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panxkunpanxkun
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add backend main&system
1 parent f807298 commit 87402df

16 files changed

Lines changed: 613 additions & 338 deletions

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‎CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -33,6 +33,7 @@ add_subdirectory(xrslam-localization)
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if(XRSLAM_PC)
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add_subdirectory(xrslam-pc)
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add_subdirectory(xrslam-backend)
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endif()
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if(XRSLAM_IOS)
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add_subdirectory(xrslam-ios)

‎xrslam-backend/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.11 FATAL_ERROR)
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
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project(xrslam-backend LANGUAGES CXX)
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include(SuperBuildDepends)
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superbuild_depend(liteviz)
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add_executable(xrslam-backend
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${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp
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)
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target_include_directories(xrslam-backend
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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)
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target_link_libraries(xrslam-backend
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PRIVATE
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xrslam
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depends::opencv
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depends::liteviz
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)

‎xrslam-backend/src/main.cpp‎

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#include <iostream>
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#include <thread>
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#include "visualizer.h"
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#include "system.h"
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int main() {
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std::shared_ptr<SLAMViewer> viewer = std::make_shared<SLAMViewer>("SLAM Viewer", 1280, 720);
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viewer->start();
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std::shared_ptr<xrslam::System> server = std::make_shared<xrslam::System>(5);
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server->start();
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return 0;
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}

‎xrslam-backend/src/system.h‎

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#ifndef __SYSTEM_H__
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#define __SYSTEM_H__
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#include <iostream>
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#include <string>
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#include <tuple>
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#include <thread>
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#include <mutex>
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#include <xrslam/utility/logger.h>
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#include <xrslam/backend/connector.h>
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namespace xrslam {
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struct DataBundle{
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DataBundle(DataType dtype, std::shared_ptr<VizServer> s)
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{
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this->server = s;
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this->dtype = dtype;
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}
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std::string name;
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std::shared_ptr<VizServer> server;
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DataType dtype;
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};
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class System{
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struct ListenThread{
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std::thread thread;
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std::shared_ptr<VizServer> server; // maybe send to client (virtual object)
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};
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public:
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std::mutex servers_mutex;
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std::vector<std::shared_ptr<VizServer>> servers;
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std::vector<ListenThread> listen_threads;
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int _port = 12000; // default server port
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System(size_t max_agent = 5){
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log_message(XRSLAM_LOG_INFO, "\n------------------ RCO-SLAM ------------------\n");
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listen_threads.resize(max_agent);
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for (size_t i = 0; i < max_agent; ++i) {
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listen_threads[i].thread = std::thread(&System::listen, this, i);
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}
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}
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~System(){
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for (auto& l : listen_threads) {
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if (l.thread.joinable()) {
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l.thread.join();
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}
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}
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}
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void listen(int id){
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std::string port = std::to_string(_port + id);
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auto& listener = listen_threads[id].server;
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listener = std::make_shared<VizServer>(port);
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listener->getClientInfo();
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while(true){
69+
sleep(1);
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std::cout << "Listening on port: " << port << std::endl;
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}
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}
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void add_element(std::shared_ptr<DataBundle> data){
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}
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void issue_message(){
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sleep(1);
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std::cout << "Issuing message..." << std::endl;
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}
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void start(){
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while(true){
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issue_message();
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}
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}
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};
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}
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#endif

‎xrslam-backend/src/visualizer.h‎

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#include <filesystem>
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#include <liteviz/viewer.h>
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struct SLAMData{ // for visualization
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struct Frame {
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cv::Mat image;
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Eigen::Vector4f intrinsics;
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Eigen::Matrix4f pose;
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Frame(const cv::Mat &img,
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const Eigen::Vector4f &intrin,
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const Eigen::Matrix4f &p)
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: image(img), intrinsics(intrin), pose(p) {}
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};
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public:
18+
std::mutex frame_mutex;
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std::mutex point_mutex;
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std::mutex image_mutex;
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std::mutex poses_mutex;
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std::vector<Frame> frames;
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std::vector<Eigen::Vector3f> points;
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std::vector<Eigen::Matrix4f> poses;
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cv::Mat feature_tracker_cvimage;
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void update_poses(const Eigen::Matrix4f _pose) {
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std::lock_guard<std::mutex> lock(poses_mutex);
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poses.push_back(_pose);
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}
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void update_frames(std::vector<Frame> _frames) {
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std::lock_guard<std::mutex> lock(frame_mutex);
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frames = _frames;
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}
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void update_points(const std::vector<Eigen::Vector3f> &_points) {
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std::lock_guard<std::mutex> lock(point_mutex);
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points = _points;
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}
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void update_image(const cv::Mat &image) {
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std::lock_guard<std::mutex> lock(image_mutex);
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feature_tracker_cvimage = image.clone();
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}
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std::vector<Eigen::Vector3f> get_points() {
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std::lock_guard<std::mutex> lock(point_mutex);
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return points;
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}
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std::vector<Frame> get_frames() {
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std::lock_guard<std::mutex> lock(frame_mutex);
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return frames;
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}
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std::vector<Eigen::Matrix4f> get_poses() {
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std::lock_guard<std::mutex> lock(poses_mutex);
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return poses;
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}
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cv::Mat get_image() {
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std::lock_guard<std::mutex> lock(image_mutex);
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return feature_tracker_cvimage.clone();
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}
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};
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class SLAMViewer: public ViewerDetail {
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public:
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SLAMViewer(std::string title, int width, int height):
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ViewerDetail(title, width, height) {
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std::cout << "SLAMViewer initialized." << std::endl;
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data = std::make_shared<SLAMData>();
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}
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~SLAMViewer() {
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std::cout << "SLAMViewer destroyed." << std::endl;
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}
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void drawData() override {
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grid->draw(gridShader, viewport);
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Eigen::Vector4f cameraColor = Eigen::Vector4f(0.8f, 0.2f, 0.2f, 1.0f);
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Eigen::Vector4f pointsColor = Eigen::Vector4f(1.0f, 1.0f, 1.0f, 1.0f);
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Eigen::Vector4f trajColor = Eigen::Vector4f(0.7f, 0.2f, 0.2f, 1.0f);
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auto frames = data->get_frames();
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for(auto & frame : frames) {
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frustum->setup(frame.intrinsics, 0.001);
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frustum->setColor(cameraColor);
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frustum->transform(frame.pose);
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frustum->draw(pointShader, viewer->viewport);
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}
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auto points = data->get_points();
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pointCloud->setup(points, pointsColor);
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pointCloud->draw(pointShader, viewport);
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auto poses = data->get_poses();
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if(!poses.empty()) {
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std::vector<Eigen::Vector3f> traj_points;
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traj_points.reserve(poses.size() * 2);
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for(size_t i = 0; i < poses.size() - 1; ++i) {
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traj_points.push_back(poses[i + 0].block<3, 1>(0, 3));
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traj_points.push_back(poses[i + 1].block<3, 1>(0, 3));
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}
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line->setup(traj_points, trajColor);
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line->draw(pointShader, viewport);
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}
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drawImage();
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}
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void drawImage() {
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ImGui_ImplOpenGL3_NewFrame();
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ImGui_ImplGlfw_NewFrame();
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ImGui::NewFrame();
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any_window_active = ImGui::IsAnyItemActive() ;
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ImGui::PushStyleColor(ImGuiCol_WindowBg, ImVec4(0.1f, 0.1f, 0.1f, 0.3f));
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ImGui::Begin("Configuration", nullptr, window_flags);
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ImGui::SetWindowSize(ImVec2(300, 0));
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if(notifier){
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std::lock_guard<std::mutex> lock(notifier->mtx);
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const char* buttonText = isRunning ? "Running..." : "Paused";
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if (ImGui::Button(buttonText, ImVec2(300, 0))){
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isRunning = !isRunning;
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notifier->ready = isRunning;
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}
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notifier->cv.notify_one();
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}
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auto image = data->get_image();
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if(!image.empty()) {
143+
size_t w = 300;
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size_t h = w * image.rows / image.cols;
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colorTexture->setup(image.data, Eigen::Vector2i(image.cols, image.rows));
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ImGui::Image(colorTexture->getTextureID(), ImVec2(w, h));
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}
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ImGui::End();
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ImGui::PopStyleColor();
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ImGui::Render();
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ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
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}
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void start(){
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std::thread viewer_thread([this]() { this->run(); });
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viewer_thread.detach();
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}
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std::shared_ptr<SLAMData> data = nullptr;
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};

‎xrslam-pc/player/src/visualizer.h‎

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Original file line numberDiff line numberDiff line change
@@ -77,7 +77,7 @@ class SLAMViewer: public ViewerDetail {
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}
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7979
~SLAMViewer() {
80-
std::cout << "SLAMViewer destroyed." << std::endl;
80+
viewer_thread.join();
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}
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8383
void drawData() override {
@@ -155,9 +155,9 @@ class SLAMViewer: public ViewerDetail {
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}
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157157
void start(){
158-
std::thread viewer_thread([this]() { this->run(); });
159-
viewer_thread.detach();
158+
viewer_thread = std::thread([this]() { this->run(); });
160159
}
161160

161+
std::thread viewer_thread;
162162
std::shared_ptr<SLAMData> data = nullptr;
163163
};

‎xrslam/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -64,17 +64,19 @@ set(PRIVATE_HEADERS
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${XRSLAM_SOURCE_DIR}/xrslam/utility/worker.h
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${XRSLAM_SOURCE_DIR}/xrslam/utility/logger.h
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${XRSLAM_SOURCE_DIR}/xrslam/utility/parsac.h
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${XRSLAM_SOURCE_DIR}/xrslam/utility/serialize.h
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${XRSLAM_SOURCE_DIR}/xrslam/utility/potocal.h
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${XRSLAM_SOURCE_DIR}/xrslam/utility/imu_parsac.h
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${XRSLAM_SOURCE_DIR}/xrslam/utility/orb_extractor.h
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${XRSLAM_SOURCE_DIR}/xrslam/utility/client.h
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${XRSLAM_SOURCE_DIR}/xrslam/ar/virtual_object_manager.h
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${XRSLAM_SOURCE_DIR}/xrslam/localizer/base64.h
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${XRSLAM_SOURCE_DIR}/xrslam/localizer/base64_convert.h
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${XRSLAM_SOURCE_DIR}/xrslam/localizer/localizer.h
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${XRSLAM_SOURCE_DIR}/xrslam/localizer/httplib.h
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${XRSLAM_SOURCE_DIR}/xrslam/localizer/json.h
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${XRSLAM_SOURCE_DIR}/xrslam/backend/serialize.h
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${XRSLAM_SOURCE_DIR}/xrslam/backend/potocal.h
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${XRSLAM_SOURCE_DIR}/xrslam/backend/orb_extractor.h
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${XRSLAM_SOURCE_DIR}/xrslam/backend/connector.h
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${XRSLAM_SOURCE_DIR}/xrslam/backend/socket.h
7880
)
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8082
set(PRIVATE_SOURCES
@@ -97,9 +99,10 @@ set(PRIVATE_SOURCES
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${XRSLAM_SOURCE_DIR}/xrslam/xrslam.cpp
98100
${XRSLAM_SOURCE_DIR}/xrslam/utility/debug.cpp
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${XRSLAM_SOURCE_DIR}/xrslam/utility/worker.cpp
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${XRSLAM_SOURCE_DIR}/xrslam/utility/orb_extractor.cpp
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${XRSLAM_SOURCE_DIR}/xrslam/localizer/localizer.cpp
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${XRSLAM_SOURCE_DIR}/xrslam/ar/virtual_object_manager.cpp
104+
105+
${XRSLAM_SOURCE_DIR}/xrslam/backend/orb_extractor.cpp
103106
)
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105108
add_compile_options(-fPIC)

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