Move example, socket_publisher and pangolin_viewer

docs/docker.rst

@@ -56,13 +56,6 @@ In order to enable X11 forwarding, supplemental options (``-e DISPLAY=$DISPLAY``
 
 
 After launching the container, the shell interface will be launched in the docker container.
-
-.. code-block:: bash
-
-    root@ddad048b5fff:/stella_vslam/build# ls
-    lib                     run_image_slam          run_video_slam
-    run_euroc_slam          run_kitti_slam          run_tum_slam
-
 See :ref:`Tutorial <chapter-simple-tutorial>` to run SLAM examples in the container.
 
 .. NOTE ::
@@ -135,7 +128,7 @@ The shell interface will be launched in the docker container.
 .. code-block:: bash
 
     $ docker run --rm -it --name stella_vslam-socket --net=host stella_vslam-socket
-    root@hostname:/stella_vslam/build#
+    root@hostname:/stella_vslam_examples/build#
 
 See :ref:`Tutorial <chapter-simple-tutorial>` to run SLAM examples in the container.
 
@@ -182,7 +175,7 @@ The shell interface will be launched in the docker container.
 .. code-block:: bash
 
     $ docker run --rm -it --name stella_vslam-socket stella_vslam-socket
-    root@hostname:/stella_vslam/build#
+    root@hostname:/stella_vslam_examples/build#
 
 | See :ref:`Tutorial <chapter-simple-tutorial>` to run SLAM examples in the container.
 | Please don't forget to append ``SocketPublisher.server_uri`` entry to the ``config.yaml`` if you use the downloaded datasets in the tutorial.

docs/example.rst

@@ -16,7 +16,7 @@ SLAM with Video Files
 =====================
 
 We provide an example snippet for using video files (e.g. ``.mp4``) for visual SLAM.
-The source code is placed at ``./example/run_video_slam.cc``.
+The source code is placed at ``stella_vslam_examples/src/run_video_slam.cc``.
 
 | The camera that captures the video file must be calibrated. Create a config file (``.yaml``) according to the camera parameters.
 | We provided a vocabulary file for FBoW at `here <https://github.com/stella-cv/FBoW_orb_vocab/raw/main/orb_vocab.fbow>`__.
@@ -29,7 +29,7 @@ SLAM with Image Sequences
 =========================
 
 We provided an example snippet for using image sequences for visual SLAM.
-The source code is placed at ``./example/run_image_slam.cc``.
+The source code is placed at ``stella_vslam_examples/src/run_image_slam.cc``.
 
 | The camera that captures the video file must be calibrated. Create a config file (``.yaml``) according to the camera parameters.
 | We provided a vocabulary file for FBoW at `here <https://github.com/stella-cv/FBoW_orb_vocab/raw/main/orb_vocab.fbow>`__.
@@ -48,7 +48,7 @@ KITTI Odometry dataset
 
 `KITTI Odometry dataset <http://www.cvlibs.net/datasets/kitti/>`_ is a benchmarking dataset for monocular and stereo visual odometry and lidar odometry that is captured from car-mounted devices.
 We provided an example source code for running monocular and stereo visual SLAM with this dataset.
-The source code is placed at ``./example/run_kitti_slam.cc``.
+The source code is placed at ``stella_vslam_examples/src/run_kitti_slam.cc``.
 
 Start by downloading the dataset from `here <http://www.cvlibs.net/datasets/kitti/eval_odometry.php>`__.
 Download the grayscale set (``data_odometry_gray.zip``).
@@ -73,12 +73,12 @@ If you built examples with Pangolin Viewer support, a map viewer and frame viewe
     $ ./run_kitti_slam \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/KITTI/Odometry/sequences/00/ \
-        -c ../example/kitti/KITTI_mono_00-02.yaml
+        -c ~/lib/stella_vslam/example/kitti/KITTI_mono_00-02.yaml
     # stereo SLAM with sequence 05
     $ ./run_kitti_slam \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/KITTI/Odometry/sequences/05/ \
-        -c ../example/kitti/KITTI_stereo_04-12.yaml
+        -c ~/lib/stella_vslam/example/kitti/KITTI_stereo_04-12.yaml
 
 .. _subsection-example-euroc:
 
@@ -87,7 +87,7 @@ EuRoC MAV dataset
 
 `EuRoC MAV dataset <https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets>`_ is a benchmarking dataset for monocular and stereo visual odometry that is captured from drone-mounted devices.
 We provide an example source code for running monocular and stereo visual SLAM with this dataset.
-The source code is placed at ``./example/run_euroc_slam.cc``.
+The source code is placed at ``stella_vslam_examples/src/run_euroc_slam.cc``.
 
 Start by downloading the dataset from `here <http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/>`__.
 Download the ``.zip`` file of a dataset you plan on using.
@@ -101,7 +101,7 @@ After downloading and uncompressing it, you will find several directories under
 
 In addition, download a vocabulary file for FBoW from `here <https://github.com/stella-cv/FBoW_orb_vocab/raw/main/orb_vocab.fbow>`__.
 
-We provided the two config files for EuRoC, ``./example/euroc/EuRoC_mono.yaml`` for monocular and ``./example/euroc/EuRoC_stereo.yaml`` for stereo.
+We provided the two config files for EuRoC, ``~/lib/stella_vslam/example/euroc/EuRoC_mono.yaml`` for monocular and ``~/lib/stella_vslam/example/euroc/EuRoC_stereo.yaml`` for stereo.
 
 If you have built examples with Pangolin Viewer support, a map viewer and frame viewer will be launched right after executing the following command.
 
@@ -112,20 +112,20 @@ If you have built examples with Pangolin Viewer support, a map viewer and frame
     $ ./run_euroc_slam \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/EuRoC/MAV/mav0/ \
-        -c ../example/euroc/EuRoC_mono.yaml
+        -c ~/lib/stella_vslam/example/euroc/EuRoC_mono.yaml
     # stereo SLAM with any EuRoC sequence
     $ ./run_euroc_slam \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/EuRoC/MAV/mav0/ \
-        -c ../example/euroc/EuRoC_stereo.yaml
+        -c ~/lib/stella_vslam/example/euroc/EuRoC_stereo.yaml
 
 .. _subsection-example-tum-rgbd:
 
 TUM RGBD dataset
 ^^^^^^^^^^^^^^^^
 
 `TUM RGBD dataset <https://vision.in.tum.de/data/datasets/rgbd-dataset>`_ is a benchmarking dataset fcontaining RGB-D data and ground-truth data with the goal to establish a novel benchmark for the evaluation of visual odometry and visual SLAM systems.
-The source code is placed at ``./example/run_tum_rgbd_slam.cc``.
+The source code is placed at ``stella_vslam_examples/src/run_tum_rgbd_slam.cc``.
 
 Start by downloading the various dataset from `here <https://vision.in.tum.de/data/datasets/rgbd-dataset/download>`__. 
 One of many example datasets can be found from  `here <https://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_calibration_rgb_depth.tgz>`__. 
@@ -144,7 +144,7 @@ In addition, download a vocabulary file for FBoW from `here <https://github.com/
 
 We provided the config files for RGBD dataset at, ``./example/tum_rgbd``.
 
-For above specific example we shall use two config files, ``./example/tum_rgbd/TUM_RGBD_mono_3.yaml`` for monocular and ``./example/tum_rgbd/TUM_RGBD_rgbd_3.yaml`` for RGBD.
+For above specific example we shall use two config files, ``~/lib/stella_vslam/example/tum_rgbd/TUM_RGBD_mono_3.yaml`` for monocular and ``~/lib/stella_vslam/example/tum_rgbd/TUM_RGBD_rgbd_3.yaml`` for RGBD.
 
 Tracking and Mapping
 ^^^^^^^^^^^^^^^^^^^^
@@ -156,7 +156,7 @@ Tracking and Mapping
     $ ./run_tum_rgbd_slam \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/rgbd_dataset_freiburg3_calibration_rgb_depth/ \
-        -c ../example/tum_rgbd/TUM_RGBD_mono_3.yaml \
+        -c ~/lib/stella_vslam/example/tum_rgbd/TUM_RGBD_mono_3.yaml \
         --no-sleep \
         --auto-term \
         --map-db-out fr3_slam_mono.msg
@@ -165,7 +165,7 @@ Tracking and Mapping
     $ ./run_tum_rgbd_slam \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/rgbd_dataset_freiburg3_calibration_rgb_depth/ \
-        -c ../example/tum_rgbd/TUM_RGBD_rgbd_3.yaml \
+        -c ~/lib/stella_vslam/example/tum_rgbd/TUM_RGBD_rgbd_3.yaml \
         --no-sleep \
         --auto-term \
         --map-db-out fr3_slam_rgbd.msg
@@ -180,7 +180,7 @@ Localization
     $ ./run_tum_rgbd_slam --disable-mapping \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/rgbd_dataset_freiburg3_calibration_rgb_depth/ \
-        -c ../example/tum_rgbd/TUM_RGBD_mono_3.yaml \
+        -c ~/lib/stella_vslam/example/tum_rgbd/TUM_RGBD_mono_3.yaml \
         --no-sleep \
         --auto-term \
         --map-db-in fr3_slam_mono.msg
@@ -189,7 +189,7 @@ Localization
     $ ./run_tum_rgbd_slam --disable-mapping \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/rgbd_dataset_freiburg3_calibration_rgb_depth/ \
-        -c ../example/tum_rgbd/TUM_RGBD_rgbd_3.yaml \
+        -c ~/lib/stella_vslam/example/tum_rgbd/TUM_RGBD_rgbd_3.yaml \
         --no-sleep \
         --auto-term \
         --map-db-in fr3_slam_rgbd.msg
@@ -206,7 +206,7 @@ This feature can be used to add keyframes to stabilize localization results.
     $ ./run_tum_rgbd_slam --temporal-mapping \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/rgbd_dataset_freiburg3_calibration_rgb_depth/ \
-        -c ../example/tum_rgbd/TUM_RGBD_mono_3.yaml \
+        -c ~/lib/stella_vslam/example/tum_rgbd/TUM_RGBD_mono_3.yaml \
         --no-sleep \
         --auto-term \
         --map-db-in fr3_slam_mono.msg
@@ -215,7 +215,7 @@ This feature can be used to add keyframes to stabilize localization results.
     $ ./run_tum_rgbd_slam --temporal-mapping \
         -v /path/to/orb_vocab/orb_vocab.fbow \
         -d /path/to/rgbd_dataset_freiburg3_calibration_rgb_depth/ \
-        -c ../example/tum_rgbd/TUM_RGBD_rgbd_3.yaml \
+        -c ~/lib/stella_vslam/example/tum_rgbd/TUM_RGBD_rgbd_3.yaml \
         --no-sleep \
         --auto-term \
         --map-db-in fr3_slam_rgbd.msg
@@ -234,7 +234,7 @@ Tracking and Mapping
 ^^^^^^^^^^^^^^^^^^^^
 
 We provided an example snippet for using a UVC camera, which is often called a webcam, for visual SLAM.
-The source code is placed at ``./example/run_camera_slam.cc``.
+The source code is placed at ``stella_vslam_examples/src/run_camera_slam.cc``.
 
 | Please specify the camera number you want to use by ``-n`` option.
 | The camera must be calibrated. Create a config file (``.yaml``) according to the camera parameters.

docs/installation.rst

@@ -370,39 +370,43 @@ Otherwise, please download, build and install Protobuf from source.
 Build Instructions
 ==================
 
-When building with support for PangolinViewer, please specify the following cmake options: ``-DUSE_PANGOLIN_VIEWER=ON`` and ``-DUSE_SOCKET_PUBLISHER=OFF``.
-
 .. code-block:: bash
 
-    cd /path/to/stella_vslam
+    mkdir -p ~/lib
+    cd ~/lib
+    git clone --recursive https://github.com/stella-cv/stella_vslam.git
     mkdir build && cd build
-    cmake \
-        -DUSE_STACK_TRACE_LOGGER=ON \
-        -DCMAKE_BUILD_TYPE=RelWithDebInfo \
-        -DUSE_PANGOLIN_VIEWER=ON \
-        -DINSTALL_PANGOLIN_VIEWER=ON \
-        -DUSE_SOCKET_PUBLISHER=OFF \
-        -DBUILD_TESTS=OFF \
-        -DBUILD_EXAMPLES=ON \
-        ..
-    make -j4 && sudo make install
+    cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
+    make -j4
+    sudo make install
 
-When building with support for SocketViewer, please specify the following cmake options: ``-DUSE_PANGOLIN_VIEWER=OFF`` and ``-DUSE_SOCKET_PUBLISHER=ON``.
+    # When building with support for PangolinViewer
+    cd ~/lib
+    git clone -b 0.0.1 --recursive https://github.com/stella-cv/pangolin_viewer.git
+    mkdir -p pangolin_viewer/build
+    cd pangolin_viewer/build
+    cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
+    make -j
+    sudo make install
 
-.. code-block:: bash
+    # When building with support for SocketViewer
+    cd ~/lib
+    git clone -b 0.0.1 --recursive https://github.com/stella-cv/socket_publisher.git
+    mkdir -p socket_publisher/build
+    cd socket_publisher/build
+    cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
+    make -j
+    sudo make install
 
-    cd /path/to/stella_vslam
-    mkdir build && cd build
+    cd ~/lib
+    git clone -b 0.0.1 --recursive https://github.com/stella-cv/stella_vslam_examples.git
+    mkdir -p stella_vslam_examples/build
+    cd stella_vslam_examples/build
     cmake \
-        -DUSE_STACK_TRACE_LOGGER=ON \
         -DCMAKE_BUILD_TYPE=RelWithDebInfo \
-        -DUSE_PANGOLIN_VIEWER=OFF \
-        -DUSE_SOCKET_PUBLISHER=ON \
-        -DINSTALL_SOCKET_PUBLISHER=ON \
-        -DBUILD_TESTS=OFF \
-        -DBUILD_EXAMPLES=ON \
+        -DUSE_STACK_TRACE_LOGGER=ON \
         ..
-    make -j4 && sudo make install
+    make -j
 
 After building, check to see if it was successfully built by executing ``./run_kitti_slam -h``.
 
@@ -411,13 +415,7 @@ After building, check to see if it was successfully built by executing ``./run_k
     $ ./run_kitti_slam -h
     Allowed options:
     -h, --help               produce help message
-    -v, --vocab arg          vocabulary file path
-    -d, --data-dir arg       directory path which contains dataset
-    -c, --config arg         config file path
-    --frame-skip arg (=1)    interval of frame skip
-    --no-sleep               not wait for next frame in real time
-    --auto-term              automatically terminate the viewer
-    --log-level arg (=info)  log level
+    ...
 
 
 .. _section-viewer-setup:

docs/simple_tutorial.rst

@@ -18,9 +18,9 @@ The later parts of this chapter explains what each of the commands do in more de
 
     # at the build directory of stella_vslam ...
     $ pwd
-    /path/to/stella_vslam/build/
+    ~/lib/stella_vslam_examples/build/
     $ ls
-    run_video_slam   lib/   ...
+    run_video_slam   ...
 
     # download an ORB vocabulary from GitHub
     curl -sL "https://github.com/stella-cv/FBoW_orb_vocab/raw/main/orb_vocab.fbow" -o orb_vocab.fbow
@@ -40,14 +40,14 @@ The later parts of this chapter explains what each of the commands do in more de
     unzip aist_living_lab_2.zip
 
     # run tracking and mapping
-    ./run_video_slam -v ./orb_vocab.fbow -m ./aist_living_lab_1/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db-out map.msg
+    ./run_video_slam -v ./orb_vocab.fbow -m ./aist_living_lab_1/video.mp4 -c ~/lib/stella_vslam/example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db-out map.msg
     # click the [Terminate] button to close the viewer
     # you can find map.msg in the current directory
 
     # run localization
-    ./run_video_slam --disable-mapping -v ./orb_vocab.fbow -m ./aist_living_lab_2/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db-in map.msg
+    ./run_video_slam --disable-mapping -v ./orb_vocab.fbow -m ./aist_living_lab_2/video.mp4 -c ~/lib/stella_vslam/example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db-in map.msg
     # run localization with temporal mapping based odometry. loaded keyframes are prioritized for localization/localBA.
-    ./run_video_slam --temporal-mapping -v ./orb_vocab.fbow -m ./aist_living_lab_2/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db-in map.msg
+    ./run_video_slam --temporal-mapping -v ./orb_vocab.fbow -m ./aist_living_lab_2/video.mp4 -c ~/lib/stella_vslam/example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db-in map.msg
 
 
 Sample Datasets
@@ -266,7 +266,7 @@ The paths should be changed accordingly.
 
     $ ./run_video_slam \
         -v /path/to/orb_vocab/orb_vocab.fbow \
-        -c /path/to/stella_vslam/example/aist/equirectangular.yaml \
+        -c ~/lib/stella_vslam/example/aist/equirectangular.yaml \
         -m /path/to/aist_living_lab_1/video.mp4 \
         --frame-skip 3 \
         --map-db-out aist_living_lab_1_map.msg
@@ -384,7 +384,7 @@ The paths should be changed accordingly.
 
     $ ./run_video_slam --disable-mapping \
         -v /path/to/orb_vocab/orb_vocab.fbow \
-        -c /path/to/stella_vslam/example/aist/equirectangular.yaml \
+        -c ~/lib/stella_vslam/example/aist/equirectangular.yaml \
         -m /path/to/aist_living_lab_2/video.mp4 \
         --frame-skip 3 \
         --map-db-in aist_living_lab_1_map.msg