Merge branch 'pr_fix_main'

.github/workflows/docker-image.yml

@@ -0,0 +1,90 @@
+name: Docker Image CI
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+
+  build-AMD64:
+
+    runs-on: [self-hosted, linux, x64]
+
+    steps:
+    -
+      name: Get current date
+      id: date
+      run: echo "::set-output name=today::$(date +'%Y-%m-%d_%H-%M')"
+    -
+      name: Checkout
+      uses: actions/checkout@v3
+    -
+      name: Login to Docker Hub
+      uses: docker/login-action@v3
+      with:
+        username: ${{ secrets.DOCKER_HUB_ACCOUNT }}
+        password: ${{ secrets.DOCKER_HUB_TOKEN }}
+    -
+      name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    -
+      name: Build and push
+      uses: docker/build-push-action@v3
+      with:
+        context: .
+        file: docker/Dockerfile.x86
+        push: true
+        tags: |
+          hkustswarm/d2slam:${{ steps.date.outputs.today }}
+          hkustswarm/d2slam:pc
+          hkustswarm/d2slam:latest
+        cache-from: type=local,src=/tmp/.buildx-cache
+        cache-to: type=local,dest=/tmp/.buildx-cache
+
+  build-ARM64:
+
+    runs-on: [self-hosted, linux, arm64]
+
+    steps:
+    -
+      name: Get current date
+      id: date
+      run: echo "::set-output name=today::$(date +'%Y-%m-%d_%H-%M')"
+    -
+      name: Checkout
+      uses: actions/checkout@v3
+    -
+      name: Login to Docker Hub
+      uses: docker/login-action@v3
+      with:
+        username: ${{ secrets.DOCKER_HUB_ACCOUNT }}
+        password: ${{ secrets.DOCKER_HUB_TOKEN }}
+    -
+      name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    -
+      name: Build-base and push
+      uses: docker/build-push-action@v3
+      with:
+        context: .
+        file: docker/Dockerfile.jetson_orin_base_35.3.1
+        push: true
+        tags: |
+          hkustswarm/d2slam:jetson_orin_base_35.3.1-${{ steps.date.outputs.today }}
+          hkustswarm/d2slam:jetson_orin_base_35.3.1
+        cache-from: type=local,src=/tmp/.buildx-cache
+        cache-to: type=local,dest=/tmp/.buildx-cache
+    -
+      name: Build-app and push
+      uses: docker/build-push-action@v3
+      with:
+        context: .
+        file: docker/Dockerfile.jetson
+        push: true
+        tags: |
+          hkustswarm/d2slam:jetson_orin-${{ steps.date.outputs.today }}
+          hkustswarm/d2slam:jetson_orin
+        cache-from: type=local,src=/tmp/.buildx-cache
+        cache-to: type=local,dest=/tmp/.buildx-cache

.gitignore

@@ -14,15 +14,15 @@ d2pgo/scripts/pose_graph_partitioning/__pycache__/
 d2pgo/scripts/notebooks/*.png
 quadcam_depth_est/build/
 quadcam_tools/__pycache__/
-models/*.onnx
-models/*.pb
+# models/*.onnx
+# models/*.pb
 models/*.trt
-models/*.engine
-models/*.profile
-model.zip
+# models/*.engine
+# models/*.profile
+# model.zip
 *.engine
 *.profile
-models/
+# models/
 data_analysis/.ipynb_checkpoints/
 d2pgo/posegraph-graphviz.*
 d2pgo/scripts/notebooks/posegraph-graphviz.*

.pre-commit-config.yaml

@@ -0,0 +1,8 @@
+repos:
+  - repo: https://github.com/cpp-linter/cpp-linter-hooks
+    rev: v0.4.0  # Use the ref you want to point at
+    hooks:
+      - id: clang-format
+        args: [--style=Google] # Other coding style: LLVM, GNU, Chromium, Microsoft, Mozilla, WebKit.
+      # - id: clang-tidy
+      #   args: [--checks='all', -p, build]

.vscode/c_cpp_properties.json

@@ -7,15 +7,16 @@
             },
             "includePath": [
                 "/opt/ros/noetic/include/**",
-                "/home/xuhao/d2slam_ws/devel/include/**",
-                "/home/xuhao/d2slam_ws/src/D2SLAM/camera_models/include/**",
-                "/home/xuhao/d2slam_ws/src/vision_opencv/cv_bridge/include/**",
-                "/home/xuhao/d2slam_ws/src/D2SLAM/d2common/include/**",
-                "/home/xuhao/d2slam_ws/src/D2SLAM/d2frontend/include/**",
-                "/home/xuhao/d2slam_ws/src/vision_opencv/image_geometry/include/**",
-                "/home/xuhao/d2slam_ws/src/swarm_msgs/swarm_msgs/include/**",
-                "/home/xuhao/d2slam_ws/src/swarm_msgs/swarmcomm_msgs/include/**",
-                "/usr/include/**"
+                "/usr/include/**",
+                "/usr/local/include",
+                "/root/swarm_ws/src/D2SLAM/**",
+                "/root/swarm_ws/src/D2SLAM/camera_models/include/**",
+                "/root/swarm_ws/src/D2SLAM/vision_opencv/cv_bridge/include/**",
+                "/root/swarm_ws/src/D2SLAM/d2common/include/**",
+                "/root/swarm_ws/src/D2SLAM/d2frontend/include/**",
+                "/root/swarm_ws/src/vision_opencv/image_geometry/include/**",
+                "/root/swarm_ws/src/swarm_msgs/swarm_msgs/include/**",
+                "/root/swarm_ws/src/swarm_msgs/swarmcomm_msgs/include/**"
             ],
             "name": "ROS",
             "intelliSenseMode": "gcc-x64",

README.md

@@ -86,7 +86,6 @@ estimation_mode: 2                  # The estimation mode.
 # Available options are 0 (D2VINS works as mono-robot VIO), 1 (each D2VINS instance estimates all robots in the swarm with all information it found), 
 # 2 (distributed estimation mode, should be used in real-world experiments), and SERVER_MODE (D2VINS works as a server to collect information from the network and estimate the states, but not read data locally).
 double_counting_common_feature: 0 # 1 or 0. If 1, common features will be double counted. This parameter is for debugging only.
-min_inv_dep: 0.01 # The minimum inverse depth of the landmark. The default value is 0.01, which is suitable for landmarks 100 meters away.
 
 #optimization parameters
 max_solver_time: 0.08 # The maximum time allowed for each iteration of the solver (in ms).