install package and g2o #2
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| name: CI | |
| on: | |
| push: | |
| branches: [main] | |
| pull_request: | |
| branches: [main] | |
| workflow_dispatch: | |
| jobs: | |
| # build_macos: | |
| # runs-on: macos-latest | |
| # steps: | |
| # - uses: actions/checkout@v3 | |
| # - name: brew install | |
| # run: | | |
| # brew update | |
| # brew upgrade | |
| # brew install ccache pkg-config cmake git suite-sparse libomp eigen ffmpeg opencv yaml-cpp glog gflags glew protobuf clang-format | |
| clang-format: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: DoozyX/[email protected] | |
| with: | |
| source: "." | |
| exclude: "./3rd" | |
| extensions: "h,cc" | |
| clangFormatVersion: 6 | |
| style: file | |
| inplace: False | |
| build_without_gui_cv3: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/stella_vslam:cv-3.x | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: cmake and make | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS=ON -DUSE_SSE_ORB=ON .. | |
| make -j $(($(nproc) / 2)) | |
| - name: unit test | |
| run: | | |
| cd build | |
| export BOW_VOCAB=/datasets/orb_vocab/orb_vocab.fbow | |
| ctest -V | |
| build: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/stella_vslam:cv-4.x | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Create artifact directory | |
| run: | | |
| mkdir -p artifact | |
| - name: Save cpuinfo | |
| run: | | |
| cp /proc/cpuinfo artifact | |
| - name: cmake and make library | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS=ON -DUSE_SSE_ORB=ON -DUSE_GTSAM=ON .. | |
| make -j $(($(nproc) / 2)) | |
| make install | |
| - uses: actions/checkout@v3 | |
| with: | |
| repository: stella-cv/pangolin_viewer | |
| path: pangolin_viewer | |
| submodules: recursive | |
| - name: cmake and make pangolin_viewer | |
| run: | | |
| mkdir -p pangolin_viewer/build | |
| cd pangolin_viewer/build | |
| cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo .. | |
| make -j $(($(nproc) / 2)) | |
| make install | |
| - uses: actions/checkout@v3 | |
| with: | |
| repository: stella-cv/stella_vslam_examples | |
| path: stella_vslam_examples | |
| submodules: recursive | |
| - name: cmake and make examples | |
| run: | | |
| mkdir -p stella_vslam_examples/build | |
| cd stella_vslam_examples/build | |
| cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DUSE_STACK_TRACE_LOGGER=ON .. | |
| make -j $(($(nproc) / 2)) | |
| - name: unit test | |
| run: | | |
| cd build | |
| export BOW_VOCAB=/datasets/orb_vocab/orb_vocab.fbow | |
| ctest -V | |
| - name: Convert groundtruth to TUM format | |
| run: | | |
| python3 scripts/dataset_tools/compute_euroc_cam_tf.py > tf.json | |
| evo_traj euroc --transform_right tf.json /datasets/EuRoC/MH_01/state_groundtruth_estimate0/data.csv --save_as_tum | |
| mv data.tum MH_01.tum | |
| evo_traj euroc --transform_right tf.json /datasets/EuRoC/MH_04/state_groundtruth_estimate0/data.csv --save_as_tum | |
| mv data.tum MH_04.tum | |
| - name: make config for gtsam backend | |
| run: | | |
| sed -e 's/backend: "g2o"/backend: "gtsam"/g' example/euroc/EuRoC_mono.yaml > EuRoC_mono_gtsam.yaml | |
| sed -e 's/backend: "g2o"/backend: "gtsam"/g' example/euroc/EuRoC_stereo.yaml > EuRoC_stereo_gtsam.yaml | |
| - name: make config for temporal mapping | |
| run: | | |
| sed -e 's/erase_temporal_keyframes: false/erase_temporal_keyframes: true/g' -e 's/enable_temporal_keyframe_only_tracking: false/enable_temporal_keyframe_only_tracking: true/g' example/euroc/EuRoC_mono.yaml > EuRoC_mono_temporal_mapping.yaml | |
| - name: make config for sqlite3 map format | |
| run: | | |
| sed -e 's/map_format: "msgpack"/map_format: "sqlite3"/g' example/euroc/EuRoC_mono.yaml > EuRoC_mono_sqlite3.yaml | |
| - name: SLAM test (monocular) with EuRoC MAV dataset (MH_01) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_01_mono.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_mono_slam.txt | |
| mv track_times.txt ../artifact/track_times_MH_01_mono_slam.txt | |
| ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_mono_gtsam.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_01_mono_gtsam.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_mono_gtsam_slam.txt | |
| mv track_times.txt ../artifact/track_times_MH_01_mono_gtsam_slam.txt | |
| ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_mono_sqlite3.yaml --frame-skip 2 --no-sleep --log-level=debug --map-db-out MH_01_mono_sqlite3.db --viewer=none | |
| - name: SLAM test (stereo) with EuRoC MAV dataset (MH_01) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../example/euroc/EuRoC_stereo.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_01_stereo.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_stereo_slam.txt | |
| mv track_times.txt ../artifact/track_times_MH_01_stereo_slam.txt | |
| ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_stereo_gtsam.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_01_stereo_gtsam.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_stereo_gtsam_slam.txt | |
| mv track_times.txt ../artifact/track_times_MH_01_stereo_gtsam_slam.txt | |
| - name: Localization test (monocular) with EuRoC MAV dataset (MH_01) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_euroc_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-in MH_01_mono.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_mono_localization.txt | |
| mv track_times.txt ../artifact/track_times_MH_01_mono_localization.txt | |
| ../stella_vslam_examples/build/run_euroc_slam --temporal-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_mono_temporal_mapping.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-in MH_01_mono.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_mono_localization_temporal_mapping.txt | |
| mv track_times.txt ../artifact/track_times_MH_01_mono_localization_temporal_mapping.txt | |
| ../stella_vslam_examples/build/run_euroc_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_mono_sqlite3.yaml --frame-skip 2 --no-sleep --log-level=debug --map-db-in MH_01_mono_sqlite3.db --viewer=none | |
| - name: SLAM test (monocular) with EuRoC MAV dataset (MH_04) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_04 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_04_mono.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_04_mono_slam.txt | |
| mv track_times.txt ../artifact/track_times_MH_04_mono_slam.txt | |
| - name: SLAM test (stereo) with EuRoC MAV dataset (MH_04) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_04 -c ../example/euroc/EuRoC_stereo.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_04_stereo.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_04_stereo_slam.txt | |
| mv track_times.txt ../artifact/track_times_MH_04_stereo_slam.txt | |
| - name: Localization test (monocular) with EuRoC MAV dataset (MH_04) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_euroc_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_04 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-in MH_04_mono.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_04_mono_localization.txt | |
| mv track_times.txt ../artifact/track_times_MH_04_mono_localization.txt | |
| ../stella_vslam_examples/build/run_euroc_slam --temporal-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_04 -c ../EuRoC_mono_temporal_mapping.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-in MH_04_mono.msg --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_MH_04_mono_localization_temporal_mapping.txt | |
| mv track_times.txt ../artifact/track_times_MH_04_mono_localization_temporal_mapping.txt | |
| - name: download openvslam_test_dataset | |
| run: | | |
| curl -sL "https://github.com/stella-cv/openvslam_test_dataset/raw/main/openvslam_test_dataset.zip" -o openvslam_test_dataset.zip | |
| unzip openvslam_test_dataset.zip | |
| rm openvslam_test_dataset.zip | |
| - name: make config for openvslam_test_dataset | |
| run: | | |
| sed -e 's/fps: .*/fps: 24.0/g' example/aist/equirectangular.yaml > equirectangular.yaml | |
| - name: make config for gtsam backend | |
| run: | | |
| sed -e 's/backend: "g2o"/backend: "gtsam"/g' equirectangular.yaml > equirectangular_gtsam.yaml | |
| - name: SLAM test with equirectangular dataset (1) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ../openvslam_test_dataset/1/equirectangular/video.mp4 -c ../equirectangular.yaml --no-sleep --log-level=debug --eval-log-dir . --map-db-out equirectangular_map.msg -t 0.0 --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_equirectangular_1.txt | |
| mv track_times.txt ../artifact/track_times_equirectangular_1.txt | |
| ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ../openvslam_test_dataset/1/equirectangular/video.mp4 -c ../equirectangular_gtsam.yaml --no-sleep --log-level=debug --eval-log-dir . --map-db-out equirectangular_gtsam_map.msg -t 0.0 --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_equirectangular_gtsam_1.txt | |
| mv track_times.txt ../artifact/track_times_equirectangular_gtsam_1.txt | |
| - name: SLAM test with equirectangular dataset (2) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ../openvslam_test_dataset/2/equirectangular/video.mp4 -c ../equirectangular.yaml --no-sleep --log-level=debug --eval-log-dir . --map-db-out equirectangular_map.msg -t 0.0 --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_equirectangular_2.txt | |
| mv track_times.txt ../artifact/track_times_equirectangular_2.txt | |
| - name: SLAM test with equirectangular dataset (3) | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ../openvslam_test_dataset/3/equirectangular/video.mp4 -c ../equirectangular.yaml --no-sleep --log-level=debug --eval-log-dir . --map-db-out equirectangular_map.msg -t 0.0 --viewer=none | |
| mv frame_trajectory.txt ../artifact/frame_trajectory_equirectangular_3.txt | |
| mv track_times.txt ../artifact/track_times_equirectangular_3.txt | |
| - name: Evaluation | |
| run: | | |
| cp scripts/workflows/* . | |
| ( | |
| echo '<details>' | |
| echo '<summary>Track time and Relative pose error</summary>' | |
| echo | |
| echo '|dataset|track_time<br>(mean)|track_time<br>(median)|track_time<br>(max)|RPE<br>(mean)|RPE<br>(median)|RPE<br>(max)|RPE<br>(rmse)|RPE<br>(sse)|RPE<br>(std)|' | |
| echo '|---|---|---|---|---|---|---|---|---|---|' | |
| echo -n '| EuRoC MH_01 (SLAM, perspective, mono)' | |
| bash track_time_print_row.bash artifact/track_times_MH_01_mono_slam.txt | |
| bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_mono_slam.txt -as | |
| echo '|' | |
| echo -n '| EuRoC MH_01 (SLAM, perspective, mono, gtsam)' | |
| bash track_time_print_row.bash artifact/track_times_MH_01_mono_gtsam_slam.txt | |
| bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_mono_gtsam_slam.txt -as | |
| echo '|' | |
| echo -n '| EuRoC MH_01 (SLAM, perspective, stereo)' | |
| bash track_time_print_row.bash artifact/track_times_MH_01_stereo_slam.txt | |
| bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_stereo_slam.txt -a | |
| echo '|' | |
| echo -n '| EuRoC MH_01 (SLAM, perspective, stereo, gtsam)' | |
| bash track_time_print_row.bash artifact/track_times_MH_01_stereo_gtsam_slam.txt | |
| bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_stereo_gtsam_slam.txt -a | |
| echo '|' | |
| echo -n '| EuRoC MH_01 (Localization, perspective, mono)' | |
| bash track_time_print_row.bash artifact/track_times_MH_01_mono_localization.txt | |
| bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_mono_localization.txt -as | |
| echo '|' | |
| echo -n '| EuRoC MH_01 (Localization, perspective, mono, temporal mapping)' | |
| bash track_time_print_row.bash artifact/track_times_MH_01_mono_localization_temporal_mapping.txt | |
| bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_mono_localization_temporal_mapping.txt -as | |
| echo '|' | |
| echo -n '| EuRoC MH_04 (SLAM, perspective, mono)' | |
| bash track_time_print_row.bash artifact/track_times_MH_04_mono_slam.txt | |
| bash evo_rpe_print_row.bash tum MH_04.tum artifact/frame_trajectory_MH_04_mono_slam.txt -as | |
| echo '|' | |
| echo -n '| EuRoC MH_04 (SLAM, perspective, stereo)' | |
| bash track_time_print_row.bash artifact/track_times_MH_04_stereo_slam.txt | |
| bash evo_rpe_print_row.bash tum MH_04.tum artifact/frame_trajectory_MH_04_stereo_slam.txt -a | |
| echo '|' | |
| echo -n '| EuRoC MH_04 (Localization, perspective, mono)' | |
| bash track_time_print_row.bash artifact/track_times_MH_04_mono_localization.txt | |
| bash evo_rpe_print_row.bash tum MH_04.tum artifact/frame_trajectory_MH_04_mono_localization.txt -as | |
| echo '|' | |
| echo -n '| EuRoC MH_04 (Localization, perspective, mono, temporal mapping)' | |
| bash track_time_print_row.bash artifact/track_times_MH_04_mono_localization_temporal_mapping.txt | |
| bash evo_rpe_print_row.bash tum MH_04.tum artifact/frame_trajectory_MH_04_mono_localization_temporal_mapping.txt -as | |
| echo '|' | |
| echo -n '| openvslam_test_dataset 1 (SLAM, equirectangular, mono)' | |
| bash track_time_print_row.bash artifact/track_times_equirectangular_1.txt | |
| bash evo_rpe_print_row.bash tum openvslam_test_dataset/1/gt.tum artifact/frame_trajectory_equirectangular_1.txt -as | |
| echo '|' | |
| echo -n '| openvslam_test_dataset 1 (SLAM, equirectangular, mono, gtsam)' | |
| bash track_time_print_row.bash artifact/track_times_equirectangular_gtsam_1.txt | |
| bash evo_rpe_print_row.bash tum openvslam_test_dataset/1/gt.tum artifact/frame_trajectory_equirectangular_gtsam_1.txt -as | |
| echo '|' | |
| echo -n '| openvslam_test_dataset 2 (SLAM, equirectangular, mono)' | |
| bash track_time_print_row.bash artifact/track_times_equirectangular_2.txt | |
| bash evo_rpe_print_row.bash tum openvslam_test_dataset/2/gt.tum artifact/frame_trajectory_equirectangular_2.txt -as | |
| echo '|' | |
| echo -n '| openvslam_test_dataset 3 (SLAM, equirectangular, mono)' | |
| bash track_time_print_row.bash artifact/track_times_equirectangular_3.txt | |
| bash evo_rpe_print_row.bash tum openvslam_test_dataset/3/gt.tum artifact/frame_trajectory_equirectangular_3.txt -as | |
| echo '|' | |
| echo '</details>' | |
| ) >> artifact/result.md | |
| - uses: actions/upload-artifact@v3 | |
| with: | |
| name: artifact | |
| path: artifact | |
| build_tutorial: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/stella_vslam:cv-4.x | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: cmake and make library | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON -DUSE_OPENMP=OFF .. | |
| make -j $(($(nproc) / 2)) | |
| make install | |
| - uses: actions/checkout@v3 | |
| with: | |
| repository: stella-cv/stella_vslam_examples | |
| path: stella_vslam_examples | |
| submodules: recursive | |
| - name: cmake and make examples | |
| run: | | |
| mkdir -p stella_vslam_examples/build | |
| cd stella_vslam_examples/build | |
| cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DUSE_STACK_TRACE_LOGGER=ON .. | |
| make -j $(($(nproc) / 2)) | |
| - name: download a dataset | |
| run: | | |
| cd build | |
| gdown "https://drive.google.com/uc?id=1TXjREzkht3iRz__qVx4oYRW1GXsv37ct" -q | |
| unzip video_for_ci_1.zip | |
| rm video_for_ci_1.zip | |
| - name: mapping test with the tutorial | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ./video_for_ci_1/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --log-level=debug --eval-log-dir . --map-db-out map.msg --viewer=none | |
| - name: localization test with the tutorial | |
| run: | | |
| cd build | |
| ../stella_vslam_examples/build/run_video_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -m ./video_for_ci_1/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --log-level=debug --eval-log-dir . --map-db-in map.msg --viewer=none | |
| rosdep_humble: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/ros:humble-ros-base | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: build ros2 packages | |
| run: | | |
| mkdir -p /ros_ws/src | |
| cp -r . /ros_ws/src/stella_vslam | |
| cd /ros_ws/ | |
| rosdep update | |
| apt update | |
| rosdep install -y -i --from-paths src | |
| export MAKEFLAGS="-j $(($(nproc) / 2))" | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --parallel-workers 1) |