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Merge branch 'niko_devel' into 'master' 

ci, cmake, macos compatibility

See merge request slam/basalt!1
This commit is contained in:
Vladyslav Usenko 2019-04-24 16:17:58 +00:00
parent de2a225c4a cdd5578092
commit 7da55c9b71
32 changed files with 619 additions and 325 deletions
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7
.clang-format
View File

@ -1,6 +1,7 @@
---
Language: Cpp
BasedOnStyle: Google
IndentWidth: 2
Language: Cpp
BasedOnStyle: Google
IndentWidth: 2
IncludeBlocks: Preserve
...

190
.gitlab-ci.yml
View File

@ -1,83 +1,168 @@
image: vladyslavusenko/b_image:latest
variables:
GIT_SUBMODULE_STRATEGY: recursive
BUILD_TYPE: Release
CXX_MARCH: native
CMAKE_INSTALL_PREFIX: /usr/
DEB_DIR: deb
stages:
- build
- test
- test_results
- eval
- eval_results
- deploy
compile:
stage: build
variables:
CXX_MARCH: 'corei7-avx'
# template for docker builds with ccache
.prepare_docker_template: &prepare_docker_definition
tags:
- docker
before_script:
- mkdir -p ccache
- export CCACHE_BASEDIR=${PWD}
- export CCACHE_DIR=${PWD}/ccache
tags:
- docker
cache:
key: bionic
paths:
- ccache/
key: ${CACHE_KEY}
# template for build & unit test & make deb configurations
.compile_test_package_template: &compile_test_package_definition
stage: build
script:
- ./scripts/update_submodules.sh
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=Release -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=/usr/
- cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- make -j3
- ctest
- make package
- cd test/
- ctest -V
- cd ../../
- mkdir deb_bionic
- cp build/*.deb deb_bionic/
- cd ..
- mkdir $DEB_DIR
- mv build/*.deb $DEB_DIR/
- dpkg -i $DEB_DIR/*.deb
# smoke test to see if all executables at least start up
- basalt_calibrate --help
- basalt_calibrate_imu --help
- basalt_mapper --help
- basalt_mapper_sim --help
- basalt_mapper_sim_naive --help
- basalt_opt_flow --help
- basalt_vio --help
- basalt_vio_sim --help
# template for build & unit test configurations (no deb)
.compile_test_template: &compile_test_definition
stage: build
script:
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- make -j3
- ctest
# smoke test to see if all executables at least start up
- ./basalt_calibrate --help
- ./basalt_calibrate_imu --help
- ./basalt_mapper --help
- ./basalt_mapper_sim --help
- ./basalt_mapper_sim_naive --help
- ./basalt_opt_flow --help
- ./basalt_vio --help
- ./basalt_vio_sim --help
# template to test debian
.test_deb_template: &test_deb_definition
stage: test
tags:
- docker
variables:
GIT_STRATEGY: none
script:
- dpkg -i $DEB_DIR/*.deb
# smoke test to see if all executables at least start up
- basalt_calibrate --help
- basalt_calibrate_imu --help
- basalt_mapper --help
- basalt_mapper_sim --help
- basalt_mapper_sim_naive --help
- basalt_opt_flow --help
- basalt_vio --help
- basalt_vio_sim --help
bionic-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
variables:
CXX_MARCH: 'corei7-avx'
DEB_DIR: deb_bionic
CACHE_KEY: bionic-release
artifacts:
paths:
- deb_bionic/*.deb
- scripts/eval_full/*
expire_in: 1 week
compile_16_04:
stage: build
xenial-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
image: vladyslavusenko/b_image_xenial:latest
variables:
CXX_MARCH: 'corei7-avx'
before_script:
- mkdir -p ccache
- export CCACHE_BASEDIR=${PWD}
- export CCACHE_DIR=${PWD}/ccache
tags:
- docker
cache:
key: xenial
paths:
- ccache/
script:
- ./scripts/update_submodules.sh
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=Release -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=/usr/
- make -j3
- make package
- cd test/
- ctest -V
- cd ../../
- mkdir deb_xenial
- cp build/*.deb deb_xenial/
DEB_DIR: deb_xenial
CACHE_KEY: xenial-release
artifacts:
paths:
- deb_xenial/*.deb
expire_in: 1 week
only:
- master
bionic-debug-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
variables:
BUILD_TYPE: Debug
CACHE_KEY: bionic-debug
bionic-relwithdebinfo-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
variables:
BUILD_TYPE: RelWithDebInfo
CACHE_KEY: bionic-relwithdebinfo
elcapitan-relwithdebinfo-compile:
<<: *compile_test_definition
tags: [macos, "10.11"]
variables:
BUILD_TYPE: RelWithDebInfo
# check if clang-format would make any changes
clang-format:
tags:
- docker
stage: build
variables:
GIT_SUBMODULE_STRATEGY: none
script:
- ./scripts/clang-format-all.sh
# check if any files are now modified and error if yes
- (if git diff --name-only --diff-filter=M | grep '\..pp$'; then echo $'\n Some files are not properly formatted. You can use "./scripts/clang-format-all.sh".\n'; git diff --diff-filter=M; false; fi)
bionic-test:
<<: *test_deb_definition
variables:
DEB_DIR: deb_bionic
xenial-test:
<<: *test_deb_definition
image: vladyslavusenko/b_image_xenial:latest
variables:
DEB_DIR: deb_xenial
# evaluate on EuRoC sequences
eval_euroc:
stage: test
stage: eval
parallel: 10
tags:
- dataset-eval
tags: [docker, dataset-eval]
variables:
GIT_STRATEGY: none
only:
@ -91,13 +176,14 @@ eval_euroc:
- cd scripts/eval_full
- ./run_evaluations.sh
# aggregate results for all EuRoC sequences
gen_results_euroc:
stage: test_results
stage: eval_results
variables:
GIT_STRATEGY: none
when: on_success
tags:
- docker
when: on_success
only:
- master
artifacts:
@ -109,11 +195,15 @@ gen_results_euroc:
- cat euroc_results.txt
- mv euroc_results.txt ../../
# deploy deb packages
deploy:
stage: deploy
variables:
GIT_STRATEGY: none
tags:
- docker
only:
- master
before_script:
- eval $(ssh-agent -s)
- echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
@ -121,10 +211,6 @@ deploy:
- chmod 700 ~/.ssh
- echo "$SSH_KNOWN_HOSTS" > ~/.ssh/known_hosts
- chmod 644 ~/.ssh/known_hosts
variables:
GIT_STRATEGY: none
only:
- master
script:
- scp $SCP_FLAGS deb_xenial/*.deb $REPOSITORY_URL/xenial/
- scp $SCP_FLAGS deb_bionic/*.deb $REPOSITORY_URL/bionic/

271
CMakeLists.txt
View File

@ -1,9 +1,14 @@
cmake_minimum_required(VERSION 3.8)
cmake_minimum_required(VERSION 3.10)
include("thirdparty/basalt-headers/cmake_modules/PreProjectWorkarounds.cmake")
project(basalt)
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/" ${CMAKE_MODULE_PATH})
set(EIGEN_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/basalt-headers/thirdparty/eigen")
if(NOT EIGEN_ROOT)
set(EIGEN_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/basalt-headers/thirdparty/eigen")
endif()
string(TOLOWER "${PROJECT_NAME}" PROJECT_NAME_LOWERCASE)
find_program(DPKG_PROGRAM dpkg DOC "dpkg program of Debian-based systems")
@ -11,89 +16,163 @@ if(DPKG_PROGRAM)
execute_process(
COMMAND ${DPKG_PROGRAM} --print-architecture
OUTPUT_VARIABLE CPACK_DEBIAN_PACKAGE_ARCHITECTURE
OUTPUT_STRIP_TRAILING_WHITESPACE
)
OUTPUT_STRIP_TRAILING_WHITESPACE)
endif(DPKG_PROGRAM)
find_program(LSB_RELEASE_PROGRAM lsb_release DOC "lsb_release program of Debian-based systems")
if(LSB_RELEASE_PROGRAM)
execute_process(COMMAND ${LSB_RELEASE_PROGRAM} -rs
execute_process(COMMAND ${LSB_RELEASE_PROGRAM} -rs
OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
OUTPUT_STRIP_TRAILING_WHITESPACE
)
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16")
elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.58.0, libboost-date-time1.58.0, libboost-program-options1.58.0, libboost-regex1.58.0, libopencv-dev, libglew1.13, libjpeg8, libpng12-0")
endif(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
endif()
endif(LSB_RELEASE_PROGRAM)
string(TIMESTAMP PROJECT_VERSION_REVISION "%Y%m%d%H%M")
SET(CPACK_GENERATOR "DEB")
SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>")
SET(CPACK_PACKAGE_VERSION_MAJOR "0")
SET(CPACK_PACKAGE_VERSION_MINOR "1")
SET(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}")
SET(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_DEPENDS})
SET(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
set(CPACK_GENERATOR "DEB")
set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>")
set(CPACK_PACKAGE_VERSION_MAJOR "0")
set(CPACK_PACKAGE_VERSION_MINOR "1")
set(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}")
set(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_DEPENDS})
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
include(CPack)
# Configure CCache if available
find_program(CCACHE_PROGRAM ccache)
if(CCACHE_PROGRAM)
message(STATUS "Found ccache: ${CCACHE_PROGRAM}")
set(CMAKE_C_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
endif(CCACHE_PROGRAM)
if (NOT CMAKE_C_COMPILER_LAUNCHER AND NOT CMAKE_CXX_COMPILER_LAUNCHER)
find_program(CCACHE_PROGRAM ccache)
if(CCACHE_PROGRAM)
message(STATUS "Found ccache: ${CCACHE_PROGRAM}")
set(CMAKE_C_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
else()
message(STATUS "Dind't find ccache")
endif()
else()
message(STATUS "Compiler launcher already set. Not configuring ccache.")
message(STATUS "CMAKE_C_COMPILER_LAUNCHER: ${CMAKE_C_COMPILER_LAUNCHER}")
message(STATUS "CMAKE_CXX_COMPILER_LAUNCHER: ${CMAKE_CXX_COMPILER_LAUNCHER}")
endif()
IF( NOT CMAKE_BUILD_TYPE )
SET( CMAKE_BUILD_TYPE Release)
ENDIF()
if( NOT CMAKE_BUILD_TYPE )
set( CMAKE_BUILD_TYPE Release)
endif()
if(NOT CXX_MARCH)
set(CXX_MARCH native)
endif()
IF(NOT CXX_MARCH)
SET(CXX_MARCH native)
ENDIF()
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Flags used for CHECK_CXX_SOURCE_COMPILES
set(CMAKE_REQUIRED_FLAGS "-Wno-unused-variable -Wno-unused-value")
set(CMAKE_REQUIRED_FLAGS "-Wno-error")
IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics -fopenmp")
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "AppleClang")
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
SET(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-deprecated-register -Wno-deprecated-declarations -Wno-sign-compare -Wno-exceptions -Wno-missing-field-initializers -Wno-unused-parameter -Wno-unused-private-field -Qunused-arguments -fcolor-diagnostics -nostdinc++")
include_directories(/usr/local/opt/llvm/include/c++/v1)
link_directories(/usr/local/opt/llvm/lib)
SET(STD_CXX_FS c++fs)
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -std=c++11 -Wno-misleading-indentation -Wno-sign-compare -Wno-maybe-uninitialized -Wno-int-in-bool-context -Wno-implicit-fallthrough -Wno-unused-parameter -Wno-deprecated-declarations -ftemplate-backtrace-limit=0 -fopenmp")
SET(STD_CXX_FS stdc++fs)
ENDIF()
# save flags passed by user
set(BASALT_PASSED_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # cmake default: "-g"
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # cmake default: "-O2 -g -DNDEBUG"
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG") # cmake default: "-O3 -DNDEBUG"
# base set of compile flags
set(BASALT_CXX_FLAGS "-Wall -Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0")
# clang-specific compile flags
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-exceptions -fcolor-diagnostics")
endif()
# Set platform / compiler specific compile flags and checks
if(APPLE)
# Need to investigate how to reliably detect and use OpenMP on macOS...
set(USE_OPENMP_DEFAULT Off)
# Among others, setting CMAKE_FIND_FRAMEWORK to LAST fixed issues
# with installed Mono that contains old headers (libpng, ...).
# See: https://github.com/openMVG/openMVG/issues/1349#issuecomment-401492811
set(CMAKE_FIND_FRAMEWORK LAST)
# use brewed llvm's libc++
add_compile_options("-nostdinc++")
include_directories("/usr/local/opt/llvm/include/c++/v1")
link_directories("/usr/local/opt/llvm/lib")
set(STD_CXX_FS c++fs)
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
message(STATUS "Detected macOS with non-Apple clang")
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
message(STATUS "Detected macOS with Apple clang")
# Apple clang on macOS < 10.14 Mojave is too old
if(CMAKE_SYSTEM_VERSION VERSION_LESS 18.0.0)
message(WARNING "Detected Darwin version ${CMAKE_SYSTEM_VERSION}, which is earlier than macos 10.14 Mojave. Apple clang is too old and not supported. Use clang from homebrew.")
endif()
else()
message(WARNING "Detected macOS with unsupported compiler ${CMAKE_CXX_COMPILER_ID}")
endif()
elseif(UNIX)
set(USE_OPENMP_DEFAULT On)
# assume libstdc++
set(STD_CXX_FS stdc++fs)
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
set(LINUX_CLANG 1)
message(STATUS "Detected Linux with clang.")
message(WARNING "Clang on Linux is currently not fully supported. You'll likely need to get a recent version of TBB.")
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
message(STATUS "Detected Linux with gcc.")
else()
message(WARNING "Detected Linux with unsupported compiler ${CMAKE_CXX_COMPILER_ID}")
endif()
else()
message(WARNING "Only Linux and macOS are currently supported")
endif()
# OpenMP option and compile flags
option(USE_OPENMP "Use OpenMP (e.g. for parallel computation in Eigen)" ${USE_OPENMP_DEFAULT})
if(USE_OPENMP)
message(STATUS "OpenMP Enabled")
set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -fopenmp")
else()
message(STATUS "OpenMP Disabled")
endif()
# setup combined compiler flags
set(CMAKE_CXX_FLAGS "${BASALT_CXX_FLAGS} -march=${CXX_MARCH} ${BASALT_PASSED_CXX_FLAGS}")
set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT})
find_package(Eigen3 3.3.7 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
message(STATUS "Found Eigen headers in: ${EIGEN3_INCLUDE_DIR}")
if(NOT EIGEN3_INCLUDE_DIR MATCHES "^${EIGEN_ROOT}")
message(WARNING "Found Eigen headers are outside of specified EIGEN_ROOT '${EIGEN_ROOT}'")
endif()
find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIR})
@ -103,26 +182,9 @@ include_directories(${OpenCV_INCLUDE_DIR})
message(STATUS "Found OpenCV headers in: ${OpenCV_INCLUDE_DIR}")
message(STATUS "Found OpenCV_LIBS: ${OpenCV_LIBS}")
add_subdirectory(thirdparty/ros)
add_subdirectory(thirdparty/apriltag)
add_subdirectory(thirdparty/DBoW3)
add_subdirectory(thirdparty)
set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
add_subdirectory(thirdparty/opengv EXCLUDE_FROM_ALL)
# Hack to disable CPack in Pangolin.
macro(include)
if(NOT ${ARGV0} STREQUAL "CPack")
_include(${ARGN})
endif()
endmacro()
add_subdirectory(thirdparty/Pangolin EXCLUDE_FROM_ALL)
include_directories(thirdparty/basalt-headers/thirdparty/Sophus)
include_directories(thirdparty/basalt-headers/thirdparty/cereal/include)
@ -135,76 +197,71 @@ include_directories(include)
add_library(basalt SHARED
src/io/dataset_io.cpp
src/io/marg_data_io.cpp
src/calibration/cam_calib.cpp
src/calibration/cam_imu_calib.cpp
src/calibration/calibraiton_helper.cpp
src/calibration/vignette.cpp
src/utils/vio_config.cpp
src/optical_flow/optical_flow.cpp
src/vi_estimator/keypoint_vio.cpp
src/vi_estimator/keypoint_vio_linearize.cpp
src/vi_estimator/vio_estimator.cpp
src/vi_estimator/ba_base.cpp
src/vi_estimator/nfr_mapper.cpp
src/utils/keypoints.cpp)
src/io/dataset_io.cpp
src/io/marg_data_io.cpp
src/calibration/cam_calib.cpp
src/calibration/cam_imu_calib.cpp
src/calibration/calibraiton_helper.cpp
src/calibration/vignette.cpp
src/utils/vio_config.cpp
src/optical_flow/optical_flow.cpp
src/vi_estimator/keypoint_vio.cpp
src/vi_estimator/keypoint_vio_linearize.cpp
src/vi_estimator/vio_estimator.cpp
src/vi_estimator/ba_base.cpp
src/vi_estimator/nfr_mapper.cpp
src/utils/keypoints.cpp)
target_link_libraries(basalt rosbag pangolin apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${OpenCV_LIBS} opengv ${STD_CXX_FS} DBoW3)
target_link_libraries(basalt PUBLIC ${TBB_LIBRARIES} ${STD_CXX_FS} ${OpenCV_LIBS} pangolin PRIVATE rosbag apriltag opengv DBoW3)
add_executable(basalt_calibrate src/calibrate.cpp)
target_link_libraries(basalt_calibrate ${Pangolin_LIBRARIES} apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${rosbag_LIBRARIES} basalt)
target_link_libraries(basalt_calibrate basalt)
add_executable(basalt_calibrate_imu src/calibrate_imu.cpp)
target_link_libraries(basalt_calibrate_imu ${Pangolin_LIBRARIES} apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${rosbag_LIBRARIES} basalt)
target_link_libraries(basalt_calibrate_imu basalt)
add_executable(basalt_vio_sim src/vio_sim.cpp )
target_link_libraries(basalt_vio_sim ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt)
add_executable(basalt_vio_sim src/vio_sim.cpp)
target_link_libraries(basalt_vio_sim basalt)
add_executable(basalt_mapper_sim src/mapper_sim.cpp )
target_link_libraries(basalt_mapper_sim ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt)
add_executable(basalt_mapper_sim src/mapper_sim.cpp)
target_link_libraries(basalt_mapper_sim basalt)
add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
target_link_libraries(basalt_mapper_sim_naive ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt)
target_link_libraries(basalt_mapper_sim_naive basalt)
add_executable(basalt_mapper src/mapper.cpp)
target_link_libraries(basalt_mapper ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt)
target_link_libraries(basalt_mapper basalt)
add_executable(basalt_opt_flow src/opt_flow.cpp)
target_link_libraries(basalt_opt_flow ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} basalt)
target_link_libraries(basalt_opt_flow basalt)
add_executable(basalt_vio src/vio.cpp)
target_link_libraries(basalt_vio ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} basalt)
target_link_libraries(basalt_vio basalt)
install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt
EXPORT BasaltTargets
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
)
EXPORT BasaltTargets
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json")
INSTALL(FILES ${CONFIG_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/data/basalt-data/orbvoc.dbow3
DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt
)
install(FILES ${CONFIG_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/data/basalt-data/orbvoc.dbow3
DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt)
# Replace install() to do-nothing macro.
macro(install)
endmacro()
# Include subproject (or any other CMake code) with "disabled" install().
enable_testing()
add_subdirectory(thirdparty/basalt-headers/test)
add_subdirectory(test)
# Restore original install() behavior.
macro(install)
_install(${ARGN})
_install(${ARGN})
endmacro()

2
README.md
View File

@ -42,7 +42,7 @@ Update the Ubuntu package index and install Basalt:
sudo apt-get update
sudo apt-get install basalt
```
### Source installation for Ubuntu 18.04 and MacOS 10.14 Mojave
### Source installation for Ubuntu 18.04 and MacOS >= 10.11 El Capitan
Clone the source code for the project and build it. For MacOS you should have [Homebrew](https://brew.sh/) installed.
```
git clone --recursive https://gitlab.com/VladyslavUsenko/basalt.git

2
include/basalt/calibration/vignette.h
View File

@ -84,4 +84,4 @@ class VignetteEstimator {
std::vector<double> irradiance;
std::vector<basalt::RdSpline<1, SPLINE_N>> vign_param;
};
}
} // namespace basalt

5
include/basalt/io/dataset_io.h
View File

@ -179,8 +179,9 @@ template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
inline
typename std::enable_if<_Rows == Eigen::Dynamic || _Cols == Eigen::Dynamic,
void>::type
load(Archive &ar, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows,
_MaxCols> &matrix) {
load(Archive &ar,
Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
&matrix) {
std::int32_t rows;
std::int32_t cols;
ar(rows);

35
include/basalt/optimization/spline_linearize.h
View File

@ -135,9 +135,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
// std::cout << "time " << time << std::endl;
// std::cout << "sline.minTime() " << spline.minTime() << std::endl;
BASALT_ASSERT_STREAM(time_ns >= spline->minTimeNs(),
"time " << time_ns << " spline.minTimeNs() "
<< spline->minTimeNs());
BASALT_ASSERT_STREAM(
time_ns >= spline->minTimeNs(),
"time " << time_ns << " spline.minTimeNs() " << spline->minTimeNs());
// Residual from current value of spline
Vector3 residual_pos =
@ -207,12 +207,12 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
// std::cout << "time " << t << std::endl;
// std::cout << "sline.minTime() " << spline.minTime() << std::endl;
BASALT_ASSERT_STREAM(t >= spline->minTimeNs(),
"t " << t << " spline.minTime() "
<< spline->minTimeNs());
BASALT_ASSERT_STREAM(t <= spline->maxTimeNs(),
"t " << t << " spline.maxTime() "
<< spline->maxTimeNs());
BASALT_ASSERT_STREAM(
t >= spline->minTimeNs(),
"t " << t << " spline.minTime() " << spline->minTimeNs());
BASALT_ASSERT_STREAM(
t <= spline->maxTimeNs(),
"t " << t << " spline.maxTime() " << spline->maxTimeNs());
Vector3 residual = spline->accelResidual(
t, pm.data, this->common_data.calibration->calib_accel_bias,
@ -255,8 +255,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
BASALT_ASSERT(start_j < opt_size);
accum.template addH<POSE_SIZE, POSE_SIZE>(
start_i, start_j, accel_var_inv * J.d_val_d_knot[i].transpose() *
J.d_val_d_knot[j]);
start_i, start_j,
accel_var_inv * J.d_val_d_knot[i].transpose() *
J.d_val_d_knot[j]);
}
accum.template addH<ACCEL_BIAS_SIZE, POSE_SIZE>(
start_bias, start_i,
@ -497,9 +498,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
if (time_ns < spline->minTimeNs() || time_ns >= spline->maxTimeNs())
continue;
BASALT_ASSERT_STREAM(time_ns >= spline->minTimeNs(),
"time " << time_ns << " spline.minTimeNs() "
<< spline->minTimeNs());
BASALT_ASSERT_STREAM(
time_ns >= spline->minTimeNs(),
"time " << time_ns << " spline.minTimeNs() " << spline->minTimeNs());
const SE3 T_moc_w = this->common_data.mocap_calibration->T_moc_w;
const SE3 T_i_mark = this->common_data.mocap_calibration->T_i_mark;
@ -563,9 +564,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
d_res_d_T_w_i.transpose() * residual);
accum.template addH<POSE_SIZE, POSE_SIZE>(
start_T_moc_w, start_i, mocap_var_inv *
d_res_d_T_moc_w.transpose() *
d_res_d_T_w_i * J_pose.d_val_d_knot[i]);
start_T_moc_w, start_i,
mocap_var_inv * d_res_d_T_moc_w.transpose() * d_res_d_T_w_i *
J_pose.d_val_d_knot[i]);
accum.template addH<POSE_SIZE, POSE_SIZE>(
start_T_i_mark, start_i,

4
include/basalt/utils/common_types.h
View File

@ -238,7 +238,7 @@ using ImageProjections = std::map<TimeCamId, ImageProjection>;
/// inlier projections indexed per track
using TrackProjections =
std::unordered_map<TrackId, std::map<TimeCamId, ProjectedLandmarkConstPtr>>;
}
} // namespace basalt
namespace cereal {
@ -251,4 +251,4 @@ template <class Archive>
void serialize(Archive& ar, basalt::MatchData& c) {
ar(c.T_i_j, c.matches, c.inliers);
}
}
} // namespace cereal

2
include/basalt/utils/keypoints.h
View File

@ -53,7 +53,7 @@ namespace basalt {
typedef std::bitset<256> Descriptor;
void detectKeypointsMapping(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int num_features);
KeypointsData& kd, int num_features);
void detectKeypoints(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int PATCH_SIZE = 32,

2
include/basalt/utils/nfr.h
View File

@ -117,4 +117,4 @@ inline Sophus::Vector2d rollPitchError(
return res.head<2>();
}
}
} // namespace basalt

6
include/basalt/utils/sim_utils.h
View File

@ -43,13 +43,11 @@ struct SimObservations {
std::vector<int> id;
};
}
} // namespace basalt
namespace cereal {
template <class Archive>
void serialize(Archive& ar, basalt::SimObservations& c) {
ar(c.pos, c.id);
}
}
} // namespace cereal

5
include/basalt/utils/tracks.h
View File

@ -47,11 +47,8 @@
#include <basalt/utils/common_types.h>
#include <basalt/utils/union_find.h>
namespace basalt {
/// TrackBuild class creates feature tracks from matches
struct TrackBuilder {
std::map<ImageFeaturePair, TrackId> map_node_to_index;
@ -222,4 +219,4 @@ bool GetSharedTracks(const TimeCamId& image_id, const FeatureTracks& all_tracks,
return !track_ids.empty();
}
}
} // namespace basalt

40
include/basalt/vi_estimator/ba_base.h
View File

@ -174,6 +174,7 @@ class BundleAdjustmentBase {
if (d_res_d_p) {
Eigen::Matrix<double, 4, 3> Jpp;
Jpp.setZero();
Jpp.block<3, 2>(0, 0) = T_t_h.topLeftCorner<3, 4>() * Jup;
Jpp.col(2) = T_t_h.col(3);
@ -215,6 +216,7 @@ class BundleAdjustmentBase {
if (d_res_d_p) {
Eigen::Matrix<double, 4, 3> Jpp;
Jpp.setZero();
Jpp.block<4, 2>(0, 0) = Jup;
Jpp.col(2).setZero();
@ -284,28 +286,32 @@ class BundleAdjustmentBase {
continue;
accum.template addH<POSE_SIZE, POSE_SIZE>(
abs_h_idx, abs_h_idx, rld.d_rel_d_h[i].transpose() *
rel_H.block<POSE_SIZE, POSE_SIZE>(
POSE_SIZE * i, POSE_SIZE * j) *
rld.d_rel_d_h[j]);
abs_h_idx, abs_h_idx,
rld.d_rel_d_h[i].transpose() *
rel_H.block<POSE_SIZE, POSE_SIZE>(POSE_SIZE * i,
POSE_SIZE * j) *
rld.d_rel_d_h[j]);
accum.template addH<POSE_SIZE, POSE_SIZE>(
abs_ti_idx, abs_h_idx, rld.d_rel_d_t[i].transpose() *
rel_H.block<POSE_SIZE, POSE_SIZE>(
POSE_SIZE * i, POSE_SIZE * j) *
rld.d_rel_d_h[j]);
abs_ti_idx, abs_h_idx,
rld.d_rel_d_t[i].transpose() *
rel_H.block<POSE_SIZE, POSE_SIZE>(POSE_SIZE * i,
POSE_SIZE * j) *
rld.d_rel_d_h[j]);
accum.template addH<POSE_SIZE, POSE_SIZE>(
abs_h_idx, abs_tj_idx, rld.d_rel_d_h[i].transpose() *
rel_H.block<POSE_SIZE, POSE_SIZE>(
POSE_SIZE * i, POSE_SIZE * j) *
rld.d_rel_d_t[j]);
abs_h_idx, abs_tj_idx,
rld.d_rel_d_h[i].transpose() *
rel_H.block<POSE_SIZE, POSE_SIZE>(POSE_SIZE * i,
POSE_SIZE * j) *
rld.d_rel_d_t[j]);
accum.template addH<POSE_SIZE, POSE_SIZE>(
abs_ti_idx, abs_tj_idx, rld.d_rel_d_t[i].transpose() *
rel_H.block<POSE_SIZE, POSE_SIZE>(
POSE_SIZE * i, POSE_SIZE * j) *
rld.d_rel_d_t[j]);
abs_ti_idx, abs_tj_idx,
rld.d_rel_d_t[i].transpose() *
rel_H.block<POSE_SIZE, POSE_SIZE>(POSE_SIZE * i,
POSE_SIZE * j) *
rld.d_rel_d_t[j]);
}
}
}
@ -369,4 +375,4 @@ class BundleAdjustmentBase {
basalt::Calibration<double> calib;
};
}
} // namespace basalt

43
scripts/clang-format-all.sh Executable file
View File

@ -0,0 +1,43 @@
#!/usr/bin/env bash
# Format all source files in the project.
# Optionally take folder as argument; default is full inlude and src dirs.
set -e
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
FOLDER="${1:-$SCRIPT_DIR/../include $SCRIPT_DIR/../src $SCRIPT_DIR/../test/src}"
CLANG_FORMAT_COMMANDS="clang-format-9 clang-format-8 clang-format"
# find the first available command:
for CMD in $CLANG_FORMAT_COMMANDS; do
if hash $CMD 2>/dev/null; then
CLANG_FORMAT_CMD=$CMD
break
fi
done
if [ -z $CLANG_FORMAT_CMD ]; then
echo "clang-format not installed..."
exit 1
fi
# clang format check version
MAJOR_VERSION_NEEDED=8
MAJOR_VERSION_DETECTED=`$CLANG_FORMAT_CMD -version | sed -n -E 's/.*version ([0-9]+).*/\1/p'`
if [ -z $MAJOR_VERSION_DETECTED ]; then
echo "Failed to parse major version (`$CLANG_FORMAT_CMD -version`)"
exit 1
fi
echo "clang-format version $MAJOR_VERSION_DETECTED (`$CLANG_FORMAT_CMD -version`)"
if [ $MAJOR_VERSION_DETECTED -lt $MAJOR_VERSION_NEEDED ]; then
echo "Looks like your clang format is too old; need at least version $MAJOR_VERSION_NEEDED"
exit 1
fi
find $FOLDER -iname "*.?pp" -or -iname "*.h" | xargs $CLANG_FORMAT_CMD -verbose -i

15
scripts/install_mac_os_deps.sh
View File

@ -1,4 +1,15 @@
#!/bin/sh
brew install clang-format tbb glew eigen ccache
brew install --with-toolchain llvm
brew install \
boost \
opencv \
cmake \
pkgconfig \
lz4 \
clang-format \
tbb \
glew \
eigen \
ccache
brew install llvm

1
src/calibrate.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/calibration/cam_calib.h>
#include <tbb/tbb.h>

1
src/calibration/vignette.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/calibration/vignette.h>
namespace basalt {

1
src/io/dataset_io.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/io/dataset_io.h>
#include <basalt/io/dataset_io_euroc.h>
#include <basalt/io/dataset_io_rosbag.h>

2
src/mapper.cpp
View File

@ -323,7 +323,7 @@ int main(int argc, char** argv) {
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
} else {
//optimize();
// optimize();
detect();
match();
tracks();

3
src/mapper_sim.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <algorithm>
#include <chrono>
#include <iostream>
@ -120,7 +119,7 @@ double alignButton();
void setup_points();
constexpr int UI_WIDTH = 200;
constexpr int NUM_FRAMES = 500;
// constexpr int NUM_FRAMES = 500;
basalt::Calibration<double> calib;

5
src/mapper_sim_naive.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <algorithm>
#include <chrono>
#include <iostream>
@ -492,8 +491,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) {
cereal::JSONInputArchive archive(os);
archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size()
<< " cameras" << std::endl;
std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< std::endl;
} else {
std::cerr << "could not load camera calibration " << calib_path

5
src/opt_flow.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <algorithm>
#include <chrono>
#include <iostream>
@ -321,8 +320,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) {
cereal::JSONInputArchive archive(os);
archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size()
<< " cameras" << std::endl;
std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< std::endl;
} else {
std::cerr << "could not load camera calibration " << calib_path

1
src/optical_flow/optical_flow.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/optical_flow/optical_flow.h>
#include <basalt/optical_flow/frame_to_frame_optical_flow.h>

2
src/utils/keypoints.cpp
View File

@ -128,7 +128,7 @@ const static char pattern_31_y_b[256] = {
-11};
void detectKeypointsMapping(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int num_features) {
KeypointsData& kd, int num_features) {
cv::Mat image(img_raw.h, img_raw.w, CV_8U);
uint8_t* dst = image.ptr();

5
src/vi_estimator/ba_base.cpp
View File

@ -33,8 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/vi_estimator/ba_base.h>
#include <tbb/parallel_for.h>
@ -354,7 +352,6 @@ void BundleAdjustmentBase::linearizeHelper(
}
}
}
});
for (const auto& rld : rld_vec) error += rld.error;
@ -522,4 +519,4 @@ void BundleAdjustmentBase::marginalizeHelper(Eigen::MatrixXd& abs_H,
abs_H.resize(0, 0);
abs_b.resize(0);
}
}
} // namespace basalt

11
src/vio_sim.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <algorithm>
#include <chrono>
#include <iostream>
@ -541,8 +540,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) {
cereal::JSONInputArchive archive(os);
archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size()
<< " cameras" << std::endl;
std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< std::endl;
} else {
std::cerr << "could not load camera calibration " << calib_path
@ -595,9 +594,9 @@ void compute_projections() {
void gen_data() {
for (size_t i = 0; i < calib.intrinsics.size(); i++) {
images.emplace_back();
images.back() = pangolin::TypedImage(
calib.resolution[i][0], calib.resolution[i][1],
pangolin::PixelFormatFromString("GRAY8"));
images.back() =
pangolin::TypedImage(calib.resolution[i][0], calib.resolution[i][1],
pangolin::PixelFormatFromString("GRAY8"));
images.back().Fill(200);
}

27
test/CMakeLists.txt
View File

@ -1,31 +1,28 @@
cmake_minimum_required(VERSION 3.2)
find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIR})
set(GTEST_MAIN_LIBRARY gtest_main)
set(GTEST_LIBRARY gtest)
cmake_minimum_required(VERSION 3.10)
# Note: add_subdirectory(googletest ...) is called in basalt-headers
include_directories(../thirdparty/basalt-headers/test/include)
add_executable(test_image src/test_image.cpp)
target_link_libraries(test_image ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${OpenCV_LIBS} basalt)
target_link_libraries(test_image gtest gtest_main basalt)
add_executable(test_spline_opt src/test_spline_opt.cpp)
target_link_libraries(test_spline_opt ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt)
target_link_libraries(test_spline_opt gtest gtest_main basalt)
add_executable(test_vio src/test_vio.cpp)
target_link_libraries(test_vio ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt)
target_link_libraries(test_vio gtest gtest_main basalt)
add_executable(test_nfr src/test_nfr.cpp)
target_link_libraries(test_nfr ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt)
target_link_libraries(test_nfr gtest gtest_main basalt)
enable_testing()
add_test(test_image test_image COMMAND Test)
add_test(test_spline_opt test_spline_opt COMMAND Test)
add_test(test_vio test_vio COMMAND Test)
add_test(test_nfr test_nfr COMMAND Test)
include(GoogleTest)
gtest_discover_tests(test_image DISCOVERY_TIMEOUT 60)
gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 60)
gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 60)
gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 60)

17
test/src/test_image.cpp
View File

@ -27,14 +27,15 @@ TEST(Pattern, ImageInterp) {
// std::cerr << "vg\n" << vg << std::endl;
test_jacobian("d_val_d_p", J,
[&](const Eigen::Vector2d &x) {
Eigen::Matrix<double, 1, 1> res;
Eigen::Vector2d p1 = offset + x;
res[0] = img.interpGrad(p1)[0];
return res;
},
Eigen::Vector2d::Zero(), 1.0);
test_jacobian(
"d_val_d_p", J,
[&](const Eigen::Vector2d &x) {
Eigen::Matrix<double, 1, 1> res;
Eigen::Vector2d p1 = offset + x;
res[0] = img.interpGrad(p1)[0];
return res;
},
Eigen::Vector2d::Zero(), 1.0);
}
TEST(Image, ImageInterpolate) {

82
test/src/test_nfr.cpp
View File

@ -34,29 +34,29 @@ TEST(PreIntegrationTestSuite, RelPoseTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
test_jacobian(
"d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::relPoseError(T_i_j, T_w_i_new, T_w_j);
},
x0);
return basalt::relPoseError(T_i_j, T_w_i_new, T_w_j);
},
x0);
}
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_j", d_res_d_T_w_j,
[&](const Sophus::Vector6d& x) {
auto T_w_j_new = T_w_j;
basalt::PoseState::incPose(x, T_w_j_new);
test_jacobian(
"d_res_d_T_w_j", d_res_d_T_w_j,
[&](const Sophus::Vector6d& x) {
auto T_w_j_new = T_w_j;
basalt::PoseState::incPose(x, T_w_j_new);
return basalt::relPoseError(T_i_j, T_w_i, T_w_j_new);
},
x0);
return basalt::relPoseError(T_i_j, T_w_i, T_w_j_new);
},
x0);
}
}
@ -71,15 +71,15 @@ TEST(PreIntegrationTestSuite, AbsPositionTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
test_jacobian(
"d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::absPositionError(T_w_i_new, pos);
},
x0);
return basalt::absPositionError(T_w_i_new, pos);
},
x0);
}
}
@ -97,17 +97,17 @@ TEST(PreIntegrationTestSuite, YawTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
test_jacobian(
"d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
double res = basalt::yawError(T_w_i_new, yaw_dir_body);
double res = basalt::yawError(T_w_i_new, yaw_dir_body);
return Eigen::Matrix<double, 1, 1>(res);
},
x0);
return Eigen::Matrix<double, 1, 1>(res);
},
x0);
}
}
@ -124,14 +124,14 @@ TEST(PreIntegrationTestSuite, RollPitchTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
test_jacobian(
"d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::rollPitchError(T_w_i_new, R_w_i);
},
x0);
return basalt::rollPitchError(T_w_i_new, R_w_i);
},
x0);
}
}

44
test/src/test_vio.cpp
View File

@ -372,37 +372,37 @@ TEST(PreIntegrationTestSuite, LinearizePointsTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_xi", d_res_d_xi,
[&](const Sophus::Vector6d& x) {
Eigen::Matrix4d T_t_h_new =
(Sophus::expd(x) * T_t_h_sophus).matrix();
test_jacobian(
"d_res_d_xi", d_res_d_xi,
[&](const Sophus::Vector6d& x) {
Eigen::Matrix4d T_t_h_new = (Sophus::expd(x) * T_t_h_sophus).matrix();
Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint(
kpt_obs, kpt_pos, T_t_h_new, cam, res);
Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint(kpt_obs, kpt_pos,
T_t_h_new, cam, res);
return res;
},
x0);
return res;
},
x0);
}
{
Eigen::Vector3d x0;
x0.setZero();
test_jacobian("d_res_d_p", d_res_d_p,
[&](const Eigen::Vector3d& x) {
basalt::KeypointVioEstimator::KeypointPosition kpt_pos_new =
kpt_pos;
test_jacobian(
"d_res_d_p", d_res_d_p,
[&](const Eigen::Vector3d& x) {
basalt::KeypointVioEstimator::KeypointPosition kpt_pos_new = kpt_pos;
kpt_pos_new.dir += x.head<2>();
kpt_pos_new.id += x[2];
kpt_pos_new.dir += x.head<2>();
kpt_pos_new.id += x[2];
Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint(
kpt_obs, kpt_pos_new, T_t_h, cam, res);
Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint(kpt_obs, kpt_pos_new,
T_t_h, cam, res);
return res;
},
x0);
return res;
},
x0);
}
}

106
thirdparty/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,106 @@
cmake_minimum_required(VERSION 3.10)
add_subdirectory(ros EXCLUDE_FROM_ALL)
add_subdirectory(apriltag EXCLUDE_FROM_ALL)
add_subdirectory(DBoW3 EXCLUDE_FROM_ALL)
set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
set(BUILD_TOOLS OFF CACHE BOOL "Enable BUILD_TOOLS")
set(CMAKE_EXPORT_NO_PACKAGE_REGISTRY ON)
set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
set(EIGEN_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIR}")
add_subdirectory(opengv EXCLUDE_FROM_ALL)
# Hack to disable CPack in Pangolin.
macro(include)
if(NOT ${ARGV0} STREQUAL "CPack")
_include(${ARGN})
endif()
endmacro()
add_subdirectory(Pangolin EXCLUDE_FROM_ALL)
# fix aprilgrid
target_compile_options(apriltag PRIVATE "-Wno-unused-private-field")
# fix opengv: c++17 and debug postfix
set_target_properties(opengv PROPERTIES
CXX_STANDARD 17
DEBUG_POSTFIX "")
# fix opengv: compile options (CMAKE_CXX_FLAGS is overwritten by Opengv)
target_compile_options(opengv PRIVATE
-Wno-unused-private-field
-march=${CXX_MARCH}
${BASALT_PASSED_CXX_FLAGS})
# TODO: enable once mpark issue is fixed upstream pangolin
#set_target_properties(pangolin PROPERTIES
# CXX_STANDARD 17)
# fix pangolin: gcc
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
target_compile_options(pangolin PRIVATE "-Wno-implicit-fallthrough")
endif()
# fix pangolin: macOS
if(APPLE)
target_compile_options(pangolin PRIVATE "-Wno-objc-missing-super-calls")
endif()
# fix pangolin: macOS >= 10.14 Mojave
if(APPLE AND CMAKE_SYSTEM_VERSION VERSION_GREATER_EQUAL 18.0.0)
target_compile_options(pangolin PRIVATE "-Wno-deprecated-declarations")
endif()
# fix pangolin: clang
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
target_compile_options(pangolin PRIVATE "-Wno-null-pointer-arithmetic")
endif()
# fix pangolin: clang >= 8.0
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 8.0.0)
target_compile_options(pangolin PRIVATE "-Wno-defaulted-function-deleted")
endif()
# check here the directories for the pangolin and opengv targets, and
# confirm that the eigen-related include dirs match.
foreach(_target opengv pangolin)
get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
foreach(_dir IN LISTS _include_dirs)
if("${_dir}" MATCHES ".*/eigen3?(/unsupported)?$")
if(NOT _dir MATCHES "^${EIGEN3_INCLUDE_DIR}.*")
endif()
endif()
endforeach()
endforeach()
# opengv and pangolin assume that eigen is found outside the source
# directory and thus include it in INTERFACE_INCLUDE_DIRECTORIES,
# which makes cmake complain that that property contains paths in the
# source folder. Thus, we update the property to only include these
# eigen paths in the "BUILD_INTERFACE" (not "INSTALL").
if (EIGEN3_INCLUDE_DIR MATCHES "^${CMAKE_SOURCE_DIR}.*")
foreach(_target opengv pangolin)
get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
set(_include_dirs_new "")
foreach(_dir IN LISTS _include_dirs)
if(_dir MATCHES ".*/eigen(/unsupported)?$")
string(REGEX REPLACE "(^${CMAKE_SOURCE_DIR}.*$)" "$<BUILD_INTERFACE:\\1>" _dir "${_dir}")
endif()
list(APPEND _include_dirs_new "${_dir}")
endforeach()
set_target_properties(${_target} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${_include_dirs_new}")
endforeach()
endif()

2
thirdparty/basalt-headers vendored

@ -1 +1 @@
Subproject commit 4a771353447a0dd4e47a0041ada6385363a34f3b
Subproject commit 292ee346506b73f691b96108cafc53d589e8b7b3