Move viewer and examples (stella-cv#141)

Arthur-CWW · Jul 14, 2023 · 3543951 · 3543951
1 parent 18b976d
commit 3543951
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Showing 5 changed files with 149 additions and 82 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -168,24 +168,13 @@ include_directories(${popl_INCLUDE_DIR})
 set(json_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/3rd/json/include)
 include_directories(${json_INCLUDE_DIR})
 
-# pangolin viewer
-set(USE_PANGOLIN_VIEWER OFF CACHE BOOL "Enable Pangolin Viewer")
-if(USE_PANGOLIN_VIEWER)
-    find_library(Pangolin_Viewer_LIB pangolin_viewer)
-    find_package(Pangolin REQUIRED)
+find_package(pangolin_viewer QUIET)
+if(pangolin_viewer_FOUND)
+    message(STATUS "Viewer for examples: PangolinViewer")
 endif()
-
-# socket publisher
-set(USE_SOCKET_PUBLISHER OFF CACHE BOOL "Enable Socket Publisher")
-if(USE_SOCKET_PUBLISHER)
-    find_package(sioclient REQUIRED)
-    find_package(Protobuf REQUIRED)
-    find_library(Socket_Publisher_LIB socket_publisher)
-    if(NOT PROTOBUF_PROTOC_EXECUTABLE)
-        message(FATAL_ERROR "Could not find protoc executable (PROTOBUF_PROTOC_EXECUTABLE)")
-    endif()
-    message(STATUS "Found protoc executable: ${PROTOBUF_PROTOC_EXECUTABLE}")
-    include_directories(${SIOCLIENT_INCLUDE_DIR} ${PROTOBUF_INCLUDE_DIRS})
+find_package(socket_publisher QUIET)
+if(socket_publisher_FOUND)
+    message(STATUS "Viewer for examples: SocketPublisher")
 endif()
 
 #################################
@@ -202,11 +191,10 @@ catkin_package(CATKIN_DEPENDS
 
 include_directories(
         ${catkin_INCLUDE_DIRS}
-        ${stella_vslam_INCLUDE_DIRS}
         src)
 
 link_libraries(
         ${catkin_LIBRARIES}
-        ${stella_vslam_LIBS})
+        stella_vslam::stella_vslam)
 
 add_subdirectory(src)
diff --git a/Dockerfile b/Dockerfile
@@ -100,17 +100,30 @@ RUN set -x && \
   git submodule update -i --recursive && \
   mkdir -p build && \
   cd build && \
-  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake \
-    -DUSE_PANGOLIN_VIEWER=ON \
-    -DUSE_SOCKET_PUBLISHER=OFF \
-    -DINSTALL_PANGOLIN_VIEWER=ON \
-    -DUSE_STACK_TRACE_LOGGER=ON \
-    .. && \
+  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake .. && \
   make -j${NUM_THREADS} && \
   make install && \
   rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
   chmod -R 777 ./*
 
+ARG PANGOLIN_VIEWER_COMMIT=f3564675d420bcdbe6380b29b5e2f2b623987dd0
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/stella-cv/pangolin_viewer.git && \
+  cd pangolin_viewer && \
+  git checkout -q ${PANGOLIN_VIEWER_COMMIT} && \
+  git submodule update --init --recursive && \
+  mkdir -p build && \
+  cd build && \
+  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+
 # ROS
 RUN set -x && \
   apt-get update -y -qq && \
@@ -131,8 +144,6 @@ RUN set -x && \
   : "build ROS packages" && \
   bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; \
   catkin_make -j${NUM_THREADS} \
-    -DUSE_PANGOLIN_VIEWER=ON \
-    -DUSE_SOCKET_PUBLISHER=OFF \
     -DUSE_STACK_TRACE_LOGGER=ON"
 
 RUN set -x && \

diff --git a/Dockerfile.socket b/Dockerfile.socket
@@ -100,17 +100,29 @@ RUN set -x && \
   git submodule update -i --recursive && \
   mkdir -p build && \
   cd build && \
-  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake \
-    -DUSE_PANGOLIN_VIEWER=OFF \
-    -DUSE_SOCKET_PUBLISHER=ON \
-    -DINSTALL_PANGOLIN_VIEWER=ON \
-    -DUSE_STACK_TRACE_LOGGER=ON \
-    .. && \
+  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake .. && \
   make -j${NUM_THREADS} && \
   make install && \
   rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
   chmod -R 777 ./*
 
+ARG SOCKET_PUBLISHER_COMMIT=e2aaf66b27a6477b478bc8e86992907f09f29188
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/stella-cv/socket_publisher.git && \
+  cd socket_publisher && \
+  git checkout ${SOCKET_PUBLISHER_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+
 # ROS
 RUN set -x && \
   apt-get update -y -qq && \
@@ -130,8 +142,6 @@ RUN set -x && \
   : "build ROS packages" && \
   bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; \
   catkin_make -j${NUM_THREADS} \
-    -DUSE_PANGOLIN_VIEWER=OFF \
-    -DUSE_SOCKET_PUBLISHER=ON \
     -DUSE_STACK_TRACE_LOGGER=ON"
 
 RUN set -x && \

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1,9 +1,8 @@
-if(USE_PANGOLIN_VIEWER)
+if(pangolin_viewer_FOUND)
     message(STATUS "Viewer for examples: pangolin viewer")
-elseif(USE_SOCKET_PUBLISHER)
+endif()
+if(socket_publisher_FOUND)
     message(STATUS "Viewer for examples: socket publisher")
-else()
-    message(STATUS "Viewer for examples: none")
 endif()
 
 set(EXECUTABLE_TARGETS "")
@@ -15,20 +14,21 @@ foreach(EXECUTABLE_TARGET IN LISTS EXECUTABLE_TARGETS)
     add_dependencies(${EXECUTABLE_TARGET} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
     # pangolin_viewer is used on a priority basis
-    if(USE_PANGOLIN_VIEWER)
+    if(pangolin_viewer_FOUND)
         # set macro flag
         target_compile_definitions(${EXECUTABLE_TARGET}
-                PRIVATE -DUSE_PANGOLIN_VIEWER)
+                PRIVATE HAVE_PANGOLIN_VIEWER)
         # link viewer
         target_link_libraries(${EXECUTABLE_TARGET} PRIVATE
-                ${Pangolin_Viewer_LIB} ${Pangolin_LIBRARIES})
-    elseif(USE_SOCKET_PUBLISHER)
+                pangolin_viewer::pangolin_viewer)
+    endif()
+    if(socket_publisher_FOUND)
         # set macro flag
         target_compile_definitions(${EXECUTABLE_TARGET}
-                PRIVATE -DUSE_SOCKET_PUBLISHER)
+                PRIVATE HAVE_SOCKET_PUBLISHER)
         # link viewer
         target_link_libraries(${EXECUTABLE_TARGET} PRIVATE
-                ${Socket_Publisher_LIB} ${SIOCLIENT_LIBRARY} ${PROTOBUF_LIBRARIES})
+                socket_publisher::socket_publisher ${SIOCLIENT_LIBRARY} ${PROTOBUF_LIBRARIES})
     endif()
 
     # setup stack trace logger

diff --git a/src/run_slam.cc b/src/run_slam.cc
@@ -1,7 +1,8 @@
-#ifdef USE_PANGOLIN_VIEWER
-#include <pangolin_viewer/viewer.h>
-#elif USE_SOCKET_PUBLISHER
-#include <socket_publisher/publisher.h>
+#ifdef HAVE_PANGOLIN_VIEWER
+#include "pangolin_viewer/viewer.h"
+#endif
+#ifdef HAVE_SOCKET_PUBLISHER
+#include "socket_publisher/publisher.h"
 #endif
 
 #include <stella_vslam/system.h>
@@ -31,41 +32,56 @@ namespace fs = ghc::filesystem;
 void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
               const std::shared_ptr<stella_vslam::config>& cfg,
               const bool eval_log,
-              const std::string& map_db_path) {
+              const std::string& map_db_path,
+              const std::string& viewer_string) {
     auto& SLAM = slam_ros->slam_;
 
     // create a viewer object
     // and pass the frame_publisher and the map_publisher
-#ifdef USE_PANGOLIN_VIEWER
-    pangolin_viewer::viewer viewer(stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), SLAM, SLAM->get_frame_publisher(), SLAM->get_map_publisher());
-#elif USE_SOCKET_PUBLISHER
-    socket_publisher::publisher publisher(stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), SLAM, SLAM->get_frame_publisher(), SLAM->get_map_publisher());
+#ifdef HAVE_PANGOLIN_VIEWER
+    std::shared_ptr<pangolin_viewer::viewer> viewer;
+    if (viewer_string == "pangolin_viewer") {
+        viewer = std::make_shared<pangolin_viewer::viewer>(
+            stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"),
+            SLAM,
+            SLAM->get_frame_publisher(),
+            SLAM->get_map_publisher());
+    }
+#endif
+#ifdef HAVE_SOCKET_PUBLISHER
+    std::shared_ptr<socket_publisher::publisher> publisher;
+    if (viewer_string == "socket_publisher") {
+        publisher = std::make_shared<socket_publisher::publisher>(
+            stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"),
+            SLAM,
+            SLAM->get_frame_publisher(),
+            SLAM->get_map_publisher());
+    }
 #endif
 
     // run the viewer in another thread
-#ifdef USE_PANGOLIN_VIEWER
-    std::thread thread([&]() {
-        viewer.run();
-        if (SLAM->terminate_is_requested()) {
-            // wait until the loop BA is finished
-            while (SLAM->loop_BA_is_running()) {
-                std::this_thread::sleep_for(std::chrono::microseconds(5000));
-            }
-            ros::shutdown();
-        }
-    });
-#elif USE_SOCKET_PUBLISHER
-    std::thread thread([&]() {
-        publisher.run();
-        if (SLAM->terminate_is_requested()) {
-            // wait until the loop BA is finished
-            while (SLAM->loop_BA_is_running()) {
-                std::this_thread::sleep_for(std::chrono::microseconds(5000));
+    std::shared_ptr<std::thread> viewer_thread;
+    if (viewer_string != "none") {
+        viewer_thread = std::make_shared<std::thread>([&]() {
+            if (viewer_string == "pangolin_viewer") {
+#ifdef HAVE_PANGOLIN_VIEWER
+                viewer->run();
+#endif
             }
-            ros::shutdown();
-        }
-    });
+            if (viewer_string == "socket_publisher") {
+#ifdef HAVE_SOCKET_PUBLISHER
+                publisher->run();
 #endif
+            }
+            if (SLAM->terminate_is_requested()) {
+                // wait until the loop BA is finished
+                while (SLAM->loop_BA_is_running()) {
+                    std::this_thread::sleep_for(std::chrono::microseconds(5000));
+                }
+                ros::shutdown();
+            }
+        });
+    }
 
     ros::Rate rate(50);
     while (ros::ok()) {
@@ -74,13 +90,19 @@ void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
     }
 
     // automatically close the viewer
-#ifdef USE_PANGOLIN_VIEWER
-    viewer.request_terminate();
-    thread.join();
-#elif USE_SOCKET_PUBLISHER
-    publisher.request_terminate();
-    thread.join();
+    if (viewer_string == "pangolin_viewer") {
+#ifdef HAVE_PANGOLIN_VIEWER
+        viewer->request_terminate();
+#endif
+    }
+    if (viewer_string == "socket_publisher") {
+#ifdef HAVE_SOCKET_PUBLISHER
+        publisher->request_terminate();
 #endif
+    }
+    if (viewer_string != "none") {
+        viewer_thread->join();
+    }
 
     // shutdown the SLAM process
     SLAM->shutdown();
@@ -133,6 +155,7 @@ int main(int argc, char* argv[]) {
     auto disable_mapping = op.add<popl::Switch>("", "disable-mapping", "disable mapping");
     auto temporal_mapping = op.add<popl::Switch>("", "temporal-mapping", "enable temporal mapping");
     auto rectify = op.add<popl::Switch>("r", "rectify", "rectify stereo image");
+    auto viewer = op.add<popl::Value<std::string>>("", "viewer", "viewer [pangolin_viewer, socket_publisher, none]");
     try {
         op.parse(argc, argv);
     }
@@ -155,6 +178,41 @@ int main(int argc, char* argv[]) {
         return EXIT_FAILURE;
     }
 
+    // viewer
+    std::string viewer_string;
+    if (viewer->is_set()) {
+        viewer_string = viewer->value();
+        if (viewer_string != "pangolin_viewer" && viewer_string != "socket_publisher" && viewer_string != "none") {
+            std::cerr << "invalid arguments (--viewer)" << std::endl
+                      << std::endl
+                      << op << std::endl;
+            return EXIT_FAILURE;
+        }
+#ifndef HAVE_PANGOLIN_VIEWER
+        if (viewer_string == "pangolin_viewer") {
+            std::cerr << "pangolin_viewer not linked" << std::endl
+                      << std::endl
+                      << op << std::endl;
+            return EXIT_FAILURE;
+        }
+#endif
+#ifndef HAVE_SOCKET_PUBLISHER
+        if (viewer_string == "socket_publisher") {
+            std::cerr << "socket_publisher not linked" << std::endl
+                      << std::endl
+                      << op << std::endl;
+            return EXIT_FAILURE;
+        }
+#endif
+    }
+    else {
+#ifdef HAVE_PANGOLIN_VIEWER
+        viewer_string = "pangolin_viewer";
+#elif defined(HAVE_SOCKET_PUBLISHER)
+        viewer_string = "socket_publisher";
+#endif
+    }
+
     // setup logger
     spdlog::set_pattern("[%Y-%m-%d %H:%M:%S.%e] %^[%L] %v%$");
     spdlog::set_level(spdlog::level::from_str(log_level->value()));
@@ -214,7 +272,7 @@ int main(int argc, char* argv[]) {
     }
 
     // run tracking
-    tracking(slam_ros, cfg, eval_log->is_set(), map_db_path_out->value());
+    tracking(slam_ros, cfg, eval_log->is_set(), map_db_path_out->value(), viewer_string);
 
 #ifdef USE_GOOGLE_PERFTOOLS
     ProfilerStop();