update docker file

openxrlab · May 17, 2024 · c651a4c · c651a4c
1 parent e888c3f
commit c651a4c
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Showing 5 changed files with 50 additions and 73 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 
 project(xrsfm)
 
-option(XRPRIMER_ENABLED "Buinding based on XRPRIMER, if available" ON)
+option(XRPRIMER_ENABLED "Buinding based on XRPRIMER, if available" OFF)
 option(CUDA_ENABLED "Whether to enable CUDA, if available" ON)
 set(CUDA_ARCHS "Auto" CACHE STRING "List of CUDA architectures for which to \
 generate code, e.g., Auto, All, Maxwell, Pascal, ...")
@@ -151,10 +151,13 @@ target_include_directories(xrsfm
 if(XRPRIMER_ENABLED)
     target_link_libraries(xrsfm
         stdc++fs
+        sift_gpu
         XRPrimer::xrprimer
         ${OpenCV_LIBS}
         ${GTEST_LIBRARIES}
-        sift_gpu
+        ${Qt5Core_LIBRARIES}
+        ${Qt5OpenGL_LIBRARIES}
+        ${Qt5Widgets_LIBRARIES}
         )
 else ()
     target_link_libraries(xrsfm

diff --git a/Dockerfile b/Dockerfile
@@ -14,6 +14,11 @@ RUN apt-get install -y \
     python3-pip \
     libglew-dev \
     libatlas-base-dev \
-    libgtest-dev
+    libgtest-dev \
+    qtbase5-dev \
+    libqt5opengl5-dev \
+    libeigen3-dev \
+    libceres-dev \
+    libopencv-dev
 
 Run pip3 install numpy
diff --git a/docs/en/installation.md b/docs/en/installation.md
@@ -23,7 +23,12 @@ Dependencies from the default Ubuntu repositories:
         libatlas-base-dev \
         libgtest-dev \
         libgflags-dev \
-        libgoogle-glog-dev
+        libgoogle-glog-dev \
+        qtbase5-dev \
+        libqt5opengl5-dev \
+        libeigen3-dev \
+        libceres-dev \
+        libopencv-dev
 ```
 
 If the version of CMake is less than 3.16, update it.
@@ -34,39 +39,12 @@ cp -r cmake-3.21.0-linux-x86_64 /usr/share/
 ln -sf /usr/share/cmake-3.21.0-linux-x86_64/bin/cmake /usr/bin/cmake
 ```
 
-Install [xrprimer](https://github.com/openxrlab/xrprimer)
-```shell
-git clone [email protected]:openxrlab/xrprimer.git
-cd xrprimer
-git checkout xrslam-opencv3.4.7
-cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF
-cmake --build build --target install -j4
-```
-
-Ensure that the root directories of xrsfm and xrprimer remain the same.
-
-```
-xrprimer
-├──
-...
-xrsfm
-├── docs
-├── scripts
-├── src
-...
-```
-
 Compile xrsfm
 ```shell
-git clone git@github.com:openxrlab/xrsfm.git
+git clone https://github.com/openxrlab/xrsfm.git
 cd xrsfm && cmake -B build && cmake --build build -j4
 ```
 
-Note: If you encounter difficulties during the compilation of xrprimer, you can try installing xrsfm without xrprimer. This requires OpenCV and Ceres-Solver. Then you can install xrsfm using the following command:
-```shell
-cd xrsfm && cmake -B build -DXRPRIMER_ENABLED=OFF && cmake --build build -j4
-```
-
 ### Dockerfile
 
 We provide a [Dockerfile](../../Dockerfile) to build an image. Ensure that you are using [docker version](https://docs.docker.com/engine/install/) >=19.03 and `"default-runtime": "nvidia"` in daemon.json.
@@ -78,5 +56,12 @@ docker build -t xrsfm .
 Run it with
 
 ```shell
-docker run --gpus all --network=host -it xrsfm
+docker run --name xrsfm-container --gpus all --network=host -it xrsfm
+```
+```
+
+Compile xrsfm
+```shell
+git clone https://github.com/openxrlab/xrsfm.git
+cd xrsfm && cmake -B build && cmake --build build -j4
 ```
diff --git a/docs/zh/installation.md b/docs/zh/installation.md
@@ -23,7 +23,12 @@
         libatlas-base-dev \
         libgtest-dev \
         libgflags-dev \
-        libgoogle-glog-dev
+        libgoogle-glog-dev \
+        qtbase5-dev \
+        libqt5opengl5-dev \
+        libeigen3-dev \
+        libceres-dev \
+        libopencv-dev
 ```
 
 如果cmake版本小于3.16，按照以下步骤更新
@@ -34,42 +39,15 @@ cp -r cmake-3.21.0-linux-x86_64 /usr/share/
 ln -sf /usr/share/cmake-3.21.0-linux-x86_64/bin/cmake /usr/bin/cmake
 ```
 
-安装 [XRPRimer](https://github.com/openxrlab/xrprimer)
-```shell
-git clone [email protected]:openxrlab/xrprimer.git
-cd xrprimer
-git checkout xrslam-opencv3.4.7
-cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF
-cmake --build build --target install -j4
-```
-
-确保xrsfm和xrprimer的根目录保持一致。
-```
-xrprimer
-├──
-...
-xrsfm
-├── docs
-├── scripts
-├── src
-...
-```
-
-
 编译 XRSfM
 ```shell
-git clone git@github.com:openxrlab/xrsfm.git
+git clone https://github.com/openxrlab/xrsfm.git
 cd xrsfm && cmake -B build && cmake --build build -j4
 ```
 
-注意：如果您在编译xrprimer时遇到困难，可以尝试在没有xrprimer的情况下安装xrsfm。这需要OpenCV和Ceres-Solver。然后，您可以使用以下命令安装xrsfm：
-```shell
-cd xrsfm && cmake -B build -DXRPRIMER_ENABLED=OFF && cmake --build build -j4
-```
-
-### 通过Docker镜像运行
+### Dockerfile
 
-We provide a [Dockerfile](../../Dockerfile) to build an image. Ensure that you are using [docker version](https://docs.docker.com/engine/install/) >=19.03 and `"default-runtime": "nvidia"` in daemon.json.
+我们提供了[Dockerfile](../../Dockerfile)文件来方便环境配置.使用前请确认[docker version](https://docs.docker.com/engine/install/) >=19.03，并且在daemon.json文件中已经设置`"default-runtime": "nvidia"` .
 
 ```shell
 docker build -t xrsfm .
@@ -78,5 +56,11 @@ docker build -t xrsfm .
 Run it with
 
 ```shell
-docker run --gpus all --network=host -it xrsfm
+docker run --name xrsfm-container --gpus all --network=host -it xrsfm
+```
+
+编译 XRSfM
+```shell
+git clone https://github.com/openxrlab/xrsfm.git
+cd xrsfm && cmake -B build && cmake --build build -j4
 ```
diff --git a/src/optimization/cost_factor_ceres.h b/src/optimization/cost_factor_ceres.h
@@ -127,32 +127,32 @@ class PoseGraphCost : public ceres::SizedCostFunction<8, 4, 3, 4, 3, 1, 1> {
         vector3 p2(parameters[3]);
         double s1 = parameters[4][0];
         double s2 = parameters[5][0];
-        map<Eigen::Vector<double, 8>> residual(residuals);
+        map<vector<3>> res_q(residuals);
+        map<vector<3>> res_p(residuals + 5);
 
         quaternion q1_inverse = q1.inverse();
         quaternion q12_estimated = q1_inverse * q2;
         vector3 p12_estimated = (q1_inverse * (p2 - p1));
 
         double weight_q = 1.0;
         double weight_p = 1.0;
-        residual.head<3>() = weight_q * logmap(q_mea * q12_estimated.inverse());
-        residual.tail<3>() = weight_p * (p12_estimated - s1 * p_mea);
+        res_q = weight_q * logmap(q_mea * q12_estimated.inverse());
+        res_p = weight_p * (p12_estimated - s1 * p_mea);
 
         // 1.0 00 seq be better
         // 0.5 02 seq be better
         double weight_s = 1.0;
-        residual(3) = weight_s * (s1 / s2 - 1);
+        residuals[3] = weight_s * (s1 / s2 - 1);
 
-        // double weight_o = 0.1;  // 0.1 bad in seq_4761_478
         if (s1 < 1) {
-            residual(4) = weight_o * (s1 - 1);
+            residuals[4] = weight_o * (s1 - 1);
         } else {
-            residual(4) = weight_o * (1.0 / s1 - 1);
+            residuals[4] = weight_o * (1.0 / s1 - 1);
         }
 
         if (jacobians) {
             matrix3 R1 = q1.toRotationMatrix();
-            matrix3 JRI = jri(residual.head<3>());
+            matrix3 JRI = jri(res_q);
             if (jacobians[0]) {
                 map<matrix<8, 4, true>> j_q1(jacobians[0]);
                 j_q1.setZero();