main.yml

name: CI

on:
  push:
    branches: [main]
  pull_request:
    branches: [main]

  workflow_dispatch:

jobs:
  # build_macos:
  #   runs-on: macos-latest
  #   steps:
  #     - uses: actions/checkout@v3
  #     - name: brew install
  #       run: |
  #         brew update
  #         brew upgrade
  #         brew install ccache pkg-config cmake git suite-sparse libomp eigen ffmpeg opencv yaml-cpp glog gflags glew protobuf clang-format

  clang-format:
    runs-on: ubuntu-latest
    defaults:
      run:
        shell: bash
    steps:
      - uses: actions/checkout@v3
      - uses: DoozyX/clang-format-lint-action@v0.12
        with:
          source: "."
          exclude: "./3rd"
          extensions: "h,cc"
          clangFormatVersion: 6
          style: file
          inplace: False

  build_without_gui_cv3:
    runs-on: ubuntu-latest
    defaults:
      run:
        shell: bash
    container:
      image: ghcr.io/ymd-stella/stella-cv/stella_vslam:cv-3.x
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: recursive
      - name: cmake and make
        run: |
          mkdir build
          cd build
          cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS=ON -DUSE_SSE_ORB=ON ..
          make -j $(($(nproc) / 2))
      - name: unit test
        run: |
          cd build
          export BOW_VOCAB=/datasets/orb_vocab/orb_vocab.fbow
          ctest -V

  build:
    runs-on: ubuntu-latest
    defaults:
      run:
        shell: bash
    container:
      image: ghcr.io/ymd-stella/stella-cv/stella_vslam:cv-4.x
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: recursive
      - name: Create artifact directory
        run: |
          mkdir -p artifact
      - name: Save cpuinfo
        run: |
          cp /proc/cpuinfo artifact
      - name: cmake and make library
        run: |
          mkdir build
          cd build
          cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS=ON -DUSE_SSE_ORB=ON ..
          make -j $(($(nproc) / 2))
          make install
      - uses: actions/checkout@v3
        with:
          repository: stella-cv/pangolin_viewer
          path: pangolin_viewer
          submodules: recursive
      - name: cmake and make pangolin_viewer
        run: |
          mkdir -p pangolin_viewer/build
          cd pangolin_viewer/build
          cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
          make -j $(($(nproc) / 2))
          make install
      - uses: actions/checkout@v3
        with:
          repository: stella-cv/stella_vslam_examples
          path: stella_vslam_examples
          submodules: recursive
      - name: cmake and make examples
        run: |
          mkdir -p stella_vslam_examples/build
          cd stella_vslam_examples/build
          cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DUSE_STACK_TRACE_LOGGER=ON ..
          make -j $(($(nproc) / 2))
      - name: unit test
        run: |
          cd build
          export BOW_VOCAB=/datasets/orb_vocab/orb_vocab.fbow
          ctest -V
      - name: Convert groundtruth to TUM format
        run: |
          python3 scripts/dataset_tools/compute_euroc_cam_tf.py > tf.json
          evo_traj euroc --transform_right tf.json /datasets/EuRoC/MH_01/state_groundtruth_estimate0/data.csv --save_as_tum
          mv data.tum MH_01.tum
          evo_traj euroc --transform_right tf.json /datasets/EuRoC/MH_04/state_groundtruth_estimate0/data.csv --save_as_tum
          mv data.tum MH_04.tum
      - name: make config for gtsam backend
        run: |
          sed -e 's/backend: "g2o"/backend: "gtsam"/g' example/euroc/EuRoC_mono.yaml > EuRoC_mono_gtsam.yaml
          sed -e 's/backend: "g2o"/backend: "gtsam"/g' example/euroc/EuRoC_stereo.yaml > EuRoC_stereo_gtsam.yaml
      - name: make config for temporal mapping
        run: |
          sed -e 's/erase_temporal_keyframes: false/erase_temporal_keyframes: true/g' -e 's/enable_temporal_keyframe_only_tracking: false/enable_temporal_keyframe_only_tracking: true/g' example/euroc/EuRoC_mono.yaml > EuRoC_mono_temporal_mapping.yaml
      - name: make config for sqlite3 map format
        run: |
          sed -e 's/map_format: "msgpack"/map_format: "sqlite3"/g' example/euroc/EuRoC_mono.yaml > EuRoC_mono_sqlite3.yaml
      - name: SLAM test (monocular) with EuRoC MAV dataset (MH_01)
        run: |
          cd build
          ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_01_mono.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_mono_slam.txt
          mv track_times.txt ../artifact/track_times_MH_01_mono_slam.txt
          ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_mono_gtsam.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_01_mono_gtsam.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_mono_gtsam_slam.txt
          mv track_times.txt ../artifact/track_times_MH_01_mono_gtsam_slam.txt
          ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_mono_sqlite3.yaml --frame-skip 2 --no-sleep --log-level=debug --map-db-out MH_01_mono_sqlite3.db --viewer=none
      - name: SLAM test (stereo) with EuRoC MAV dataset (MH_01)
        run: |
          cd build
          ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../example/euroc/EuRoC_stereo.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_01_stereo.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_stereo_slam.txt
          mv track_times.txt ../artifact/track_times_MH_01_stereo_slam.txt
          ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_stereo_gtsam.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_01_stereo_gtsam.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_stereo_gtsam_slam.txt
          mv track_times.txt ../artifact/track_times_MH_01_stereo_gtsam_slam.txt
      - name: Localization test (monocular) with EuRoC MAV dataset (MH_01)
        run: |
          cd build
          ../stella_vslam_examples/build/run_euroc_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-in MH_01_mono.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_mono_localization.txt
          mv track_times.txt ../artifact/track_times_MH_01_mono_localization.txt
          ../stella_vslam_examples/build/run_euroc_slam --temporal-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_mono_temporal_mapping.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-in MH_01_mono.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_01_mono_localization_temporal_mapping.txt
          mv track_times.txt ../artifact/track_times_MH_01_mono_localization_temporal_mapping.txt
          ../stella_vslam_examples/build/run_euroc_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_01 -c ../EuRoC_mono_sqlite3.yaml --frame-skip 2 --no-sleep --log-level=debug --map-db-in MH_01_mono_sqlite3.db --viewer=none
      - name: SLAM test (monocular) with EuRoC MAV dataset (MH_04)
        run: |
          cd build
          ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_04 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_04_mono.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_04_mono_slam.txt
          mv track_times.txt ../artifact/track_times_MH_04_mono_slam.txt
      - name: SLAM test (stereo) with EuRoC MAV dataset (MH_04)
        run: |
          cd build
          ../stella_vslam_examples/build/run_euroc_slam -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_04 -c ../example/euroc/EuRoC_stereo.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-out MH_04_stereo.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_04_stereo_slam.txt
          mv track_times.txt ../artifact/track_times_MH_04_stereo_slam.txt
      - name: Localization test (monocular) with EuRoC MAV dataset (MH_04)
        run: |
          cd build
          ../stella_vslam_examples/build/run_euroc_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_04 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-in MH_04_mono.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_04_mono_localization.txt
          mv track_times.txt ../artifact/track_times_MH_04_mono_localization.txt
          ../stella_vslam_examples/build/run_euroc_slam --temporal-mapping -v /datasets/orb_vocab/orb_vocab.fbow -d /datasets/EuRoC/MH_04 -c ../EuRoC_mono_temporal_mapping.yaml --frame-skip 2 --no-sleep --log-level=debug --eval-log-dir . --map-db-in MH_04_mono.msg --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_MH_04_mono_localization_temporal_mapping.txt
          mv track_times.txt ../artifact/track_times_MH_04_mono_localization_temporal_mapping.txt
      - name: download openvslam_test_dataset
        run: |
          curl -sL "https://github.com/stella-cv/openvslam_test_dataset/raw/main/openvslam_test_dataset.zip" -o openvslam_test_dataset.zip
          unzip openvslam_test_dataset.zip
          rm openvslam_test_dataset.zip
      - name: make config for openvslam_test_dataset
        run: |
          sed -e 's/fps: .*/fps: 24.0/g' example/aist/equirectangular.yaml > equirectangular.yaml
      - name: make config for gtsam backend
        run: |
          sed -e 's/backend: "g2o"/backend: "gtsam"/g' equirectangular.yaml > equirectangular_gtsam.yaml
      - name: SLAM test with equirectangular dataset (1)
        run: |
          cd build
          ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ../openvslam_test_dataset/1/equirectangular/video.mp4 -c ../equirectangular.yaml --no-sleep --log-level=debug --eval-log-dir . --map-db-out equirectangular_map.msg -t 0.0 --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_equirectangular_1.txt
          mv track_times.txt ../artifact/track_times_equirectangular_1.txt
          ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ../openvslam_test_dataset/1/equirectangular/video.mp4 -c ../equirectangular_gtsam.yaml --no-sleep --log-level=debug --eval-log-dir . --map-db-out equirectangular_gtsam_map.msg -t 0.0 --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_equirectangular_gtsam_1.txt
          mv track_times.txt ../artifact/track_times_equirectangular_gtsam_1.txt
      - name: SLAM test with equirectangular dataset (2)
        run: |
          cd build
          ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ../openvslam_test_dataset/2/equirectangular/video.mp4 -c ../equirectangular.yaml --no-sleep --log-level=debug --eval-log-dir . --map-db-out equirectangular_map.msg -t 0.0 --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_equirectangular_2.txt
          mv track_times.txt ../artifact/track_times_equirectangular_2.txt
      - name: SLAM test with equirectangular dataset (3)
        run: |
          cd build
          ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ../openvslam_test_dataset/3/equirectangular/video.mp4 -c ../equirectangular.yaml --no-sleep --log-level=debug --eval-log-dir . --map-db-out equirectangular_map.msg -t 0.0 --viewer=none
          mv frame_trajectory.txt ../artifact/frame_trajectory_equirectangular_3.txt
          mv track_times.txt ../artifact/track_times_equirectangular_3.txt
      - name: Evaluation
        run: |
          cp scripts/workflows/* .
          (
            echo '<details>'
            echo '<summary>Track time and Relative pose error</summary>'
            echo
            echo '|dataset|track_time<br>(mean)|track_time<br>(median)|track_time<br>(max)|RPE<br>(mean)|RPE<br>(median)|RPE<br>(max)|RPE<br>(rmse)|RPE<br>(sse)|RPE<br>(std)|'
            echo '|---|---|---|---|---|---|---|---|---|---|'
            echo -n '| EuRoC MH_01 (SLAM, perspective, mono)'
            bash track_time_print_row.bash artifact/track_times_MH_01_mono_slam.txt
            bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_mono_slam.txt -as
            echo '|'
            echo -n '| EuRoC MH_01 (SLAM, perspective, mono, gtsam)'
            bash track_time_print_row.bash artifact/track_times_MH_01_mono_gtsam_slam.txt
            bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_mono_gtsam_slam.txt -as
            echo '|'
            echo -n '| EuRoC MH_01 (SLAM, perspective, stereo)'
            bash track_time_print_row.bash artifact/track_times_MH_01_stereo_slam.txt
            bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_stereo_slam.txt -a
            echo '|'
            echo -n '| EuRoC MH_01 (SLAM, perspective, stereo, gtsam)'
            bash track_time_print_row.bash artifact/track_times_MH_01_stereo_gtsam_slam.txt
            bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_stereo_gtsam_slam.txt -a
            echo '|'
            echo -n '| EuRoC MH_01 (Localization, perspective, mono)'
            bash track_time_print_row.bash artifact/track_times_MH_01_mono_localization.txt
            bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_mono_localization.txt -as
            echo '|'
            echo -n '| EuRoC MH_01 (Localization, perspective, mono, temporal mapping)'
            bash track_time_print_row.bash artifact/track_times_MH_01_mono_localization_temporal_mapping.txt
            bash evo_rpe_print_row.bash tum MH_01.tum artifact/frame_trajectory_MH_01_mono_localization_temporal_mapping.txt -as
            echo '|'
            echo -n '| EuRoC MH_04 (SLAM, perspective, mono)'
            bash track_time_print_row.bash artifact/track_times_MH_04_mono_slam.txt
            bash evo_rpe_print_row.bash tum MH_04.tum artifact/frame_trajectory_MH_04_mono_slam.txt -as
            echo '|'
            echo -n '| EuRoC MH_04 (SLAM, perspective, stereo)'
            bash track_time_print_row.bash artifact/track_times_MH_04_stereo_slam.txt
            bash evo_rpe_print_row.bash tum MH_04.tum artifact/frame_trajectory_MH_04_stereo_slam.txt -a
            echo '|'
            echo -n '| EuRoC MH_04 (Localization, perspective, mono)'
            bash track_time_print_row.bash artifact/track_times_MH_04_mono_localization.txt
            bash evo_rpe_print_row.bash tum MH_04.tum artifact/frame_trajectory_MH_04_mono_localization.txt -as
            echo '|'
            echo -n '| EuRoC MH_04 (Localization, perspective, mono, temporal mapping)'
            bash track_time_print_row.bash artifact/track_times_MH_04_mono_localization_temporal_mapping.txt
            bash evo_rpe_print_row.bash tum MH_04.tum artifact/frame_trajectory_MH_04_mono_localization_temporal_mapping.txt -as
            echo '|'
            echo -n '| openvslam_test_dataset 1 (SLAM, equirectangular, mono)'
            bash track_time_print_row.bash artifact/track_times_equirectangular_1.txt
            bash evo_rpe_print_row.bash tum openvslam_test_dataset/1/gt.tum artifact/frame_trajectory_equirectangular_1.txt -as
            echo '|'
            echo -n '| openvslam_test_dataset 1 (SLAM, equirectangular, mono, gtsam)'
            bash track_time_print_row.bash artifact/track_times_equirectangular_gtsam_1.txt
            bash evo_rpe_print_row.bash tum openvslam_test_dataset/1/gt.tum artifact/frame_trajectory_equirectangular_gtsam_1.txt -as
            echo '|'
            echo -n '| openvslam_test_dataset 2 (SLAM, equirectangular, mono)'
            bash track_time_print_row.bash artifact/track_times_equirectangular_2.txt
            bash evo_rpe_print_row.bash tum openvslam_test_dataset/2/gt.tum artifact/frame_trajectory_equirectangular_2.txt -as
            echo '|'
            echo -n '| openvslam_test_dataset 3 (SLAM, equirectangular, mono)'
            bash track_time_print_row.bash artifact/track_times_equirectangular_3.txt
            bash evo_rpe_print_row.bash tum openvslam_test_dataset/3/gt.tum artifact/frame_trajectory_equirectangular_3.txt -as
            echo '|'
            echo '</details>'
          ) >> artifact/result.md
      - uses: actions/upload-artifact@v3
        with:
          name: artifact
          path: artifact

  build_tutorial:
    runs-on: ubuntu-latest
    defaults:
      run:
        shell: bash
    container:
      image: ghcr.io/ymd-stella/stella-cv/stella_vslam:cv-4.x
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: recursive
      - name: cmake and make library
        run: |
          mkdir build
          cd build
          cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON -DUSE_OPENMP=OFF ..
          make -j $(($(nproc) / 2))
          make install
      - uses: actions/checkout@v3
        with:
          repository: stella-cv/stella_vslam_examples
          path: stella_vslam_examples
          submodules: recursive
      - name: cmake and make examples
        run: |
          mkdir -p stella_vslam_examples/build
          cd stella_vslam_examples/build
          cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DUSE_STACK_TRACE_LOGGER=ON ..
          make -j $(($(nproc) / 2))
      - name: download a dataset
        run: |
          cd build
          gdown "https://drive.google.com/uc?id=1TXjREzkht3iRz__qVx4oYRW1GXsv37ct" -q
          unzip video_for_ci_1.zip
          rm video_for_ci_1.zip
      - name: mapping test with the tutorial
        run: |
          cd build
          ../stella_vslam_examples/build/run_video_slam -v /datasets/orb_vocab/orb_vocab.fbow -m ./video_for_ci_1/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --log-level=debug --eval-log-dir . --map-db-out map.msg --viewer=none
      - name: localization test with the tutorial
        run: |
          cd build
          ../stella_vslam_examples/build/run_video_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -m ./video_for_ci_1/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --log-level=debug --eval-log-dir . --map-db-in map.msg --viewer=none

  rosdep_humble:
    runs-on: ubuntu-latest
    defaults:
      run:
        shell: bash
    container:
      image: ghcr.io/ymd-stella/stella-cv/ros:humble-ros-base
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: recursive
      - name: build ros2 packages
        run: |
          mkdir -p /ros_ws/src
          cp -r . /ros_ws/src/stella_vslam
          cd /ros_ws/
          rosdep update
          apt update
          rosdep install -y -i --from-paths src
          export MAKEFLAGS="-j $(($(nproc) / 2))"
          (source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --parallel-workers 1)