These services integrate relocalization pipelines to make them deployable on cloud architecture.
The services for relocalization are open-source, designed by b<>com, under Apache v2 licence.
Before running the services, you need to download data such as Hololens captures, maps and the vocabulary of the bag of word used for image retrieval. To install the required data, just launch the following script:
./installData.sh
This script will install the following data into the ./data folder:
- The bag of words downloaded from our [GitHub releases] (https://github.com/SolarFramework/binaries/releases/download/fbow%2F0.0.1%2Fwin/fbow_voc.zip) and unzipped in the
./data/fbow_vocfolder.
We provide a defaut camera calibration file that contains intrinsic parameters of the camera logitech C920.
If you want to change the calibration parameters of the camera, edit the camera_calibration.json file.
Some samples require several SolAR modules such as OpenGL, OpenCV, FBOW and G20. If they are not yet installed on your machine, please run the following command from the test folder:
remaken install packagedependencies.txtand for debug mode:
remaken install packagedependencies.txt -c debugFor more information about how to install remaken on your machine, visit the install page on the SolAR website.
This service is based on the Relocalization pipeline.
in the "./bin/Release" or "./bin/Debug" folder:
./start_relocalization_service.sh
To make these services deployable on a cloud architecture, you need first to integrate them in a Docker image.
For this, you need to install the Docker environment on your computer: https://www.docker.com/
Then, all the necessary files are provided in the "docker" subfolder of each project:
- build.sh : to build the Docker image
- launch.sh to launch the Docker container (to test it on your computer)
- ".dockerfile" used by the build script to construct the image
- "start_server.sh" used by the Docker container to start the service
To use the "build" and "launch" script files, you must first bundle your service by creating a folder with the following structure:
- service bundle folder -- the service executable file (built previously with QT creator or Visual Studio) -- the service configuration files for modules (xxx_modules.xml) and for properties (xxx_properties.xml) -- data folder: containing all the data needed by the service (see "Install required data") -- modules folder: containing all the modules needed by the service (you can use remaken bundleXpcf to copy all needed modules here) -- docker folder: containing all the files of the "docker" subfolder of the project
To help you to deploy SolAR services, a kubernetes manifest file is provided as an example for each project, in the "docker" subfolder (YAML format).
A test applications is provided with the Relocalization services:
- SolARServiceTest_Relocalization: read some Hololens captured images on disk and send them to the Relocalization service to process relocalization (new pose calculation) => for this test application, you need first to start the Map Update service
To run these applications, you can use the "run.sh" scripts provided with the projects:
in the "./bin/Release" or "./bin/Debug" folder:
./run.sh ./test_application_exe_name -f configuration_file.xml
exemple:
./run.sh ./SolARServiceTest_Relocalization -f SolARServiceTest_Relocalization_conf.xml
Important: Before running a test application, you must set the services URL in the xml configuration file (and the services must be running of course)
<!-- gRPC proxy configuration-->
<configure component="597d510d-452a-4da2-9c3a-8d4b8d15c584">
<property name="channelUrl" access="rw" type="string" value="0.0.0.0:50052"/>