not sure if it is needed - just in case

CMakeLists.txt

@@ -15,22 +15,25 @@ set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 # required libraries
 find_package(SuiteParse REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(Boost COMPONENTS system thread) 
+#find_package(Boost COMPONENTS system thread) 
 
 # optional libraries
 find_package(LibZip QUIET)
 find_package(Pangolin 0.2 QUIET)
 find_package(OpenCV QUIET)
 
+set(CMAKE_CXX_STANDARD 17)
+
 # flags
 add_definitions("-DENABLE_SSE")
+add_definitions("-DSOPHUS_USE_BASIC_LOGGING")
 set(CMAKE_CXX_FLAGS
    "${SSE_FLAGS} -O3 -g -std=c++0x -march=native"
 #   "${SSE_FLAGS} -O3 -g -std=c++0x -fno-omit-frame-pointer"
 )
 
 if (MSVC)
-     set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")
+     set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /bigobj -D_USE_MATH_DEFINES -D__SSE3__")
 endif (MSVC)
 
 # Sources files
@@ -55,11 +58,12 @@ set(dso_SOURCE_FILES
   ${PROJECT_SOURCE_DIR}/src/util/globalCalib.cpp
 )
 
-
+find_path(SOPHUS_INCLUDE_DIRS "sophus/common.hpp")
 
 include_directories(
   ${PROJECT_SOURCE_DIR}/src
-  ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
+#  ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
+  ${SOPHUS_INCLUDE_DIRS}
   ${PROJECT_SOURCE_DIR}/thirdparty/sse2neon
   ${EIGEN3_INCLUDE_DIR}
 ) 
@@ -109,23 +113,24 @@ endif()
 
 
 # compile main library.
-include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR}) 
-add_library(dso ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})
+#include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR}) 
+add_library(dso STATIC ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})
+#target_link_libraries(dso PRIVATE Eigen3::Eigen)
 
 #set_property( TARGET dso APPEND_STRING PROPERTY COMPILE_FLAGS -Wall )
 
 
-if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # OSX
-    set(BOOST_THREAD_LIBRARY boost_thread-mt)
-else()
-    set(BOOST_THREAD_LIBRARY boost_thread)
-endif()
+#if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # OSX
+#    set(BOOST_THREAD_LIBRARY boost_thread-mt)
+#else()
+#    set(BOOST_THREAD_LIBRARY boost_thread)
+#endif()
 
 # build main executable (only if we have both OpenCV and Pangolin)
 if (OpenCV_FOUND AND Pangolin_FOUND)
 	message("--- compiling dso_dataset.")
 	add_executable(dso_dataset ${PROJECT_SOURCE_DIR}/src/main_dso_pangolin.cpp )
-    target_link_libraries(dso_dataset dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS})
+    target_link_libraries(dso_dataset dso ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} ${EIGEN3_LIBS})
 else()
 	message("--- not building dso_dataset, since either don't have openCV or Pangolin.")
 endif()

src/FullSystem/CoarseInitializer.cpp

@@ -37,6 +37,32 @@
 #include "FullSystem/PixelSelector2.h"
 #include "util/nanoflann.h"
 
+//#include "Eigen/src/Cholesky/LDLT.H"
+
+#include <Eigen/Cholesky>
+#include <Eigen/Core>
+#include <Eigen/Dense>
+#include <Eigen/Eigen>
+#include <Eigen/Eigenvalues>
+#include <Eigen/Geometry>
+#include <Eigen/Householder>
+#include <Eigen/IterativeLinearSolvers>
+#include <Eigen/Jacobi>
+#include <Eigen/LU>
+#include <Eigen/MetisSupport>
+#include <Eigen/OrderingMethods>
+#include <Eigen/QR>
+#include <Eigen/QtAlignedMalloc>
+#include <Eigen/Sparse>
+#include <Eigen/SparseCholesky>
+#include <Eigen/SparseCore>
+#include <Eigen/SparseLU>
+#include <Eigen/SparseQR>
+#include <Eigen/StdDeque>
+#include <Eigen/StdList>
+#include <Eigen/StdVector>
+#include <Eigen/SVD>
+
 
 #if !defined(__SSE3__) && !defined(__SSE2__) && !defined(__SSE1__)
 #include "SSE2NEON.h"
@@ -45,11 +71,11 @@
 namespace dso
 {
 
-CoarseInitializer::CoarseInitializer(int ww, int hh) : thisToNext_aff(0,0), thisToNext(SE3())
+CoarseInitializer::CoarseInitializer(int ww, int hh) : thisToNext_aff(0,0)
 {
 	for(int lvl=0; lvl<pyrLevelsUsed; lvl++)
 	{
-		points[lvl] = 0;
+		points[lvl] = nullptr;
 		numPoints[lvl] = 0;
 	}
 
@@ -70,7 +96,7 @@ CoarseInitializer::~CoarseInitializer()
 {
 	for(int lvl=0; lvl<pyrLevelsUsed; lvl++)
 	{
-		if(points[lvl] != 0) delete[] points[lvl];
+		delete[] points[lvl];
 	}
 
 	delete[] JbBuffer;
@@ -648,11 +674,13 @@ void CoarseInitializer::optReg(int lvl)
 
 		float idnn[10];
 		int nnn=0;
-		for(int j=0;j<10;j++)
+		for(int neighbour : point->neighbours)
 		{
-			if(point->neighbours[j] == -1) continue;
-			Pnt* other = ptsl+point->neighbours[j];
-			if(!other->isGood) continue;
+			if(neighbour == -1) { continue;
+			}
+			Pnt* other = ptsl+neighbour;
+			if(!other->isGood) { continue;
+			}
 			idnn[nnn] = other->iR;
 			nnn++;
 		}
@@ -787,7 +815,7 @@ void CoarseInitializer::setFirst(	CalibHessian* HCalib, FrameHessian* newFrameHe
 
 
 
-		if(points[lvl] != 0) delete[] points[lvl];
+		delete[] points[lvl];
 		points[lvl] = new Pnt[npts];
 
 		// set idepth map to initially 1 everywhere.
@@ -863,11 +891,13 @@ void CoarseInitializer::resetPoints(int lvl)
 
 		if(lvl==pyrLevelsUsed-1 && !pts[i].isGood)
 		{
-			float snd=0, sn=0;
-			for(int n = 0;n<10;n++)
+			float snd=0;
+			float sn=0;
+			for(int neighbour : pts[i].neighbours)
 			{
-				if(pts[i].neighbours[n] == -1 || !pts[pts[i].neighbours[n]].isGood) continue;
-				snd += pts[pts[i].neighbours[n]].iR;
+				if(neighbour == -1 || !pts[neighbour].isGood) { continue;
+				}
+				snd += pts[neighbour].iR;
 				sn += 1;
 			}
 
@@ -879,7 +909,7 @@ void CoarseInitializer::resetPoints(int lvl)
 		}
 	}
 }
-void CoarseInitializer::doStep(int lvl, float lambda, Vec8f inc)
+void CoarseInitializer::doStep(int lvl, float lambda, const Vec8f& inc)
 {
 
 	const float maxPixelStep = 0.25;
@@ -924,7 +954,7 @@ void CoarseInitializer::applyStep(int lvl)
 		pts[i].idepth = pts[i].idepth_new;
 		pts[i].lastHessian = pts[i].lastHessian_new;
 	}
-	std::swap<Vec10f*>(JbBuffer, JbBuffer_new);
+	std::swap(JbBuffer, JbBuffer_new);
 }
 
 void CoarseInitializer::makeK(CalibHessian* HCalib)
@@ -1009,8 +1039,9 @@ void CoarseInitializer::makeNN()
 				assert(ret_index[k]>=0 && ret_index[k] < npts);
 				myidx++;
 			}
-			for(int k=0;k<nn;k++)
-				pts[i].neighboursDist[k] *= 10/sumDF;
+			for(float & k : pts[i].neighboursDist) {
+				k *= 10/sumDF;
+			}
 
 
 			if(lvl < pyrLevelsUsed-1 )

src/FullSystem/CoarseInitializer.h

@@ -152,7 +152,7 @@ class CoarseInitializer {
 	float rescale();
 
 	void resetPoints(int lvl);
-	void doStep(int lvl, float lambda, Vec8f inc);
+	void doStep(int lvl, float lambda, const Vec8f& inc);
 	void applyStep(int lvl);
 
 	void makeGradients(Eigen::Vector3f** data);

src/FullSystem/CoarseTracker.cpp

@@ -35,6 +35,34 @@
 #include "FullSystem/Residuals.h"
 #include "OptimizationBackend/EnergyFunctionalStructs.h"
 #include "IOWrapper/ImageRW.h"
+
+//#include "Eigen/src/Cholesky/LDLT.H"
+
+#include <Eigen/Cholesky>
+#include <Eigen/Core>
+#include <Eigen/Dense>
+#include <Eigen/Eigen>
+#include <Eigen/Eigenvalues>
+#include <Eigen/Geometry>
+#include <Eigen/Householder>
+#include <Eigen/IterativeLinearSolvers>
+#include <Eigen/Jacobi>
+#include <Eigen/LU>
+#include <Eigen/MetisSupport>
+#include <Eigen/OrderingMethods>
+#include <Eigen/QR>
+#include <Eigen/QtAlignedMalloc>
+#include <Eigen/Sparse>
+#include <Eigen/SparseCholesky>
+#include <Eigen/SparseCore>
+#include <Eigen/SparseLU>
+#include <Eigen/SparseQR>
+#include <Eigen/StdDeque>
+#include <Eigen/StdList>
+#include <Eigen/StdVector>
+#include <Eigen/SVD>
+
+
 #include <algorithm>
 
 #if !defined(__SSE3__) && !defined(__SSE2__) && !defined(__SSE1__)
@@ -86,8 +114,8 @@ CoarseTracker::CoarseTracker(int ww, int hh) : lastRef_aff_g2l(0,0)
     buf_warped_refColor = allocAligned<4,float>(ww*hh, ptrToDelete);
 
 
-	newFrame = 0;
-	lastRef = 0;
+	newFrame = nullptr;
+	lastRef = nullptr;
 	debugPlot = debugPrint = true;
 	w[0]=h[0]=0;
 	refFrameID=-1;
@@ -132,7 +160,7 @@ void CoarseTracker::makeK(CalibHessian* HCalib)
 
 
 
-void CoarseTracker::makeCoarseDepthL0(std::vector<FrameHessian*> frameHessians)
+void CoarseTracker::makeCoarseDepthL0(const std::vector<FrameHessian*>& frameHessians)
 {
 	// make coarse tracking templates for latstRef.
 	memset(idepth[0], 0, sizeof(float)*w[0]*h[0]);
@@ -293,7 +321,7 @@ void CoarseTracker::makeCoarseDepthL0(std::vector<FrameHessian*> frameHessians)
 
 
 
-void CoarseTracker::calcGSSSE(int lvl, Mat88 &H_out, Vec8 &b_out, const SE3 &refToNew, AffLight aff_g2l)
+void CoarseTracker::calcGSSSE(int lvl, Mat88 &H_out, Vec8 &b_out, const SE3 & /*refToNew*/, AffLight aff_g2l)
 {
 	acc.initialize();
 
@@ -383,7 +411,7 @@ Vec6 CoarseTracker::calcRes(int lvl, const SE3 &refToNew, AffLight aff_g2l, floa
 	float maxEnergy = 2*setting_huberTH*cutoffTH-setting_huberTH*setting_huberTH;	// energy for r=setting_coarseCutoffTH.
 
 
-    MinimalImageB3* resImage = 0;
+    MinimalImageB3* resImage = nullptr;
 	if(debugPlot)
 	{
 		resImage = new MinimalImageB3(wl,hl);
@@ -538,7 +566,7 @@ bool CoarseTracker::trackNewestCoarse(
 		SE3 &lastToNew_out, AffLight &aff_g2l_out,
 		int coarsestLvl,
 		Vec5 minResForAbort,
-		IOWrap::Output3DWrapper* wrap)
+		IOWrap::Output3DWrapper*  /*wrap*/)
 {
 	debugPlot = setting_render_displayCoarseTrackingFull;
 	debugPrint = false;
@@ -733,6 +761,13 @@ void CoarseTracker::debugPlotIDepthMap(float* minID_pt, float* maxID_pt, std::ve
 			if(idepth[lvl][i] > 0)
 				allID.push_back(idepth[lvl][i]);
 		}
+
+        if (allID.empty())
+        {
+            printf("\nallID is empty.\n");
+            return;
+        }
+
 		std::sort(allID.begin(), allID.end());
 		int n = allID.size()-1;
 
@@ -742,7 +777,7 @@ void CoarseTracker::debugPlotIDepthMap(float* minID_pt, float* maxID_pt, std::ve
 		float minID, maxID;
 		minID = minID_new;
 		maxID = maxID_new;
-		if(minID_pt!=0 && maxID_pt!=0)
+		if(minID_pt!=nullptr && maxID_pt!=nullptr)
 		{
 			if(*minID_pt < 0 || *maxID_pt < 0)
 			{
@@ -867,7 +902,7 @@ CoarseDistanceMap::~CoarseDistanceMap()
 
 
 void CoarseDistanceMap::makeDistanceMap(
-		std::vector<FrameHessian*> frameHessians,
+		const std::vector<FrameHessian*>& frameHessians,
 		FrameHessian* frame)
 {
 	int w1 = w[1];
@@ -907,7 +942,7 @@ void CoarseDistanceMap::makeDistanceMap(
 
 
 
-void CoarseDistanceMap::makeInlierVotes(std::vector<FrameHessian*> frameHessians)
+void CoarseDistanceMap::makeInlierVotes(const std::vector<FrameHessian*>& frameHessians)
 {
 
 }
@@ -921,7 +956,7 @@ void CoarseDistanceMap::growDistBFS(int bfsNum)
 	for(int k=1;k<40;k++)
 	{
 		int bfsNum2 = bfsNum;
-		std::swap<Eigen::Vector2i*>(bfsList1,bfsList2);
+		std::swap(bfsList1,bfsList2);
 		bfsNum=0;
 
 		if(k%2==0)

src/FullSystem/CoarseTracker.h

@@ -90,7 +90,7 @@ class CoarseTracker {
 private:
 
 
-	void makeCoarseDepthL0(std::vector<FrameHessian*> frameHessians);
+	void makeCoarseDepthL0(const std::vector<FrameHessian*>& frameHessians);
 	float* idepth[PYR_LEVELS];
 	float* weightSums[PYR_LEVELS];
 	float* weightSums_bak[PYR_LEVELS];
@@ -135,11 +135,11 @@ class CoarseDistanceMap {
 	~CoarseDistanceMap();
 
 	void makeDistanceMap(
-			std::vector<FrameHessian*> frameHessians,
+			const std::vector<FrameHessian*>& frameHessians,
 			FrameHessian* frame);
 
 	void makeInlierVotes(
-			std::vector<FrameHessian*> frameHessians);
+			const std::vector<FrameHessian*>& frameHessians);
 
 	void makeK( CalibHessian* HCalib);