ethz-asl · smauq · Mar 16, 2023 · Mar 22, 2023 · Mar 29, 2023 · Mar 29, 2023
diff --git a/README.md b/README.md
@@ -26,7 +26,7 @@ This repository contains **maplab 2.0**, an open research-oriented mapping frame
 <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/largescale.gif" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/cla.png" width="400">
 
 ### Multi-robot mapping and online operation
-<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/arche.jpg" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/multirobot.gif" width="400">
+<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/arche.png" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/multirobot.gif" width="400">
 
 ### Dense reconstruction
 <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/stereo.png" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/pmvs.png" width="400">
@@ -82,7 +82,7 @@ Please cite the following papers [maplab](https://arxiv.org/abs/1711.10250) and
 
 ### Additional Citations
 
-Certain components of maplab are directly based on [other publications](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/B_Citing-Maplab).
+Certain components of maplab are directly based on [other publications](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/B_Citing-Maplab#additional-citations).
 
 
 ## Credits

diff --git a/deploy/Dockerfile b/deploy/Dockerfile
diff --git a/deploy/build_docker.sh b/deploy/build_docker.sh
diff --git a/deploy/build_docker_with_rviz.sh b/deploy/build_docker_with_rviz.sh
diff --git a/deploy/compile.sh b/deploy/compile.sh
diff --git a/deploy/copy_to_ctx.sh b/deploy/copy_to_ctx.sh
diff --git a/deploy/docker-compose.yml b/deploy/docker-compose.yml
@@ -2,16 +2,16 @@ version: "3"
 
 services:
   maplab:
-    image: maplab
-    build:
-      context: ./docker_ctx
-      dockerfile: ../Dockerfile
-    runtime: nvidia
+    build: .
     environment:
       - DISPLAY=${DISPLAY}
-      - NVIDIA_VISIBLE_DEVICES=all
-      - NVIDIA_DRIVER_CAPABILITIES=all
+      - QT_X11_NO_MITSHM=1
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
-      - /tmp/maps:/tmp/maps
+      - ./maplab_ws:/maplab
+      - ./data:/data
+    devices:
+      - "/dev/dri:/dev/dri"
     network_mode: host
+    stdin_open: true
+    tty: true
diff --git a/deploy/docker-entrypoint.sh b/deploy/docker-entrypoint.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+set -e
+
+source "/opt/ros/$ROS_DISTRO/setup.bash" --
+if [ -f "/maplab/devel/setup.bash" ]; then
+  source "/maplab/devel/setup.bash"
+fi
+
+export PATH="/usr/lib/ccache:$PATH"
+export CCACHE_DIR="/maplab/.ccache"
+
+exec "$@"
diff --git a/deploy/dockerfile b/deploy/dockerfile
@@ -0,0 +1,33 @@
+FROM osrf/ros:noetic-desktop-full
+
+# Start with an update
+RUN apt update
+
+# General system dependencies
+RUN apt install -y software-properties-common wget
+RUN apt install -y ros-noetic-rviz ros-noetic-tf2-* ros-noetic-camera-info-manager*
+RUN sudo apt install -y autotools-dev ccache doxygen dh-autoreconf git \
+                    liblapack-dev libblas-dev libgtest-dev libreadline-dev \
+                    libssh2-1-dev pylint clang-format-12 python3-autopep8 \
+                    python3 python3-catkin-tools python3-pip python-git-doc \
+                    python3-setuptools python3-termcolor python3-wstool \
+                    libatlas3-base libv4l-dev libjpeg-dev
+
+# Python dependencies
+RUN pip3 install --upgrade pip
+RUN pip3 install requests opencv-python opencv-contrib-python
+
+# (Optional) Install ccache
+RUN apt install -y ccache
+
+# Set the docker entrypoint to source ros / maplab
+COPY ./docker-entrypoint.sh ./docker-entrypoint.sh
+RUN chmod +x ./docker-entrypoint.sh
+ENTRYPOINT ["./docker-entrypoint.sh"]
+
+# Set up the catkin workspace
+WORKDIR /maplab
+RUN catkin init
+RUN catkin config --merge-devel
+RUN catkin config --extend /opt/ros/noetic
+RUN catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/deploy/install_base.sh b/deploy/install_base.sh
diff --git a/deploy/install_packages.sh b/deploy/install_packages.sh
diff --git a/deploy/install_ros.sh b/deploy/install_ros.sh
diff --git a/deploy/set_env.sh b/deploy/set_env.sh
diff --git a/docs/conf.py b/docs/conf.py
@@ -21,7 +21,7 @@
 # Check https://holzhaus.github.io/sphinx-multiversion/master/
 #               configuration.html#tag-branch-remote-whitelists
 smv_tag_whitelist = None  # Include no tags
-smv_branch_whitelist = r'^(master|wiki_update)$'  # Everything is on master now
+smv_branch_whitelist = r'^(master)$'  # Everything is on master now
 smv_remote_whitelist = r'^(origin|upstream)$'  # Use origin and upstream
 
 extensions = [

diff --git a/docs/pages/datasets/A_Sample-Datasets.md b/docs/pages/datasets/A_Sample-Datasets.md
@@ -1,35 +1,9 @@
 # Sample Datasets
 
-These article points to datasets that can be used with maplab and ROVIOLI.
+Some datasets that can be used with maplab.
 
-## CLA dataset (from the paper)
-<img src="https://github.com/ethz-asl/maplab/wiki/images/cla/cla_1.png" width="500">
-
-Description | Rosbag |VI map
---------|:------:|:--:
-Calibration data for CLA rosbags | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/calibration/) | -
-CLA floor F for map building | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/bags/cla_floor_f.bag) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/vi_maps/cla_floor_f.tar.gz)
-CLA floor G for map building | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/bags/cla_floor_g.bag) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/vi_maps/cla_floor_g.tar.gz)
-CLA floor H for map building | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/bags/cla_floor_h.bag) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/vi_maps/cla_floor_h.tar.gz)
-CLA floor J for map building | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/bags/cla_floor_j.bag) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/vi_maps/cla_floor_j.tar.gz)
-CLA floor F for localization | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/bags/cla_floor_f_v2_for_localization.bag) | -
-Merged and optimized VI map of CLA floors F, G, H and J | - | *coming soon*
-
-## Zurich old town dataset (from the paper)
-<img src="images/zurich_old_town_landmarks_optimized.gif" width="500">
-
-
-Description | Type |Link
---------|------|--
-Optimized map | VI map | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/zurich_old_town_maps/zurich_old_town.tar.gz)
-
-## EuRoC MAV datasets (from the paper)
+## EuRoC MAV datasets
 <img src="https://github.com/ethz-asl/maplab/wiki/images/multi-map-initial.png" width="500">
 
-Description | Rosbag | VI map (unoptimized) | VI map for reconstruction (with images)
------|:---:|:---:|:----:
-MH01 | [Link](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.bag) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/euroc_vi_maps/MH_01_easy.tar.gz) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/stereo_reconstruction_EuRoC/euroc_ml1.tar.gz)
-MH02 | [Link](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_02_easy/MH_02_easy.bag) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/euroc_vi_maps/MH_02_easy.tar.gz) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/stereo_reconstruction_EuRoC/euroc_ml2.tar.gz)
-MH03 | [Link](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_03_medium/MH_03_medium.bag) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/euroc_vi_maps/MH_03_medium.tar.gz) | [Link](http://robotics.ethz.ch/~asl-datasets/maplab/stereo_reconstruction_EuRoC/euroc_ml3.tar.gz)
+Rosbags for the other EuRoC datasets can be downloaded from [here](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets). Calibration files are already included in the example folder for EuRoC in maplab [here](https://github.com/ethz-asl/maplab/blob/master/applications/maplab-node/launch/euroc/calib/euroc.yaml).
 
-Rosbags for the other EuRoC datasets can be downloaded from [here](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets).
diff --git a/docs/pages/installation/A_Installation-Ubuntu-18.04.md b/docs/pages/installation/A_Installation-Ubuntu-18.04.md
@@ -0,0 +1,96 @@
+## Installing on Ubuntu 18.04
+
+**WARNING:** The [external features](https://github.com/ethz-asl/maplab_features) package is only supported in Ubuntu 20.04 due to conflicts between python2 and python3 in Ubuntu 18.04. If you don't need external features (*e.g.* SIFT or SuperGlue), but only the built in BRISK you can continue with this.
+
+#### Install required system packages
+```bash
+# Install ROS (follow the official ROS installation instructions).
+sudo apt install software-properties-common
+sudo add-apt-repository "deb http://packages.ros.org/ros/ubuntu bionic main"
+wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
+sudo apt update
+sudo apt install -y ros-melodic-desktop-full ros-melodic-tf2-* ros-melodic-camera-info-manager*
+
+# Install framework dependencies.
+sudo apt install -y autotools-dev ccache doxygen dh-autoreconf git \
+                    liblapack-dev libblas-dev libgtest-dev libreadline-dev \
+                    libssh2-1-dev pylint clang-format-10 python-autopep8 \
+                    python python-catkin-tools python-pip python-git \
+                    python-setuptools python-termcolor python-wstool \
+                    libatlas3-base libv4l-dev libjpeg-dev
+
+pip install --user --upgrade pip
+pip install --user requests opencv-python opencv-contrib-python
+```
+
+#### Update the ROS environment
+Follow this if you freshly installed ROS, if you already had ROS installed you can skip this.
+
+```bash
+sudo rosdep init
+rosdep update
+echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+```
+
+#### Install ccache for faster rebuilds.
+(OPTIONAL but HIGHLY RECOMMENDED)
+
+ccache is a tool that caches intermediate build files to speed up rebuilds of the same code. On Ubuntu it can be set up with the following command. The max. cache size is set to 10GB and can be adapted in the lines below:
+
+```bash
+sudo apt install -y ccache
+echo 'export PATH="/usr/lib/ccache:$PATH"' | tee -a ~/.bashrc
+source ~/.bashrc
+ccache --max-size=10G
+```
+
+Now g++/gcc should now point to:
+```
+which g++ gcc
+/usr/lib/ccache/g++
+/usr/lib/ccache/gcc
+```
+Show cache statistics:
+```
+ccache -s
+```
+Empty the cache and reset the stats:
+```
+ccache -C -z
+```
+
+#### Create a catkin workspace
+To create a workspace, run:
+```bash
+mkdir -p maplab_ws/src
+cd maplab_ws
+catkin init
+catkin config --merge-devel
+catkin config --extend /opt/ros/melodic
+catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+For debugging and a more informative and readable output use:
+```bash
+catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_FLAGS=-fdiagnostics-color
+```
+
+#### Cloning maplab repository
+Now you can clone maplab and its dependencies.
+
+```bash
+cd src
+git clone [email protected]:ethz-asl/maplab.git --recursive
+```
+
+#### Building maplab
+```bash
+cd ~/maplab_ws
+catkin build maplab
+```
+**Note:** Currently some of our dependencies contain superfluous packages that will not have all the necessary dependencies. Therefore compilation will fail for these packages, if you try to build the complete workspace with: `catkin build`.
+
+#### Troubleshooting
+
+Please visit the [FAQ](../overview_and_introduction/D_FAQ.html#installation) and the additional instructions on debugging provided here [here](B_Compilation-and-Debugging.html).