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Preliminaries and tutorials

Git:

CMake:

Ceres:

Installation

Clone the repository on your PC. If you are doing this on the lab PCs DO NOT install it in your home folder because it is stored in the network. Make a directory /work/<username> (/work/ is your local hard drive) and install everything there.

git clone git@gitlab.vision.in.tum.de:visnav_ws19/<username>/visnav.git

Install and configure QtCreator

Download and install a recent version QtCreator. We recommend 4.8 or later. The default version shipping with Ubuntu is out of date. You will also need clang-format.

Note: On the lab PCs, it should be preinstalled. If not, ask your instructors to run

sudo apt install qtcreator-4.8 clang-format

and then start QtCreator from the terminal with the command qtcreator-4.8.

Note: You can also manually install any version of QtCreator. Best install on the local harddrive in /work/<username>:

wget https://download.qt.io/official_releases/qtcreator/4.8/4.8.2/qt-creator-opensource-linux-x86_64-4.8.2.run
chmod +x qt-creator-opensource-linux-x86_64-4.8.2.run
./qt-creator-opensource-linux-x86_64-4.8.2.run

sudo apt install clang-format

Note: On macOS, you can use Homebrew:

brew cask install qt-creator
brew install clang-format

After installation, go to Help -> About plugins... in the menu and enable Beautifier plugin:

Screenshot_2018-10-11_15-28-00

Go to Tools -> Options and select the Beautifier tab. There select ClangFormat as the tool in General tab.

Screenshot_2018-10-11_15-31-15

Select file as predefined style in Clang Format tab. Also select None as the fallback style.

Screenshot_2018-10-11_15-29-29

Build project

First, install the dependencies and build project sub-modules.

Note: On the lab machines, you need to skip the ./install_dependencies.sh step. Everything should be preinstalled. Else, ask you instructors.

cd visnav
./install_dependencies.sh
./build_submodules.sh

In QtCreator configure the project with Release with Debug Info configuration. The build directory should point to /<your_installation_path>/visnav/build.

Screenshot_2018-10-11_15-43-49

After that you should be able to build and run the project. To verify that installation worked well run the test_ceres_se3 executable. You should get the following output:

Screenshot_2018-10-11_15-48-12

Code submission

Every exercise contains a set of automatic tests that verify the correctness of the solution. All test are located in the test folder. By default only the test_ex0 is un-commented in CMake, such that you can test the submission system. To run the tests you should push your changes to your own branch and make a merge request against the master branch. This will show the changed files and automatically run tests on the server. If all tests passed your solution is correct and we will merge the changes in your master branch. It is best to start a new branch for every exercise sheet, such that you can start work on the next exercise while waiting for you merge request to be verified and merged.

FAQ

1. Can I access the lab machines from home via SSH?

You can access lab PCs using the following command

ssh -p 58022 <your_username>@atcremers55.informatik.tu-muenchen.de

You should use the hostname of your PC instead of atcremers55.

2. Do I need to use QtCreator? I prefer another IDE...

We don't require you to use QtCreator, but we recommend it for the following reasons:

  • decent cmake support
  • option to run clang-format on file-save
  • good visual debugger
  • code-navigation and syntax highlighting works well (mostly)

If you use another IDE, please make sure that clang-format is run before committing files. You can also use the run_format.sh script to reformat all files before commiting.

3. Compilation is slow...

Yes, compile times can unfortunately be slow.

When developing, make sure to only compile as much as is needed, not all executables. For example, from the command line call make -j4 calibration, to only build the calibration executable.

In QtCreator, you can go to Projects -> Build -> Build Steps -> Targets and select Current Executable instead of all, to only build the currently selected executable when running "build" (Ctrl+B). The current executable is the one selected for "running".

4. Eigen troubleshooting

We include a recent version of Eigen in the project as a submodule to make sure everyone uses the same exact version. Often errors related to Eigen are caused by the compiler picking up the system-wide Eigen version instead of the Eigen version provided in the project.

Check cmake output

One thing you should always do to troubleshoot Eigen is carefully checking the cmake output. Cmake tells you where it detected Eigen. If this is inside your project folder .../thirdparty/eigen/, then that seems ok.

Found required Ceres dependency: Eigen version 3.3.4 in /Users/demmeln/work/teaching/visnav_ws18/visnav_ws18/thirdparty/eigen

Otherwise, Eigen detected in /usr/local/... might be problematic.

Use correct include paths

One other cause of Eigen errors like

visnav_ws18/thirdparty/Sophus/sophus/so2.hpp:98:40: error: 'ScalarBinaryOpTraits' in namespace 'Eigen' does not name a template type
   using ReturnScalar = typename Eigen::ScalarBinaryOpTraits<

is if you use #include <eigen3/Eigen/...>, since this again will find the system-wide Eigen version in /usr/local/eigen3/Eigen/.... Instead, use #include <Eigen/...>.