version 1.1.3

CMakeLists.txt

@@ -4,7 +4,7 @@ project(okvis)
 # The version number.
 set(OKVIS_MAJOR_VERSION 1)
 set(OKVIS_MINOR_VERSION 1)
-set(OKVIS_PATCH_VERSION 2)
+set(OKVIS_PATCH_VERSION 3)
 set(OKVIS_VERSION
   ${OKVIS_MAJOR_VERSION}.${OKVIS_MINOR_VERSION}.${OKVIS_PATCH_VERSION})
 
@@ -111,7 +111,7 @@ if(${USE_SYSTEM_BRISK})
   message(STATUS "Using system brisk. Found at ${BRISK_INCLUDE_DIRS}.")
 else()
   ExternalProject_Add(brisk_external
-    URL "https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.2.zip"    
+    URL "https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.3.zip"    
     INSTALL_DIR ${CMAKE_BINARY_DIR}
     CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
     PREFIX ${CMAKE_CURRENT_BINARY_DIR}/brisk
@@ -179,8 +179,13 @@ else()
   # to find it from 3rd party software, since not added to registry:
   set(OKVIS_CERES_CONFIG "${CMAKE_BINARY_DIR}/share/Ceres/")
 
-  set_property(TARGET ceres PROPERTY IMPORTED_LOCATION
+  if ("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
+    set_property(TARGET ceres PROPERTY IMPORTED_LOCATION
+               ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres-debug.a )
+  else () 
+    set_property(TARGET ceres PROPERTY IMPORTED_LOCATION
                ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres.a )
+  endif ()
 
   find_package(OpenMP QUIET)
   if (OPENMP_FOUND)
@@ -208,6 +213,7 @@ set(CMAKE_CXX_FLAGS_WSUPPRESS
 message(STATUS "NOTE: Suppressing some warnings when compiling OpenGV.")
 ExternalProject_Add(opengv_external
     GIT_REPOSITORY https://github.com/laurentkneip/opengv
+    GIT_TAG cc32b16281aa6eab67cb28a61cf87a2a5c2b0961
     UPDATE_COMMAND ""
     PATCH_COMMAND # forcing static libs
         COMMAND ${CMAKE_COMMAND} -E copy ${PROJECT_SOURCE_DIR}/cmake/opengv/CMakeLists.txt ${CMAKE_CURRENT_BINARY_DIR}/opengv/src/opengv/CMakeLists.txt

okvis_cv/include/okvis/Frame.hpp

@@ -98,11 +98,11 @@ class Frame
 
   /// \brief Set the detector
   /// @param[in] detector The detector to be used.
-  inline void setDetector(std::shared_ptr<const cv::FeatureDetector> detector);
+  inline void setDetector(std::shared_ptr<cv::FeatureDetector> detector);
 
   /// \brief Set the extractor
   /// @param[in] extractor The extractor to be used.
-  inline void setExtractor(std::shared_ptr<const cv::DescriptorExtractor> extractor);
+  inline void setExtractor(std::shared_ptr<cv::DescriptorExtractor> extractor);
 
   /// \brief Obtain the image
   /// \return The image.
@@ -190,8 +190,8 @@ class Frame
  protected:
   cv::Mat image_;  ///< the image as OpenCV's matrix
   std::shared_ptr<const cameras::CameraBase> cameraGeometry_;  ///< the camera geometry
-  std::shared_ptr<const cv::FeatureDetector> detector_;  ///< the detector
-  std::shared_ptr<const cv::DescriptorExtractor> extractor_;  ///< the extractor
+  std::shared_ptr<cv::FeatureDetector> detector_;  ///< the detector
+  std::shared_ptr<cv::DescriptorExtractor> extractor_;  ///< the extractor
   std::vector<cv::KeyPoint> keypoints_;  ///< we store keypoints using OpenCV's struct
   cv::Mat descriptors_;  ///< we store the descriptors using OpenCV's matrices
   std::vector<uint64_t> landmarkIds_;  ///< landmark Id, if associated -- 0 otherwise

okvis_cv/include/okvis/MultiFrame.hpp

@@ -122,14 +122,14 @@ class MultiFrame
   /// @param[in] cameraIdx The camera index.
   /// @param[in] detector The detector to be used.
   inline void setDetector(size_t cameraIdx,
-                          std::shared_ptr<const cv::FeatureDetector> detector);
+                          std::shared_ptr<cv::FeatureDetector> detector);
 
   /// \brief Set the extractor
   /// @param[in] cameraIdx The camera index.
   /// @param[in] extractor The extractor to be used.
   inline void setExtractor(
       size_t cameraIdx,
-      std::shared_ptr<const cv::DescriptorExtractor> extractor);
+      std::shared_ptr<cv::DescriptorExtractor> extractor);
 
   /// \brief Obtain the image
   /// @param[in] cameraIdx The camera index.

okvis_cv/include/okvis/implementation/Frame.hpp

@@ -67,13 +67,13 @@ void Frame::setGeometry(std::shared_ptr<const cameras::CameraBase> cameraGeometr
 }
 
 // set the detector
-void Frame::setDetector(std::shared_ptr<const cv::FeatureDetector> detector)
+void Frame::setDetector(std::shared_ptr<cv::FeatureDetector> detector)
 {
   detector_ = detector;
 }
 
 // set the extractor
-void Frame::setExtractor(std::shared_ptr<const cv::DescriptorExtractor> extractor)
+void Frame::setExtractor(std::shared_ptr<cv::DescriptorExtractor> extractor)
 {
   extractor_ = extractor;
 }

okvis_cv/include/okvis/implementation/MultiFrame.hpp

@@ -126,15 +126,15 @@ void MultiFrame::setGeometry(
 
 // Set the detector
 void MultiFrame::setDetector(size_t cameraIdx,
-                             std::shared_ptr<const cv::FeatureDetector> detector)
+                             std::shared_ptr<cv::FeatureDetector> detector)
 {
   OKVIS_ASSERT_TRUE_DBG(Exception, cameraIdx < frames_.size(), "Out of range");
   frames_[cameraIdx].setDetector(detector);
 }
 
 // Set the extractor
 void MultiFrame::setExtractor(
-    size_t cameraIdx, std::shared_ptr<const cv::DescriptorExtractor> extractor)
+    size_t cameraIdx, std::shared_ptr<cv::DescriptorExtractor> extractor)
 {
   OKVIS_ASSERT_TRUE_DBG(Exception, cameraIdx < frames_.size(), "Out of range");
   frames_[cameraIdx].setExtractor(extractor);

okvis_frontend/include/okvis/Frontend.hpp

@@ -265,13 +265,13 @@ class Frontend : public VioFrontendInterface {
    *          The vector contains one for each camera to ensure that there are no problems with parallel detection.
    * @warning Lock with featureDetectorMutexes_[cameraIndex] when using the detector.
    */
-  std::vector<std::shared_ptr<const cv::FeatureDetector> > featureDetectors_;
+  std::vector<std::shared_ptr<cv::FeatureDetector> > featureDetectors_;
   /**
    * @brief   feature descriptors with the current settings.
    *          The vector contains one for each camera to ensure that there are no problems with parallel detection.
    * @warning Lock with featureDetectorMutexes_[cameraIndex] when using the descriptor.
    */
-  std::vector<std::shared_ptr<const cv::DescriptorExtractor> > descriptorExtractors_;
+  std::vector<std::shared_ptr<cv::DescriptorExtractor> > descriptorExtractors_;
   /// Mutexes for feature detectors and descriptors.
   std::vector<std::unique_ptr<std::mutex> > featureDetectorMutexes_;