Merge pull request #23 from wangxiaomeng030/main

Refractor interface of XRSLAM. The new interface can support both CE&EE version.

.pre-commit-config.yaml

@@ -5,15 +5,14 @@ repos:
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/flake8.git
-    rev: 3.8.3
+    rev: 5.0.4
     hooks:
       - id: flake8
   - repo: https://github.com/pre-commit/pre-commit-hooks.git
     rev: v3.1.0
     hooks:
       - id: trailing-whitespace
         args: [--markdown-linebreak-ext=md]
-      - id: check-yaml
       - id: end-of-file-fixer
       - id: requirements-txt-fixer
       - id: double-quote-string-fixer

.readthedocs.yml

@@ -0,0 +1,9 @@
+version: 2
+
+formats: all
+
+python:
+  version: 3.7
+  install:
+    - requirements: requirements/docs.txt
+    - requirements: requirements/readthedocs.txt

CMakeLists.txt

@@ -22,7 +22,7 @@ option(XRSLAM_TEST "..." OFF)
 if(IOS)
   set(XRSLAM_IOS ON)
   set(XRSLAM_ENABLE_THREADING ON)
-  set(XRSLAM_ENABLE_DEBUG_INSPECTION OFF CACHE BOOL "..." FORCE)
+  #set(XRSLAM_ENABLE_DEBUG_INSPECTION OFF CACHE BOOL "..." FORCE)
 endif()
 
 
@@ -32,6 +32,8 @@ endif()
 
 add_subdirectory(xrslam)
 add_subdirectory(xrslam-extra)
+add_subdirectory(xrslam-interface)
+add_subdirectory(xrslam-localization)
 
 if(XRSLAM_PC)
   add_subdirectory(xrslam-pc)

Dockerfile

@@ -25,4 +25,4 @@ RUN git clone https://github.com/openxrlab/xrprimer.git -b xrslam-opencv3.4.7 \
     && cmake --build build --target install -j4
 
 RUN git clone https://github.com/openxrlab/xrslam.git \
-    && cd xrslam && cmake -B build && cmake --build build -j4
+    && cd xrslam && cmake -B build -DXRSLAM_PC_HEADLESS_ONLY=ON && cmake --build build -j4

README.md

@@ -3,14 +3,13 @@
 <div align="center">
     <img src="resources/XRSLAM.png" width="600"/>
 </div>
-
 <br/>
 
 <div align="left">
 <div align="left">
 
-[![actions](https://github.com/openxrlab/xrslam/workflows/build/badge.svg)](https://github.com/openxrlab/xrslam/actions)
-[![LICENSE](https://img.shields.io/github/license/openxrlab/xrslam)](https://github.com/openxrlab/xrslam/blob/main/LICENSE)
+
+[![Documentation](https://readthedocs.org/projects/xrslam/badge/?version=latest)](https://xrslam.readthedocs.io/en/latest/)[![actions](https://github.com/openxrlab/xrslam/workflows/build/badge.svg)](https://github.com/openxrlab/xrslam/actions)[![LICENSE](https://img.shields.io/github/license/openxrlab/xrslam)](https://github.com/openxrlab/xrslam/blob/main/LICENSE)
 
 </div>
 

cmake/external/yaml-cpp.cmake

@@ -13,6 +13,7 @@ if(NOT TARGET depends::yaml-cpp)
     FetchContent_Populate(depends-yaml-cpp)
     message(STATUS "Fetching yaml-cpp sources - done")
   endif()
+  add_compile_options(-fPIC)
   set(YAML_CPP_BUILD_TESTS OFF CACHE BOOL "" FORCE)
   set(YAML_CPP_BUILD_TOOLS OFF CACHE BOOL "" FORCE)
   set(YAML_CPP_BUILD_CONTRIB OFF CACHE BOOL "" FORCE)

configs/euroc_sensor.yaml

@@ -0,0 +1,53 @@
+%YAML:1.0
+imu:
+  # inertial sensor noise model parameters (static)
+  gyroscope_noise_density: 0.01       # [ rad / s / sqrt(Hz) ]
+  gyroscope_random_walk: 0.0001       # [ rad / s^2 / sqrt(Hz) ]
+  accelerometer_noise_density: 0.1    # [ m / s^2 / sqrt(Hz) ]
+  accelerometer_random_walk: 0.001    # [ m / s^3 / sqrt(Hz) ]
+  accelerometer_bias: [0.0, 0.0, 0.0] # acc bias prior
+  gyroscope_bias: [0.0, 0.0, 0.0]     # gyro bias prior
+  extrinsic:
+    q_bi: [ 0.0, 0.0, 0.0, 1.0 ] # x y z w
+    p_bi: [ 0.0, 0.0, 0.0 ] # x y z [m]
+  noise:
+    cov_g: [
+      2.8791302399999997e-08, 0.0, 0.0,
+      0.0, 2.8791302399999997e-08, 0.0,
+      0.0, 0.0, 2.8791302399999997e-08]
+    cov_a: [
+      4.0e-6, 0.0, 0.0,
+      0.0, 4.0e-6, 0.0,
+      0.0, 0.0, 4.0e-6]
+    cov_bg: [
+      3.7608844899999997e-10, 0.0, 0.0,
+      0.0, 3.7608844899999997e-10, 0.0,
+      0.0, 0.0, 3.7608844899999997e-10]
+    cov_ba: [
+      9.0e-6, 0.0, 0.0,
+      0.0, 9.0e-6, 0.0,
+      0.0, 0.0, 9.0e-6]
+
+cam0:
+  # camera0 wrt. body frame
+  T_BS:
+    cols: 4
+    rows: 4
+    data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
+           0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
+           -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
+           0.0, 0.0, 0.0, 1.0]
+  resolution: [752, 480]        # resolution of camera
+  camera_model: pinhole         # camera model
+  distortion_model: radtan      # distortion model
+  intrinsics: [458.654, 457.296, 367.215, 248.375] # fu, fv, cu, cv
+  camera_distortion_flag: 1     # use distortion model or not
+  distortion: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] # k1, k2, p1, p2, xi
+  camera_readout_time: 0.0      # camera readout time
+  time_offset: 0.0              # camera time delay wrt. IMU
+  extrinsic:
+    q_bc: [ -7.7071797555374275e-03, 1.0499323370587278e-02, 7.0175280029197162e-01, 7.1230146066895372e-01 ] # x y z w
+    p_bc: [ -0.0216401454975, -0.064676986768, 0.00981073058949 ] # x y z [m]
+  noise: [
+    0.5, 0.0,
+    0.0, 0.5] # [pixel^2]

configs/euroc_slam.yaml

@@ -0,0 +1,28 @@
+%YAML:1.0
+output:
+  q_bo: [ 0.0, 0.0, 0.0, 1.0 ] # x y z w
+  p_bo: [ 0.0, 0.0, 0.0 ] # x y z [m]
+
+sliding_window:
+  size: 10
+  force_keyframe_landmarks: 35
+
+feature_tracker:
+  min_keypoint_distance: 10.0 # [px]
+  max_keypoint_detection: 1000
+  max_init_frames: 60
+  max_frames: 20
+  predict_keypoints: true
+
+initializer:
+  keyframe_num: 8
+  keyframe_gap: 5
+  min_matches: 50
+  min_parallax: 10.0
+  min_triangulation: 20
+  min_landmarks: 30
+  refine_imu: true
+
+solver:
+  iteration_limit: 30
+  time_limit: 1.0e6 # [s]