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oseiskarpekkaranjkannalaBerconerahtu
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HybVIO initial public release
Licensed under GPLv3 Co-authored-by: Pekka Rantalankila <pekka.rantalankila@gmail.com> Co-authored-by: Juho Kannala <juho.kannala@gmail.com> Co-authored-by: Jerry Ylilammi <jerry.ylilammi@gmail.com> Co-authored-by: Esa Rahtu <esa.rahtu@gmail.com> Co-authored-by: Arno Solin <arno.solin@gmail.com>
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‎.editorconfig

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root = true
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[*]
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end_of_line = lf
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charset = utf-8
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trim_trailing_whitespace = true
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insert_final_newline = true
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[*.{cpp,hpp,py}]
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indent_style = space
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indent_size = 4
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[*.sh]
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indent_style = space
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indent_size = 2
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[*.json]
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indent_style = space
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indent_size = 2
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[CMakeLists.txt]
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indent_style = space
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indent_size = 2

‎.github/workflows/build-and-test.yml

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name: Build and run unit tests
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on: [push]
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- name: Install OpenGL libraries (Mesa)
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run: |
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sudo apt-get update
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sudo apt-get install -y mesa-common-dev libglfw3-dev
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- name: Write git submodule status to file
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run: |
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git submodule status > .gitSubmoduleStatus
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- name: Cache other libs
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id: cache_libs
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uses: actions/cache@v1
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with:
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path: 3rdparty/mobile-cv-suite/build
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key: mobile-cv-suite-build-${{ hashFiles('.gitSubmoduleStatus') }}
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- name: Build dependencies
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if: steps.cache_libs.outputs.cache-hit != 'true'
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run: |
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cd 3rdparty
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git submodule update --init --recursive -- mobile-cv-suite
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cd mobile-cv-suite
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DO_CLEAR=OFF USE_SLAM=OFF BUILD_VISUALIZATIONS=OFF ./scripts/build.sh
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cp mobile-cv-suite-config.cmake build/
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cp -R jsonl-recorder/Catch2/single_include/catch2 build/
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- name: Handle catch2 symlink
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run: |
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cd test
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rm catch2
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ln -s ../3rdparty/mobile-cv-suite/build/catch2 .
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- name: CMake build
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run: |
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if [ -f 3rdparty/mobile-cv-suite/build/mobile-cv-suite-config.cmake ]; then cp -f 3rdparty/mobile-cv-suite/build/mobile-cv-suite-config.cmake 3rdparty/mobile-cv-suite/; fi
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mkdir target
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cd target
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CC=clang CXX=clang++ cmake -DUSE_SLAM=OFF -DBUILD_VISUALIZATIONS=OFF ..
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make -j4
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- name: Run tests
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run: |
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cd target
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./run-tests

‎.gitignore

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/build
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/data
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target*
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*.mov
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*.png
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.idea/
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cmake-build-debug/
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.vscode
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.viscid
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__pycache__/
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*.pyc
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.python-version
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codegen/output

‎.gitmodules

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[submodule "3rdparty/mobile-cv-suite"]
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path = 3rdparty/mobile-cv-suite
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url = https://github.com/AaltoML/mobile-cv-suite.git
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[submodule "src/slam"]
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path = src/slam
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url = https://github.com/SpectacularAI/SLAM-module.git

‎3rdparty/mobile-cv-suite

Submodule mobile-cv-suite added at b3f9141

‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.0)
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project(hybvio VERSION 1.0.0 DESCRIPTION "HybVIO VIO/SLAM runner")
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra -O2")
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# allow building a single shared library (adds -fPIC when compiling static libs)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Generate `compile_commands.json` for `clang-tidy`.
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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option(FIND_BLAS "Force -DEIGEN_USE_BLAS." OFF)
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option(MARCH_NATIVE "Enable -march=native." OFF)
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if (MARCH_NATIVE)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
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endif()
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if (NOT CMAKE_BUILD_TYPE)
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# TODO: setting this to RelWithDebInfo should be used for optimization flags
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# However: that seems to result to crashes for unknown reasons
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set(CMAKE_BUILD_TYPE Debug)
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endif()
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set(BUILD_CLI_TOOLS ON CACHE STRING "Build `main` binaries and tests.")
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set(LOGGING_ENABLED ON CACHE STRING "Enable logging")
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set(BUILD_WITH_GPU ON CACHE STRING "Build with GPU (OpenGL) support")
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set(BUILD_WITH_GLFW ON CACHE STRING "Support headless GPU processing on desktop with GLFW")
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set(BUILD_VISUALIZATIONS OFF CACHE STRING "Build Pangolin-based visualizations")
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set(LOGGING_LIBS "")
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if(BUILD_CLI_TOOLS AND LOGGING_ENABLED)
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add_definitions(-DUSE_LOGURU)
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endif()
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if(LOGGING_ENABLED)
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add_definitions(-DLOGGING_ENABLED)
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endif()
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# Make sure no Eigen LGPL code is used. It's mostly stuff like sparse matrix
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# operations that we would not want to use through Eigen in any case
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add_definitions("-DEIGEN_MPL2_ONLY")
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# Do not auto-parallelize matrix products (mainly affects the Odometry class)
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# Note that the odometry module may be faster without this flag, if also using
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# OpenMP, but then it may hog 100% CPU (on all cores)
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# from time to time, which is not what we're looking for. This may not have
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# an effect unless Eigen is configured to use OpenMP
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add_definitions("-DEIGEN_DONT_PARALLELIZE")
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# Note: try these too for debugging. For example, NaN initialization should
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# not affect the results if everything is implemented correctly.
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#add_definitions("-DEIGEN_INITIALIZE_MATRICES_BY_NAN")
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#add_definitions("-DEIGEN_NO_AUTOMATIC_RESIZING")
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if (FIND_BLAS)
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# Use Accelerate framework on Mac or system BLAS on Linux for Eigen.
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# This may or may not be faster than without BLAS. Similarly to the OpenMP
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# stuff in Eigen (disabled with EIGEN_DONT_PARALLELIZE), this can cause
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# CPU hogging on multiple-threads and the end result may not be optimal.
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find_package(BLAS REQUIRED)
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if(BLAS_FOUND)
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message(STATUS "using BLAS with Eigen")
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add_definitions("-DEIGEN_USE_BLAS")
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list(APPEND LIBS "${BLAS_LIBRARIES}") # appends "-framework Accelerate"
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endif()
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endif()
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option(USE_SLAM "Compile with SLAM support" OFF)
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set(TARGET_ARCH "host" CACHE STRING "Target architecture")
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find_package(mobile-cv-suite REQUIRED PATHS 3rdparty/mobile-cv-suite)
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add_subdirectory("codegen")
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foreach(X ${generated_sources})
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message(STATUS "marking ${X} as a generated source file")
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set_source_files_properties(${X} PROPERTIES GENERATED TRUE)
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endforeach()
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add_library(parameters
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codegen/output/parameters.cpp
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src/util/util.cpp
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src/util/parameter_parser.cpp
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codegen/output/cmd_parameters.cpp
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src/util/util.cpp
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src/util/timer.cpp
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src/util/parameter_parser.cpp)
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add_dependencies(parameters generated_parameters cmd_generated_parameters)
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target_link_libraries(parameters mobile-cv-suite::core)
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if (BUILD_WITH_GPU)
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add_definitions(-DDAZZLING_GPU_ENABLED)
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if (BUILD_WITH_GLFW)
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add_definitions(-DDAZZLING_GLFW_ENABLED)
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find_package(glfw3 REQUIRED)
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list(APPEND LIBS glfw)
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endif()
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find_package(OpenGL REQUIRED) # can't find GL ES :(
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list(APPEND LIBS ${OPENGL_LIBRARIES})
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endif()
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# This causes the targets in feature-tracking/CMakeList.txt to be available
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# here without including the individual source files
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add_subdirectory("src/tracker")
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if (USE_SLAM)
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# add SLAM
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add_subdirectory("src/slam")
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else()
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add_library(slam src/util/slam_noop.cpp)
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target_link_libraries(slam mobile-cv-suite::core) # Required for Eigen includes
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endif()
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# Static library that main program and tests can link to.
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add_library(odometry
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src/odometry/control.cpp
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src/odometry/ekf.cpp
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src/odometry/triangulation.cpp
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src/odometry/util.cpp
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src/odometry/sample_sync.cpp
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src/odometry/ekf_state_index.cpp
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src/odometry/backend.cpp
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src/odometry/output.cpp
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src/views/api_visualization_helpers.cpp
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src/views/visualization_pose.cpp
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src/views/visualization_internals.cpp
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src/api/visualizations.cpp
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src/api/api.cpp
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src/util/util.cpp
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src/api/type_convert.cpp
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)
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target_link_libraries(odometry slam tracker ${LIBS} mobile-cv-suite::core)
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target_include_directories(odometry PUBLIC ".")
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if(BUILD_CLI_TOOLS)
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if (BUILD_VISUALIZATIONS)
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add_definitions(-DBUILD_VISUALIZATIONS)
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set(VISU_SRCS
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src/commandline/visual_update_viewer.cpp
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src/commandline/draw_gl.cpp)
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set(VISU_LIBS
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Threads::Threads
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parameters
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${LOGGING_LIBS}
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mobile-cv-suite::visualization
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${OPENGL_LIBRARIES})
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else()
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set(VISU_SRCS "")
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set(VISU_LIBS "")
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endif()
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if(USE_SLAM)
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add_definitions(-DUSE_DBOW2)
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add_definitions(-DUSE_SLAM)
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set(SLAM_SRCS "")
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set(SLAM_LIBS
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Threads::Threads
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parameters
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mobile-cv-suite::slam)
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# Select newer OpenGL, see `cmake --help-policy CMP0072`
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# cmake_policy(SET CMP0072 NEW) # TODO what CMake version does this require?
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find_package(Threads REQUIRED)
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else()
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set(SLAM_LIBS "")
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set(SLAM_SRCS "")
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endif()
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add_executable(main
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src/commandline/command_queue.cpp
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src/commandline/input.cpp
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src/commandline/input_csv.cpp
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src/commandline/input_jsonl.cpp
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src/commandline/main.cpp
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src/commandline/video_input.cpp
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src/commandline/videoutil.cpp
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${VISU_SRCS}
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${SLAM_SRCS})
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target_link_libraries(main PRIVATE odometry parameters ${LIBS} ${VISU_LIBS} ${SLAM_LIBS})
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# Put binaries from subdirectories (test) to the target directory.
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
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# Copy test data to the target directory so that we can simply run the test binary.
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file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/test/data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/test)
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# Lets `make test` and `ctest` commands run tests.
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enable_testing()
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list(APPEND LIBS mobile-cv-suite::core) # applies to run-tests
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add_subdirectory(test)
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endif()

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