Update to maplab 2.0 and Ubuntu 20.04 Docker

.github/workflows/build_ros1.yml

@@ -0,0 +1,36 @@
+name: ROS 1 Workflow
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+
+jobs:
+  build_2004:
+    name: "ROS1 Ubuntu 20.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Reconfigure git to use HTTP authentication
+        run: |
+          git config --global url."https://github.com/".insteadOf git@github.com: &&
+          git config --global url."https://".insteadOf git://
+      - name: Create Workspace and Docker Image
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ && cd src/ &&
+          git clone https://github.com/rpng/open_vins.git &&
+          git clone https://github.com/ethz-asl/maplab.git --recursive &&
+          cd .. && mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
+          docker build -t ov_maplab -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_20_04 .
+      - name: Run Build in Docker
+        run: >
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws ov_maplab /bin/bash -c
+          "cd /catkin_ws
+          && catkin init
+          && catkin config --merge-devel
+          && catkin config --extend /opt/ros/noetic
+          && catkin build ov_maplab"
+
+

CMakeLists.txt

@@ -7,11 +7,16 @@ project(ov_maplab)
 find_package(catkin REQUIRED COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs visualization_msgs cv_bridge ov_core ov_msckf vi_map vio_common feature_tracking online_map_builders console_common)
 add_definitions(-DROS_AVAILABLE=1)
 
-# Include libraries
+# Include libraries (if we don't have opencv 4, then fallback to opencv 3)
+# The OpenCV version needs to match the one used by cv_bridge otherwise you will get a segmentation fault!
 find_package(Eigen3 REQUIRED)
-find_package(OpenCV 3 REQUIRED)
+find_package(OpenCV 3 QUIET)
+if (NOT OpenCV_FOUND)
+    find_package(OpenCV 4 REQUIRED)
+endif ()
 find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
-message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION})
+find_package(Ceres REQUIRED)
+message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | CERES: " ${Ceres_VERSION})
 
 # Describe catkin project
 catkin_package(
@@ -36,13 +41,15 @@ include_directories(
         src
         ${EIGEN3_INCLUDE_DIR}
         ${Boost_INCLUDE_DIRS}
+        ${CERES_INCLUDE_DIRS}
         ${catkin_INCLUDE_DIRS}
 )
 
 # Set link libraries used by all binaries
 list(APPEND thirdparty_libraries
         ${Boost_LIBRARIES}
         ${OpenCV_LIBRARIES}
+        ${CERES_LIBRARIES}
         ${catkin_LIBRARIES}
 )
 

Dockerfile → Dockerfile_ros1_20_04

@@ -1,4 +1,4 @@
-FROM osrf/ros:melodic-desktop-full
+FROM osrf/ros:noetic-desktop-full
 
 # =========================================================
 # =========================================================
@@ -14,14 +14,25 @@ FROM osrf/ros:melodic-desktop-full
 # Dependencies we use, catkin tools is very good build system
 # Also some helper utilities for fast in terminal edits (nano etc)
 RUN apt-get update && apt-get install -y libeigen3-dev nano git
-RUN sudo apt-get install -y python-catkin-tools
-
-# Seems this has Python 3.6 installed on it...
-RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
+RUN sudo apt-get install -y python3-catkin-tools python3-osrf-pycommon
+
+# Ceres solver install and setup
+RUN sudo apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libceres-dev
+# ENV CERES_VERSION="2.0.0"
+# RUN git clone https://ceres-solver.googlesource.com/ceres-solver && \
+#     cd ceres-solver && \
+#     git checkout tags/${CERES_VERSION} && \
+#     mkdir build && cd build && \
+#     cmake .. && \
+#     make -j$(nproc) install && \
+#     rm -rf ../../ceres-solver
+
+# Seems this has Python 3.8 installed on it...
+RUN apt-get update && apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
 
 # Maplab dependecies
 # https://github.com/ethz-asl/maplab/wiki/Installation-Ubuntu
-RUN sudo apt install -y autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format python-autopep8 python-catkin-tools python-pip python-git python-setuptools python-termcolor python-wstool libatlas3-base
+RUN sudo apt install -y autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format-6.0 python3-autopep8 python3-catkin-tools python3-pip python3-git python3-setuptools python3-termcolor python3-wstool libatlas3-base libv4l-dev
 RUN sudo pip install requests
 
 # Install CMake 3.13.5
@@ -33,7 +44,7 @@ RUN cmake --version
 
 # Install deps needed for clion remote debugging
 # https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
-RUN sed -i '6i\source "/catkin_ws/devel/setup.bash"\' /ros_entrypoint.sh
+# RUN sed -i '6i\source "/catkin_ws/devel/setup.bash"\' /ros_entrypoint.sh
 RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
     gdb clang cmake rsync tar python && apt-get clean
 RUN ( \

ReadMe.md

@@ -1,11 +1,13 @@
 # OpenVINS Maplab Interface
 
-Here we have our interface wrapper for exporting visual-inertial runs from [OpenVINS](https://github.com/rpng/open_vins) into the ViMap structure taken by [maplab](https://github.com/ethz-asl/maplab). The state estimates and raw images are appended to the ViMap as OpenVINS runs through a dataset. After completion of the dataset, we re-extract features and triangulate them due to the incompatibilities of the two frontends. Maplab requires BRISK or FREAK descriptors, while OpenVINS works with KLT or ORB feature tracking. In the future we will try to only extract descriptors on tracked features from OpenVINS, but for now we just re-detect for simplicity. We have tested this on the [EurocMav](https://docs.openvins.com/gs-datasets.html#gs-data-euroc) and [TUM-VI](https://docs.openvins.com/gs-datasets.html#gs-data-tumvi) datasets and have had good success with merging the different runs and optimizing the resulting graph. To ensure that we are able to compile maplab, we provide a [docker image](Dockerfile) for Ubuntu 18.04 which has all dependencies required.
+[![ROS 1 Workflow](https://github.com/rpng/ov_maplab/actions/workflows/build_ros1.yml/badge.svg)](https://github.com/rpng/ov_maplab/actions/workflows/build_ros1.yml)
+
+Here we have our interface wrapper for exporting visual-inertial runs from [OpenVINS](https://github.com/rpng/open_vins) into the ViMap structure taken by [maplab](https://github.com/ethz-asl/maplab). The state estimates and raw images are appended to the ViMap as OpenVINS runs through a dataset. After completion of the dataset, we re-extract features and triangulate them due to the incompatibilities of the two frontends. Maplab requires BRISK or FREAK descriptors, while OpenVINS works with KLT or ORB feature tracking. In the future we will try to only extract descriptors on tracked features from OpenVINS, but for now we just re-detect for simplicity. We have tested this on the [EurocMav](https://docs.openvins.com/gs-datasets.html#gs-data-euroc) and [TUM-VI](https://docs.openvins.com/gs-datasets.html#gs-data-tumvi) datasets and have had good success with merging the different runs and optimizing the resulting graph. To ensure that we are able to compile maplab, we provide a [docker image](Dockerfile) for Ubuntu 20.04 which has all dependencies required.
 
 ## Dependencies
 
 * OpenVINS (v2.7 release) - https://docs.openvins.com/gs-installing.html
-* maplab (develop v1, 18.04 release) - https://github.com/ethz-asl/maplab/wiki/Installation-Ubuntu
+* maplab (v2.0, 20.04 release) - https://github.com/ethz-asl/maplab/wiki/Installation-Ubuntu
 * Docker - https://docs.docker.com/get-docker/
 
 ## Installation Guide
@@ -20,11 +22,11 @@ git clone https://github.com/rpng/open_vins.git
 git clone https://github.com/ethz-asl/maplab.git --recursive
 # switch open_vins to last tested commit (might build with newer)
 cd open_vins/
-git checkout 2b506eeedd0b158c014641b9240a62ae80f6d7a0
+git checkout 4534a2f32d4763bdc8c95121b3292c7423e12aca
 cd ..
 # switch maplab to last tested commit (might build with newer)
 cd maplab/
-git checkout 483daf4988a76c15be362fd017ec78581c4f88d9
+git checkout 0b4868efeb292851d71f98d31a1e6bb40ebb244b
 git submodule update --init --recursive
 cd ..
 ```
@@ -52,8 +54,9 @@ ov_docker ov_maplab bash
 cd catkin_ws/
 catkin init
 catkin config --merge-devel
-catkin config --extend /opt/ros/melodic
-catkin build maplab ov_maplab ov_data -j4
+catkin config --extend /opt/ros/noetic
+catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+catkin build maplab ov_maplab -j4
 catkin build ov_maplab -j4 --no-deps # after first build
 source devel/setup.bash
 ```

entrypoint.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+# ensure you have already built the workspace!
+source "/catkin_ws/devel/setup.bash" --
+exec "$@"

launch/serial.launch

@@ -21,7 +21,7 @@
     <arg name="mapfolder"   default="/datasets/$(arg config)/maplab/$(arg dataset)/" />
 
     <!-- if we should viz the groundtruth -->
-    <arg name="dolivetraj"  default="false" />
+    <arg name="dolivetraj"  default="true" />
     <arg name="path_gt"     default="$(find ov_data)/$(arg config)/$(arg dataset).txt" />
 
     <!-- MASTER NODE! -->

package.xml

@@ -29,6 +29,7 @@
     <build_depend>visualization_msgs</build_depend>
     <build_depend>cv_bridge</build_depend>
     <build_depend>ov_core</build_depend>
+    <build_depend>ov_data</build_depend>
     <build_depend>ov_msckf</build_depend>
     <build_depend>vi_map</build_depend>
     <build_depend>vio_common</build_depend>
@@ -48,6 +49,8 @@
     <run_depend>visualization_msgs</run_depend>
     <run_depend>cv_bridge</run_depend>
     <run_depend>ov_core</run_depend>
+    <run_depend>ov_data</run_depend>
+    <run_depend>ov_eval</run_depend>
     <run_depend>ov_msckf</run_depend>
     <run_depend>vi_map</run_depend>
     <run_depend>vio_common</run_depend>

scripts/commands_eurocmav.yaml

@@ -0,0 +1,30 @@
+
+vi_map_folder_paths:
+  - /datasets/euroc_mav/maplab/V1_01_easy
+  - /datasets/euroc_mav/maplab/V1_02_medium
+  - /datasets/euroc_mav/maplab/V1_03_difficult
+  - /datasets/euroc_mav/maplab/V2_01_easy
+  - /datasets/euroc_mav/maplab/V2_02_medium
+  - /datasets/euroc_mav/maplab/V2_03_difficult
+commands:
+  - load --map_folder=<CURRENT_VIMAP_FOLDER>
+  - retriangulate_landmarks
+  - v --vis_color_by_mission
+  - optvi --ba_num_iterations=5 -ba_visualize_every_n_iterations=1
+  - retriangulate_landmarks
+  - loopclosure_all_missions
+  - optvi --ba_num_iterations=5 -ba_visualize_every_n_iterations=1
+  - retriangulate_landmarks
+  - loopclosure_all_missions
+  - optvi --ba_num_iterations=30 -ba_visualize_every_n_iterations=5
+  - evaluate_landmark_quality
+  - remove_bad_landmarks
+  - save --map_folder=<CURRENT_VIMAP_FOLDER>_result
+  - export_to_openvins --overwrite --export_path=<CURRENT_VIMAP_FOLDER>_result
+  - export_trajectory_to_csv --overwrite --export_path=<CURRENT_VIMAP_FOLDER>_result
+  - keyframe_heuristic
+  - v --vis_color_by_mission
+  - save --map_folder=<CURRENT_VIMAP_FOLDER>_result_keyframed
+  - export_to_openvins --overwrite --export_path=<CURRENT_VIMAP_FOLDER>_result_keyframed
+  - export_trajectory_to_csv --overwrite --export_path=<CURRENT_VIMAP_FOLDER>_result_keyframed
+

scripts/commands_rpngplane.yaml

@@ -0,0 +1,32 @@
+
+vi_map_folder_paths:
+  - /datasets/rpng_plane/maplab/table_01
+  - /datasets/rpng_plane/maplab/table_02
+  - /datasets/rpng_plane/maplab/table_03
+  - /datasets/rpng_plane/maplab/table_04
+  - /datasets/rpng_plane/maplab/table_05
+  - /datasets/rpng_plane/maplab/table_06
+  - /datasets/rpng_plane/maplab/table_07
+  - /datasets/rpng_plane/maplab/table_08
+commands:
+  - load --map_folder=<CURRENT_VIMAP_FOLDER>
+  - retriangulate_landmarks
+  - v --vis_color_by_mission
+  - optvi --ba_num_iterations=5 -ba_visualize_every_n_iterations=1
+  - retriangulate_landmarks
+  - loopclosure_all_missions
+  - optvi --ba_num_iterations=5 -ba_visualize_every_n_iterations=1
+  - retriangulate_landmarks
+  - loopclosure_all_missions
+  - optvi --ba_num_iterations=30 -ba_visualize_every_n_iterations=5
+  - evaluate_landmark_quality
+  - remove_bad_landmarks
+  - save --map_folder=<CURRENT_VIMAP_FOLDER>_result
+  - export_to_openvins --overwrite --export_path=<CURRENT_VIMAP_FOLDER>_result
+  - export_trajectory_to_csv --overwrite --export_path=<CURRENT_VIMAP_FOLDER>_result
+  - keyframe_heuristic
+  - v --vis_color_by_mission
+  - save --map_folder=<CURRENT_VIMAP_FOLDER>_result_keyframed
+  - export_to_openvins --overwrite --export_path=<CURRENT_VIMAP_FOLDER>_result_keyframed
+  - export_trajectory_to_csv --overwrite --export_path=<CURRENT_VIMAP_FOLDER>_result_keyframed
+

scripts/process_eurocmav.sh

@@ -0,0 +1,66 @@
+#!/usr/bin/env bash
+
+# Source our workspace directory to load ENV variables
+SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+source ${SCRIPT_DIR}/../../../devel/setup.bash
+
+#=============================================================
+#=============================================================
+#=============================================================
+
+# dataset locations
+bagnames=(
+  "V1_01_easy"
+  "V1_02_medium"
+  "V1_03_difficult"
+  "V2_01_easy"
+  "V2_02_medium"
+  "V2_03_difficult"
+)
+
+#=============================================================
+#=============================================================
+#=============================================================
+
+big_start_time="$(date -u +%s)"
+
+# Loop through all datasets
+for i in "${!bagnames[@]}"; do
+
+# start timing
+start_time="$(date -u +%s)"
+
+# run our ROS launch file (note we send console output to terminator)
+roslaunch ov_maplab serial.launch \
+  max_cameras:="2" \
+  use_stereo:="true" \
+  config:="euroc_mav" \
+  dataset:="${bagnames[i]}" \
+  dolivetraj:="true" &> /dev/null
+
+# print out the time elapsed
+end_time="$(date -u +%s)"
+elapsed="$(($end_time-$start_time))"
+echo "BASH: ${bagnames[i]} - vio took $elapsed seconds";
+
+done
+
+# start timing
+start_time="$(date -u +%s)"
+
+# run our maplab batch processing command
+rosrun maplab_console batch_runner --batch_control_file=src/ov_maplab/scripts/commands_eurocmav.yaml
+
+# print out the time elapsed
+end_time="$(date -u +%s)"
+elapsed="$(($end_time-$start_time))"
+echo "BASH: full maplab opt took $elapsed seconds";
+
+# fix our permissions...
+sudo chmod -R 777 /datasets/euroc_mav/maplab/
+sudo chown -R patrick /datasets/euroc_mav/maplab/
+
+# print out the time elapsed
+big_end_time="$(date -u +%s)"
+big_elapsed="$(($big_end_time-$big_start_time))"
+echo "BASH: script took $big_elapsed seconds in total!!";

scripts/process_rpngplane.sh

@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+
+# Source our workspace directory to load ENV variables
+SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+source ${SCRIPT_DIR}/../../../devel/setup.bash
+
+#=============================================================
+#=============================================================
+#=============================================================
+
+# dataset locations
+bagnames=(
+  "table_01"
+  "table_02"
+  "table_03"
+  "table_04"
+  "table_05"
+  "table_06"
+  "table_07"
+  "table_08"
+)
+
+#=============================================================
+#=============================================================
+#=============================================================
+
+big_start_time="$(date -u +%s)"
+
+# Loop through all datasets
+for i in "${!bagnames[@]}"; do
+
+# start timing
+start_time="$(date -u +%s)"
+
+# run our ROS launch file (note we send console output to terminator)
+roslaunch ov_maplab serial.launch \
+  max_cameras:="1" \
+  use_stereo:="true" \
+  config:="rpng_plane" \
+  dataset:="${bagnames[i]}" \
+  dolivetraj:="true" &> /dev/null
+
+# print out the time elapsed
+end_time="$(date -u +%s)"
+elapsed="$(($end_time-$start_time))"
+echo "BASH: ${bagnames[i]} - vio took $elapsed seconds";
+
+done
+
+# start timing
+start_time="$(date -u +%s)"
+
+# run our maplab batch processing command
+rosrun maplab_console batch_runner --batch_control_file=src/ov_maplab/scripts/commands_rpngplane.yaml
+
+# print out the time elapsed
+end_time="$(date -u +%s)"
+elapsed="$(($end_time-$start_time))"
+echo "BASH: full maplab opt took $elapsed seconds";
+
+# fix our permissions...
+sudo chmod -R 777 /datasets/rpng_plane/maplab/
+sudo chown -R patrick /datasets/rpng_plane/maplab/
+
+# print out the time elapsed
+big_end_time="$(date -u +%s)"
+big_elapsed="$(($big_end_time-$big_start_time))"
+echo "BASH: script took $big_elapsed seconds in total!!";