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Fixes for compilation on MacOS #1

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71b6393
Fixes for compilation on MacOS
Tobias-Fischer May 7, 2026
a77ae97
Fix threading issue on osx
Tobias-Fischer May 7, 2026
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90 changes: 51 additions & 39 deletions Examples/Monocular/vslamlab_orbslam2_mono.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,11 +2,11 @@
#include<algorithm>
#include<fstream>
#include<chrono>
#include<thread>
#include<opencv2/core/core.hpp>
#include <yaml-cpp/yaml.h>

#include "sys/types.h"
#include "sys/sysinfo.h"
#include <unistd.h>

#include<System.h>

Expand Down Expand Up @@ -116,51 +116,63 @@ int main(int argc, char **argv)
cout << "Start processing sequence ..." << endl;
cout << "Images in the sequence: " << nImages << endl << endl;

// Main loop
cv::Mat im;
for(size_t ni = 0; ni < nImages; ni++)
{
// Read image from file
im = cv::imread(imageFilenames[ni],cv::IMREAD_UNCHANGED);
ORB_SLAM2::Seconds tframe = timestamps[ni];
auto processSequence = [&]() {
cv::Mat im;
for(size_t ni = 0; ni < nImages; ni++)
{
// Read image from file
im = cv::imread(imageFilenames[ni],cv::IMREAD_UNCHANGED);
ORB_SLAM2::Seconds tframe = timestamps[ni];

// Pass the image to the SLAM system
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
SLAM.TrackMonocular(im,tframe);
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
// Pass the image to the SLAM system
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
SLAM.TrackMonocular(im,tframe);
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();

ORB_SLAM2::Seconds ttrack = std::chrono::duration_cast<std::chrono::duration<ORB_SLAM2::Seconds> >(t2 - t1).count();
vTimesTrack[ni] = ttrack;
ORB_SLAM2::Seconds ttrack = std::chrono::duration_cast<std::chrono::duration<ORB_SLAM2::Seconds> >(t2 - t1).count();
vTimesTrack[ni] = ttrack;

// Wait to load the next frame
ORB_SLAM2::Seconds T = 0.0;
if(ni < nImages-1)
T = timestamps[ni+1] - tframe;
else if(ni > 0)
T = tframe - timestamps[ni-1];
// Wait to load the next frame
ORB_SLAM2::Seconds T = 0.0;
if(ni < nImages-1)
T = timestamps[ni+1] - tframe;
else if(ni > 0)
T = tframe - timestamps[ni-1];

if(ttrack < T)
usleep((T-ttrack) * 1e6);
if(ttrack < T)
usleep((T-ttrack) * 1e6);

}

// Stop all threads
SLAM.Shutdown();
}

// Stop all threads
SLAM.Shutdown();

// Tracking time statistics
sort(vTimesTrack.begin(),vTimesTrack.end());
ORB_SLAM2::Seconds totaltime = 0.0;
for(int ni = 0; ni < nImages; ni++)
{
totaltime+=vTimesTrack[ni];
}
cout << "-------" << endl << endl;
cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
cout << "mean tracking time: " << totaltime/nImages << endl;

// Tracking time statistics
sort(vTimesTrack.begin(),vTimesTrack.end());
ORB_SLAM2::Seconds totaltime = 0.0;
for(int ni = 0; ni < nImages; ni++)
// Save camera trajectory
string resultsPath_expId = exp_folder + "/" + paddingZeros(exp_id);
SLAM.SaveKeyFrameTrajectoryVSLAMLAB(resultsPath_expId + "_" + "KeyFrameTrajectory.csv");
};

if(SLAM.ViewerRunsOnMainThread())
{
totaltime+=vTimesTrack[ni];
std::thread trackingThread(processSequence);
SLAM.RunViewer();
trackingThread.join();
}
else
{
processSequence();
}
cout << "-------" << endl << endl;
cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
cout << "mean tracking time: " << totaltime/nImages << endl;

// Save camera trajectory
string resultsPath_expId = exp_folder + "/" + paddingZeros(exp_id);
SLAM.SaveKeyFrameTrajectoryVSLAMLAB(resultsPath_expId + "_" + "KeyFrameTrajectory.csv");

return 0;
}
Expand Down
92 changes: 52 additions & 40 deletions Examples/RGB-D/vslamlab_orbslam2_rgbd.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@
#include<algorithm>
#include<fstream>
#include<chrono>
#include<thread>
#include<opencv2/core/core.hpp>

#include "sys/types.h"
#include "sys/sysinfo.h"
#include <unistd.h>

#include<System.h>

Expand Down Expand Up @@ -127,52 +127,64 @@ int main(int argc, char **argv)
cout << "Start processing sequence ..." << endl;
cout << "Images in the sequence: " << nImages << endl << endl;

// Main loop
cv::Mat im, imD;
for(size_t ni = 0; ni < nImages; ni++)
{
// Read image from file
im = cv::imread(imageFilenames[ni],cv::IMREAD_UNCHANGED);
imD = cv::imread(depthFilenames[ni],cv::IMREAD_UNCHANGED);
ORB_SLAM2::Seconds tframe = timestamps[ni];
auto processSequence = [&]() {
cv::Mat im, imD;
for(size_t ni = 0; ni < nImages; ni++)
{
// Read image from file
im = cv::imread(imageFilenames[ni],cv::IMREAD_UNCHANGED);
imD = cv::imread(depthFilenames[ni],cv::IMREAD_UNCHANGED);
ORB_SLAM2::Seconds tframe = timestamps[ni];

// Pass the image to the SLAM system
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
SLAM.TrackRGBD(im,imD,tframe);
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();

ORB_SLAM2::Seconds ttrack = std::chrono::duration_cast<std::chrono::duration<ORB_SLAM2::Seconds> >(t2 - t1).count();
vTimesTrack[ni] = ttrack;

// Wait to load the next frame
ORB_SLAM2::Seconds T = 0.0;
if(ni < nImages-1)
T = timestamps[ni+1] - tframe;
else if(ni > 0)
T = tframe - timestamps[ni-1];

if(ttrack < T)
usleep((T-ttrack) * 1e6);

// Pass the image to the SLAM system
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
SLAM.TrackRGBD(im,imD,tframe);
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
}

ORB_SLAM2::Seconds ttrack = std::chrono::duration_cast<std::chrono::duration<ORB_SLAM2::Seconds> >(t2 - t1).count();
vTimesTrack[ni] = ttrack;
// Stop all threads
SLAM.Shutdown();

// Wait to load the next frame
ORB_SLAM2::Seconds T = 0.0;
if(ni < nImages-1)
T = timestamps[ni+1] - tframe;
else if(ni > 0)
T = tframe - timestamps[ni-1];
// Tracking time statistics
sort(vTimesTrack.begin(),vTimesTrack.end());
ORB_SLAM2::Seconds totaltime = 0.0;
for(int ni = 0; ni < nImages; ni++)
{
totaltime+=vTimesTrack[ni];
}
cout << "-------" << endl << endl;
cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
cout << "mean tracking time: " << totaltime/nImages << endl;

if(ttrack < T)
usleep((T-ttrack) * 1e6);
// Save camera trajectory
string resultsPath_expId = exp_folder + "/" + paddingZeros(exp_id);
SLAM.SaveKeyFrameTrajectoryVSLAMLAB(resultsPath_expId + "_" + "KeyFrameTrajectory.csv");
};

if(SLAM.ViewerRunsOnMainThread())
{
std::thread trackingThread(processSequence);
SLAM.RunViewer();
trackingThread.join();
}

// Stop all threads
SLAM.Shutdown();

// Tracking time statistics
sort(vTimesTrack.begin(),vTimesTrack.end());
ORB_SLAM2::Seconds totaltime = 0.0;
for(int ni = 0; ni < nImages; ni++)
else
{
totaltime+=vTimesTrack[ni];
processSequence();
}
cout << "-------" << endl << endl;
cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
cout << "mean tracking time: " << totaltime/nImages << endl;

// Save camera trajectory
string resultsPath_expId = exp_folder + "/" + paddingZeros(exp_id);
SLAM.SaveKeyFrameTrajectoryVSLAMLAB(resultsPath_expId + "_" + "KeyFrameTrajectory.csv");

return 0;
}
Expand Down
102 changes: 57 additions & 45 deletions Examples/Stereo/vslamlab_orbslam2_stereo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@
#include<algorithm>
#include<fstream>
#include<chrono>
#include<thread>
#include<opencv2/core/core.hpp>

#include "sys/types.h"
#include "sys/sysinfo.h"
#include <unistd.h>

#include<System.h>

Expand Down Expand Up @@ -122,57 +122,69 @@ int main(int argc, char **argv)
cout << "Start processing sequence ..." << endl;
cout << "Images in the sequence: " << nImages << endl << endl;

// Main loop
cv::Mat imLeft, imRight, imLeftRect, imRightRect;
cv::Mat M1l, M2l, M1r, M2r;
SLAM.getStereoRectification(M1l, M2l, M1r, M2r);
for(size_t ni = 0; ni < nImages; ni++)
{
// Read image from file
imLeft = cv::imread(imageFilenames_l[ni], cv::IMREAD_UNCHANGED);
imRight = cv::imread(imageFilenames_r[ni], cv::IMREAD_UNCHANGED);
cv::remap(imLeft, imLeftRect, M1l, M2l, cv::INTER_LINEAR);
cv::remap(imRight, imRightRect, M1r, M2r, cv::INTER_LINEAR);

ORB_SLAM2::Seconds tframe = timestamps[ni];
auto processSequence = [&]() {
cv::Mat imLeft, imRight, imLeftRect, imRightRect;
cv::Mat M1l, M2l, M1r, M2r;
SLAM.getStereoRectification(M1l, M2l, M1r, M2r);
for(size_t ni = 0; ni < nImages; ni++)
{
// Read image from file
imLeft = cv::imread(imageFilenames_l[ni], cv::IMREAD_UNCHANGED);
imRight = cv::imread(imageFilenames_r[ni], cv::IMREAD_UNCHANGED);
cv::remap(imLeft, imLeftRect, M1l, M2l, cv::INTER_LINEAR);
cv::remap(imRight, imRightRect, M1r, M2r, cv::INTER_LINEAR);

ORB_SLAM2::Seconds tframe = timestamps[ni];

// Pass the image to the SLAM system
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
SLAM.TrackStereo(imLeftRect,imRightRect,tframe);
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();

ORB_SLAM2::Seconds ttrack = std::chrono::duration_cast<std::chrono::duration<ORB_SLAM2::Seconds> >(t2 - t1).count();
vTimesTrack[ni] = ttrack;

// Wait to load the next frame
ORB_SLAM2::Seconds T = 0.0;
if(ni < nImages-1)
T = timestamps[ni+1] - tframe;
else if(ni > 0)
T = tframe - timestamps[ni-1];

if(ttrack < T)
usleep((T-ttrack) * 1e6);

// Pass the image to the SLAM system
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
SLAM.TrackStereo(imLeftRect,imRightRect,tframe);
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
}

ORB_SLAM2::Seconds ttrack = std::chrono::duration_cast<std::chrono::duration<ORB_SLAM2::Seconds> >(t2 - t1).count();
vTimesTrack[ni] = ttrack;
// Stop all threads
SLAM.Shutdown();

// Wait to load the next frame
ORB_SLAM2::Seconds T = 0.0;
if(ni < nImages-1)
T = timestamps[ni+1] - tframe;
else if(ni > 0)
T = tframe - timestamps[ni-1];
// Tracking time statistics
sort(vTimesTrack.begin(),vTimesTrack.end());
ORB_SLAM2::Seconds totaltime = 0.0;
for(int ni = 0; ni < nImages; ni++)
{
totaltime+=vTimesTrack[ni];
}
cout << "-------" << endl << endl;
cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
cout << "mean tracking time: " << totaltime/nImages << endl;

if(ttrack < T)
usleep((T-ttrack) * 1e6);
// Save camera trajectory
string resultsPath_expId = exp_folder + "/" + paddingZeros(exp_id);
SLAM.SaveKeyFrameTrajectoryVSLAMLAB(resultsPath_expId + "_" + "KeyFrameTrajectory.csv");
};

if(SLAM.ViewerRunsOnMainThread())
{
std::thread trackingThread(processSequence);
SLAM.RunViewer();
trackingThread.join();
}

// Stop all threads
SLAM.Shutdown();

// Tracking time statistics
sort(vTimesTrack.begin(),vTimesTrack.end());
ORB_SLAM2::Seconds totaltime = 0.0;
for(int ni = 0; ni < nImages; ni++)
else
{
totaltime+=vTimesTrack[ni];
processSequence();
}
cout << "-------" << endl << endl;
cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
cout << "mean tracking time: " << totaltime/nImages << endl;

// Save camera trajectory
string resultsPath_expId = exp_folder + "/" + paddingZeros(exp_id);
SLAM.SaveKeyFrameTrajectoryVSLAMLAB(resultsPath_expId + "_" + "KeyFrameTrajectory.csv");

return 0;
}
Expand Down
3 changes: 1 addition & 2 deletions Thirdparty/DBoW2/DBoW2/FORB.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
#include <vector>
#include <string>
#include <sstream>
#include <stdint-gcc.h>
#include <cstdint>

#include "FORB.h"

Expand Down Expand Up @@ -190,4 +190,3 @@ void FORB::toMat8U(const std::vector<TDescriptor> &descriptors,

} // namespace DBoW2


6 changes: 5 additions & 1 deletion Thirdparty/g2o/g2o/core/estimate_propagator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
#include <set>
#include <limits>

#ifdef _MSC_VER
#if defined(_MSC_VER) || defined(__APPLE__)
#include <unordered_map>
#else
#include <tr1/unordered_map>
Expand Down Expand Up @@ -135,7 +135,11 @@ namespace g2o {
size_t operator ()(const OptimizableGraph::Vertex* v) const { return v->id();}
};

#if defined(_MSC_VER) || defined(__APPLE__)
typedef std::unordered_map<OptimizableGraph::Vertex*, AdjacencyMapEntry, VertexIDHashFunction> AdjacencyMap;
#else
typedef std::tr1::unordered_map<OptimizableGraph::Vertex*, AdjacencyMapEntry, VertexIDHashFunction> AdjacencyMap;
#endif

public:
EstimatePropagator(OptimizableGraph* g);
Expand Down
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