(Upgrade) remove <-march=native> flag because it causes crash on ROS …

…noetic

CMakeLists.txt

@@ -42,8 +42,8 @@ IF(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm")
     set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -Wl,--no-as-needed -pthread -fopenmp -Wall -O3 -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wl,--no-as-needed -pthread -fopenmp -Wall -O3 -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto")
 ELSE()
-    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -Wl,--no-as-needed -pthread -fopenmp -Wall -O3 -march=native ")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wl,--no-as-needed -pthread -fopenmp -Wall -O3 -march=native")
+    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -Wl,--no-as-needed -pthread -fopenmp -Wall -O3")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wl,--no-as-needed -pthread -fopenmp -Wall -O3")
 ENDIF()
 
 # Add CUDA support

Examples/ROS/GF_ORB_SLAM2/src/ros_stereo.cc

@@ -86,6 +86,42 @@ class ImageGrabber
 #ifdef FRAME_WITH_INFO_PUBLISH
     ros::Publisher mpFrameWithInfoPublisher;
 #endif
+
+    // Added by yanwei, save tracking latency
+    std::vector<double> vTimesTrack;
+    std::vector<pair<double, double> > vStampedTimesTrack;
+
+    void saveStats(const std::string& path_traj)
+    {
+        // Tracking time statistics
+        sort(vTimesTrack.begin(),vTimesTrack.end());
+        float totaltime = 0;
+        int proccIm = vTimesTrack.size();
+        for(int ni=0; ni<proccIm; ni++)
+        {
+            totaltime+=vTimesTrack[ni];
+        }
+
+        // save to stats
+        {
+            std::ofstream myfile(path_traj + "_stats.txt");
+            myfile << std::setprecision(6) << -1 << " "
+                << proccIm << " "
+                << totaltime / proccIm << " "
+                << vTimesTrack[proccIm/2] << " "
+                << vTimesTrack.front() << " "
+                << vTimesTrack.back() << " ";
+            myfile.close();
+
+            myfile.open(path_traj + "_Log_Latency.txt");
+            myfile << std::setprecision(20);
+            for (const auto& m : vStampedTimesTrack)
+            {
+                myfile << m.first << " " << m.second << "\n";
+            }
+            myfile.close();
+        }
+    }
 
 };
 
@@ -227,6 +263,9 @@ int main(int argc, char **argv)
 
     cout << "ros_stereo: done with spin!" << endl;
 
+    // save stats
+    igb.saveStats(std::string(argv[8])); 
+
     // Save camera trajectory
     SLAM.SaveKeyFrameTrajectoryTUM( std::string(argv[8]) + "_KeyFrameTrajectory.txt" );
     SLAM.SaveTrackingLog( std::string(argv[8]) + "_Log.txt" );
@@ -380,13 +419,19 @@ double latency_trans = ros::Time::now().toSec() - msgLeft->header.stamp.toSec();
 	pose = mpSLAM->TrackStereo(cv_ptrLeft->image,cv_ptrRight->image,cv_ptrLeft->header.stamp.toSec());
     }
 
-    if (pose.empty())
-	return;
-
-double latency_total = ros::Time::now().toSec() - cv_ptrLeft->header.stamp.toSec();
+    double latency_total = ros::Time::now().toSec() - cv_ptrLeft->header.stamp.toSec();
+    {
+        const double track_latency = latency_total - latency_trans;
+        vTimesTrack.emplace_back(track_latency);
+        vStampedTimesTrack.emplace_back(cv_ptrLeft->header.stamp.toSec(), track_latency);
+    }
 // ROS_INFO("ORB-SLAM Tracking Latency: %.03f sec", ros::Time::now().toSec() - cv_ptrLeft->header.stamp.toSec());
 // ROS_INFO("Image Transmision Latency: %.03f sec; Total Tracking Latency: %.03f sec", latency_trans, latency_total);
-ROS_INFO("Pose Tracking Latency: %.03f sec", latency_total - latency_trans);
+    if (pose.empty())
+    {
+        return;
+    }
+    ROS_INFO("Pose Tracking Latency: %.03f sec", latency_total - latency_trans);
 
 /*
     // std::cout << "broadcast pose!" << std::endl;

Examples/Stereo/stereo_euroc.cc

@@ -215,7 +215,7 @@ int main(int argc, char **argv)
                << vTimesTrack.back() << " ";
         myfile.close();
 
-        myfile.open(path_traj + "_timeLog.txt");
+        myfile.open(path_traj + "_Log_Latency.txt");
         myfile << std::setprecision(20);
         for (const auto& m : vStampedTimesTrack)
         {

README.md

@@ -35,7 +35,7 @@ Now build the GF-ORB-SLAM2 package
 
     cd ~/catkin_ws
 
-    catkin build -j8 -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-O3 -DNDEBUG -march=native" -DCMAKE_C_FLAGS_RELEASE="-O3 -DNDEBUG -march=native" -DENABLE_CUDA_IN_OPENCV=False
+    catkin build -j8 -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-O3 -DNDEBUG" -DCMAKE_C_FLAGS_RELEASE="-O3 -DNDEBUG" -DCMAKE_CXX_STANDARD=14 -DENABLE_CUDA_IN_OPENCV=False
 
 Convert vocabulary file to binary for fast loading
 

Thirdparty/g2o/CMakeLists.txt

@@ -66,8 +66,8 @@ IF(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm")
     SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto ") 
     SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}     -O3 -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto") 
 ELSE()
-    SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native ") 
-    SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}     -O3 -march=native") 
+    SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
+    SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}     -O3")
 ENDIF()
 
 

compile_flag.md

@@ -2,4 +2,4 @@
 
 
 # compile command
-catkin build -j2 -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-O3 -DNDEBUG -march=native" -DCMAKE_C_FLAGS_RELEASE="-O3 -DNDEBUG -march=native" -DENABLE_CUDA_IN_OPENCV=False
+catkin build -j2 -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-O3 -DNDEBUG" -DCMAKE_C_FLAGS_RELEASE="-O3 -DNDEBUG" -DCMAKE_CXX_STANDARD=14 -DENABLE_CUDA_IN_OPENCV=False