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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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31 changes: 10 additions & 21 deletions Mapping/SolARPipeline_Mapping_Mono/src/PipelineMappingMonoProcessing.cpp
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Original file line number Diff line number Diff line change
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();
}
}
}
}
}

Expand Down
275 changes: 72 additions & 203 deletions ...e_Mapping_Mono/tests/SolARPipelineTest_Mapping_Mono/SolARPipelineTestMappingMono_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,7 @@
*/

#include <xpcf/xpcf.h>
#include "xpcf/threading/BaseTask.h"
#include <iostream>
#include <boost/log/core.hpp>
#include <boost/thread/thread.hpp>
#include <signal.h>

#include "core/Log.h"
#include "api/pipeline/IMappingPipeline.h"
#include "api/input/devices/IARDevice.h"
Expand All @@ -34,109 +29,6 @@ namespace xpcf=org::bcom::xpcf;

#define INDEX_USE_CAMERA 0

// Global XPCF Component Manager
SRef<xpcf::IComponentManager> gXpcfComponentManager = 0;

// Global Mapping Pipeline instance
SRef<pipeline::IMappingPipeline> gMappingPipeline = 0;

// Global client threads
xpcf::DelegateTask * gClientProducerTask = 0;
xpcf::DelegateTask * gClientViewerTask = 0;

// Viewer used by viewer client
SRef<api::display::I3DPointsViewer> gViewer3D = 0;
// Point clouds and keyframe poses used by client viewer
std::vector<SRef<CloudPoint>> gPointClouds;
std::vector<Transform3Df> gKeyframePoses;

// Components used by producer client
SRef<input::devices::IARDevice> gArDevice = 0;
SRef<display::IImageViewer> gImageViewer = 0;
// Indicates if producer client has images to send to mapping pipeline
bool gImageToSend = true;
// Nb of images sent by producer client
int gNbImages = 0;

// Fonction for producer client thread
auto fnClientProducer = []() {

std::vector<SRef<Image>> images;
std::vector<Transform3Df> poses;
std::chrono::system_clock::time_point timestamp;

// Still images to process?
if (gImageToSend) {
// Get data from hololens files
if (gArDevice->getData(images, poses, timestamp) == FrameworkReturnCode::_SUCCESS) {

// gNbImages ++;
// LOG_INFO("Producer client: Send (image, pose) num {} to mapping pipeline", gNbImages);

SRef<Image> image = images[INDEX_USE_CAMERA];
Transform3Df pose = poses[INDEX_USE_CAMERA];

gMappingPipeline->mappingProcessRequest(image, pose);

if (gImageViewer->display(image) == SolAR::FrameworkReturnCode::_STOP) {
gClientProducerTask->stop();
}
}
else {
gImageToSend = false;
LOG_INFO("Producer client: no more images to send");
}
}
};

// Fonction for viewer client thread
auto fnClientViewer = []() {

// Try to get point clouds and key frame poses to display
if (gMappingPipeline->getDataForVisualization(gPointClouds, gKeyframePoses) == FrameworkReturnCode::_SUCCESS) {

if (gViewer3D == 0) {
gViewer3D = gXpcfComponentManager->resolve<display::I3DPointsViewer>();
LOG_INFO("Viewer client: I3DPointsViewer component created");
}

// Display new data
gViewer3D->display(gPointClouds, gKeyframePoses[gKeyframePoses.size()-1], gKeyframePoses, {}, {});
}
};

// Function called when interruption signal is triggered
static void SigInt(int signo) {

LOG_INFO("\n\n===> Program interruption\n");

LOG_INFO("Stop producer client thread");

if (gClientProducerTask != 0)
gClientProducerTask->stop();

LOG_INFO("Stop viewer client thread");

if (gClientViewerTask != 0)
gClientViewerTask->stop();

LOG_INFO("Stop mapping pipeline process");

if (gMappingPipeline != 0)
gMappingPipeline->stop();

boost::this_thread::sleep(boost::posix_time::milliseconds(1000));

LOG_INFO("End of test");

exit(0);
}


///
/// \brief Test application for SolARMappingPipeline
///

int main(int argc, char ** argv)
{
#if NDEBUG
Expand All @@ -145,11 +37,8 @@ int main(int argc, char ** argv)

LOG_ADD_LOG_TO_CONSOLE();

// Signal interruption function (Ctrl + C)
signal(SIGINT, SigInt);

// Default configuration file
char * config_file = (char *)"SolARPipelineTest_Mapping_Mono_Processing_conf.xml";
char * config_file = (char *)"SolARPipelineTest_Mapping_Mono_conf.xml";

if (argc > 1) {
// Get mapping pipeline configuration file path and name from main args
Expand All @@ -158,102 +47,82 @@ int main(int argc, char ** argv)

try {
LOG_INFO("Get Component Manager instance");

gXpcfComponentManager = xpcf::getComponentManagerInstance();

LOG_INFO("Load Mapping Pipeline configuration file");

if (gXpcfComponentManager->load(config_file) == org::bcom::xpcf::_SUCCESS)
{
// Create Mapping Pipeline component
gMappingPipeline = gXpcfComponentManager->resolve<pipeline::IMappingPipeline>();

LOG_INFO("Mapping pipeline component created");
SRef<xpcf::IComponentManager> componentMgr = xpcf::getComponentManagerInstance();
xpcf::XPCFErrorCode errorLoad = componentMgr->load(config_file);
if (errorLoad != xpcf::_SUCCESS)
{
LOG_ERROR("Failed to load the configuration file {}", config_file);
return -1;
}
auto gMappingPipeline = componentMgr->resolve<pipeline::IMappingPipeline>();
LOG_INFO("Mapping pipeline created");
auto gArDevice = componentMgr->resolve<input::devices::IARDevice>();
LOG_INFO("AR device component created");
auto trackableLoader = componentMgr->resolve<input::files::ITrackableLoader>();
LOG_INFO("Trackable loader component created");
auto gImageViewer = componentMgr->resolve<display::IImageViewer>();
LOG_INFO("Image viewer component created");
auto g3DViewer = componentMgr->resolve<display::I3DPointsViewer>();
LOG_INFO("3D viewer component created");
// Start device
if (gArDevice->start() != FrameworkReturnCode::_SUCCESS) {
LOG_ERROR("Cannot start AR device loader");
return -1;
}
// Load camera intrinsics parameters
CameraParameters camParams;
camParams = gArDevice->getParameters(INDEX_USE_CAMERA);
// Set camera parameters
gMappingPipeline->setCameraParameters(camParams);
// Load trackable
SRef<Trackable> trackableObject = trackableLoader->loadTrackable();
// Check and set trackable
if (trackableObject) {
LOG_INFO("Fiducial marker created: url = {}", trackableObject->getURL());
gMappingPipeline->setObjectToTrack(trackableObject);
}
else {
LOG_ERROR("Failed to load the configuration file {}", config_file);
LOG_ERROR("Error while loading fiducial marker");
return -1;
}

// Manage producer client thread
if (gXpcfComponentManager->load("SolARPipelineTest_Mapping_Mono_Producer_conf.xml") == org::bcom::xpcf::_SUCCESS)
{
LOG_INFO("Producer client configuration file loaded");

gArDevice = gXpcfComponentManager->resolve<input::devices::IARDevice>();
LOG_INFO("Producer client: AR device component created");

auto trackableLoader = gXpcfComponentManager->resolve<input::files::ITrackableLoader>();
LOG_INFO("Producer client: Trackable loader component created");

gImageViewer = gXpcfComponentManager->resolve<display::IImageViewer>();
LOG_INFO("Producer client: Image viewer component created");

// Connect remotely to the HoloLens streaming app
if (gArDevice->start() == FrameworkReturnCode::_SUCCESS) {

// Load camera intrinsics parameters
CameraParameters camParams;
camParams = gArDevice->getParameters(0);

LOG_INFO("Producer client: Set mapping pipeline camera parameters");
gMappingPipeline->setCameraParameters(camParams);

LOG_INFO("Producer client: Load fiducial marker description file");
SRef<Trackable> trackableObject = trackableLoader->loadTrackable();

if (trackableObject != 0) {
LOG_INFO("Producer client: Fiducial marker created: url = {}", trackableObject->getURL());

LOG_INFO("Producer client: Set mapping pipeline fiducial marker");
gMappingPipeline->setObjectToTrack(trackableObject);

LOG_INFO("Producer client: Start mapping pipeline");

if (gMappingPipeline->start() == FrameworkReturnCode::_SUCCESS) {
LOG_INFO("Start producer client thread");

gClientProducerTask = new xpcf::DelegateTask(fnClientProducer);
gClientProducerTask->start();
}
else {
LOG_ERROR("Cannot start mapping pipeline");
}
}
else {
LOG_ERROR("Error while loading fiducial marker");
return -1;
}
}
else {
LOG_ERROR("Cannot start AR device loader");
return -1;
}
}
else {
LOG_ERROR("Failed to load the producer client configuration file");
return -1;
}

// Manage viewer client thread
if (gXpcfComponentManager->load("SolARPipelineTest_Mapping_Mono_Viewer_conf.xml") == org::bcom::xpcf::_SUCCESS)
{
LOG_INFO("Viewer client configuration file loaded");

LOG_INFO("Start viewer client thread");

gClientViewerTask = new xpcf::DelegateTask(fnClientViewer);
gClientViewerTask->start();
}
else {
LOG_ERROR("Failed to load the viewer client configuration file");
return -1;
}

LOG_INFO("\n\n***** Control+C to stop *****\n");

// Wait for interruption
while (true);
if (gMappingPipeline->start() != FrameworkReturnCode::_SUCCESS) {
LOG_ERROR("Cannot start mapping pipeline");
return -1;
}

while (true) {
// get data
std::vector<SRef<Image>> images;
std::vector<Transform3Df> poses;
std::chrono::system_clock::time_point timestamp;
if (gArDevice->getData(images, poses, timestamp) != FrameworkReturnCode::_SUCCESS) {
LOG_ERROR("Error during capture");
break;
}
SRef<Image> image = images[INDEX_USE_CAMERA];
Transform3Df pose = poses[INDEX_USE_CAMERA];
// display image
if (gImageViewer->display(image) == FrameworkReturnCode::_STOP) break;
// mapping
gMappingPipeline->mappingProcessRequest(image, pose);
// get map
std::vector<SRef<CloudPoint>> pointCloud;
std::vector<Transform3Df> keyframePoses;
if (gMappingPipeline->getDataForVisualization(pointCloud, keyframePoses) == FrameworkReturnCode::_SUCCESS) {
if (g3DViewer->display(pointCloud, keyframePoses[keyframePoses.size() - 1], keyframePoses) == FrameworkReturnCode::_STOP)
break;
}
}

std::vector<SRef<CloudPoint>> pointCloud;
std::vector<Transform3Df> keyframePoses;
if (gMappingPipeline->getDataForVisualization(pointCloud, keyframePoses) == FrameworkReturnCode::_SUCCESS) {
LOG_INFO("Number of cloud points: {}", pointCloud.size());
LOG_INFO("Number of keyframes: {}", keyframePoses.size());
while (g3DViewer->display(pointCloud, keyframePoses[keyframePoses.size() - 1], keyframePoses) == FrameworkReturnCode::_SUCCESS);
}
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gMappingPipeline->stop();
}
catch (xpcf::Exception & e) {
LOG_ERROR("The following exception has been caught {}", e.what());
Expand Down
5 changes: 2 additions & 3 deletions ...line_Mapping_Mono/tests/SolARPipelineTest_Mapping_Mono/SolARPipelineTest_Mapping_Mono.pro
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Original file line number Diff line number Diff line change
Expand Up @@ -58,9 +58,8 @@ win32 {
}

config_files.path = $${TARGETDEPLOYDIR}
config_files.files= $$files($${PWD}/SolARPipelineTest_Mapping_Mono_Producer_conf.xml)\
$$files($${PWD}/SolARPipelineTest_Mapping_Mono_Viewer_conf.xml)\
$$files($${PWD}/SolARPipelineTest_Mapping_Mono_Processing_conf.xml)
config_files.files= $$files($${PWD}/SolARPipelineTest_Mapping_Mono_conf.xml)

INSTALLS += config_files

linux {
Expand Down
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