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fix(monocular): bootstrap fresh-worktree private follow-up #34

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b672d40
fix(monocular): bootstrap fresh-worktree private follow-up
helionaut Mar 21, 2026
d328397
fix(build): preserve compile-only diagnostics
helionaut Mar 21, 2026
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170 changes: 84 additions & 86 deletions scripts/build_orbslam3_baseline.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -850,96 +850,94 @@ append_build_rpath_dir() {

printf 'Configuring ORB_SLAM3 ...\n'
mkdir -p "${checkout_dir}/build"
(
cd "${checkout_dir}/build"
append_build_rpath_dir "${checkout_dir}/lib"
append_build_rpath_dir "${checkout_dir}/Thirdparty/DBoW2/lib"
append_build_rpath_dir "${checkout_dir}/Thirdparty/g2o/lib"
cd "${checkout_dir}/build"
append_build_rpath_dir "${checkout_dir}/lib"
append_build_rpath_dir "${checkout_dir}/Thirdparty/DBoW2/lib"
append_build_rpath_dir "${checkout_dir}/Thirdparty/g2o/lib"
for link_dir in "${linker_search_dirs[@]}"; do
append_build_rpath_dir "${link_dir}"
done
cmake_args=(
"${checkout_dir}"
"-DCMAKE_BUILD_TYPE=${build_type}"
"-DCMAKE_CXX_FLAGS="
"-DCMAKE_C_FLAGS="
"-D${cmake_cxx_flag_name}=${cmake_cxx_flags}"
"-D${cmake_c_flag_name}=${cmake_c_flags}"
)
if ((${#build_rpath_dirs[@]})); then
build_rpath_text="$(IFS=';'; printf '%s' "${build_rpath_dirs[*]}")"
cmake_args+=("-DCMAKE_BUILD_RPATH=${build_rpath_text}")
fi
linker_flag_text=""
if ((${#linker_search_dirs[@]})); then
for link_dir in "${linker_search_dirs[@]}"; do
append_build_rpath_dir "${link_dir}"
linker_flag_text+=" -Wl,-rpath-link,${link_dir}"
done
cmake_args=(
"${checkout_dir}"
"-DCMAKE_BUILD_TYPE=${build_type}"
"-DCMAKE_CXX_FLAGS="
"-DCMAKE_C_FLAGS="
"-D${cmake_cxx_flag_name}=${cmake_cxx_flags}"
"-D${cmake_c_flag_name}=${cmake_c_flags}"
)
if ((${#build_rpath_dirs[@]})); then
build_rpath_text="$(IFS=';'; printf '%s' "${build_rpath_dirs[*]}")"
cmake_args+=("-DCMAKE_BUILD_RPATH=${build_rpath_text}")
fi
linker_flag_text=""
if ((${#linker_search_dirs[@]})); then
for link_dir in "${linker_search_dirs[@]}"; do
linker_flag_text+=" -Wl,-rpath-link,${link_dir}"
done
linker_flag_text="${linker_flag_text# }"
fi
if [[ -n "${linker_flag_text}" ]]; then
cmake_linker_flags="${linker_flag_text}${cmake_linker_flags:+ ${cmake_linker_flags}}"
fi
if [[ -n "${cmake_linker_flags}" ]]; then
cmake_args+=(
"-DCMAKE_EXE_LINKER_FLAGS=${cmake_linker_flags}"
"-DCMAKE_SHARED_LINKER_FLAGS=${cmake_linker_flags}"
)
fi
# Pangolin v0.8 installs sigslot headers that require C++14 aliases.
"${cmake_bin}" "${cmake_args[@]}"
printf 'Building ORB_SLAM3 target %s ...\n' "${build_target}"
mkdir -p "${build_attempt_dir}"
: >"${build_log_current}"
build_command_workdir="$(pwd)"
build_started_at="$(date -u +%Y-%m-%dT%H:%M:%SZ)"
build_command=(
"${cmake_bin}"
--build
.
--parallel
"${build_parallelism}"
--verbose
--target
"${build_target}"
linker_flag_text="${linker_flag_text# }"
fi
if [[ -n "${linker_flag_text}" ]]; then
cmake_linker_flags="${linker_flag_text}${cmake_linker_flags:+ ${cmake_linker_flags}}"
fi
if [[ -n "${cmake_linker_flags}" ]]; then
cmake_args+=(
"-DCMAKE_EXE_LINKER_FLAGS=${cmake_linker_flags}"
"-DCMAKE_SHARED_LINKER_FLAGS=${cmake_linker_flags}"
)
printf -v build_command_text '%q ' "${build_command[@]}"
build_command_text="${build_command_text% }"
printf 'Build command: %s\n' "${build_command_text}" | tee -a "${build_log_current}"
printf 'Build working directory: %s\n' "${build_command_workdir}" | tee -a "${build_log_current}"
printf 'Build started at: %s\n' "${build_started_at}" | tee -a "${build_log_current}"
update_progress_phase 7 "in_progress" "Launching root ORB_SLAM3 build for ${build_target}"
set +e
"${build_command[@]}" > >(tee -a "${build_log_current}") 2>&1 &
build_pid="$!"
write_build_attempt_metadata "started" ""
update_progress_phase 7 "in_progress" "Root ORB_SLAM3 build is running for ${build_target} (pid ${build_pid})"
start_build_progress_heartbeat
wait "${build_pid}"
build_exit_code="$?"
stop_build_progress_heartbeat
set -e
build_finished_at="$(date -u +%Y-%m-%dT%H:%M:%SZ)"
if (( build_exit_code > 128 )); then
build_exit_signal="$((build_exit_code - 128))"
fi
capture_dmesg_snapshot "${dmesg_current}"
if grep -Eq "oom-kill|Out of memory: Killed process" "${dmesg_current}"; then
oom_detected=1
fi
printf 'Build finished at: %s\n' "${build_finished_at}" | tee -a "${build_log_current}"
printf 'Build PID: %s\n' "${build_pid}" | tee -a "${build_log_current}"
printf 'Build exit code: %s\n' "${build_exit_code}" | tee -a "${build_log_current}"
if [[ -n "${build_exit_signal}" ]]; then
printf 'Build exit signal: %s\n' "${build_exit_signal}" | tee -a "${build_log_current}"
fi
if [[ "${oom_detected}" -eq 1 ]]; then
printf 'Kernel OOM evidence detected in %s\n' "${dmesg_current}" | tee -a "${build_log_current}"
fi
if [[ "${build_exit_code}" -ne 0 ]]; then
exit "${build_exit_code}"
fi
fi
# Pangolin v0.8 installs sigslot headers that require C++14 aliases.
"${cmake_bin}" "${cmake_args[@]}"
printf 'Building ORB_SLAM3 target %s ...\n' "${build_target}"
mkdir -p "${build_attempt_dir}"
: >"${build_log_current}"
build_command_workdir="$(pwd)"
build_started_at="$(date -u +%Y-%m-%dT%H:%M:%SZ)"
build_command=(
"${cmake_bin}"
--build
.
--parallel
"${build_parallelism}"
--verbose
--target
"${build_target}"
)
printf -v build_command_text '%q ' "${build_command[@]}"
build_command_text="${build_command_text% }"
printf 'Build command: %s\n' "${build_command_text}" | tee -a "${build_log_current}"
printf 'Build working directory: %s\n' "${build_command_workdir}" | tee -a "${build_log_current}"
printf 'Build started at: %s\n' "${build_started_at}" | tee -a "${build_log_current}"
update_progress_phase 7 "in_progress" "Launching root ORB_SLAM3 build for ${build_target}"
set +e
"${build_command[@]}" > >(tee -a "${build_log_current}") 2>&1 &
build_pid="$!"
write_build_attempt_metadata "started" ""
update_progress_phase 7 "in_progress" "Root ORB_SLAM3 build is running for ${build_target} (pid ${build_pid})"
start_build_progress_heartbeat
wait "${build_pid}"
build_exit_code="$?"
stop_build_progress_heartbeat
set -e
build_finished_at="$(date -u +%Y-%m-%dT%H:%M:%SZ)"
if (( build_exit_code > 128 )); then
build_exit_signal="$((build_exit_code - 128))"
fi
capture_dmesg_snapshot "${dmesg_current}"
if grep -Eq "oom-kill|Out of memory: Killed process" "${dmesg_current}"; then
oom_detected=1
fi
printf 'Build finished at: %s\n' "${build_finished_at}" | tee -a "${build_log_current}"
printf 'Build PID: %s\n' "${build_pid}" | tee -a "${build_log_current}"
printf 'Build exit code: %s\n' "${build_exit_code}" | tee -a "${build_log_current}"
if [[ -n "${build_exit_signal}" ]]; then
printf 'Build exit signal: %s\n' "${build_exit_signal}" | tee -a "${build_log_current}"
fi
if [[ "${oom_detected}" -eq 1 ]]; then
printf 'Kernel OOM evidence detected in %s\n' "${dmesg_current}" | tee -a "${build_log_current}"
fi
if [[ "${build_exit_code}" -ne 0 ]]; then
exit "${build_exit_code}"
fi

if [[ ! -x "${build_executable_path}" ]]; then
printf 'Expected executable missing after build: %s\n' "${build_executable_path}" >&2
Expand Down
15 changes: 11 additions & 4 deletions scripts/patch_orbslam3_baseline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -122,19 +122,26 @@ def normalize_save_trajectory_euroc(block: str) -> str:

def normalize_save_keyframe_trajectory_euroc(block: str) -> str:
block, count = re.subn(
r'vector<Map\*> vpMaps = mpAtlas->GetAllMaps\(\);\n'
r' Map\* pBiggerMap(?: = nullptr)?;\n'
r' int numMaxKFs = 0;\n',
'vector<Map*> vpMaps = mpAtlas->GetAllMaps();\n'
' Map* pBiggerMap = nullptr;\n'
' int numMaxKFs = 0;\n',
block,
count=1,
)
if count == 0:
raise ValueError(
"Failed to normalize SaveKeyFrameTrajectoryEuRoC map initialization"
block, count = re.subn(
r' int numMaxKFs = 0;\n'
r' Map\* pBiggerMap(?: = nullptr)?;\n',
' Map* pBiggerMap = nullptr;\n'
' int numMaxKFs = 0;\n',
block,
count=1,
)
if count == 0:
raise ValueError(
"Failed to normalize SaveKeyFrameTrajectoryEuRoC map initialization"
)

block, count = re.subn(
r'( for\(Map\* pMap :vpMaps\)\n'
Expand Down
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