Cross platform one click compilation

.gitmodules

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

CMakeLists.txt

@@ -1,48 +1,53 @@
 cmake_minimum_required(VERSION 3.10)
+
+set(CMAKE_TOOLCHAIN_FILE
+    "${CMAKE_CURRENT_SOURCE_DIR}/vcpkg/scripts/buildsystems/vcpkg.cmake"
+    CACHE STRING "Vcpkg toolchain file")
+
 project(ob_gins)
 
 set(CMAKE_CXX_STANDARD 17)
-
-if (CMAKE_BUILD_TYPE MATCHES "Debug")
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
-else ()
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
-endif ()
+if(MSVC)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /utf-8")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /utf-8")
+  add_compile_options(/permissive-)
+else()
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 
-file(GLOB_RECURSE SOURCE
-        src/ob_gins.cc
-        src/fileio/fileloader.cc
-        src/fileio/filesaver.cc
-        src/factors/pose_manifold.cc
-        src/preintegration/preintegration_base.cc
-        src/preintegration/preintegration_normal.cc
-        src/preintegration/preintegration_earth.cc
-        src/preintegration/preintegration_odo.cc
-        src/preintegration/preintegration_earth_odo.cc)
+add_compile_definitions(M_PI=3.14159265358979323846)
+
+file(
+  GLOB_RECURSE
+  SOURCE
+  src/ob_gins.cc
+  src/fileio/fileloader.cc
+  src/fileio/filesaver.cc
+  src/factors/pose_manifold.cc
+  src/preintegration/preintegration_base.cc
+  src/preintegration/preintegration_normal.cc
+  src/preintegration/preintegration_earth.cc
+  src/preintegration/preintegration_odo.cc
+  src/preintegration/preintegration_earth_odo.cc)
 
 include_directories(${PROJECT_SOURCE_DIR})
 add_executable(${PROJECT_NAME} ${SOURCE})
 
 # Eigen3
 find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIR})
+target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
 
 # yaml-cpp
 find_package(yaml-cpp REQUIRED)
-target_link_libraries(${PROJECT_NAME} ${YAML_CPP_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} yaml-cpp::yaml-cpp)
 
 # abseil
 set(ABSL_PROPAGATE_CXX_STD true)
 add_subdirectory(src/thirdparty/abseil-cpp abseil-cpp)
-target_link_libraries(${PROJECT_NAME}
-        absl::strings
-        absl::str_format
-        absl::time)
+target_link_libraries(${PROJECT_NAME} absl::strings absl::str_format absl::time)
 
 # Ceres
 find_package(Ceres REQUIRED)
-target_link_libraries(${PROJECT_NAME} ${CERES_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} Ceres::ceres)

src/ob_gins.cc

@@ -187,16 +187,16 @@ int main(int argc, char *argv[]) {
 
     // 初始状态
     // initialization
-    IntegrationState state_curr = {
-        .time = round(gnss.time),
-        .p    = gnss.blh - Rotation::euler2quaternion(initatt) * antlever,
-        .q    = Rotation::euler2quaternion(initatt),
-        .v    = initvel,
-        .bg   = initbg,
-        .ba   = initba,
-        .sodo = 0.0,
-        .abv  = {bodyangle[1], bodyangle[2]},
-    };
+    IntegrationState state_curr;
+    state_curr.time = round(gnss.time);
+    state_curr.p    = gnss.blh - Rotation::euler2quaternion(initatt) * antlever;
+    state_curr.q    = Rotation::euler2quaternion(initatt);
+    state_curr.v    = initvel;
+    state_curr.bg   = initbg;
+    state_curr.ba   = initba;
+    state_curr.sodo = 0.0;
+    state_curr.abv  = {bodyangle[1], bodyangle[2]};
+
     std::cout << "Initilization at " << gnss.time << " s " << std::endl;
 
     statelist[0]     = state_curr;

src/preintegration/preintegration_earth.cc

@@ -184,21 +184,18 @@ IntegrationState PreintegrationEarth::stateFromData(const IntegrationStateData &
 
 void PreintegrationEarth::constructState(const double *const *parameters, IntegrationState &state0,
                                          IntegrationState &state1) {
-    state0 = IntegrationState{
-        .p  = {parameters[0][0], parameters[0][1], parameters[0][2]},
-        .q  = {parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]},
-        .v  = {parameters[1][0], parameters[1][1], parameters[1][2]},
-        .bg = {parameters[1][3], parameters[1][4], parameters[1][5]},
-        .ba = {parameters[1][6], parameters[1][7], parameters[1][8]},
-    };
-
-    state1 = IntegrationState{
-        .p  = {parameters[2][0], parameters[2][1], parameters[2][2]},
-        .q  = {parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]},
-        .v  = {parameters[3][0], parameters[3][1], parameters[3][2]},
-        .bg = {parameters[3][3], parameters[3][4], parameters[3][5]},
-        .ba = {parameters[3][6], parameters[3][7], parameters[3][8]},
-    };
+    state0    = IntegrationState();
+    state0.p  = {parameters[0][0], parameters[0][1], parameters[0][2]};
+    state0.q  = {parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]};
+    state0.v  = {parameters[1][0], parameters[1][1], parameters[1][2]};
+    state0.bg = {parameters[1][3], parameters[1][4], parameters[1][5]};
+    state0.ba = {parameters[1][6], parameters[1][7], parameters[1][8]};
+    state1    = IntegrationState();
+    state1.p  = {parameters[2][0], parameters[2][1], parameters[2][2]};
+    state1.q  = {parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]};
+    state1.v  = {parameters[3][0], parameters[3][1], parameters[3][2]};
+    state1.bg = {parameters[3][3], parameters[3][4], parameters[3][5]};
+    state1.ba = {parameters[3][6], parameters[3][7], parameters[3][8]};
 }
 
 void PreintegrationEarth::integrationProcess(unsigned long index) {

src/preintegration/preintegration_earth_odo.cc

@@ -208,23 +208,21 @@ IntegrationState PreintegrationEarthOdo::stateFromData(const IntegrationStateDat
 
 void PreintegrationEarthOdo::constructState(const double *const *parameters, IntegrationState &state0,
                                             IntegrationState &state1) {
-    state0 = IntegrationState{
-        .p    = {parameters[0][0], parameters[0][1], parameters[0][2]},
-        .q    = {parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]},
-        .v    = {parameters[1][0], parameters[1][1], parameters[1][2]},
-        .bg   = {parameters[1][3], parameters[1][4], parameters[1][5]},
-        .ba   = {parameters[1][6], parameters[1][7], parameters[1][8]},
-        .sodo = parameters[1][9],
-    };
-
-    state1 = IntegrationState{
-        .p    = {parameters[2][0], parameters[2][1], parameters[2][2]},
-        .q    = {parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]},
-        .v    = {parameters[3][0], parameters[3][1], parameters[3][2]},
-        .bg   = {parameters[3][3], parameters[3][4], parameters[3][5]},
-        .ba   = {parameters[3][6], parameters[3][7], parameters[3][8]},
-        .sodo = parameters[3][9],
-    };
+    state0      = IntegrationState();
+    state0.p    = {parameters[0][0], parameters[0][1], parameters[0][2]};
+    state0.q    = {parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]};
+    state0.v    = {parameters[1][0], parameters[1][1], parameters[1][2]};
+    state0.bg   = {parameters[1][3], parameters[1][4], parameters[1][5]};
+    state0.ba   = {parameters[1][6], parameters[1][7], parameters[1][8]};
+    state0.sodo = parameters[1][9];
+
+    state1      = IntegrationState();
+    state1.p    = {parameters[2][0], parameters[2][1], parameters[2][2]};
+    state1.q    = {parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]};
+    state1.v    = {parameters[3][0], parameters[3][1], parameters[3][2]};
+    state1.bg   = {parameters[3][3], parameters[3][4], parameters[3][5]};
+    state1.ba   = {parameters[3][6], parameters[3][7], parameters[3][8]};
+    state1.sodo = parameters[3][9];
 }
 
 void PreintegrationEarthOdo::integrationProcess(unsigned long index) {

src/preintegration/preintegration_normal.cc

@@ -163,21 +163,18 @@ IntegrationState PreintegrationNormal::stateFromData(const IntegrationStateData
 
 void PreintegrationNormal::constructState(const double *const *parameters, IntegrationState &state0,
                                           IntegrationState &state1) {
-    state0 = IntegrationState{
-        .p  = {parameters[0][0], parameters[0][1], parameters[0][2]},
-        .q  = {parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]},
-        .v  = {parameters[1][0], parameters[1][1], parameters[1][2]},
-        .bg = {parameters[1][3], parameters[1][4], parameters[1][5]},
-        .ba = {parameters[1][6], parameters[1][7], parameters[1][8]},
-    };
-
-    state1 = IntegrationState{
-        .p  = {parameters[2][0], parameters[2][1], parameters[2][2]},
-        .q  = {parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]},
-        .v  = {parameters[3][0], parameters[3][1], parameters[3][2]},
-        .bg = {parameters[3][3], parameters[3][4], parameters[3][5]},
-        .ba = {parameters[3][6], parameters[3][7], parameters[3][8]},
-    };
+    state0    = IntegrationState();
+    state0.p  = {parameters[0][0], parameters[0][1], parameters[0][2]};
+    state0.q  = {parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]};
+    state0.v  = {parameters[1][0], parameters[1][1], parameters[1][2]};
+    state0.bg = {parameters[1][3], parameters[1][4], parameters[1][5]};
+    state0.ba = {parameters[1][6], parameters[1][7], parameters[1][8]};
+    state1    = IntegrationState();
+    state1.p  = {parameters[2][0], parameters[2][1], parameters[2][2]};
+    state1.q  = {parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]};
+    state1.v  = {parameters[3][0], parameters[3][1], parameters[3][2]};
+    state1.bg = {parameters[3][3], parameters[3][4], parameters[3][5]};
+    state1.ba = {parameters[3][6], parameters[3][7], parameters[3][8]};
 }
 
 void PreintegrationNormal::integrationProcess(unsigned long index) {

src/preintegration/preintegration_odo.cc

@@ -184,23 +184,21 @@ IntegrationState PreintegrationOdo::stateFromData(const IntegrationStateData &da
 
 void PreintegrationOdo::constructState(const double *const *parameters, IntegrationState &state0,
                                        IntegrationState &state1) {
-    state0 = IntegrationState{
-        .p    = {parameters[0][0], parameters[0][1], parameters[0][2]},
-        .q    = {parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]},
-        .v    = {parameters[1][0], parameters[1][1], parameters[1][2]},
-        .bg   = {parameters[1][3], parameters[1][4], parameters[1][5]},
-        .ba   = {parameters[1][6], parameters[1][7], parameters[1][8]},
-        .sodo = parameters[1][9],
-    };
-
-    state1 = IntegrationState{
-        .p    = {parameters[2][0], parameters[2][1], parameters[2][2]},
-        .q    = {parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]},
-        .v    = {parameters[3][0], parameters[3][1], parameters[3][2]},
-        .bg   = {parameters[3][3], parameters[3][4], parameters[3][5]},
-        .ba   = {parameters[3][6], parameters[3][7], parameters[3][8]},
-        .sodo = parameters[3][9],
-    };
+    state0      = IntegrationState();
+    state0.p    = {parameters[0][0], parameters[0][1], parameters[0][2]};
+    state0.q    = {parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]};
+    state0.v    = {parameters[1][0], parameters[1][1], parameters[1][2]};
+    state0.bg   = {parameters[1][3], parameters[1][4], parameters[1][5]};
+    state0.ba   = {parameters[1][6], parameters[1][7], parameters[1][8]};
+    state0.sodo = parameters[1][9];
+
+    state1      = IntegrationState();
+    state1.p    = {parameters[2][0], parameters[2][1], parameters[2][2]};
+    state1.q    = {parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]};
+    state1.v    = {parameters[3][0], parameters[3][1], parameters[3][2]};
+    state1.bg   = {parameters[3][3], parameters[3][4], parameters[3][5]};
+    state1.ba   = {parameters[3][6], parameters[3][7], parameters[3][8]};
+    state1.sodo = parameters[3][9];
 }
 
 void PreintegrationOdo::integrationProcess(unsigned long index) {
@@ -331,4 +329,4 @@ void PreintegrationOdo::imuErrorJacobian(double *jacobian) {
     jaco(4, 7) = 1.0 / IMU_ACC_BIAS_STD;
     jaco(5, 8) = 1.0 / IMU_ACC_BIAS_STD;
     jaco(6, 9) = 1.0 / ODO_SCALE_STD;
-}
+}

vcpkg.json

@@ -0,0 +1,17 @@
+{
+  "dependencies": [
+    {
+      "name": "ceres",
+      "features": ["eigensparse"]
+    },
+    "eigen3",
+    "yaml-cpp"
+  ],
+  "builtin-baseline": "633afd0db78b420739f3817976a42ed59bd1530c",
+  "overrides": [
+    {
+      "name": "ceres",
+      "version": "2.1.0#5"
+    }
+  ]
+}