Standardize time in ILLIXR #250

charmoniumQ · 2021-03-23T19:06:24Z

Closes #58.
Based on #217. If you rebase that, rebase this too.

charmoniumQ · 2021-05-11T17:04:44Z

PRs in Kimera and OpenVINS should be merged first, then the minor-version of tag incremented, then this PR updated with the new tags, then this PR merged.

charmoniumQ · 2021-05-11T19:49:29Z

I don't think we need to test the full cartesian product of {OpenVINS, Kimera} x {gtasm, rk4, dummy} x {pose_predict, pose_lookup}. I suggest:

{OpenVINS, Kimera} + gtsam + pose_predict
OpenVINS + {gtsam, rk4, dummy} + pose_predict
OpenVINS + dummy_integrator + pose_lookup

I know that rk4 has some "weird vibrations," but I think it's ok to ignore, since rk4 is only a secondary integrator, and it mostly works.

gtsam_integrator/plugin.cpp

dummy_integrator/common

rk4_integrator/plugin.cpp

timewarp_gl/plugin.cpp

pose_prediction/plugin.cpp

JeffreyZh4ng

Unsure if theres more planned for this PR so Ill approve later

gtsam_integrator/plugin.cpp

charmoniumQ · 2021-05-13T01:40:31Z

Ready for review @JeffreyZh4ng

configs/rt_slam_plugins.yaml

common/plugin.hpp

common/relative_clock.hpp

common/threadloop.hpp

realsense/plugin.cpp

runtime/sqlite_record_logger.hpp

timewarp_gl/plugin.cpp

rk4_integrator/plugin.cpp

charmoniumQ · 2021-05-18T16:25:56Z

I'm also going to remove ullong imu_cam.dataset_time. Everyone should be using RelativeClock::time_point imu_cam.time. The ullong was supposed to be the raw time in the dataset, which should only be meaningful in the offline data case. However, it has been used throughout ILLIXR where time should have been used.

record_imu_cam/plugin.cpp

mhuzai · 2022-05-08T00:11:28Z

Also closes #332.

mhuzai

Finally!

charmoniumQ

Has this been tested with Realsense, DepthAI, and Zed?

qinjunj · 2022-05-08T22:16:15Z

Has this been tested with Realsense, DepthAI, and Zed?

@mhuzai had Zed and RealSense tested and they are good. Not sure about DepthAI.

mhuzai · 2022-05-09T00:59:56Z

Has this been tested with Realsense, DepthAI, and Zed?

@mhuzai had Zed and RealSense tested and they are good. Not sure about DepthAI.

Unfortunately, we don't have a DepthAI camera, so can't really test the changes beyond checking for compilation and logical sanity.

…R/ILLIXR into issue-58-standardize-clock

mhuzai

Yay!

charmoniumQ · 2022-05-09T02:12:28Z

Yay

mhuzai · 2022-05-09T02:14:22Z

Yay

Been a long time coming. Approximately 14 months. 😆

* Correct configs * Fix sqlite * Exorcise glfw3 * Rename classes * Exorcise glfw3 (electric boogaloo) * Respond to reviewer comments * Respond to reviewer comments * Remove dataset_time * Added '_m_dataset_first_time' in 'ground_truth_slam/plugin.cpp' (ILLIXR#58) * disable debugview * add condition * remove -Werror in OPT-FLAGS * copy common/debug.hpp from the scheduling branch * add declaration of NANO_SEC * use local monado * remove NANO_SEC * add absolute_ns but has error with + * convert _m_start and relative to ns before adding them * change name to passthrough_integrator and zeor out matrice * comment conditions * removed dummy_integrator, changed to passthrough_integrator * tests * Started time_point * create our own time_point * use issue-58-standardize-clock branch in monado_integration * change back to size_t for imu_data loop * fix naming and spacing * remove repeated synchronization * enable debugview * add back glfw3 for debugview * Added documentation for using Switchboard and Phonebook externally (ILLIXR#320) * Added documentation for using Switchboard and Phonebook externally * fix typo and spacing * Fix typos Co-authored-by: Qinjun Jiang <90299267+qinjunj@users.noreply.github.com> * added new line at EOF * use offload_duration to be less confusing * remove dummy * change back to size_t * update comments * synchronize after thread setup * synchronize before p_thread_setup * Fix and add documentation (ILLIXR#330) * Add documentation for updating tags and documentation * Set up using master instead of v2-latest * Update doxygen project name * Update Monado's main branch (they renamed 'master' to 'main') * Fix typo in mkdocs.yml * Update README with IISWC paper info * Update bibtex Co-authored-by: Sam Grayson <sam@samgrayson.me> * Fix bibtex Co-authored-by: Sam Grayson <sam@samgrayson.me> * reponses to comments * remove trailing space * Add IMU and Cam Recorder (ILLIXR#327) * Added record_imu_cam plugin * Fixing fstream precision * Adding data_record option for native.yaml * Adding record_imu_cam plugin option * Remove data_record. * Fix minor issues * Fix minor issues * Used boost::filesystem instead of system * Add lboost_filesystem flag * Add the description for record_imu_cam * Fix record_imu_cam path * Fix boost filesystem operator * Remove extra / * Fix minor issues * compute data paths using list initialization * Fix minor issues and clean up extra variables Co-authored-by: yingj4 <yingj4@illinois.edu> * remove pose_lookup * able to compile * restore * Add stoplight to synchronize thread starts/stops * Add missing file (the perils of -u instead of -A) * Respond to reviewer comments * Add documentation and comments * Respond to reviewer comments * Respond to reviewer comments * Fix compile bugs * Add stoplight to synchronize thread starts/stops * Add relative clock to common and runtime * Use relative clock in offline_imu_cam * Use relative clock in gldemo (exorcise GLFW) * Use relative clock in pose_* * Use relative clock in timewarp * wip * Use relative clock in integrators * Use relative clock in offload_data * Use relative clock in realsense and ZED * Fix stuff * wip * Fix stuff * wip * Fix integrators * wip (ov + dummy int works) * wip (ov + rk4 works but its shakey) * wip (ov + gtsam works) * Correct configs * Fix sqlite * Exorcise glfw3 * Rename classes * Exorcise glfw3 (electric boogaloo) * Respond to reviewer comments * Respond to reviewer comments * Remove dataset_time * Added '_m_dataset_first_time' in 'ground_truth_slam/plugin.cpp' (ILLIXR#58) * disable debugview * add condition * remove -Werror in OPT-FLAGS * copy common/debug.hpp from the scheduling branch * add declaration of NANO_SEC * use local monado * remove NANO_SEC * add absolute_ns but has error with + * convert _m_start and relative to ns before adding them * change name to passthrough_integrator and zeor out matrice * comment conditions * removed dummy_integrator, changed to passthrough_integrator * tests * Started time_point * create our own time_point * use issue-58-standardize-clock branch in monado_integration * change back to size_t for imu_data loop * fix naming and spacing * remove repeated synchronization * enable debugview * add back glfw3 for debugview * added new line at EOF * use offload_duration to be less confusing * remove dummy * change back to size_t * update comments * synchronize after thread setup * synchronize before p_thread_setup * reponses to comments * remove trailing space * remove pose_lookup * able to compile * restore * remove dummy integrator * correct order of declaring * suggested change to replace dataset_time * Add Offloading VIO Plugins to ILLIXR (ILLIXR#331) * Semi working with reader using callbacks * Semi working with reader using sequential reads * Semi working offloading. VIO doesnt work ATM * test commit * Add offloading server and device code * Fixing common and adding extra prints for debugging * Add prints and offloading config * Server fix for zed pt1 * Offloading device cleanup * Add offload client config * Renamed files and merge master * Cleaned up code ready for PR * Fix readme * Revert hotfix and address comments * Revert rt_slam config * Minor fix and verify all combinations of ZED/dataset with OV/Kimera work * Address comments, add plugins to clean.yaml * Add nproc back and update docs * Typo * Fix RealSense plugin (ILLIXR#337) * Fix counter initialization and tidy up some code * Properly initialize camera iteration count * Add stoplight to synchronize thread starts/stops * Add missing file (the perils of -u instead of -A) * Respond to reviewer comments * Add documentation and comments * Respond to reviewer comments * Respond to reviewer comments * Fix compile bugs * Add stoplight to synchronize thread starts/stops * Add relative clock to common and runtime * Use relative clock in offline_imu_cam * Use relative clock in gldemo (exorcise GLFW) * Use relative clock in pose_* * Use relative clock in timewarp * wip * Use relative clock in integrators * Use relative clock in offload_data * Use relative clock in realsense and ZED * Fix stuff * wip * Fix stuff * wip * Fix integrators * wip (ov + dummy int works) * wip (ov + rk4 works but its shakey) * wip (ov + gtsam works) * Correct configs * Fix sqlite * Exorcise glfw3 * Rename classes * Exorcise glfw3 (electric boogaloo) * Respond to reviewer comments * Respond to reviewer comments * Remove dataset_time * Added '_m_dataset_first_time' in 'ground_truth_slam/plugin.cpp' (ILLIXR#58) * disable debugview * add condition * remove -Werror in OPT-FLAGS * copy common/debug.hpp from the scheduling branch * add declaration of NANO_SEC * use local monado * remove NANO_SEC * add absolute_ns but has error with + * convert _m_start and relative to ns before adding them * change name to passthrough_integrator and zeor out matrice * comment conditions * removed dummy_integrator, changed to passthrough_integrator * tests * Started time_point * create our own time_point * use issue-58-standardize-clock branch in monado_integration * change back to size_t for imu_data loop * fix naming and spacing * remove repeated synchronization * enable debugview * add back glfw3 for debugview * added new line at EOF * use offload_duration to be less confusing * remove dummy * change back to size_t * update comments * synchronize after thread setup * synchronize before p_thread_setup * reponses to comments * remove trailing space * remove pose_lookup * able to compile * restore * Add stoplight to synchronize thread starts/stops * Add missing file (the perils of -u instead of -A) * Respond to reviewer comments * Add documentation and comments * Respond to reviewer comments * Respond to reviewer comments * Fix compile bugs * Add stoplight to synchronize thread starts/stops * Add relative clock to common and runtime * Use relative clock in offline_imu_cam * Use relative clock in gldemo (exorcise GLFW) * Use relative clock in pose_* * Use relative clock in timewarp * Use relative clock in realsense and ZED * Fix stuff * wip * Fix stuff * wip * Fix integrators * wip (ov + dummy int works) * wip (ov + gtsam works) * Wip (works with gtsam) * Correct configs * Respond to reviewer comments * Respond to reviewer comments * Remove dataset_time * disable debugview * add declaration of NANO_SEC * remove NANO_SEC * removed dummy_integrator, changed to passthrough_integrator * tests * Started time_point * create our own time_point * change back to size_t for imu_data loop * enable debugview * add back glfw3 for debugview * remove dummy * change back to size_t * synchronize after thread setup * synchronize before p_thread_setup * reponses to comments * remove trailing space * remove pose_lookup * able to compile * restore * suggested change to replace dataset_time * respond to comments * use relative clock in offload_vio * respond to comments * update distribution checking and warning msg for realsense * Fix device_rx compilation * Fix offload server config * Resolve pending review comments * update empty constructor of pose_type * Update OV tag * Update Kimera, OV, and Monado tags to reflect the usage of RelativeClock * Update tags in offload-server Co-authored-by: Giordano Salvador <73959795+e3m3@users.noreply.github.com> Co-authored-by: Qinjun Jiang <qinjunj2@illinois.edu> Co-authored-by: Jeffrey Zhang <23205149+JeffreyZh4ng@users.noreply.github.com> Co-authored-by: Qinjun Jiang <90299267+qinjunj@users.noreply.github.com> Co-authored-by: Muhammad Huzaifa <mhuzai@users.noreply.github.com> Co-authored-by: Henry Che <90811347+hungdche@users.noreply.github.com> Co-authored-by: yingj4 <yingj4@illinois.edu> Co-authored-by: Muhammad Huzaifa <huzaifa2@illinois.edu>

charmoniumQ force-pushed the issue-58-standardize-clock branch from 05ff870 to c8dba46 Compare March 23, 2021 19:39

charmoniumQ mentioned this pull request Mar 23, 2021

Clean up OpenGL code #173

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charmoniumQ force-pushed the issue-58-standardize-clock branch from c8dba46 to 7446ba6 Compare March 23, 2021 19:57

charmoniumQ mentioned this pull request Mar 24, 2021

Fix time ILLIXR/open_vins#10

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e3m3 added this to In progress in ILLIXR improvements Mar 24, 2021

charmoniumQ force-pushed the issue-58-standardize-clock branch 3 times, most recently from 40a41fe to 610ea7a Compare March 24, 2021 23:43

charmoniumQ force-pushed the issue-58-standardize-clock branch from 610ea7a to 35d7fce Compare April 23, 2021 18:22

charmoniumQ force-pushed the issue-58-standardize-clock branch from f0c5804 to 962c594 Compare May 10, 2021 20:46

charmoniumQ marked this pull request as ready for review May 11, 2021 17:03

charmoniumQ force-pushed the issue-58-standardize-clock branch from 5fbb13e to 655fe06 Compare May 11, 2021 18:54

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Fix memory problems in libspatialaudio, audio_pipeline, and extended_window #112

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charmoniumQ added 3 commits May 18, 2021 11:43

Correct configs

32b32ad

Fix sqlite

ef4fe41

Exorcise glfw3

d1cb0cf

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qinjunj added 2 commits May 7, 2022 18:43

respond to comments

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update distribution checking and warning msg for realsense

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mhuzai mentioned this pull request May 8, 2022

Remove warnings and install realsense for ubuntu20.04 directly #334

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Remove warnings for installing RealSense on Ubuntu 20.04 #332

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mhuzai added 3 commits May 7, 2022 19:14

Fix device_rx compilation

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Fix offload server config

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Resolve pending review comments

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qinjunj added 2 commits May 8, 2022 20:21

update empty constructor of pose_type

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Merge branch 'issue-58-standardize-clock' of https://github.com/ILLIX…

47c080a

…R/ILLIXR into issue-58-standardize-clock

qinjunj dismissed mhuzai’s stale review via 47c080a May 9, 2022 01:25

Update OV tag

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Update Kimera, OV, and Monado tags to reflect the usage of RelativeClock

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Update tags in offload-server

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mhuzai merged commit 5a16aef into master May 9, 2022

ILLIXR improvements automation moved this from PRs in Review to Done May 9, 2022

mhuzai mentioned this pull request Jul 26, 2022

Issue 345 fix realsense #346

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Standardize time in ILLIXR #250

Standardize time in ILLIXR #250

charmoniumQ commented Mar 23, 2021 •

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Standardize time in ILLIXR #250

Standardize time in ILLIXR #250

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