Feat performance merge to track_sp_use_lk to enable realtime performance on realworld experiments.

.github/workflows/docker-image.yml

@@ -0,0 +1,99 @@
+name: Docker Image CI
+
+on:
+  push:
+    branches: [ "main", "develop" ]
+    paths:
+      - '.github/workflows/docker-image.yml'
+      - '**.cpp'
+      - '**.h'
+      - 'docker/**'
+  pull_request:
+    branches: [ "main", "develop" ]
+    paths:
+      - '.github/workflows/docker-image.yml'
+      - '**.cpp'
+      - '**.h'
+      - 'docker/**'
+
+jobs:
+
+  build-AMD64:
+
+    runs-on: [self-hosted, linux, x64]
+
+    steps:
+    -
+      name: Get current date
+      id: date
+      run: echo "::set-output name=today::$(date +'%Y-%m-%d_%H-%M')"
+    -
+      name: Checkout
+      uses: actions/checkout@v3
+    -
+      name: Login to Docker Hub
+      uses: docker/login-action@v3
+      with:
+        username: ${{ secrets.DOCKER_HUB_ACCOUNT }}
+        password: ${{ secrets.DOCKER_HUB_TOKEN }}
+    -
+      name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    -
+      name: Build and push
+      uses: docker/build-push-action@v3
+      with:
+        context: .
+        file: docker/Dockerfile
+        push: true
+        tags: |
+          hkustswarm/d2slam:${{ steps.date.outputs.today }}
+          hkustswarm/d2slam:latest
+        cache-from: type=local,src=/tmp/.buildx-cache
+        cache-to: type=local,dest=/tmp/.buildx-cache
+
+  build-ARM64:
+
+    runs-on: [self-hosted, linux, arm64]
+
+    steps:
+    -
+      name: Get current date
+      id: date
+      run: echo "::set-output name=today::$(date +'%Y-%m-%d_%H-%M')"
+    -
+      name: Checkout
+      uses: actions/checkout@v3
+    -
+      name: Login to Docker Hub
+      uses: docker/login-action@v3
+      with:
+        username: ${{ secrets.DOCKER_HUB_ACCOUNT }}
+        password: ${{ secrets.DOCKER_HUB_TOKEN }}
+    -
+      name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    -
+      name: Build-base and push
+      uses: docker/build-push-action@v3
+      with:
+        context: .
+        file: docker/Dockerfile.jetson_orin_base_35.3.1
+        push: true
+        tags: |
+          hkustswarm/d2slam:jetson_orin_base_35.3.1-${{ steps.date.outputs.today }}
+          hkustswarm/d2slam:jetson_orin_base_35.3.1
+        cache-from: type=local,src=/tmp/.buildx-cache
+        cache-to: type=local,dest=/tmp/.buildx-cache
+    -
+      name: Build-app and push
+      uses: docker/build-push-action@v3
+      with:
+        context: .
+        file: docker/Dockerfile.jetson
+        push: true
+        tags: |
+          hkustswarm/d2slam:jetson-${{ steps.date.outputs.today }}
+          hkustswarm/d2slam:jetson
+        cache-from: type=local,src=/tmp/.buildx-cache
+        cache-to: type=local,dest=/tmp/.buildx-cache

.gitignore

@@ -5,15 +5,11 @@ d2vins/build/
 d2vins/cmake-build-debug/
 d2vins/.idea/
 d2common/build/
-data_analysis/__pycache__/
 d2pgo/build/
 d2comm/build/
-d2pgo/scripts/__pycache__/
 d2pgo/scripts/notebooks/.ipynb_checkpoints/
-d2pgo/scripts/pose_graph_partitioning/__pycache__/
 d2pgo/scripts/notebooks/*.png
 quadcam_depth_est/build/
-quadcam_tools/__pycache__/
 models/*.onnx
 models/*.pb
 models/*.trt
@@ -27,4 +23,6 @@ data_analysis/.ipynb_checkpoints/
 d2pgo/posegraph-graphviz.*
 d2pgo/scripts/notebooks/posegraph-graphviz.*
 */.DS_Store
-.DS_Store
+.DS_Store
+**/__pycache__
+**/*.py[cod]

.vscode/c_cpp_properties.json

@@ -7,21 +7,22 @@
             },
             "includePath": [
                 "/opt/ros/noetic/include/**",
-                "/home/xuhao/d2slam_ws/devel/include/**",
-                "/home/xuhao/d2slam_ws/src/D2SLAM/camera_models/include/**",
-                "/home/xuhao/d2slam_ws/src/vision_opencv/cv_bridge/include/**",
-                "/home/xuhao/d2slam_ws/src/D2SLAM/d2common/include/**",
-                "/home/xuhao/d2slam_ws/src/D2SLAM/d2frontend/include/**",
-                "/home/xuhao/d2slam_ws/src/vision_opencv/image_geometry/include/**",
-                "/home/xuhao/d2slam_ws/src/swarm_msgs/swarm_msgs/include/**",
-                "/home/xuhao/d2slam_ws/src/swarm_msgs/swarmcomm_msgs/include/**",
-                "/usr/include/**"
+                "/root/swarm_ws/devel/include/**",
+                "/root/swarm_ws/src/D2SLAM/camera_models/include/**",
+                "/root/swarm_ws/src/vision_opencv/cv_bridge/include/**",
+                "/root/swarm_ws/src/D2SLAM/d2common/include/**",
+                "/root/swarm_ws/src/D2SLAM/d2frontend/include/**",
+                "/root/swarm_ws/src/vision_opencv/image_geometry/include/**",
+                "/root/swarm_ws/src/swarm_msgs/swarm_msgs/include/**",
+                "/root/swarm_ws/src/swarm_msgs/swarmcomm_msgs/include/**",
+                "/usr/include/**",
+                "/usr/local/**"
             ],
             "name": "ROS",
             "intelliSenseMode": "gcc-x64",
             "compilerPath": "/usr/bin/gcc",
             "cStandard": "gnu11",
-            "cppStandard": "c++14",
+            "cppStandard": "c++17",
             "configurationProvider": "ms-vscode.cmake-tools"
         }
     ],

camera_models/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(camera_models)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")
 
 find_package(catkin REQUIRED COMPONENTS