Dev598

CMakeLists.txt

@@ -21,8 +21,8 @@ endif()
 build_option(DEBUG "Set Debug/Release" ON)
 build_option(PROFILE "Set kernel profiling" ON)
 
-mxre_option(USE_FFMPEG_NVCODEC "Use nvcodec with ffmpeg" ON)
-mxre_option(USE_OPENCV_CUDA "Use cuda-accelerated functions of OpenCV" ON)
+mxre_option(USE_FFMPEG_NVCODEC "Use nvcodec with ffmpeg" OFF)
+mxre_option(USE_OPENCV_CUDA "Use cuda-accelerated functions of OpenCV" OFF)
 
 # Source codes & headers
 configure_file(config/root_directory.h.in config/root_directory.h)
@@ -38,7 +38,7 @@ include(cmake/modules/OpenGL.cmake)
 include(cmake/modules/OpenCV.cmake)
 include(cmake/modules/RaftLib.cmake)
 include(cmake/modules/LibZMQ.cmake)
-include(cmake/modules/GStreamer.cmake)
+# include(cmake/modules/GStreamer.cmake)
 include(cmake/modules/FFmpeg.cmake)
 include(cmake/modules/Spdlog.cmake)
 include(cmake/modules/yaml-cpp.cmake)

cmake/modules/FFmpeg.cmake

@@ -55,23 +55,23 @@ macro(use_ffmpeg)
 
   if(${USE_FFMPEG_NVCODEC})
     # NVIDIA Performance Primitives (NPP) dependencies
-    pkg_search_module(NPPIG nppig nppig-10.1 nppig-10.2 nppig-10.0 nppig-9.2 nppig-9.1 nppig-9.0 nppig-8.0)
+    pkg_search_module(NPPIG nppig nppig-11.2 nppig-10.1 nppig-10.2 nppig-10.0 nppig-9.2 nppig-9.1 nppig-9.0 nppig-8.0)
     if(NPPIG_FOUND)
       include_directories(${NPPIG_INCLUDE_DIRS})
       list(APPEND MXRE_LINKER_FLAGS ${NPPIG_LDFLAGS})
     else(NPPIG_FOUND)
       message(FATAL_ERROR "NPPIG not found")
     endif(NPPIG_FOUND)
 
-    pkg_search_module(NPPICC nppicc nppicc-10.1 nppicc-10.2 nppicc-10.0 nppicc-9.2 nppicc-9.1 nppicc-9.0 nppicc-8.0)
+    pkg_search_module(NPPICC nppicc nppicc-11.2 nppicc-10.1 nppicc-10.2 nppicc-10.0 nppicc-9.2 nppicc-9.1 nppicc-9.0 nppicc-8.0)
     if(NPPICC_FOUND)
       include_directories(${NPPICC_INCLUDE_DIRS})
       list(APPEND MXRE_LINKER_FLAGS ${NPPICC_LDFLAGS})
     else(NPPICC_FOUND)
       message(FATAL_ERROR "NPPICC not found")
     endif(NPPICC_FOUND)
 
-    pkg_search_module(NPPC nppc nppc-10.1 nppc-10.2 nppc-10.0 nppc-9.2 nppc-9.1 nppc-9.0 nppc-8.0)
+    pkg_search_module(NPPC nppc nppc-11.2 nppc-10.1 nppc-10.2 nppc-10.0 nppc-9.2 nppc-9.1 nppc-9.0 nppc-8.0)
     if(NPPC_FOUND)
       include_directories(${NPPC_INCLUDE_DIRS})
       list(APPEND MXRE_LINKER_FLAGS ${NPPC_LDFLAGS})

examples/CMakeLists.txt

@@ -1,39 +1,8 @@
 file(GLOB_RECURSE EXAMPLE_SRCS modules/*.cc)
 list(APPEND EXAMPLE_SRCS
-  ar_with_lidar/complex_yolo.cc
-
-  #marker_ar_with_cam/full_offloading/cam_fulloff_client.cc
-  #marker_ar_with_cam/full_offloading/cam_fulloff_server.cc
-  #marker_ar_with_cam/basic_example.cc
-
-  marker_ar_with_mock/mock_cam_q.cc
-  marker_ar_with_mock/mock_cam_adq.cc
-  marker_ar_with_mock/serialized_mock_cam.cc
-  marker_ar_with_mock/full_offloading/mock_client.cc
-
-  #marker_ar_with_img/full_offloading/img_fulloff_server.cc
-  #marker_ar_with_img/full_offloading/img_fulloff_client.cc
-
-  incubator/unity_test.cc
-  incubator/unity_writer.cc
+  incubator/illixr_local_server.cc
 )
 
-
-if(${USE_OPENCV_CUDA})
-list(APPEND EXAMPLE_SRCS
-  #marker_ar_with_cam/full_offloading/cam_fulloff_server_with_cuda.cc
-  #marker_ar_with_cam/basic_example_with_cuda.cc
-
-  marker_ar_with_mock/mock_cam_cuda_q.cc
-  marker_ar_with_mock/mock_cam_cuda_adq.cc
-  marker_ar_with_mock/serialized_mock_cam_cuda.cc
-  marker_ar_with_mock/full_offloading/mock_server.cc
-
-  #incubator/illixr_local_server.cc
-)
-endif(${USE_OPENCV_CUDA})
-
-
 foreach(EXAMPLE_SRC ${EXAMPLE_SRCS})
   get_filename_component (NAME_WITHOUT_EXTENSION ${EXAMPLE_SRC} NAME_WE)
   set(EXAMPLE_NAME "${NAME_WITHOUT_EXTENSION}")

examples/incubator/illixr_local_server.cc

@@ -1,69 +1,44 @@
 
-#include "types/cv/orb_marker_tracker.h"
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgcodecs.hpp>
 #include <raft>
-#include <mxre>
 #include <bits/stdc++.h>
 #include <cv.hpp>
+#include "kernels/perceptions/kimera/kimera_vio.h"
+#include "types/kimera/types.h"
+#include "kernels/sinks/illixr_appsink.h"
+#include "kernels/sources/illixr_appsource.h"
+#include "kernels/sinks/illixr_appzmqsink.h"
+#include "kernels/sources/illixr_appzmqsource.h"
+
+#include <kimera-vio/frontend/Camera.h>
 
 using namespace std;
 
 #define WIDTH 752
 #define HEIGHT 480
 
-void setMarker(std::string imgPath, mxre::cv_types::ORBMarkerTracker &orbMarkerTracker) {
-  cv::Mat image;
-
-  string imgDir = mxre::utils::PathFinder::find(imgPath);
-  cout << imgDir << endl;
-  vector<cv::String> imageName;
-  cv::glob(imgDir + "/2.png", imageName, false);
-
-  for(size_t i = 0; i <  imageName.size(); i++) {
-    image = cv::imread(imageName[i]);
-    cv::imshow("setMarker", image);
-
-    cv::Rect roiRect = cv::selectROI("setMarker", image);
-    if(roiRect.width < 100 || roiRect.height < 100) {
-      std::cout << "Too small, select again" << std::endl;
-      i--;
-    }
-    else {
-      orbMarkerTracker.registerObject(image, roiRect);
-    }
-  }
-  orbMarkerTracker.printRegisteredObjects();
-}
-
-
 int main(int argc, char const *argv[])
 {
-  mxre::cv_types::ORBMarkerTracker orbMarkerTracker;
-  setMarker("resources/illixr_markers", orbMarkerTracker);
-
+
+  if (argc < 3){
+    std::cerr << "Usage: ./illixr_local_server <this machine ip address> <ILLIXR machine ip address>" << std::endl;
+    return 1;
+  }
   raft::map xrPipeline;
-  mxre::kernels::AppSource<mxre::types::Frame> appsource;
-  mxre::kernels::Keyboard keyboard;
-
-  mxre::kernels::CudaORBDetector cudaORBDetector(orbMarkerTracker.getRegisteredObjects());
-  mxre::kernels::MarkerCtxExtractor markerCtxExtractor(WIDTH, HEIGHT);
-  mxre::kernels::ObjectRenderer objRenderer(orbMarkerTracker.getRegisteredObjects(), WIDTH, HEIGHT);
-
-  mxre::kernels::AppSink<mxre::types::Frame> appsink;
-
-  appsource.setup("source");
-  appsource.duplicateOutPort<mxre::types::Frame>("out_data", "out_data2");
-  appsink.setup("sink");
+  mxre::kernels::IllixrAppZMQSource<mxre::kimera_type::imu_cam_type> appsource{};
+  mxre::kernels::IllixrAppZMQSink<mxre::kimera_type::kimera_output> appsink{};
+  mxre::kernels::KimeraVIOKernel KimeraVIOKernel;
 
-  xrPipeline += appsource["out_data"] >>  cudaORBDetector["in_frame"];
-  xrPipeline += cudaORBDetector["out_obj_info"] >> markerCtxExtractor["in_obj_info"];
+  appsource.setup(argv[1]);
+  appsink.setup(argv[2]);
 
-  xrPipeline += appsource["out_data2"] >> objRenderer["in_frame"];
-  xrPipeline += markerCtxExtractor["out_obj_context"] >> objRenderer["in_obj_context"];
-  xrPipeline += keyboard["out_keystroke"] >> objRenderer["in_keystroke"];
+  // TODO: message is not found
+  // xrPipeline += ffmpeg["imu_data"] >>  KimeraVIOKernel["illixr_cam_input"];
+  // xrPipeline += message["cam_data"] >>  KimeraVIOKernel["illixr_imu_input"];
 
-  xrPipeline += objRenderer["out_frame"] >> appsink["in_data"];
+  xrPipeline += appsource["out_data"] >> KimeraVIOKernel["illixr_imu_cam_input"];
+  xrPipeline += KimeraVIOKernel["kimera_pose"] >> appsink["in_data"];
 
   xrPipeline.exe();