Update 'README.md'

CMakeLists.txt

@@ -324,6 +324,8 @@ add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp)
 target_link_libraries(basalt_calibrate basalt pangolin basalt::cli11)
 
 add_executable(euler2RotTest test/ivan-tests/euler2RotTest.cpp)
+target_link_directories(euler2RotTest PUBLIC ${EIGEN3_INCLUDE_DIR})
+target_link_libraries(euler2RotTest basalt pangolin basalt::cli11)
 
 add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp)
 target_link_libraries(basalt_calibrate_imu basalt pangolin basalt::cli11)

README.md

@@ -1,75 +1,16 @@
-[![pipeline status](https://gitlab.com/VladyslavUsenko/basalt/badges/master/pipeline.svg)](https://gitlab.com/VladyslavUsenko/basalt/commits/master)
-
-## Basalt
-For more information see https://vision.in.tum.de/research/vslam/basalt
-
-![teaser](doc/img/teaser.png)
-
-This project contains tools for:
-* Camera, IMU and motion capture calibration.
-* Visual-inertial odometry and mapping.
-* Simulated environment to test different components of the system.
-
-Some reusable components of the system are available as a separate [header-only library](https://gitlab.com/VladyslavUsenko/basalt-headers) ([Documentation](https://vladyslavusenko.gitlab.io/basalt-headers/)).
-
-There is also a [Github mirror](https://github.com/VladyslavUsenko/basalt-mirror) of this project to enable easy forking.
-
-## Related Publications
-Visual-Inertial Odometry and Mapping:
-* **Visual-Inertial Mapping with Non-Linear Factor Recovery**, V. Usenko, N. Demmel, D. Schubert, J. Stückler, D. Cremers, In IEEE Robotics and Automation Letters (RA-L) [[DOI:10.1109/LRA.2019.2961227]](https://doi.org/10.1109/LRA.2019.2961227) [[arXiv:1904.06504]](https://arxiv.org/abs/1904.06504).
-
-Calibration (explains implemented camera models):
-* **The Double Sphere Camera Model**, V. Usenko and N. Demmel and D. Cremers, In 2018 International Conference on 3D Vision (3DV), [[DOI:10.1109/3DV.2018.00069]](https://doi.org/10.1109/3DV.2018.00069), [[arXiv:1807.08957]](https://arxiv.org/abs/1807.08957).
-
-Calibration (demonstrates how these tools can be used for dataset calibration):
-* **The TUM VI Benchmark for Evaluating Visual-Inertial Odometry**, D. Schubert, T. Goll,  N. Demmel, V. Usenko, J. Stückler, D. Cremers, In 2018 International Conference on Intelligent Robots and Systems (IROS), [[DOI:10.1109/IROS.2018.8593419]](https://doi.org/10.1109/IROS.2018.8593419), [[arXiv:1804.06120]](https://arxiv.org/abs/1804.06120).
-
-Calibration (describes B-spline trajectory representation used in camera-IMU calibration):
-* **Efficient Derivative Computation for Cumulative B-Splines on Lie Groups**, C. Sommer, V. Usenko, D. Schubert, N. Demmel, D. Cremers, In 2020 Conference on Computer Vision and Pattern Recognition (CVPR), [[DOI:10.1109/CVPR42600.2020.01116]](https://doi.org/10.1109/CVPR42600.2020.01116), [[arXiv:1911.08860]](https://arxiv.org/abs/1911.08860).
-
-Optimization (describes square-root optimization and marginalization used in VIO/VO):
-* **Square Root Marginalization for Sliding-Window Bundle Adjustment**, N. Demmel, D. Schubert, C. Sommer, D. Cremers, V. Usenko, In 2021 International Conference on Computer Vision (ICCV), [[arXiv:2109.02182]](https://arxiv.org/abs/2109.02182)
+# AR Basalt
+Link to the original repository: https://gitlab.com/VladyslavUsenko/basalt
 
+## Main features
+The main feature is that it shows the AR cubes in the Pangolin visualization window. 
 
 ## Installation
-### APT installation for Ubuntu 20.04 and 18.04 (Fast)
-Set up keys, add the repository to the sources list, update the Ubuntu package index and install Basalt:
-```
-sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 0AD9A3000D97B6C9
-sudo sh -c 'echo "deb [arch=amd64] http://packages.usenko.eu/ubuntu $(lsb_release -sc) $(lsb_release -sc)/main" > /etc/apt/sources.list.d/basalt.list'
-sudo apt-get update
-sudo apt-get dist-upgrade
-sudo apt-get install basalt
-```
+Please refer to the original repository for the installation and running instructions: https://gitlab.com/VladyslavUsenko/basalt
 
-### Source installation for Ubuntu >= 18.04 and MacOS >= 10.14 Mojave
-Clone the source code for the project and build it. For MacOS you should have [Homebrew](https://brew.sh/) installed.
+### Building
 ```
-git clone --recursive https://gitlab.com/VladyslavUsenko/basalt.git
-cd basalt
-./scripts/install_deps.sh
 mkdir build 
 cd build 
-cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
-make -j8
+cmake ..
+make
 ```
-
-## Usage
-* [Camera, IMU and Mocap calibration. (TUM-VI, Euroc, UZH-FPV and Kalibr datasets)](doc/Calibration.md)
-* [Visual-inertial odometry and mapping. (TUM-VI and Euroc datasets)](doc/VioMapping.md)
-* [Visual odometry (no IMU). (KITTI dataset)](doc/Vo.md)
-* [Simulation tools to test different components of the system.](doc/Simulation.md)
-* [Batch evaluation tutorial (ICCV'21 experiments)](doc/BatchEvaluation.md)
-
-## Device support
-* [Tutorial on Camera-IMU and Motion capture calibration with Realsense T265.](doc/Realsense.md)
-
-## Development
-* [Development environment setup.](doc/DevSetup.md)
-
-## Licence
-The code is provided under a BSD 3-clause license. See the LICENSE file for details.
-Note also the different licenses of thirdparty submodules.
-
-Some improvements are ported back from the fork
-[granite](https://github.com/DLR-RM/granite) (MIT license).

src/vio.cpp

@@ -832,6 +832,7 @@ int main(int argc, char** argv) {
       // Appended.
       glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
       ar_view.Activate(ar_3d_camera);
+//      ar_view.Activate();
 
       glColor3f(1.0, 1.0, 1.0);
       // Get the last image pose. (probably, it's T_w_i
@@ -845,6 +846,7 @@ int main(int argc, char** argv) {
         T_w_i = it_ar->second->frames.back();
       }
       auto T_i_c = calib.T_i_c[0];
+
       // Draw OpenCV cube
       if (IfDrawOpenCVCube){
         DrawOpenCVCube(img_cv_data[2], (T_w_i * T_i_c), K, distCoeffs);
@@ -854,6 +856,11 @@ int main(int argc, char** argv) {
         DrawImageTexture(imageTexture, img_cv_data[2]);
       }
 
+      // Clear the buffer before drawing. Probably, the cause is in the DrawImageTexture.
+      // It kind of overrides the view, and doesn't let to draw the cubes. Probably,
+      // DrawImageTexture takes also the depth buffer when uploading, so we need clean it.
+      glClear(GL_DEPTH_BUFFER_BIT);
+
       // TODO: Can I define it outside of the loop? There's no need I guess to
       //  redefine the the projection matrix every time
       glMatrixMode(GL_PROJECTION);
@@ -862,6 +869,9 @@ int main(int argc, char** argv) {
       // drawLinesCube pushes the matrices, therefore, I need to define in which
       // stack to push that matrices.
       glMatrixMode(GL_MODELVIEW);
+      //      ar_3d_camera.Follow((T_w_i * T_i_c).matrix());
+
+      glPushMatrix();
       if (zeroOut){
         xSkew = 0;
         ySkew = 0;
@@ -882,9 +892,7 @@ int main(int argc, char** argv) {
       if (showCube6) {drawLinesCube(32.8, 4.8, -324.5, cubeSize);}
       if (showCube7) {drawLinesCube(32.5, 4.8, -345.7, cubeSize);}
 
-      ar_3d_camera.Follow((T_w_i * T_i_c).matrix());
-//      glClear(GL_DEPTH_BUFFER_BIT);
-
+      glPopMatrix();
       // Ok, so here by the moment we are watching from the camera position and orientation.
       // Drawing the cube from here might result in drawing the cube in the camera coordinate system.
       // Although! We want to draw the cube from the world coordinate system, therefore
@@ -986,8 +994,6 @@ int main(int argc, char** argv) {
       //        record = false;
       //      }
 
-      pangolin::FinishFrame();
-
       if (continue_btn) {
         if (!next_step())
           std::this_thread::sleep_for(std::chrono::milliseconds(50));
@@ -1006,6 +1012,7 @@ int main(int argc, char** argv) {
           continue_fast = false;
         }
       }
+      pangolin::FinishFrame();
     }
 
     // If GUI closed but VIO not yet finished --> abort input queues, which in
@@ -1272,6 +1279,7 @@ void draw_scene(pangolin::View& view) {
 void draw_scene_no_camera(pangolin::View& view) {
   UNUSED(view);
   view.Activate(ar_3d_camera);
+//  view.Activate();
 //  auto T_w_i = vio_T_w_i[show_frame];
 //  auto T_i_c = calib.T_i_c[0];
 
@@ -1306,6 +1314,7 @@ void draw_scene_no_camera(pangolin::View& view) {
 //    }
 //  }
 
+
   // For the 1st sequence mono-kitti
 //  drawLinesCube(0.0, 1.0, -95.0, cubeSize);
 //  drawLinesCube(0.0, 0.5, -35.0, cubeSize);
@@ -1330,24 +1339,24 @@ void draw_scene_no_camera(pangolin::View& view) {
 
 //  LoadCameraPose((T_w_i * T_i_c).matrix());
 
-  glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
-
-  glPointSize(3);
-  glColor3f(1.0, 0.0, 0.0);
-  glEnable(GL_BLEND);
-  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
-  glColor3ubv(cam_color);
-
-  if (!vio_t_w_i.empty()) {
-    size_t end = std::min(vio_t_w_i.size(), size_t(show_frame + 1));
-    Eigen::aligned_vector<Eigen::Vector3d> sub_gt(vio_t_w_i.begin(),
-                                                  vio_t_w_i.begin() + end);
-    pangolin::glDrawLineStrip(sub_gt);
-  }
-
-  glColor3ubv(gt_color);
-  if (show_gt) pangolin::glDrawLineStrip(gt_t_w_i);
+//  glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
+//
+//  glPointSize(3);
+//  glColor3f(1.0, 0.0, 0.0);
+//  glEnable(GL_BLEND);
+//  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+//
+//  glColor3ubv(cam_color);
+//
+//  if (!vio_t_w_i.empty()) {
+//    size_t end = std::min(vio_t_w_i.size(), size_t(show_frame + 1));
+//    Eigen::aligned_vector<Eigen::Vector3d> sub_gt(vio_t_w_i.begin(),
+//                                                  vio_t_w_i.begin() + end);
+//    pangolin::glDrawLineStrip(sub_gt);
+//  }
+//
+//  glColor3ubv(gt_color);
+//  if (show_gt) pangolin::glDrawLineStrip(gt_t_w_i);
 
 //  size_t frame_id = show_frame;
 //  int64_t t_ns = vio_dataset->get_image_timestamps()[frame_id];
@@ -1375,7 +1384,7 @@ void draw_scene_no_camera(pangolin::View& view) {
 //    glColor3ubv(pose_color);
 //    pangolin::glDrawPoints(it->second->points);
 //  }
-  pangolin::glDrawAxis(Sophus::SE3d().matrix(), 1.0);
+//  pangolin::glDrawAxis(Sophus::SE3d().matrix(), 1.0);
 }
 
 void load_data(const std::string& calib_path) {

thirdparty/basalt-headers/thirdparty/eigen/scripts/CMakeLists.txt

@@ -1,5 +1,5 @@
 get_property(EIGEN_TESTS_LIST GLOBAL PROPERTY EIGEN_TESTS_LIST)
-configure_file(buildtests.in ${CMAKE_BINARY_DIR}/buildtests.sh @ONLY)
+#configure_file(buildtests.in ${CMAKE_BINARY_DIR}/buildtests.sh @ONLY)
 
 configure_file(check.in ${CMAKE_BINARY_DIR}/check.sh COPYONLY)
 configure_file(debug.in ${CMAKE_BINARY_DIR}/debug.sh COPYONLY)