 @@ install(TARGETS g2o_cli_library g2o_cli_application
   LIBRARY DESTINATION ${LIBRARY_DESTINATION}
   ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
   INCLUDES DESTINATION ${INCLUDES_DESTINATION}
-  BUNDLE DESTINATION ${LIBRARY_DESTINATION}
 )
 
 file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")