Merge pull request openxrlab#3 from openxrlab/ios-configs

update ios configs, docs and UI

docker/Dockerfile → Dockerfile

@@ -20,9 +20,9 @@ RUN wget https://github.com/Kitware/CMake/releases/download/v3.19.0/cmake-3.19.0
     && tar -zxvf cmake-3.19.0.tar.gz && rm -rf cmake-3.19.0.tar.gz \
     && cd cmake-3.19.0 && ./bootstrap && make -j4 && make install
 
-RUN git clone git@github.com:openxrlab/xrprimer.git -b xrslam-opencv3.4.7 \
-    && cd xrprimer && cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release \
+RUN git clone https://github.com/openxrlab/xrprimer.git -b xrslam-opencv3.4.7 \
+    && cd xrprimer && cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF \
     && cmake --build build --target install -j4
 
-RUN git clone git@github.com:openxrlab/xrslam.git \
+RUN git clone https://github.com/openxrlab/xrslam.git \
     && cd xrslam && cmake -B build && cmake --build build -j4

README.md

@@ -25,7 +25,7 @@ https://user-images.githubusercontent.com/44204704/187863786-efbc3804-a4d8-4727-
 
 ## Installation
 
-We provide detailed [installation tutorial](./docs/en/installation.md) for XRSLAM, users can install from scratch or use provided [dockerfile](./docker/Dockerfile).
+We provide detailed [installation tutorial](./docs/en/installation.md) for XRSLAM, users can install from scratch or use provided [Dockerfile](./Dockerfile).
 
 ## Getting Started
 

docs/en/get_started.md

@@ -8,28 +8,22 @@ Please refer to [data_preparation.md](./dataset_preparation.md) for data prepara
 
 ## Installation
 
-### Project Structure
+### Requirements
 
-It is recommended to set the XRPrimer root to ``$PROJECT``. If your folder structure is different, need to change the XRPrimer path.
+* C++17
+* GCC9/Clang13
+* CMake 3.15+
+* [XRPrimer](https://github.com/openxrlab/xrprimer)
 
-```
-xrprimer
-├──
-...
-xrslam
-├── xrslam
-├── xrslam-pc
-├── xrslam-ios
-...
-```
+Clone XRPrimer to keep the same root directory as XRSLAM.
 
 ### Build and Run
 
 Firstly, switch XRPrimer to the branch of the specified OpenCV version `git checkout xrslam-opencv3.4.7`
 
 #### Linux/Mac
 
-- In XRPrimer, run `cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release && cmake --build build --target install -j8` to configure some common dependencies.
+- In XRPrimer, run `cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF && cmake --build build --target install -j8` to configure some common dependencies.
 - In XRSLAM, run `cmake -B build && cmake --build build -j8` to generate the project using cmake.
 - Start the XRSLAM pc palyer  with command  `./build/xrslam-pc/player/xrslam-pc-player -c configs/euroc.yaml --tum trajectory.tum euroc:///data/EuRoC/MH_01_easy/mav0`
 
@@ -43,7 +37,7 @@ For more information on installation, please refer to [installation.md](./instal
 
 ## Evaluation
 
-Please refer to [euroc_evaluation.md](./tutorials/euroc_evaluation.md) for data preparation.
+Please refer to [euroc_evaluation.md](./tutorials/euroc_evaluation.md) for evaluation.
 
 ## More information
 

docs/en/installation.md

@@ -2,23 +2,43 @@
 
 We provide some tips for XRSLAM installation in this file.
 
-## Requirements
+## Build from Source
 
-+ C++17
-+ GCC9/Clang13
-+ CMake 3.15+
-+ [XRPrimer](https://github.com/openxrlab/xrprimer)
+### Requirements
 
-## Prepare environment
+* C++17
+* GCC9/Clang13
+* CMake 3.15+
+* [XRPrimer](https://github.com/openxrlab/xrprimer)
+
+Clone XRPrimer to keep the same root directory as XRSLAM, then switch the branch to the specified OpenCV version.
+
+```bash
+git clone https://github.com/openxrlab/xrprimer.git
+cd xrprimer
+git checkout xrslam-opencv3.4.7
+```
+
+If your project folder structure is different, need to change the XRPrimer path.
+
+```
+xrprimer
+├──
+...
+xrslam
+├── xrslam
+├── xrslam-pc
+├── xrslam-ios
+...
+```
 
-Firstly, switch XRPrimer to the branch of the specified OpenCV version `git checkout xrslam-opencv3.4.7`
 
 ### Linux/Mac
 
 - In XRPrimer, run
 
   ```bash
-  cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release && cmake --build build --target install -j8
+  cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF && cmake --build build --target install -j8
   ```
 
   to configure some common dependencies.
@@ -49,3 +69,35 @@ Firstly, switch XRPrimer to the branch of the specified OpenCV version `git chec
 - The target `xrslam-ios-visulaizer` is what you need to download to the iPhone, and an APP named `XRSLAM` will start automatically.
   + Be sure that your iPhone is supported by checking the [supported devices list](./supported_devices.md)
   + If the project failed to build in Xcode, try to clean the build folder using `cmd+shift+k`
+
+## Docker image
+
+### Build an Image
+
+We provide a [Dockerfile](../../Dockerfile) to build an image.
+
+```bash
+docker build -t xrslam .
+```
+
+### Create a Container
+
+Create a container with command:
+
+```bash
+docker run -it xrslam /bin/bash
+```
+
+### Copy Dataset into Container
+
+```bash
+# b1e0d3f809f6 is container id, using 'docker ps -a' to find id
+docker cp data/EuRoC/MH_01_easy b1e0d3f809f6:MH_01_easy
+```
+
+### Run in Container without Visualization
+
+```
+cd xrslam
+`./build/xrslam-pc/player/xrslam-pc-player -H -c configs/euroc.yaml --tum trajectory.tum euroc:///MH_01_easy/mav0`
+```

docs/en/test.md

@@ -16,7 +16,7 @@ cmake -B build  -D XRSLAM_TEST=ON && cmake --build build -j8
 ## Run
 
 ```bash
-./build/xrslam-test/test/test_version
-./build/xrslam-test/test/test_se3_cost_function
-./build/xrslam-test/test/test_feature_track
+./build/bin/test_version
+./build/bin/test_se3_cost_function
+./build/bin/test_feature_track
 ```

xrslam-ios/visualizer/configs/iPhone 11 Pro Max.yaml

@@ -1,13 +1,13 @@
 # iPhone 11 Pro Max
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [481.0881664190002, 480.4710792467649, 320.2416345895888, 229.6982006177264] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.008186069081733506, 0.05197677884867596, 0.01508072339704177]
+p_bo: [0.008186069081733506, 0.05197677884867596, 0.01508072339704177]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 11 Pro.yaml

@@ -1,13 +1,13 @@
 # iPhone 11 Pro
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [481.413753612, 480.912030316, 319.436583539, 232.480172072] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.00218339193373, 0.0570288900691, -0.00283706920085]
+p_bo: [0.00218339193373, 0.0570288900691, -0.00283706920085]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 11.yaml

@@ -1,13 +1,13 @@
 # iPhone 11
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [483.527130641, 483.162188656, 317.906683089, 229.805889167] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.0098023128033, 0.0942390213267, 0.00624109495822]
+p_bo: [0.0098023128033, 0.0942390213267, 0.00624109495822]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 12 Mini.yaml

@@ -1,13 +1,13 @@
 # iPhone 12 mini
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [476.465100638, 477.282230536, 316.222405685, 230.516688655] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.0154312244201, 0.0135759108866, -0.0142463023927]
+p_bo: [0.0154312244201, 0.0135759108866, -0.0142463023927]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 12 Pro Max.yaml

@@ -1,13 +1,13 @@
 # iPhone 12 Pro Max
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [490.44594435582246, 491.19931738118839, 320.36597511962873, 237.91757515577376] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.030357133865694889, 0.0089743003907246603, -0.0074080328213569331]
+p_bo: [0.030357133865694889, 0.0089743003907246603, -0.0074080328213569331]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 12 Pro.yaml

@@ -1,13 +1,13 @@
 # iPhone 12 Pro
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [475.718439315, 476.682666991, 317.023523238, 231.984642714] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.0236924070003, 0.0306503133762, -0.00907115099061]
+p_bo: [0.0236924070003, 0.0306503133762, -0.00907115099061]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 12.yaml

@@ -1,13 +1,13 @@
 # iPhone 12
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [477.89396911927014, 478.93641880878255, 320.806586299477, 231.07172384113187] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.033366085092802436, 0.009419070514053628, -0.006188374507046947]
+p_bo: [0.033366085092802436, 0.009419070514053628, -0.006188374507046947]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 13 Mini.yaml

@@ -1,13 +1,13 @@
 # iPhone 13 mini
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [484.78541249857631, 485.50275998106952, 328.37382189007457, 242.62088466893189] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.0086991239933890945, -0.016880126167925964, 0.0098148487458858576]
+p_bo: [0.0086991239933890945, -0.016880126167925964, 0.0098148487458858576]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 13 Pro Max.yaml

@@ -1,13 +1,13 @@
 # iPhone 13 Pro Max
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [487.63910146299173, 488.43945947572024, 321.06439580806989, 237.35670903126817] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.032504350636473806, -0.026039847287655928, -0.005131895302319044]
+p_bo: [0.032504350636473806, -0.026039847287655928, -0.005131895302319044]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 13 Pro.yaml

@@ -1,13 +1,13 @@
 # iPhone 13 Pro
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [489.67542871535045, 490.79240297876072, 323.85872342899847, 241.6239251836401]
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.053617261855615515, -0.0016905232538204646, -0.0075510493739824724]
+p_bo: [0.053617261855615515, -0.0016905232538204646, -0.0075510493739824724]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone 13.yaml

@@ -1,13 +1,13 @@
 # iPhone 13
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [483.22335482885603, 483.75821365178473, 320.49073218201124, 238.06214765085522] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.0017504484096228939, -0.022064045707162229, 0.013062295349886925]
+p_bo: [0.0017504484096228939, -0.022064045707162229, 0.013062295349886925]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone XS Max.yaml

@@ -1,13 +1,13 @@
 # iPhone XS Max
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [483.5317345478957, 484.6903836596454, 319.3868181060467, 236.3964709922874] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.0002617191809000106, 0.06166235902652958, -0.001864498673761416]
+p_bo: [0.0002617191809000106, 0.06166235902652958, -0.001864498673761416]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5

xrslam-ios/visualizer/configs/iPhone XS.yaml

@@ -1,13 +1,13 @@
 # iPhone XS
 
-intrinsic: [524.742906796, 524.638736552, 322.496951979, 235.249899518] # fx fy cx cy
+intrinsic: [483.302341374, 483.554273195, 314.618580309, 228.142471726] # fx fy cx cy
 
 q_bi: [0, 0, 0, 1] # x y z w
 q_bc: [-0.7071068, 0.7071068, 0, 0 ]
 q_bo: [-0.7071068, 0.7071068, 0, 0 ]
 
-p_bc: [0.0229970087959, 0.0754115110747, -0.0024726172229]
-p_bo: [0.0229970087959, 0.0754115110747, -0.0024726172229]
+p_bc: [0.00280865568868, 0.0613231596705, -0.00507329799056]
+p_bo: [0.00280865568868, 0.0613231596705, -0.00507329799056]
 p_bi: [0, 0, 0]
 
 sigma_u: 0.5