Jetson nx

3DReconDemo.cpp

@@ -200,7 +200,7 @@ int main(int argc, char **argv)
 		slam.AddKeyFrameAvailableHandler(saveFrameHandler, "saveframe");
 	}
 
-	SegmentedMesh * mesh = new SegmentedMesh(voxel_size, voxel_size * 5, open3d::integration::TSDFVolumeColorType::RGB8, block_size);
+	SegmentedMesh * mesh = new SegmentedMesh(voxel_size, voxel_size * 5, open3d::pipelines::integration::TSDFVolumeColorType::RGB8, block_size);
 
 	std::vector<float> intrinsics = camera.getColorIntrinsics();
 	auto intr = open3d::camera::PinholeCameraIntrinsic(640, 480, intrinsics[0], intrinsics[1], intrinsics[2], intrinsics[3]);

CMakeLists.txt

@@ -1,7 +1,6 @@
 cmake_minimum_required( VERSION 3.5 )
 cmake_policy( VERSION 3.5 )
 
-
 project( OpenARK )
 set( OpenARK_VERSION_MAJOR 0 )
 set( OpenARK_VERSION_MINOR 9 )
@@ -26,20 +25,34 @@ set( SLAM_REPLAYING_NAME "OpenARK_slam_replaying")
 set( TEST_NAME "OpenARK_test" )
 set( UNITY_PLUGIN_NAME "UnityPlugin" )
 
-option( BUILD_HAND_DEMO "BUILD_HAND_DEMO" OFF )
-option( BUILD_AVATAR_DEMO "BUILD_AVATAR_DEMO" OFF)
+# Options.
+option( EIGEN_HACK "EIGEN_HACK" ON)
+option( BUILD_HAND_DEMO "BUILD_HAND_DEMO" ON )
+option( BUILD_AVATAR_DEMO "BUILD_AVATAR_DEMO" ON)
 option( BUILD_SLAM_DEMO "BUILD_SLAM_DEMO" ON)
 option( BUILD_3DRECON_DEMO "BUILD_3DRECON_DEMO" ON)
-option( BUILD_DATA_RECORDING "BUILD_DATA_RECORDING" OFF)
+option( BUILD_DATA_RECORDING "BUILD_DATA_RECORDING" ON)
 option( BUILD_SLAM_RECORDING "BUILD_SLAM_RECORDING" ON)
 option( BUILD_SLAM_REPLAYING "BUILD_SLAM_REPLAYING" ON)
 option( BUILD_TESTS "BUILD_TESTS" OFF )
-option( BUILD_UNITY_PLUGIN "BUILD_UNITY_PLUGIN" ON )
+option( BUILD_UNITY_PLUGIN "BUILD_UNITY_PLUGIN" OFF )
 option( USE_AZURE_KINECT_SDK "USE_AZURE_KINECT_SDK" OFF )
-option( USE_RSSDK2 "USE_RSSDK2" ON )
+option( USE_RSSDK2 "USE_RSSDK2" OFF )
 option( USE_RSSDK "USE_RSSDK" OFF )
 option( USE_PMDSDK "USE_PMDSDK" OFF )
 
+# Eigen hack for OpenARK Ubuntu version.
+if( ${EIGEN_HACK} )
+    add_definitions(-DEIGEN_DONT_ALIGN=1)
+    add_definitions(-DEIGEN_DONT_VECTORIZE=1)
+endif()
+
+# NVIDIA Jetson Xavier NX 
+if(${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "arm*")
+  message(STATUS "ARM processor detected, will attempt to use NEON.")
+  add_definitions(-D__ARM_NEON__)
+endif()
+
 include( CheckCXXCompilerFlag )
 CHECK_CXX_COMPILER_FLAG( "-std=c++11" COMPILER_SUPPORTS_CXX11 )
 CHECK_CXX_COMPILER_FLAG( "-std=c++0x" COMPILER_SUPPORTS_CXX0X )
@@ -54,11 +67,6 @@ else()
     message( STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler." )
 endif()
 
-message(STATUS "using c++17")
-add_definitions(-DEIGEN_DONT_ALIGN=1)
-add_definitions(-DEIGEN_DONT_VECTORIZE=1)
-
-
 if ( CMAKE_COMPILER_IS_GNUCXX )
     set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated -Wno-deprecated-declarations -O3 -g" )
 endif ( CMAKE_COMPILER_IS_GNUCXX )

SegmentedMesh.cpp

@@ -1,18 +1,18 @@
-#include "SegmentedMesh.h"
+#include "include/SegmentedMesh.h"
 
 namespace ark {
 
 	SegmentedMesh::SegmentedMesh(double voxel_length,
 	               double sdf_trunc,
-	               open3d::integration::TSDFVolumeColorType color_type,
+	               open3d::pipelines::integration::TSDFVolumeColorType color_type,
 	               double block_length)
 	:	block_length_(block_length),
 		voxel_length_(voxel_length),
 		sdf_trunc_(sdf_trunc),
 		color_type_(color_type){
 			Eigen::Vector3i * temp = &current_block;
 			temp = NULL;
-			active_volume = new open3d::integration::ScalableTSDFVolume(voxel_length_,
+			active_volume = new open3d::pipelines::integration::ScalableTSDFVolume(voxel_length_,
 	               sdf_trunc_,
 	               color_type_);
 		}
@@ -98,7 +98,7 @@ namespace ark {
 		completed_meshes.push_back(completed_mesh);
 
 
-		active_volume = new open3d::integration::ScalableTSDFVolume(voxel_length_, sdf_trunc_, color_type_);
+		active_volume = new open3d::pipelines::integration::ScalableTSDFVolume(voxel_length_, sdf_trunc_, color_type_);
 		active_volume_keyframe = latest_keyframe;
 		active_volume_map_index = active_map_index;
 
@@ -326,4 +326,4 @@ namespace ark {
 	}
 
 
-}
+}

SlamReplaying.cpp

@@ -236,4 +236,4 @@ int main(int argc, char **argv)
     slam.ShutDown();
     printf("\nExiting...\n");
     return 0;
-}
+}