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No commits in common. "9dc99a8c12300eeb536ed7d389cd4d8a7bc24bba" and "c141291a4e993561cf11de1869183c93b160f9d3" have entirely different histories.
9dc99a8c12
...
c141291a4e
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@ -48,6 +48,7 @@ set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_M
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set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
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include(CPack)
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# Configure CCache if available
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if (NOT CMAKE_C_COMPILER_LAUNCHER AND NOT CMAKE_CXX_COMPILER_LAUNCHER)
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find_program(CCACHE_PROGRAM ccache)
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@ -288,12 +289,12 @@ add_library(basalt::magic_enum INTERFACE IMPORTED)
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set_property(TARGET basalt::magic_enum PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/magic_enum/include)
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# main library
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add_library(basalt_internal STATIC)
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add_library(basalt SHARED)
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# List all header and source files with target_sources.
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# This ensures, e.g., that QtCreator >= 6.0 properly recognize these headers to belong to the project.
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# To support cmake < 3.13, use absolute paths (see: https://crascit.com/2016/01/31/enhanced-source-file-handling-with-target_sources/)
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target_sources(basalt_internal
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target_sources(basalt
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/aprilgrid.h
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${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/calibration_helper.h
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@ -364,6 +365,7 @@ target_sources(basalt_internal
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${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_abs_sc.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_base.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_rel_sc.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/monado/slam_tracker.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/optical_flow/optical_flow.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/utils/keypoints.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/utils/system_utils.cpp
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@ -380,48 +382,45 @@ target_sources(basalt_internal
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${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/vio_estimator.cpp
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)
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target_link_libraries(basalt_internal
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target_link_libraries(basalt
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PUBLIC ${STD_CXX_FS} basalt::opencv basalt::basalt-headers TBB::tbb pangolin basalt::cli11 basalt::monado
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PRIVATE basalt::magic_enum rosbag apriltag opengv nlohmann::json fmt::fmt)
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target_include_directories(basalt_internal PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
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target_compile_definitions(basalt_internal PUBLIC ${BASALT_COMPILE_DEFINITIONS})
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#target_compile_definitions(basalt_internal PUBLIC BASALT_DISABLE_ASSERTS)
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target_include_directories(basalt PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
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target_compile_definitions(basalt PUBLIC ${BASALT_COMPILE_DEFINITIONS})
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#target_compile_definitions(basalt PUBLIC BASALT_DISABLE_ASSERTS)
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add_library(basalt SHARED)
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target_sources(basalt PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src/monado/slam_tracker.cpp)
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target_link_libraries(basalt basalt_internal)
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add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp)
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target_link_libraries(basalt_calibrate basalt_internal pangolin basalt::cli11)
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target_link_libraries(basalt_calibrate basalt pangolin basalt::cli11)
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add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp)
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target_link_libraries(basalt_calibrate_imu basalt_internal pangolin basalt::cli11)
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target_link_libraries(basalt_calibrate_imu basalt pangolin basalt::cli11)
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add_executable(basalt_vio_sim src/vio_sim.cpp)
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target_link_libraries(basalt_vio_sim basalt_internal pangolin basalt::cli11)
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target_link_libraries(basalt_vio_sim basalt pangolin basalt::cli11)
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add_executable(basalt_mapper_sim src/mapper_sim.cpp)
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target_link_libraries(basalt_mapper_sim basalt_internal pangolin basalt::cli11)
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||||
target_link_libraries(basalt_mapper_sim basalt pangolin basalt::cli11)
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# mapper sim native doesn't use template free interface
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if(BASALT_INSTANTIATIONS_DOUBLE)
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add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
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target_link_libraries(basalt_mapper_sim_naive basalt_internal pangolin basalt::cli11)
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target_link_libraries(basalt_mapper_sim_naive basalt pangolin basalt::cli11)
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endif()
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add_executable(basalt_mapper src/mapper.cpp)
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target_link_libraries(basalt_mapper basalt_internal pangolin basalt::cli11)
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target_link_libraries(basalt_mapper basalt pangolin basalt::cli11)
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add_executable(basalt_opt_flow src/opt_flow.cpp)
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target_link_libraries(basalt_opt_flow basalt_internal pangolin basalt::cli11)
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target_link_libraries(basalt_opt_flow basalt pangolin basalt::cli11)
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add_executable(basalt_vio src/vio.cpp)
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target_link_libraries(basalt_vio basalt_internal pangolin basalt::cli11)
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target_link_libraries(basalt_vio basalt pangolin basalt::cli11)
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add_executable(basalt_time_alignment src/time_alignment.cpp)
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target_link_libraries(basalt_time_alignment basalt_internal pangolin basalt::cli11)
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target_link_libraries(basalt_time_alignment basalt pangolin basalt::cli11)
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add_executable(basalt_kitti_eval src/kitti_eval.cpp)
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target_link_libraries(basalt_kitti_eval basalt::basalt-headers basalt::cli11)
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@ -429,24 +428,15 @@ target_link_libraries(basalt_kitti_eval basalt::basalt-headers basalt::cli11)
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find_package(realsense2 QUIET)
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if(realsense2_FOUND)
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add_executable(basalt_rs_t265_record src/rs_t265_record.cpp src/device/rs_t265.cpp)
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target_link_libraries(basalt_rs_t265_record basalt_internal realsense2::realsense2 pangolin basalt::cli11)
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target_link_libraries(basalt_rs_t265_record basalt realsense2::realsense2 pangolin basalt::cli11)
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add_executable(basalt_rs_t265_vio src/rs_t265_vio.cpp src/device/rs_t265.cpp)
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target_link_libraries(basalt_rs_t265_vio basalt_internal realsense2::realsense2 pangolin basalt::cli11)
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target_link_libraries(basalt_rs_t265_vio basalt realsense2::realsense2 pangolin basalt::cli11)
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endif()
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# Let's export only the slam_tracker.hpp functions for libORB_SLAM3.so,
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# But will let a libORB_SLAM3_EXAMPLES.so for the regular ORB-SLAM3 examples to use
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# if the user builds with -DBUILD_EXAMPLES=On
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set_target_properties(${PROJECT_NAME} PROPERTIES
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C_VISIBILITY_PRESET hidden
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CXX_VISIBILITY_PRESET hidden
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VISIBILITY_INLINES_HIDDEN YES
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LINK_DEPENDS ${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.map
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LINK_FLAGS "-Wl,--version-script=${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.map"
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)
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install(TARGETS basalt basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment
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install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment basalt
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EXPORT BasaltTargets
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RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
|
||||
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
|
||||
|
|
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@ -106,8 +106,12 @@ This step is optional but you can try Basalt without Monado with one of the foll
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### Monado Specifics
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||||
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||||
Note: be careful when manually enabling ASan when building Monado as some
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crashes have been reported. I'm still trying to figure out why those happen.
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||||
You'll need to compile Monado with the same Eigen used in Basalt, and with the
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same flags. For that, set these with CMake:
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`-DEIGEN3_INCLUDE_DIR=$bsltdeps/basalt/thirdparty/basalt-headers/thirdparty/eigen
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-DCMAKE_C_FLAGS="-march=native" -DCMAKE_CXX_FLAGS="-march=native"` otherwise
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||||
Monado will automatically use your system's Eigen, and having mismatched Eigen
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version/flags can cause a lot of headaches.
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||||
Run an OpenXR app like `hello_xr` with the following environment variables set
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||||
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@ -1,25 +0,0 @@
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LIBXRTSLAM_BASALT_4.0.0 {
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global:
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extern "C++" {
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xrt::auxiliary::tracking::slam::slam_tracker::slam_tracker*;
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xrt::auxiliary::tracking::slam::slam_tracker::*slam_tracker*;
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xrt::auxiliary::tracking::slam::slam_tracker::initialize*;
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xrt::auxiliary::tracking::slam::slam_tracker::start*;
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xrt::auxiliary::tracking::slam::slam_tracker::is_running*;
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xrt::auxiliary::tracking::slam::slam_tracker::stop*;
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xrt::auxiliary::tracking::slam::slam_tracker::finalize*;
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xrt::auxiliary::tracking::slam::slam_tracker::push_imu_sample*;
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xrt::auxiliary::tracking::slam::slam_tracker::push_frame*;
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xrt::auxiliary::tracking::slam::slam_tracker::try_dequeue_pose*;
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xrt::auxiliary::tracking::slam::slam_tracker::supports_feature*;
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xrt::auxiliary::tracking::slam::slam_tracker::use_feature*;
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||||
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xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_MAJOR*;
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||||
xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_MINOR*;
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xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_PATCH*
|
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};
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local: *;
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||||
};
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@ -4,7 +4,7 @@
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|||
show-gui=1
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||||
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||||
# Ground-truth camera calibration used for simulation.
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||||
cam-calib="/home/mateo/Documents/apps/bsltdeps/basalt/data/index_calib.json"
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||||
cam-calib="/home/mateo/Documents/apps/bsltdeps/basalt/data/index_calib_oxrimu.json"
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||||
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||||
# Path to config file.
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||||
config-path="/home/mateo/Documents/apps/bsltdeps/basalt/data/euroc_config.json"
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|
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|||
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@ -1,17 +0,0 @@
|
|||
#!/bin/sh
|
||||
##
|
||||
## BSD 3-Clause License
|
||||
##
|
||||
## This file includes additional changes by Cathal Flynn to support Arch Linux,
|
||||
## targeted at the Basalt for Monado fork of the Basalt project.
|
||||
##
|
||||
## https://gitlab.com/VladyslavUsenko/basalt.git
|
||||
## https://gitlab.freedesktop.org/mateosss/basalt.git
|
||||
##
|
||||
##
|
||||
## Copyright (c) 2022, Cathal Flynn.
|
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## All rights reserved.
|
||||
##
|
||||
|
||||
sudo pacman -Syu
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sudo pacman -Sy --noconfirm gcc cmake git tbb eigen glew ccache libjpeg-turbo libpng lz4 bzip2 boost boost-libs gtest opencv fmt
|
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|
@ -17,8 +17,6 @@ else
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|||
DISTRO=$( awk -F= '/^ID/{print $2}' /etc/os-release )
|
||||
if [ "$DISTRO" == "fedora" ]; then
|
||||
${DIR}/install_fedora_deps.sh
|
||||
elif [ "$DISTRO" == "arch" ]; then
|
||||
${DIR}/install_arch_deps.sh
|
||||
else
|
||||
${DIR}/install_ubuntu_deps.sh
|
||||
fi
|
||||
|
|
|
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|
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@ -22,17 +22,11 @@
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|||
#include <basalt/vi_estimator/vio_estimator.h>
|
||||
#include "basalt/utils/vis_utils.h"
|
||||
|
||||
#if defined(_WIN32) || defined(__CYGWIN__)
|
||||
#define EXPORT __declspec(dllexport)
|
||||
#else
|
||||
#define EXPORT __attribute__((visibility("default")))
|
||||
#endif
|
||||
|
||||
namespace xrt::auxiliary::tracking::slam {
|
||||
|
||||
EXPORT extern const int IMPLEMENTATION_VERSION_MAJOR = HEADER_VERSION_MAJOR;
|
||||
EXPORT extern const int IMPLEMENTATION_VERSION_MINOR = HEADER_VERSION_MINOR;
|
||||
EXPORT extern const int IMPLEMENTATION_VERSION_PATCH = HEADER_VERSION_PATCH;
|
||||
const int IMPLEMENTATION_VERSION_MAJOR = HEADER_VERSION_MAJOR;
|
||||
const int IMPLEMENTATION_VERSION_MINOR = HEADER_VERSION_MINOR;
|
||||
const int IMPLEMENTATION_VERSION_PATCH = HEADER_VERSION_PATCH;
|
||||
|
||||
using std::cout;
|
||||
using std::make_shared;
|
||||
|
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@ -47,6 +41,28 @@ using std::unordered_set;
|
|||
using std::vector;
|
||||
using namespace basalt;
|
||||
|
||||
string imu2str(const imu_sample &s) {
|
||||
string str = "imu_sample ";
|
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str += "t=" + to_string(s.timestamp) + " ";
|
||||
str += "a=[" + to_string(s.ax) + ", " + to_string(s.ay) + ", " + to_string(s.az) + "] ";
|
||||
str += "w=[" + to_string(s.wx) + ", " + to_string(s.wy) + ", " + to_string(s.wz) + "]";
|
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return str;
|
||||
}
|
||||
|
||||
string img2str(const img_sample &s) {
|
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string str = "img_sample ";
|
||||
str += s.is_left ? "left " : "right ";
|
||||
str += "t=" + to_string(s.timestamp);
|
||||
return str;
|
||||
}
|
||||
|
||||
string pose2str(const pose &p) {
|
||||
string str = "pose ";
|
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str += "p=[" + to_string(p.px) + ", " + to_string(p.py) + ", " + to_string(p.pz) + "] ";
|
||||
str += "r=[" + to_string(p.rx) + ", " + to_string(p.ry) + ", " + to_string(p.rz) + ", " + to_string(p.rw) + "]";
|
||||
return str;
|
||||
}
|
||||
|
||||
static const vector<string> timing_titles{
|
||||
"frame_ts",
|
||||
"tracker_received",
|
||||
|
|
@ -531,29 +547,29 @@ struct slam_tracker::implementation {
|
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void enable_pose_ext_features(bool enable) { pose_features_enabled = enable; }
|
||||
};
|
||||
|
||||
EXPORT slam_tracker::slam_tracker(const string &config_file) { impl = make_unique<slam_tracker::implementation>(config_file); }
|
||||
slam_tracker::slam_tracker(const string &config_file) { impl = make_unique<slam_tracker::implementation>(config_file); }
|
||||
|
||||
EXPORT slam_tracker::~slam_tracker() = default;
|
||||
slam_tracker::~slam_tracker() = default;
|
||||
|
||||
EXPORT void slam_tracker::initialize() { impl->initialize(); }
|
||||
void slam_tracker::initialize() { impl->initialize(); }
|
||||
|
||||
EXPORT void slam_tracker::start() { impl->start(); }
|
||||
void slam_tracker::start() { impl->start(); }
|
||||
|
||||
EXPORT void slam_tracker::stop() { impl->stop(); }
|
||||
void slam_tracker::stop() { impl->stop(); }
|
||||
|
||||
EXPORT void slam_tracker::finalize() { impl->finalize(); }
|
||||
void slam_tracker::finalize() { impl->finalize(); }
|
||||
|
||||
EXPORT bool slam_tracker::is_running() { return impl->is_running(); }
|
||||
bool slam_tracker::is_running() { return impl->is_running(); }
|
||||
|
||||
EXPORT void slam_tracker::push_imu_sample(const imu_sample &s) { impl->push_imu_sample(s); }
|
||||
void slam_tracker::push_imu_sample(const imu_sample &s) { impl->push_imu_sample(s); }
|
||||
|
||||
EXPORT void slam_tracker::push_frame(const img_sample &sample) { impl->push_frame(sample); }
|
||||
void slam_tracker::push_frame(const img_sample &sample) { impl->push_frame(sample); }
|
||||
|
||||
EXPORT bool slam_tracker::try_dequeue_pose(pose &pose) { return impl->try_dequeue_pose(pose); }
|
||||
bool slam_tracker::try_dequeue_pose(pose &pose) { return impl->try_dequeue_pose(pose); }
|
||||
|
||||
EXPORT bool slam_tracker::supports_feature(int feature_id) { return impl->supports_feature(feature_id); }
|
||||
bool slam_tracker::supports_feature(int feature_id) { return impl->supports_feature(feature_id); }
|
||||
|
||||
EXPORT bool slam_tracker::use_feature(int feature_id, const shared_ptr<void> ¶ms, shared_ptr<void> &result) {
|
||||
bool slam_tracker::use_feature(int feature_id, const shared_ptr<void> ¶ms, shared_ptr<void> &result) {
|
||||
return impl->use_feature(feature_id, params, result);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
|||
#pragma once
|
||||
|
||||
#include "pangolin/display/display.h"
|
||||
#include <pangolin/display/image_view.h>
|
||||
#include <pangolin/pangolin.h>
|
||||
|
||||
|
|
@ -231,7 +230,7 @@ class slam_tracker_ui {
|
|||
pangolin::FinishFrame();
|
||||
}
|
||||
|
||||
pangolin::QuitAll();
|
||||
pangolin::DestroyWindow(window_name);
|
||||
cout << "Finished ui_runner\n";
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -391,13 +391,13 @@ void draw_image_overlay(pangolin::View& v, size_t cam_id) {
|
|||
glEnable(GL_BLEND);
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
|
||||
if (curr_vis_data.get() && cam_id < curr_vis_data->projections->size()) {
|
||||
const auto& points = curr_vis_data->projections->at(cam_id);
|
||||
if (curr_vis_data.get() && cam_id < curr_vis_data->projections.size()) {
|
||||
const auto& points = curr_vis_data->projections[cam_id];
|
||||
|
||||
if (!points.empty()) {
|
||||
double min_id = points[0][2], max_id = points[0][2];
|
||||
|
||||
for (const auto& points2 : *curr_vis_data->projections)
|
||||
for (const auto& points2 : curr_vis_data->projections)
|
||||
for (const auto& p : points2) {
|
||||
min_id = std::min(min_id, p[2]);
|
||||
max_id = std::max(max_id, p[2]);
|
||||
|
|
|
|||
|
|
@ -230,14 +230,10 @@ void SqrtKeypointVioEstimator<Scalar_>::initialize(const Eigen::Vector3d& bg_,
|
|||
prev_frame->t_ns, last_state.getState().bias_gyro,
|
||||
last_state.getState().bias_accel));
|
||||
|
||||
BASALT_ASSERT_MSG(prev_frame->t_ns != curr_frame->t_ns,
|
||||
BASALT_ASSERT_MSG(prev_frame->t_ns < curr_frame->t_ns,
|
||||
"duplicate frame timestamps?! zero time delta leads "
|
||||
"to invalid IMU integration.");
|
||||
|
||||
BASALT_ASSERT_MSG(prev_frame->t_ns < curr_frame->t_ns,
|
||||
"frame timestamps not monotonically increasing?! "
|
||||
"are we going 88mph and inside a delorean?");
|
||||
|
||||
while (data->t_ns <= prev_frame->t_ns) {
|
||||
data = popFromImuDataQueue();
|
||||
if (!data) break;
|
||||
|
|
|
|||
|
|
@ -6,22 +6,22 @@ include_directories(../thirdparty/basalt-headers/test/include)
|
|||
|
||||
|
||||
add_executable(test_spline_opt src/test_spline_opt.cpp)
|
||||
target_link_libraries(test_spline_opt gtest gtest_main basalt_internal)
|
||||
target_link_libraries(test_spline_opt gtest gtest_main basalt)
|
||||
|
||||
add_executable(test_vio src/test_vio.cpp)
|
||||
target_link_libraries(test_vio gtest gtest_main basalt_internal)
|
||||
target_link_libraries(test_vio gtest gtest_main basalt)
|
||||
|
||||
add_executable(test_nfr src/test_nfr.cpp)
|
||||
target_link_libraries(test_nfr gtest gtest_main basalt_internal)
|
||||
target_link_libraries(test_nfr gtest gtest_main basalt)
|
||||
|
||||
add_executable(test_qr src/test_qr.cpp)
|
||||
target_link_libraries(test_qr gtest gtest_main basalt_internal)
|
||||
target_link_libraries(test_qr gtest gtest_main basalt)
|
||||
|
||||
add_executable(test_linearization src/test_linearization.cpp)
|
||||
target_link_libraries(test_linearization gtest gtest_main basalt_internal)
|
||||
target_link_libraries(test_linearization gtest gtest_main basalt)
|
||||
|
||||
add_executable(test_patch src/test_patch.cpp)
|
||||
target_link_libraries(test_patch gtest gtest_main basalt_internal)
|
||||
target_link_libraries(test_patch gtest gtest_main basalt)
|
||||
|
||||
enable_testing()
|
||||
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
Subproject commit 233c6b901771f50a6a135b583a38885f0c3d6ed9
|
||||
Subproject commit ff99f3d040fb6aeb3535338ba69c6300191c9bda
|
||||
Loading…
Reference in New Issue