Compileble on host: Fedora 38

Added building script for reference:
- docker-build.sh
- host-build.sh

Code ported to 2023:
- fixed opencv4
- fixed jsoncpp
- fixed typedef for pybind11 definitions
- fixed syscall issues related to SIGSTKSZ ( see more: r-lib/testthat#1373 (comment) )

docker-build.sh

@@ -0,0 +1 @@
+cmake -DEGL_RENDERING=ON -DPYTHON_EXECUTABLE:FILEPATH=/root/mount/conda/envs/vlnce2/bin/python ..

docker-shell.sh

@@ -0,0 +1,7 @@
+#! /bin/bash
+
+docker run --gpus all -it --mount type=bind,source=$MATTERPORT_DATA_DIR,target=/root/mount/Matterport3DSimulator/data/v1/scans \
+--volume /home/cesare/Projects/Matterport3DSimulator/:/root/mount/Matterport3DSimulator \
+--volume /home/cesare/.conda/:/root/mount/conda \
+  mattersim:9.2-devel-ubuntu18.04
+

host-build.sh

@@ -0,0 +1 @@
+cmake -DEGL_RENDERING=ON -DPYTHON_EXECUTABLE:FILEPATH=/home/cesare/anaconda3/envs/vlnce/bin/python ..

include/Catch.hpp

@@ -6462,7 +6462,7 @@ namespace Catch {
         static bool isSet;
         static struct sigaction oldSigActions[];// [sizeof(signalDefs) / sizeof(SignalDefs)];
         static stack_t oldSigStack;
-        static char altStackMem[];
+        static char altStackMem[32768]; // SIGSTKSZ
 
         static void handleSignal( int sig );
 
@@ -6597,7 +6597,7 @@ namespace Catch {
         isSet = true;
         stack_t sigStack;
         sigStack.ss_sp = altStackMem;
-        sigStack.ss_size = SIGSTKSZ;
+        sigStack.ss_size = 32768; //quick fix for: SIGSTKSZ -> proper fix: https://github.com/r-lib/testthat/issues/1373#issuecomment-867661266
         sigStack.ss_flags = 0;
         sigaltstack(&sigStack, &oldSigStack);
         struct sigaction sa = { };
@@ -6628,7 +6628,7 @@ namespace Catch {
     bool FatalConditionHandler::isSet = false;
     struct sigaction FatalConditionHandler::oldSigActions[sizeof(signalDefs)/sizeof(SignalDefs)] = {};
     stack_t FatalConditionHandler::oldSigStack = {};
-    char FatalConditionHandler::altStackMem[SIGSTKSZ] = {};
+    char FatalConditionHandler::altStackMem[32768] = {}; //quick fix for: SIGSTKSZ 
 
 } // namespace Catch
 

include/NavGraph.hpp

@@ -9,7 +9,8 @@
 #include <sstream>
 #include <stdexcept>
 
-#include <jsoncpp/json/json.h>
+//#include <jsoncpp/json/json.h>
+#include <json/json.h>
 #include <opencv2/opencv.hpp>
 
 #ifdef OSMESA_RENDERING

src/lib/NavGraph.cpp

@@ -2,6 +2,7 @@
 #include <fstream>
 #include <iterator>
 #include <opencv2/opencv.hpp>
+#include <opencv2/imgcodecs.hpp>
 
 #include <json/json.h>
 #ifdef _OPENMP
@@ -56,7 +57,7 @@ void NavGraph::Location::loadCubemapImages() {
     }
     if (includeDepth) {
         // 16 bit grayscale images
-        cv::Mat depth = cv::imread(skyboxDir + viewpointId + "_skybox_depth_small.png", CV_LOAD_IMAGE_ANYDEPTH);
+        cv::Mat depth = cv::imread(skyboxDir + viewpointId + "_skybox_depth_small.png", cv::IMREAD_ANYDEPTH );
         w = depth.cols/6;
         h = depth.rows;
         xposD = depth(cv::Rect(2*w, 0, w, h));

src/lib_python/MatterSimPython.cpp

@@ -1,3 +1,4 @@
+#include <cstdint> 
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 #include "MatterSim.hpp"

src/test/main.cpp

@@ -376,7 +376,7 @@ TEST_CASE( "RGB Image", "[Rendering]" ) {
             auto imgfile = testcase["reference_image"].asString();
             auto reference_image = cv::imread("webgl_imgs/"+imgfile);
             auto state = sim.getState().at(n);
-            double err = cv::norm(reference_image, state->rgb, CV_L2);
+            double err = cv::norm(reference_image, state->rgb, cv::NORM_L2);
             err /= reference_image.rows * reference_image.cols;
             CHECK(err < 0.15);
             // save for later comparison, these images can also be inspected by hand