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Remove producer and viewer clients from pipeline tests #5

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Remove producer and viewer clients from pipeline tests #5

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b89fbe9
Pipeline tests: same behavior for pressing esc than ctrl+C
jim-bcom Jul 22, 2021
d180248
Remove producer and viewer clients from pipeline tests
Jul 23, 2021
56f9ce2
Remove redundant includes. Use _STOP check when stopping pipeline by …
Jul 23, 2021
77b1044
save output maps of mapping sample and extension sample in the binary…
Jul 26, 2021
77970b1
Give same delayTime value of 300 for all SolARDeviceDataLoaders
jim-bcom Jul 27, 2021
f5c71ff
Place samples-produced maps in bin/ directory
jim-bcom Jul 28, 2021
d49bf74
Merge pull request #7 from SolarFramework/feat/organize-maps-output
duongnamduong Jul 28, 2021
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2 changes: 1 addition & 1 deletion ...sion/SolARSample_Mapping_MapExtension_Mono/SolARSample_Mapping_MapExtension_Mono_conf.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -243,7 +243,7 @@
<configure component="SolARDeviceDataLoader">
<property name="calibrationFile" type="string" value="../../data/data_hololens/hololens_calibration.yml"/>
<property name="pathToData" type="string" value="../../data/data_hololens/loop_desktop_B"/>
<property name="delayTime" type="int" value="1"/>
<property name="delayTime" type="int" value="300"/>
</configure>
<configure component="SolARSLAMBootstrapper">
<property name="hasPose" type="int" value="1"/>
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3 changes: 2 additions & 1 deletion MapExtension/SolARSample_Mapping_MapExtension_Mono/main.cpp
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Expand Up @@ -399,7 +399,8 @@ int main(int argc, char *argv[])
break;
}

// Save map
// Save map extension
mapper->bindTo<xpcf::IConfigurable>()->getProperty("directory")->setStringValue("output/extension-map");
mapper->saveToFile();
}

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4 changes: 2 additions & 2 deletions ...Sample_Mapping_FloatingMapFusion_Mono/SolARSample_Mapping_FloatingMapFusion_Mono_conf.xml
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Expand Up @@ -251,7 +251,7 @@
<property name="thresConfidence" type="float" value="0.25"/>
</configure>
<configure component="SolARMapper" name="fusionMapper">
<property name="directory" type="string" value="../../data/map_hololens/mapAB"/>
<property name="directory" type="string" value="output/fusion-floating-map"/>
<property name="identificationFileName" type="string" value="identification.bin"/>
<property name="coordinateFileName" type="string" value="coordinate.bin"/>
<property name="pointCloudManagerFileName" type="string" value="pointcloud.bin"/>
Expand All @@ -262,7 +262,7 @@
<property name="thresConfidence" type="float" value="0.25"/>
</configure>
<configure component="SolAROverlapDetector">
<property name="minNbInliers" type="int" value="50"/>
<property name="minNbInliers" type="int" value="40"/>
</configure>
<configure component="SolARMapFusionOpencv">
<property name="radius" type="float" value="0.2"/>
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2 changes: 1 addition & 1 deletion .../SolARSample_Mapping_LocalMapFusion_Mono/SolARSample_Mapping_LocalMapFusion_Mono_conf.xml
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Expand Up @@ -247,7 +247,7 @@
<property name="thresConfidence" type="float" value="0.25"/>
</configure>
<configure component="SolARMapper" name="fusionMapper">
<property name="directory" type="string" value="../../data/map_hololens/mapAB"/>
<property name="directory" type="string" value="output/fusion-local-map/"/>
<property name="identificationFileName" type="string" value="identification.bin"/>
<property name="coordinateFileName" type="string" value="coordinate.bin"/>
<property name="pointCloudManagerFileName" type="string" value="pointcloud.bin"/>
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31 changes: 10 additions & 21 deletions Mapping/SolARPipeline_Mapping_Mono/src/PipelineMappingMonoProcessing.cpp
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Expand Up @@ -171,12 +171,12 @@ namespace MAPPING {
}

FrameworkReturnCode PipelineMappingMonoProcessing::stop() {

LOG_DEBUG("PipelineMappingMonoProcessing::stop");

LOG_DEBUG("Stop mapping processing task");
m_mappingTask->stop();

LOG_DEBUG("PipelineMappingMonoProcessing::stop");
if (isBootstrapFinished()) {
globalBundleAdjustment();
}
LOG_DEBUG("Stop mapping processing task");
m_mappingTask->stop();
return FrameworkReturnCode::_SUCCESS;
}

Expand Down Expand Up @@ -357,9 +357,9 @@ namespace MAPPING {
std::vector<std::pair<uint32_t, uint32_t>> duplicatedPointsIndices;
if (m_loopDetector->detect(keyframe, detectedLoopKeyframe, sim3Transform, duplicatedPointsIndices) == FrameworkReturnCode::_SUCCESS) {
// detected loop keyframe
LOG_DEBUG("Detected loop keyframe id: {}", detectedLoopKeyframe->getId());
LOG_DEBUG("Nb of duplicatedPointsIndices: {}", duplicatedPointsIndices.size());
LOG_DEBUG("sim3Transform: \n{}", sim3Transform.matrix());
LOG_INFO("Detected loop keyframe id: {}", detectedLoopKeyframe->getId());
LOG_INFO("Nb of duplicatedPointsIndices: {}", duplicatedPointsIndices.size());
LOG_INFO("sim3Transform: \n{}", sim3Transform.matrix());
// performs loop correction
Transform3Df keyframeOldPose = keyframe->getPose();
m_loopCorrector->correct(keyframe, detectedLoopKeyframe, sim3Transform, duplicatedPointsIndices);
Expand All @@ -381,18 +381,7 @@ namespace MAPPING {
if (keyframe) {
m_tracking->updateReferenceKeyframe(keyframe);
}
}
else {
LOG_DEBUG("***** No (image, pose) pair to process *****");

// Data to store ?
if (m_dataToStore) {
m_dataToStore = false;

// Bundle adjustment, map pruning and global map udate
globalBundleAdjustment();
}
}
}
}
}

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