Merge pull request #363 from ethz-asl/develop

Development branch

Author: smauq

.gitignore

@@ -52,3 +52,12 @@ CMakeLists.txt.user
 
 # Maplab temporary files.
 *.vi_command_history
+.vscode/
+
+# Documentation
+docs/build
+docs/doxyoutput
+docs/api
+
+# Docker
+docker_ctx/

.gitmodules

@@ -1,9 +1,102 @@
 [submodule "tools/maplab_test_data"]
-	path = tools/maplab_test_data
-	url = https://github.com/ethz-asl/maplab_test_data.git
-[submodule "tools/linter"]
-	path = tools/linter
-	url = https://github.com/ethz-asl/linter.git
+	path = tools/maplab-test-data
+	url = [email protected]:ethz-asl/maplab_test_data.git
 [submodule "aslam_cv2"]
 	path = aslam_cv2
-	url = https://github.com/ethz-asl/aslam_cv2.git
+	url = [email protected]:ethz-asl/aslam_cv2.git
+[submodule "dependencies/3rdparty/protobuf_catkin"]
+	path = dependencies/3rdparty/protobuf_catkin
+	url = [email protected]:ethz-asl/protobuf_catkin.git
+[submodule "dependencies/3rdparty/glog_catkin"]
+	path = dependencies/3rdparty/glog_catkin
+	url = [email protected]:ethz-asl/glog_catkin.git
+[submodule "dependencies/3rdparty/gflags_catkin"]
+	path = dependencies/3rdparty/gflags_catkin
+	url = [email protected]:ethz-asl/gflags_catkin.git
+[submodule "dependencies/3rdparty/ceres_catkin"]
+	path = dependencies/3rdparty/ceres_catkin
+	url = [email protected]:ethz-asl/ceres_catkin.git
+[submodule "dependencies/3rdparty/suitesparse"]
+	path = dependencies/3rdparty/suitesparse
+	url = [email protected]:ethz-asl/suitesparse.git
+[submodule "dependencies/3rdparty/eigen_catkin"]
+	path = dependencies/3rdparty/eigen_catkin
+	url = [email protected]:ethz-asl/eigen_catkin.git
+[submodule "dependencies/3rdparty/yaml_cpp_catkin"]
+	path = dependencies/3rdparty/yaml_cpp_catkin
+	url = [email protected]:ethz-asl/yaml_cpp_catkin.git
+[submodule "dependencies/3rdparty/lpsolve_catkin"]
+	path = dependencies/3rdparty/lpsolve_catkin
+	url = [email protected]:ethz-asl/lpsolve_catkin.git
+[submodule "dependencies/3rdparty/metis_catkin"]
+	path = dependencies/3rdparty/metis_catkin
+	url = [email protected]:ethz-asl/metis_catkin.git
+[submodule "dependencies/3rdparty/opencv3_catkin"]
+	path = dependencies/3rdparty/opencv3_catkin
+	url = [email protected]:ethz-asl/opencv3_catkin.git
+[submodule "dependencies/3rdparty/vision_opencv"]
+	path = dependencies/3rdparty/vision_opencv
+	url = [email protected]:ethz-asl/vision_opencv.git
+[submodule "dependencies/3rdparty/opengv"]
+	path = dependencies/3rdparty/opengv
+	url = [email protected]:ethz-asl/opengv.git
+[submodule "dependencies/3rdparty/doxygen_catkin"]
+	path = dependencies/3rdparty/doxygen_catkin
+	url = [email protected]:ethz-asl/doxygen_catkin.git
+[submodule "dependencies/3rdparty/catkin_simple"]
+	path = dependencies/3rdparty/catkin_simple
+	url = [email protected]:catkin/catkin_simple.git
+[submodule "dependencies/internal/voxblox"]
+	path = dependencies/internal/voxblox
+	url = [email protected]:ethz-asl/voxblox.git
+[submodule "dependencies/internal/ethzasl_brisk"]
+	path = dependencies/internal/ethzasl_brisk
+	url = [email protected]:ethz-asl/ethzasl_brisk.git
+[submodule "dependencies/internal/ethzasl_apriltag2"]
+	path = dependencies/internal/ethzasl_apriltag2
+	url = [email protected]:ethz-asl/ethzasl_apriltag2.git
+[submodule "dependencies/internal/eigen_checks"]
+	path = dependencies/internal/eigen_checks
+	url = [email protected]:ethz-asl/eigen_checks.git
+[submodule "dependencies/internal/libnabo"]
+	path = dependencies/internal/libnabo
+	url = [email protected]:ethz-asl/libnabo.git
+[submodule "dependencies/internal/minkindr"]
+	path = dependencies/internal/minkindr
+	url = [email protected]:ethz-asl/minkindr.git
+[submodule "dependencies/internal/minkindr_ros"]
+	path = dependencies/internal/minkindr_ros
+	url = [email protected]:ethz-asl/minkindr_ros.git
+[submodule "dependencies/internal/maplab_rovio"]
+	path = dependencies/internal/maplab_rovio
+	url = [email protected]:ethz-asl/maplab_rovio.git
+[submodule "dependencies/internal/kindr"]
+	path = dependencies/internal/kindr
+	url = [email protected]:ethz-asl/kindr.git
+[submodule "dependencies/internal/plotty"]
+	path = dependencies/internal/plotty
+	url = [email protected]:ethz-asl/plotty.git
+[submodule "dependencies/3rdparty/benchmark_catkin"]
+	path = dependencies/3rdparty/benchmark_catkin
+	url = [email protected]:ethz-asl/benchmark_catkin.git
+[submodule "dependencies/internal/ros-system-monitor"]
+	path = dependencies/internal/ros-system-monitor
+	url = [email protected]:ethz-asl/ros-system-monitor
+[submodule "dependencies/internal/linter"]
+	path = dependencies/internal/linter
+	url = [email protected]:ethz-asl/linter.git
+[submodule "dependencies/internal/maplab_tools"]
+	path = dependencies/internal/maplab_tools
+	url = [email protected]:ethz-asl/maplab_tools.git
+[submodule "dependencies/internal/maplab_msgs"]
+	path = dependencies/internal/maplab_msgs
+	url = [email protected]:ethz-asl/maplab_msgs.git
+[submodule "dependencies/3rdparty/pointmatcher-ros"]
+	path = dependencies/3rdparty/pointmatcher-ros
+	url = [email protected]:ANYbotics/pointmatcher-ros.git
+[submodule "dependencies/3rdparty/libpointmatcher"]
+	path = dependencies/3rdparty/libpointmatcher
+	url = [email protected]:ANYbotics/libpointmatcher.git
+[submodule "dependencies/internal/maplab_features"]
+	path = dependencies/internal/maplab_features
+	url = [email protected]:ethz-asl/maplab_features.git

CONTRIBUTORS.md

@@ -8,6 +8,9 @@
  * Titus Cieslewski
  * Timo Hinzmann
  * Mathias Gehrig
+ * Florian Tschopp
+ * Andrei Cramariuc
+ * Lukas Bernreiter
  * Nicolas Degen
  * Andreas Pfrunder
  * Helen Oleynikova

DISABLED.travis.yml

@@ -1,12 +1,15 @@
 <img src="https://github.com/ethz-asl/maplab/wiki/logos/maplab_new.png" width="500">
 
-*Ubuntu 14.04+ROS indigo* and *Ubuntu 16.04+ROS kinetic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_nightly)](https://jenkins.asl.ethz.ch/job/maplab_nightly)
+
+
+*Ubuntu 14.04+ROS indigo*, *Ubuntu 16.04+ROS kinetic* and *Ubuntu 18.04+ROS melodic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_nightly)](https://jenkins.asl.ethz.ch/job/maplab_nightly) 
+[![Documentation Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_docs&subject=docs)](https://jenkins.asl.ethz.ch/job/maplab_docs)
 
 ## News
 
  * **May 2018:** maplab was presented at [ICRA](https://icra2018.org/) in Brisbane. ([paper](https://arxiv.org/abs/1711.10250))
  * **March 2018:** Check out our release candidate with improved localization and lots of new features! [PR](https://github.com/ethz-asl/maplab/pull/55)
- 
+
 ## Description
 
 This repository contains **maplab**,  an  open,  research-oriented visual-inertial  mapping  framework, written  in  C++,  for  creating, processing  and  manipulating  multi-session  maps.
@@ -15,7 +18,7 @@ On  the  other  hand,  maplab provides  the  research  community  with  a  colle
 
 Furthermore, it includes an online frontend, **ROVIOLI**, that can create visual-inertial maps and also track a global drift-free pose within a localization map.
 
-For documentation, tutorials and datasets, please visit the [wiki](https://github.com/ethz-asl/maplab/wiki).
+For documentation, tutorials and datasets, please visit the [wiki](https://maplab.asl.ethz.ch/docs/develop/index.html).
 
 Please also check out our video:
 
@@ -39,14 +42,15 @@ Please also check out our video:
 
 The following articles help you with getting started with maplab and ROVIOLI:
 
+<!-- TODO(floriantschopp): Update links to new wiki -->
 - [Installation on Ubuntu 14.04 or 16.04](https://github.com/ethz-asl/maplab/wiki/Installation-Ubuntu)
 - [Introduction to the maplab framework](https://github.com/ethz-asl/maplab/wiki/Introduction-to-the-Maplab-Framework)
 - [Structure of the framework](https://github.com/ethz-asl/maplab/wiki/Structure-of-the-framework)
 - [Running ROVIOLI in VIO mode](https://github.com/ethz-asl/maplab/wiki/Running-ROVIOLI-in-VIO-mode)
 - [Basic console usage](https://github.com/ethz-asl/maplab/wiki/Basic-Console-Usage)
 - [Console map management](https://github.com/ethz-asl/maplab/wiki/Console-map-management)
 
-More detailed information can be found in the [wiki pages](https://github.com/ethz-asl/maplab/wiki).
+More detailed information can be found in the [wiki pages](https://maplab.asl.ethz.ch/docs/develop/index.html).
 
 ## Research Results
 
@@ -104,5 +108,8 @@ Certain components of maplab are directly using the code of the following public
  * Titus Cieslewski
  * Timo Hinzmann
  * Mathias Gehrig
- 
+ * Florian Tschopp
+ * Andrei Cramariuc
+ * Lukas Bernreiter
+
 For a complete list of contributors, have a look at [CONTRIBUTORS.md](https://github.com/ethz-asl/maplab/blob/master/CONTRIBUTORS.md)

README.md

@@ -6,18 +6,15 @@ link_directories(${CATKIN_DEVEL_PREFIX}/lib)
 find_package(catkin_simple REQUIRED)
 catkin_simple(ALL_DEPS_REQUIRED)
 
-add_definitions(-std=c++11 -Wno-enum-compare)
+add_definitions(-Wno-enum-compare)
 
 cs_add_library(${PROJECT_NAME}
   src/block-pose-prior-error-term.cc
+  src/block-pose-prior-error-term-v2.cc
   src/ceres-signal-handler.cc
   src/inertial-error-term.cc
-  src/inertial-error-term-eigen.cc
-  src/parameterization/quaternion-param-eigen.cc
   src/parameterization/quaternion-param-hamilton.cc
   src/parameterization/quaternion-param-jpl.cc
-  src/parameterization/unit3-param.cc
-  src/pose-prior-error-term-eigen.cc
   src/pose-prior-error-term.cc
   src/position-error-term.cc
   src/problem-information.cc)
@@ -59,10 +56,6 @@ catkin_add_gtest(test_inertial_term_test
   test/test_inertial_term_test.cc)
 target_link_libraries(test_inertial_term_test ${PROJECT_NAME})
 
-catkin_add_gtest(test_inertial_term_test_eigen
-  test/test_inertial_term_test_eigen.cc)
-target_link_libraries(test_inertial_term_test_eigen ${PROJECT_NAME})
-
 catkin_add_gtest(test_3keyframe_inertial_term_test
   test/test_3keyframe_inertial_term_test.cc)
 target_link_libraries(test_3keyframe_inertial_term_test ${PROJECT_NAME})
@@ -86,17 +79,5 @@ catkin_add_gtest(test_six_dof_block_transformation_error_term_with_extrinsics
   test/test_six_dof_block_transformation_error_term_with_extrinsics.cc)
 target_link_libraries(test_six_dof_block_transformation_error_term_with_extrinsics ${PROJECT_NAME})
 
-catkin_add_gtest(test_unit3_parameterization
-  test/test_unit3_parameterization.cc)
-target_link_libraries(test_unit3_parameterization ${PROJECT_NAME})
-
-catkin_add_gtest(test_quaternion_parameterization_eigen
-  test/test_quaternion_eigen_parameterization.cc)
-target_link_libraries(test_quaternion_parameterization_eigen ${PROJECT_NAME})
-
-catkin_add_gtest(test_aid_error_term
-  test/test_aid_error_term.cc)
-target_link_libraries(test_aid_error_term ${PROJECT_NAME})
-
 cs_install()
 cs_export()