diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 000000000..6b62ee47d --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,20 @@ +name: ROS Free Workflow + +on: + push: + branches: [ master] + pull_request: + +jobs: + build: + name: "Ubuntu Latest" + runs-on: ubuntu-latest + steps: + - name: Code Checkout + uses: actions/checkout@v2 + - name: Configure and Build + run: | + sudo apt-get update && sudo apt-get install -y libeigen3-dev libopencv-dev libboost-all-dev && + mkdir build && cd build && + cmake ../ov_msckf/ && make + diff --git a/.github/workflows/build_catkin.yml b/.github/workflows/build_catkin.yml deleted file mode 100644 index eee6557bb..000000000 --- a/.github/workflows/build_catkin.yml +++ /dev/null @@ -1,63 +0,0 @@ -name: C/C++ CI - -on: - push: - branches: [ master ] - pull_request: - -jobs: - build: - runs-on: ${{ matrix.os }} - if: "!contains(github.event.head_commit.message, 'skip ci')" - strategy: - fail-fast: false - matrix: - os: [ubuntu-16.04, ubuntu-18.04, ubuntu-20.04] - compiler: ["/usr/bin/g++"] - steps: - - uses: actions/checkout@v2 - - name: Checkout submodules - uses: textbook/git-checkout-submodule-action@master - - - name: Install apt dependencies (ubuntu-16.04) - if: matrix.os == 'ubuntu-16.04' - run: | - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && - sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && - curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add - && - sudo apt update && sudo apt -y install build-essential ros-kinetic-desktop python-catkin-pkg python-catkin-tools libeigen3-dev git && - touch ~/.bashrc && echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc - - - name: Install apt dependencies (ubuntu-18.04) - if: matrix.os == 'ubuntu-18.04' - run: | - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && - sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && - curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add - && - sudo apt update && sudo apt -y install build-essential ros-melodic-desktop python-catkin-pkg python-catkin-tools libeigen3-dev git && - touch ~/.bashrc && echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc - - - name: Install apt dependencies (ubuntu-20.04) - if: matrix.os == 'ubuntu-20.04' - run: | - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && - sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && - curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add - && - sudo apt update && sudo apt -y install build-essential ros-noetic-desktop python3-catkin-pkg python3-catkin-tools python3-osrf-pycommon libeigen3-dev git && - touch ~/.bashrc && echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc - - - name: Create catkin workspace and compile - run: | - export REPO=$(basename $GITHUB_REPOSITORY) && - cd $GITHUB_WORKSPACE/.. && mkdir src/ && - mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ && - source /opt/ros/$(ls -1 /opt/ros/ | head -n1)/setup.bash && echo "ros version: $ROS_DISTRO" && - catkin build -j2 --no-status - - - name: Run simulation dataset - run: | - source $GITHUB_WORKSPACE/devel/setup.bash && - roscore & - export REPO=$(basename $GITHUB_REPOSITORY) && - source $GITHUB_WORKSPACE/devel/setup.bash && - rosrun ov_msckf run_simulation _sim_traj_path:=$GITHUB_WORKSPACE/src/$REPO/ov_data/sim/udel_gore.txt \ No newline at end of file diff --git a/.github/workflows/build_ros1.yml b/.github/workflows/build_ros1.yml new file mode 100644 index 000000000..9564f9a00 --- /dev/null +++ b/.github/workflows/build_ros1.yml @@ -0,0 +1,71 @@ +name: ROS 1 Workflow + +on: + push: + branches: [ master ] + pull_request: + +jobs: + build_1604: + name: "ROS1 Ubuntu 16.04" + runs-on: ubuntu-latest + steps: + - name: Code Checkout + uses: actions/checkout@v2 + - name: Create Workspace and Docker Image + run: | + export REPO=$(basename $GITHUB_REPOSITORY) && + cd $GITHUB_WORKSPACE/.. && mkdir src/ && + mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ && + docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_16_04 . + - name: Echo Enviroment + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION" + - name: Run Build in Docker + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build" + - name: Run OpenVINS Simulation! + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING" + build_1804: + name: "ROS1 Ubuntu 18.04" + runs-on: ubuntu-latest + steps: + - name: Code Checkout + uses: actions/checkout@v2 + - name: Create Workspace and Docker Image + run: | + export REPO=$(basename $GITHUB_REPOSITORY) && + cd $GITHUB_WORKSPACE/.. && mkdir src/ && + mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ && + docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_18_04 . + - name: Echo Enviroment + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION" + - name: Run Build in Docker + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build" + - name: Run OpenVINS Simulation! + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING" + build_2004: + name: "ROS1 Ubuntu 20.04" + runs-on: ubuntu-latest + steps: + - name: Code Checkout + uses: actions/checkout@v2 + - name: Create Workspace and Docker Image + run: | + export REPO=$(basename $GITHUB_REPOSITORY) && + cd $GITHUB_WORKSPACE/.. && mkdir src/ && + mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ && + docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_20_04 . + - name: Echo Enviroment + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION" + - name: Run Build in Docker + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build" + - name: Run OpenVINS Simulation! + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING" diff --git a/.github/workflows/build_ros2.yml b/.github/workflows/build_ros2.yml new file mode 100644 index 000000000..d94f4c660 --- /dev/null +++ b/.github/workflows/build_ros2.yml @@ -0,0 +1,51 @@ +name: ROS 2 Workflow + +on: + push: + branches: [ master ] + pull_request: + +jobs: + build_1804: + name: "ROS2 Ubuntu 18.04" + runs-on: ubuntu-latest + steps: + - name: Code Checkout + uses: actions/checkout@v2 + - name: Create Workspace and Docker Image + run: | + export REPO=$(basename $GITHUB_REPOSITORY) && + cd $GITHUB_WORKSPACE/.. && mkdir src/ && + mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ && + docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_18_04 . + - name: Echo Enviroment + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION" + - name: Run Build in Docker + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build" + # THIS SEEMS TO FAIL WITH 245 ERROR, NOT SURE WHY!!!!! + #- name: Run OpenVINS Simulation! + # run: | + # docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml" + build_2004: + name: "ROS2 Ubuntu 20.04" + runs-on: ubuntu-latest + steps: + - name: Code Checkout + uses: actions/checkout@v2 + - name: Create Workspace and Docker Image + run: | + export REPO=$(basename $GITHUB_REPOSITORY) && + cd $GITHUB_WORKSPACE/.. && mkdir src/ && + mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ && + docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_20_04 . + - name: Echo Enviroment + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION" + - name: Run Build in Docker + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build" + - name: Run OpenVINS Simulation! + run: | + docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml" diff --git a/CMakeLists.txt b/CMakeLists.txt deleted file mode 100644 index 11509d6ad..000000000 --- a/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -cmake_minimum_required(VERSION 2.8.8) - -add_subdirectory(ov_core) -add_subdirectory(ov_eval) -add_subdirectory(ov_msckf) - diff --git a/Dockerfile_ros1_16_04 b/Dockerfile_ros1_16_04 new file mode 100644 index 000000000..58b7df3db --- /dev/null +++ b/Dockerfile_ros1_16_04 @@ -0,0 +1,43 @@ +FROM osrf/ros:kinetic-desktop-full + +# ========================================================= +# ========================================================= + +# Are you are looking for how to use this docker file? +# - https://docs.openvins.com/dev-docker.html +# - https://docs.docker.com/get-started/ +# - http://wiki.ros.org/docker/Tutorials/Docker + +# ========================================================= +# ========================================================= + +# Dependencies we use, catkin tools is very good build system +# Also some helper utilities for fast in terminal edits (nano etc) +RUN apt-get update && apt-get install -y libeigen3-dev nano git +RUN sudo apt-get install -y python-catkin-tools + +# Seems this has Python 2.7 installed on it... +RUN sudo apt-get install -y python2.7-dev python-matplotlib python-numpy python-psutil python-tk + +# Install CMake 3.13.5 +ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh +RUN mkdir /opt/cmake +RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license +RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake +RUN cmake --version + +# Install deps needed for clion remote debugging +# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/ +RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \ + gdb clang cmake rsync tar python && apt-get clean +RUN ( \ + echo 'LogLevel DEBUG2'; \ + echo 'PermitRootLogin yes'; \ + echo 'PasswordAuthentication yes'; \ + echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \ + ) > /etc/ssh/sshd_config_test_clion \ + && mkdir /run/sshd +RUN useradd -m user && yes password | passwd user +RUN usermod -s /bin/bash user +CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"] + diff --git a/Dockerfile_ros1_18_04 b/Dockerfile_ros1_18_04 new file mode 100644 index 000000000..bb24fb942 --- /dev/null +++ b/Dockerfile_ros1_18_04 @@ -0,0 +1,43 @@ +FROM osrf/ros:melodic-desktop-full + +# ========================================================= +# ========================================================= + +# Are you are looking for how to use this docker file? +# - https://docs.openvins.com/dev-docker.html +# - https://docs.docker.com/get-started/ +# - http://wiki.ros.org/docker/Tutorials/Docker + +# ========================================================= +# ========================================================= + +# Dependencies we use, catkin tools is very good build system +# Also some helper utilities for fast in terminal edits (nano etc) +RUN apt-get update && apt-get install -y libeigen3-dev nano git +RUN sudo apt-get install -y python-catkin-tools + +# Seems this has Python 3.6 installed on it... +RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk + +# Install CMake 3.13.5 +ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh +RUN mkdir /opt/cmake +RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license +RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake +RUN cmake --version + +# Install deps needed for clion remote debugging +# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/ +RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \ + gdb clang cmake rsync tar python && apt-get clean +RUN ( \ + echo 'LogLevel DEBUG2'; \ + echo 'PermitRootLogin yes'; \ + echo 'PasswordAuthentication yes'; \ + echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \ + ) > /etc/ssh/sshd_config_test_clion \ + && mkdir /run/sshd +RUN useradd -m user && yes password | passwd user +RUN usermod -s /bin/bash user +CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"] + diff --git a/Dockerfile b/Dockerfile_ros1_20_04 similarity index 68% rename from Dockerfile rename to Dockerfile_ros1_20_04 index e69633365..a912b4928 100644 --- a/Dockerfile +++ b/Dockerfile_ros1_20_04 @@ -12,10 +12,20 @@ FROM osrf/ros:noetic-desktop-full # ========================================================= # Dependencies we use, catkin tools is very good build system -# Also some helper utitiles for fast in terminal edits (nano etc) -RUN apt-get update && apt-get install -y libeigen3-dev nano git cmake +# Also some helper utilities for fast in terminal edits (nano etc) +RUN apt-get update && apt-get install -y libeigen3-dev nano git RUN sudo apt-get install -y python3-catkin-tools python3-osrf-pycommon +# Seems this has Python 3.8 installed on it... +RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk + +# Install CMake 3.13.5 +ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh +RUN mkdir /opt/cmake +RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license +RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake +RUN cmake --version + # Install deps needed for clion remote debugging # https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/ RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \ diff --git a/Dockerfile_ros2_18_04 b/Dockerfile_ros2_18_04 new file mode 100644 index 000000000..86baa0fa0 --- /dev/null +++ b/Dockerfile_ros2_18_04 @@ -0,0 +1,42 @@ +FROM osrf/ros:dashing-desktop + +# ========================================================= +# ========================================================= + +# Are you are looking for how to use this docker file? +# - https://docs.openvins.com/dev-docker.html +# - https://docs.docker.com/get-started/ +# - http://wiki.ros.org/docker/Tutorials/Docker + +# ========================================================= +# ========================================================= + +# Dependencies we use, catkin tools is very good build system +# Also some helper utilities for fast in terminal edits (nano etc) +RUN apt-get update && apt-get install -y libeigen3-dev nano git + +# Seems this has Python 3.6 installed on it... +RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk + +# Install CMake 3.13.5 +ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh +RUN mkdir /opt/cmake +RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license +RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake +RUN cmake --version + +# Install deps needed for clion remote debugging +# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/ +RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \ + gdb clang cmake rsync tar python && apt-get clean +RUN ( \ + echo 'LogLevel DEBUG2'; \ + echo 'PermitRootLogin yes'; \ + echo 'PasswordAuthentication yes'; \ + echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \ + ) > /etc/ssh/sshd_config_test_clion \ + && mkdir /run/sshd +RUN useradd -m user && yes password | passwd user +RUN usermod -s /bin/bash user +CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"] + diff --git a/Dockerfile_ros2_20_04 b/Dockerfile_ros2_20_04 new file mode 100644 index 000000000..6787c6c85 --- /dev/null +++ b/Dockerfile_ros2_20_04 @@ -0,0 +1,42 @@ +FROM osrf/ros:galactic-desktop + +# ========================================================= +# ========================================================= + +# Are you are looking for how to use this docker file? +# - https://docs.openvins.com/dev-docker.html +# - https://docs.docker.com/get-started/ +# - http://wiki.ros.org/docker/Tutorials/Docker + +# ========================================================= +# ========================================================= + +# Dependencies we use, catkin tools is very good build system +# Also some helper utilities for fast in terminal edits (nano etc) +RUN apt-get update && apt-get install -y libeigen3-dev nano git + +# Seems this has Python 3.8 installed on it... +RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk + +# Install CMake 3.13.5 +ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh +RUN mkdir /opt/cmake +RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license +RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake +RUN cmake --version + +# Install deps needed for clion remote debugging +# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/ +RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \ + gdb clang cmake rsync tar python && apt-get clean +RUN ( \ + echo 'LogLevel DEBUG2'; \ + echo 'PermitRootLogin yes'; \ + echo 'PasswordAuthentication yes'; \ + echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \ + ) > /etc/ssh/sshd_config_test_clion \ + && mkdir /run/sshd +RUN useradd -m user && yes password | passwd user +RUN usermod -s /bin/bash user +CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"] + diff --git a/Doxyfile-mcss b/Doxyfile-mcss index 68c1aee52..da1db0c85 100644 --- a/Doxyfile-mcss +++ b/Doxyfile-mcss @@ -35,7 +35,7 @@ ALIASES += \ ##! M_THEME_COLOR = #2f73a3 ##! M_FAVICON = docs/img/favicon-light.png -##! M_LINKS_NAVBAR1 = pages namespaceov__core namespaceov__type namespaceov__msckf namespaceov__eval annotated +##! M_LINKS_NAVBAR1 = pages annotated namespaceov__core namespaceov__type namespaceov__msckf namespaceov__init namespaceov__eval ##! M_LINKS_NAVBAR2 = \ ##! "GitHub" diff --git a/ReadMe.md b/ReadMe.md index c21e40a94..bf45671c3 100644 --- a/ReadMe.md +++ b/ReadMe.md @@ -1,41 +1,60 @@ # OpenVINS -![C/C++ CI](https://github.com/rpng/open_vins/workflows/C/C++%20CI/badge.svg) +[![ROS 1 Workflow](https://github.com/rpng/open_vins/actions/workflows/build_ros1.yml/badge.svg)](https://github.com/rpng/open_vins/actions/workflows/build_ros1.yml) +[![ROS 2 Workflow](https://github.com/rpng/open_vins/actions/workflows/build_ros2.yml/badge.svg)](https://github.com/rpng/open_vins/actions/workflows/build_ros2.yml) +[![ROS Free Workflow](https://github.com/rpng/open_vins/actions/workflows/build.yml/badge.svg)](https://github.com/rpng/open_vins/actions/workflows/build.yml) Welcome to the OpenVINS project! -The OpenVINS project houses some core computer vision code along with a state-of-the art filter-based visual-inertial estimator. -The core filter is an [Extended Kalman filter](https://en.wikipedia.org/wiki/Extended_Kalman_filter) which fuses inertial information with sparse visual feature tracks. -These visual feature tracks are fused leveraging the [Multi-State Constraint Kalman Filter (MSCKF)](https://ieeexplore.ieee.org/document/4209642) sliding window formulation which allows for 3D features to update the state estimate without directly estimating the feature states in the filter. -Inspired by graph-based optimization systems, the included filter has modularity allowing for convenient covariance management with a proper type-based state system. -Please take a look at the feature list below for full details on what the system supports. - +The OpenVINS project houses some core computer vision code along with a state-of-the art filter-based visual-inertial +estimator. The core filter is an [Extended Kalman filter](https://en.wikipedia.org/wiki/Extended_Kalman_filter) which +fuses inertial information with sparse visual feature tracks. These visual feature tracks are fused leveraging +the [Multi-State Constraint Kalman Filter (MSCKF)](https://ieeexplore.ieee.org/document/4209642) sliding window +formulation which allows for 3D features to update the state estimate without directly estimating the feature states in +the filter. Inspired by graph-based optimization systems, the included filter has modularity allowing for convenient +covariance management with a proper type-based state system. Please take a look at the feature list below for full +details on what the system supports. * Github project page - https://github.com/rpng/open_vins * Documentation - https://docs.openvins.com/ * Getting started guide - https://docs.openvins.com/getting-started.html * Publication reference - http://udel.edu/~pgeneva/downloads/papers/c10.pdf - ## News / Events -* **July 19, 2021** - Camera classes, masking support, alignment utility, and other small fixes. See v2.4 [PR#117](https://github.com/rpng/open_vins/pull/186) for details. -* **December 1, 2020** - Released improved memory management, active feature pointcloud publishing, limiting number of features in update to bound compute, and other small fixes. See v2.3 [PR#117](https://github.com/rpng/open_vins/pull/117) for details. -* **November 18, 2020** - Released groundtruth generation utility package, [vicon2gt](https://github.com/rpng/vicon2gt) to enable creation of groundtruth trajectories in a motion capture room for evaulating VIO methods. -* **July 7, 2020** - Released zero velocity update for vehicle applications and direct initialization when standing still. See [PR#79](https://github.com/rpng/open_vins/pull/79) for details. -* **May 18, 2020** - Released secondary pose graph example repository [ov_secondary](https://github.com/rpng/ov_secondary) based on [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion). OpenVINS now publishes marginalized feature track, feature 3d position, and first camera intrinsics and extrinsics. See [PR#66](https://github.com/rpng/open_vins/pull/66) for details and discussion. -* **April 3, 2020** - Released [v2.0](https://github.com/rpng/open_vins/releases/tag/v2.0) update to the codebase with some key refactoring, ros-free building, improved dataset support, and single inverse depth feature representation. Please check out the [release page](https://github.com/rpng/open_vins/releases/tag/v2.0) for details. -* **January 21, 2020** - Our paper has been accepted for presentation in [ICRA 2020](https://www.icra2020.org/). We look forward to seeing everybody there! We have also added links to a few videos of the system running on different datasets. +* **December 13, 2021** - New YAML configuration system, ROS2 support, Docker images, robust static initialization based on disparity, internal logging system to reduce verbosity, image transport publishers, dynamic number of features support, and other small fixes. See + v2.5 [PR#209](https://github.com/rpng/open_vins/pull/209) for details. +* **July 19, 2021** - Camera classes, masking support, alignment utility, and other small fixes. See + v2.4 [PR#117](https://github.com/rpng/open_vins/pull/186) for details. +* **December 1, 2020** - Released improved memory management, active feature pointcloud publishing, limiting number of + features in update to bound compute, and other small fixes. See + v2.3 [PR#117](https://github.com/rpng/open_vins/pull/117) for details. +* **November 18, 2020** - Released groundtruth generation utility package, [vicon2gt](https://github.com/rpng/vicon2gt) + to enable creation of groundtruth trajectories in a motion capture room for evaulating VIO methods. +* **July 7, 2020** - Released zero velocity update for vehicle applications and direct initialization when standing + still. See [PR#79](https://github.com/rpng/open_vins/pull/79) for details. +* **May 18, 2020** - Released secondary pose graph example + repository [ov_secondary](https://github.com/rpng/ov_secondary) based + on [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion). OpenVINS now publishes marginalized feature + track, feature 3d position, and first camera intrinsics and extrinsics. + See [PR#66](https://github.com/rpng/open_vins/pull/66) for details and discussion. +* **April 3, 2020** - Released [v2.0](https://github.com/rpng/open_vins/releases/tag/v2.0) update to the codebase with + some key refactoring, ros-free building, improved dataset support, and single inverse depth feature representation. + Please check out the [release page](https://github.com/rpng/open_vins/releases/tag/v2.0) for details. +* **January 21, 2020** - Our paper has been accepted for presentation in [ICRA 2020](https://www.icra2020.org/). We look + forward to seeing everybody there! We have also added links to a few videos of the system running on different + datasets. * **October 23, 2019** - OpenVINS placed first in the [IROS 2019 FPV Drone Racing VIO Competition -](http://rpg.ifi.uzh.ch/uzh-fpv.html). We will be giving a short presentation at the [workshop](https://wp.nyu.edu/workshopiros2019mav/) at 12:45pm in Macau on November 8th. + ](http://rpg.ifi.uzh.ch/uzh-fpv.html). We will be giving a short presentation at + the [workshop](https://wp.nyu.edu/workshopiros2019mav/) at 12:45pm in Macau on November 8th. * **October 1, 2019** - We will be presenting at the [Visual-Inertial Navigation: Challenges and Applications -](http://udel.edu/~ghuang/iros19-vins-workshop/index.html) workshop at [IROS 2019](https://www.iros2019.org/). The submitted workshop paper can be found at [this](http://udel.edu/~ghuang/iros19-vins-workshop/papers/06.pdf) link. -* **August 21, 2019** - Open sourced [ov_maplab](https://github.com/rpng/ov_maplab) for interfacing OpenVINS with the [maplab](https://github.com/ethz-asl/maplab) library. -* **August 15, 2019** - Initial release of OpenVINS repository and documentation website! - + ](http://udel.edu/~ghuang/iros19-vins-workshop/index.html) workshop at [IROS 2019](https://www.iros2019.org/). The + submitted workshop paper can be found at [this](http://udel.edu/~ghuang/iros19-vins-workshop/papers/06.pdf) link. +* **August 21, 2019** - Open sourced [ov_maplab](https://github.com/rpng/ov_maplab) for interfacing OpenVINS with + the [maplab](https://github.com/ethz-asl/maplab) library. +* **August 15, 2019** - Initial release of OpenVINS repository and documentation website! ## Project Features - * Sliding window visual-inertial MSCKF * Modular covariance type system * Comprehensive documentation and derivations @@ -52,7 +71,7 @@ Please take a look at the feature list below for full details on what the system 5. Anchored MSCKF inverse depth 6. Anchored single inverse depth * Calibration of sensor intrinsics and extrinsics - * Camera to IMU transform + * Camera to IMU transform * Camera to IMU time offset * Camera intrinsics * Environmental SLAM feature @@ -69,28 +88,30 @@ Please take a look at the feature list below for full details on what the system * Out of the box evaluation on EurocMav, TUM-VI, UZH-FPV, KAIST Urban and VIO datasets * Extensive evaluation suite (ATE, RPE, NEES, RMSE, etc..) - - ## Codebase Extensions -* **[ov_secondary](https://github.com/rpng/ov_secondary)** - -This is an example secondary thread which provides loop closure in a loosely coupled manner for [OpenVINS](https://github.com/rpng/open_vins). -This is a modification of the code originally developed by the HKUST aerial robotics group and can be found in their [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) repository. -Here we stress that this is a loosely coupled method, thus no information is returned to the estimator to improve the underlying OpenVINS odometry. -This codebase has been modified in a few key areas including: exposing more loop closure parameters, subscribing to camera intrinsics, simplifying configuration such that only topics need to be supplied, and some tweaks to the loop closure detection to improve frequency. - -* **[ov_maplab](https://github.com/rpng/ov_maplab)** - -This codebase contains the interface wrapper for exporting visual-inertial runs from [OpenVINS](https://github.com/rpng/open_vins) into the ViMap structure taken by [maplab](https://github.com/ethz-asl/maplab). -The state estimates and raw images are appended to the ViMap as OpenVINS runs through a dataset. -After completion of the dataset, features are re-extract and triangulate with maplab's feature system. -This can be used to merge multi-session maps, or to perform a batch optimization after first running the data through OpenVINS. -Some example have been provided along with a helper script to export trajectories into the standard groundtruth format. - -* **[vicon2gt](https://github.com/rpng/vicon2gt)** - -This utility was created to generate groundtruth trajectories using a motion capture system (e.g. Vicon or OptiTrack) for use in evaluating visual-inertial estimation systems. -Specifically we calculate the inertial IMU state (full 15 dof) at camera frequency rate and generate a groundtruth trajectory similar to those provided by the EurocMav datasets. -Performs fusion of inertial and motion capture information and estimates all unknown spacial-temporal calibrations between the two sensors. - +* **[ov_secondary](https://github.com/rpng/ov_secondary)** - This is an example secondary thread which provides loop + closure in a loosely coupled manner for [OpenVINS](https://github.com/rpng/open_vins). This is a modification of the + code originally developed by the HKUST aerial robotics group and can be found in + their [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) repository. Here we stress that this is a + loosely coupled method, thus no information is returned to the estimator to improve the underlying OpenVINS odometry. + This codebase has been modified in a few key areas including: exposing more loop closure parameters, subscribing to + camera intrinsics, simplifying configuration such that only topics need to be supplied, and some tweaks to the loop + closure detection to improve frequency. + +* **[ov_maplab](https://github.com/rpng/ov_maplab)** - This codebase contains the interface wrapper for exporting + visual-inertial runs from [OpenVINS](https://github.com/rpng/open_vins) into the ViMap structure taken + by [maplab](https://github.com/ethz-asl/maplab). The state estimates and raw images are appended to the ViMap as + OpenVINS runs through a dataset. After completion of the dataset, features are re-extract and triangulate with + maplab's feature system. This can be used to merge multi-session maps, or to perform a batch optimization after first + running the data through OpenVINS. Some example have been provided along with a helper script to export trajectories + into the standard groundtruth format. + +* **[vicon2gt](https://github.com/rpng/vicon2gt)** - This utility was created to generate groundtruth trajectories using + a motion capture system (e.g. Vicon or OptiTrack) for use in evaluating visual-inertial estimation systems. + Specifically we calculate the inertial IMU state (full 15 dof) at camera frequency rate and generate a groundtruth + trajectory similar to those provided by the EurocMav datasets. Performs fusion of inertial and motion capture + information and estimates all unknown spacial-temporal calibrations between the two sensors. ## Demo Videos @@ -103,13 +124,12 @@ Performs fusion of inertial and motion capture information and estimates all unk [![](docs/youtube/oUoLlrFryk0.jpg)](http://www.youtube.com/watch?v=oUoLlrFryk0 "OpenVINS - TUM VI Datasets Demostration") [![](docs/youtube/ExPIGwORm4E.jpg)](http://www.youtube.com/watch?v=ExPIGwORm4E "OpenVINS - UZH-FPV Drone Racing Dataset Demonstration") - - ## Credit / Licensing -This code was written by the [Robot Perception and Navigation Group (RPNG)](https://sites.udel.edu/robot/) at the University of Delaware. -If you have any issues with the code please open an issue on our github page with relevant implementation details and references. -For researchers that have leveraged or compared to this work, please cite the following: +This code was written by the [Robot Perception and Navigation Group (RPNG)](https://sites.udel.edu/robot/) at the +University of Delaware. If you have any issues with the code please open an issue on our github page with relevant +implementation details and references. For researchers that have leveraged or compared to this work, please cite the +following: ```txt @Conference{Geneva2020ICRA, @@ -122,7 +142,6 @@ For researchers that have leveraged or compared to this work, please cite the fo } ``` - The codebase is licensed under the [GNU General Public License v3 (GPL-3)](https://www.gnu.org/licenses/gpl-3.0.txt). diff --git a/config/euroc_mav/estimator_config.yaml b/config/euroc_mav/estimator_config.yaml new file mode 100644 index 000000000..98401ddd1 --- /dev/null +++ b/config/euroc_mav/estimator_config.yaml @@ -0,0 +1,101 @@ +%YAML:1.0 # need to specify the file type at the top! + +verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT + +use_fej: true # if first-estimate Jacobians should be used (enable for good consistency) +use_imuavg: true # if using discrete integration, if we should average sequential IMU measurements to "smooth" it +use_rk4int: true # if rk4 integration should be used (overrides imu averaging) + +use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints between pairs +max_cameras: 2 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking) + +calib_cam_extrinsics: true # if the transform between camera and IMU should be optimized R_ItoC, p_CinI +calib_cam_intrinsics: true # if camera intrinsics should be optimized (focal, center, distortion) +calib_cam_timeoffset: true # if timeoffset between camera and IMU should be optimized + +max_clones: 11 # how many clones in the sliding window +max_slam: 50 # number of features in our state vector +max_slam_in_update: 25 # update can be split into sequential updates of batches, how many in a batch +max_msckf_in_update: 40 # how many MSCKF features to use in the update +dt_slam_delay: 2 # delay before initializing (helps with stability from bad initialization...) + +gravity_mag: 9.81 # magnitude of gravity in this location + +feat_rep_msckf: "GLOBAL_3D" +feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH" + +# zero velocity update parameters we can use +# we support either IMU-based or disparity detection. +try_zupt: true +zupt_chi2_multipler: 0 # set to 0 for only disp-based +zupt_max_velocity: 0.1 +zupt_noise_multiplier: 50 +zupt_max_disparity: 1.5 # set to 0 for only imu-based +zupt_only_at_beginning: true + +# ================================================================== +# ================================================================== + +init_window_time: 0.75 # how many seconds to collect initialization information +init_imu_thresh: 1.5 # threshold for variance of the accelerometer to detect a "jerk" in motion +init_max_disparity: 1.5 # max disparity to consider the platform stationary (dependent on resolution) +init_max_features: 50.0 # how many features to track during initialization (saves on computation) + +# ================================================================== +# ================================================================== + +record_timing_information: false # if we want to record timing information of the method +record_timing_filepath: "/tmp/traj_timing.txt" # https://docs.openvins.com/eval-timing.html#eval-ov-timing-flame + +# if we want to save the simulation state and its diagional covariance +# use this with rosrun ov_eval error_simulation +save_total_state: false +filepath_est: "/tmp/ov_estimate.txt" +filepath_std: "/tmp/ov_estimate_std.txt" +filepath_gt: "/tmp/ov_groundtruth.txt" + +# ================================================================== +# ================================================================== + +# our front-end feature tracking parameters +# we have a KLT and descriptor based (KLT is better implemented...) +use_klt: true +num_pts: 250 +fast_threshold: 15 +grid_x: 20 +grid_y: 20 +min_px_dist: 15 +knn_ratio: 0.70 +downsample_cameras: false # will downsample image in half if true +multi_threading: true # if should enable opencv multi threading +histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE + +# aruco tag tracker for the system +# DICT_6X6_1000 from https://chev.me/arucogen/ +use_aruco: false +num_aruco: 1024 +downsize_aruco: true + +# ================================================================== +# ================================================================== + +# camera noises and chi-squared threshold multipliers +up_msckf_sigma_px: 1 +up_msckf_chi2_multipler: 1 +up_slam_sigma_px: 1 +up_slam_chi2_multipler: 1 +up_aruco_sigma_px: 1 +up_aruco_chi2_multipler: 1 + +# masks for our images +use_mask: false + +# imu and camera spacial-temporal +# imu config should also have the correct noise values +relative_config_imu: "kalibr_imu_chain.yaml" +relative_config_imucam: "kalibr_imucam_chain.yaml" + + + + diff --git a/config/euroc_mav/kalibr_imu_chain.yaml b/config/euroc_mav/kalibr_imu_chain.yaml new file mode 100644 index 000000000..394cdca13 --- /dev/null +++ b/config/euroc_mav/kalibr_imu_chain.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 + +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + model: calibrated + rostopic: /imu0 + time_offset: 0.0 + update_rate: 200.0 \ No newline at end of file diff --git a/config/euroc_mav/kalibr_imucam_chain.yaml b/config/euroc_mav/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..6e14a9084 --- /dev/null +++ b/config/euroc_mav/kalibr_imucam_chain.yaml @@ -0,0 +1,28 @@ +%YAML:1.0 + +cam0: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975] + - [0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768] + - [-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1] + camera_model: pinhole + distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] + distortion_model: radtan + intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv + resolution: [752, 480] + rostopic: /cam0/image_raw +cam1: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556] + - [0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024] + - [-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0] + camera_model: pinhole + distortion_coeffs: [-0.28368365,0.07451284,-0.00010473,-3.55590700e-05] + distortion_model: radtan + intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv + resolution: [752, 480] + rostopic: /cam1/image_raw \ No newline at end of file diff --git a/config/kaist/estimator_config.yaml b/config/kaist/estimator_config.yaml new file mode 100644 index 000000000..f647dc579 --- /dev/null +++ b/config/kaist/estimator_config.yaml @@ -0,0 +1,103 @@ +%YAML:1.0 # need to specify the file type at the top! + +verbosity: "DEBUG" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT + +use_fej: true # if we should use first-estimate Jacobians (enable for good consistency) +use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it +use_rk4int: true # if rk4 integration should be used (overrides imu averaging) + +use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints +max_cameras: 2 + +calib_cam_extrinsics: false +calib_cam_intrinsics: true +calib_cam_timeoffset: true + +max_clones: 25 +max_slam: 10 +max_slam_in_update: 25 +max_msckf_in_update: 100 +dt_slam_delay: 1 + +gravity_mag: 9.79858 + +feat_rep_msckf: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH" + +# zero velocity update parameters we can use +# we support either IMU-based or disparity detection. +try_zupt: true +zupt_chi2_multipler: 0 # set to 0 for only disp-based +zupt_max_velocity: 0.1 +zupt_noise_multiplier: 1 +zupt_max_disparity: 0.3 # set to 0 for only imu-based +zupt_only_at_beginning: false + +# ================================================================== +# ================================================================== + +init_window_time: 1.0 +init_imu_thresh: 0.5 +init_max_disparity: 1.5 +init_max_features: 50.0 + +# ================================================================== +# ================================================================== + +record_timing_information: false +record_timing_filepath: "/tmp/traj_timing.txt" + +save_total_state: false +filepath_est: "/tmp/ov_estimate.txt" +filepath_std: "/tmp/ov_estimate_std.txt" +filepath_gt: "/tmp/ov_groundtruth.txt" + +# ================================================================== +# ================================================================== + +# our front-end feature tracking parameters +# we have a KLT and descriptor based (KLT is better implemented...) +use_klt: true +num_pts: 300 +fast_threshold: 10 +grid_x: 20 +grid_y: 20 +min_px_dist: 20 +knn_ratio: 0.65 +downsample_cameras: false +multi_threading: true +histogram_method: "CLAHE" # NONE, HISTOGRAM, CLAHE + +fi_max_dist: 150 +fi_max_baseline: 200 +fi_max_cond_number: 20000 +fi_triangulate_1d: false + +# aruco tag tracker for the system +# DICT_6X6_1000 from https://chev.me/arucogen/ +use_aruco: false +num_aruco: 1024 +downsize_aruco: true + +# ================================================================== +# ================================================================== + +# camera noises and chi-squared threshold multipliers +up_msckf_sigma_px: 1 +up_msckf_chi2_multipler: 1 +up_slam_sigma_px: 1 +up_slam_chi2_multipler: 1 +up_aruco_sigma_px: 1 +up_aruco_chi2_multipler: 1 + +# masks for our images +use_mask: false + +# imu and camera spacial-temporal +# imu config should also have the correct noise values +relative_config_imu: "kalibr_imu_chain.yaml" +relative_config_imucam: "kalibr_imucam_chain.yaml" + + + diff --git a/config/kaist/kalibr_imu_chain.yaml b/config/kaist/kalibr_imu_chain.yaml new file mode 100644 index 000000000..b3eea522e --- /dev/null +++ b/config/kaist/kalibr_imu_chain.yaml @@ -0,0 +1,23 @@ +%YAML:1.0 # need to specify the file type at the top! + + +# MTI-100 series converted from data sheet, guess on bias random walk +# https://www.xsens.com/hubfs/Downloads/usermanual/MTi_usermanual.pdf +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 2.0000e-03 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 3.0000e-03 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + # + # + # + # + model: calibrated + rostopic: /imu/data_raw + time_offset: 0.0 + update_rate: 500.0 \ No newline at end of file diff --git a/config/kaist/kalibr_imucam_chain.yaml b/config/kaist/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..bda3a5d55 --- /dev/null +++ b/config/kaist/kalibr_imucam_chain.yaml @@ -0,0 +1,28 @@ +%YAML:1.0 # need to specify the file type at the top! + +cam0: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [-0.00413,-0.01966,0.99980,1.73944] + - [-0.99993,-0.01095,-0.00435,0.27803] + - [0.01103,-0.99975,-0.01962,-0.08785] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1] + camera_model: pinhole + distortion_coeffs: [-5.6143027800000002e-02,1.3952563200000001e-01,-1.2155906999999999e-03,-9.7281389999999998e-04] + distortion_model: radtan + intrinsics: [8.1690378992770002e+02,8.1156803828490001e+02,6.0850726281690004e+02,2.6347599764440002e+02] + resolution: [1280, 560] + rostopic: /stereo/left/image_raw +cam1: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [-0.00768,-0.01509,0.99986,1.73376] + - [-0.99988,-0.01305,-0.00788,-0.19706] + - [0.01317,-0.99980,-0.01499,-0.08271] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0] + camera_model: pinhole + distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606, 0.0003299517423931039] + distortion_model: radtan + intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983] + resolution: [1280, 560] + rostopic: /stereo/right/image_raw \ No newline at end of file diff --git a/ov_msckf/launch/pgeneva_ros_kaist.launch b/config/kaist/pgeneva_ros_kaist.launch.old similarity index 100% rename from ov_msckf/launch/pgeneva_ros_kaist.launch rename to config/kaist/pgeneva_ros_kaist.launch.old diff --git a/config/kaist_vio/kalibr_imu_chain.yaml b/config/kaist_vio/kalibr_imu_chain.yaml new file mode 100644 index 000000000..8bec50983 --- /dev/null +++ b/config/kaist_vio/kalibr_imu_chain.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 # need to specify the file type at the top! + +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 0.00333388 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 0.00047402 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 0.00005770 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 0.00001565 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + model: calibrated + rostopic: /mavros/imu/data + time_offset: 0.0 + update_rate: 100.0 \ No newline at end of file diff --git a/config/kaist_vio/kalibr_imucam_chain.yaml b/config/kaist_vio/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..80e7e4acc --- /dev/null +++ b/config/kaist_vio/kalibr_imucam_chain.yaml @@ -0,0 +1,93 @@ +%YAML:1.0 # need to specify the file type at the top! + +cam0: + T_cam_imu: + - - -0.04030123999740945 + - -0.9989998755524683 + - 0.01936643232049068 + - 0.02103955032447366 + - - 0.026311325355146964 + - -0.020436499663524704 + - -0.9994448777394171 + - -0.038224929976612206 + - - 0.9988410905708309 + - -0.0397693113802049 + - 0.027108627033059024 + - -0.1363488241088845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + cam_overlaps: + - 1 + camera_model: pinhole + distortion_coeffs: + - 0.006896928127777268 + - -0.009144207062654397 + - 0.000254113977103925 + - 0.0021434982252719545 + distortion_model: radtan + intrinsics: + - 380.9229090195708 + - 380.29264802262736 + - 324.68121181846755 + - 224.6741321466431 + resolution: + - 640 + - 480 + rostopic: /camera/infra1/image_rect_raw + timeshift_cam_imu: -0.029958533056650416 +cam1: + T_cam_imu: + - - -0.03905752472566068 + - -0.9990498568899562 + - 0.019336318430946575 + - -0.02909273113160158 + - - 0.025035478432625047 + - -0.020323396666370924 + - -0.9994799569614147 + - -0.03811090793611019 + - - 0.99892328763622 + - -0.03855311914877835 + - 0.02580547271309183 + - -0.13656684822705098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + T_cn_cnm1: + - - 0.9999992248836708 + - 6.384241340452582e-05 + - 0.0012434452955667624 + - -0.049960282472300055 + - - -6.225102643531651e-05 + - 0.9999991790958949 + - -0.0012798173093508036 + - -5.920119010064575e-05 + - - -0.001243525981443161 + - 0.0012797389115975439 + - 0.9999984079544582 + - -0.00014316003395349448 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + cam_overlaps: + - 0 + camera_model: pinhole + distortion_coeffs: + - 0.007044055287844759 + - -0.010251485722185347 + - 0.0006674304399871926 + - 0.001678899816379666 + distortion_model: radtan + intrinsics: + - 380.95187095303424 + - 380.3065956074995 + - 324.0678433553536 + - 225.9586983198407 + resolution: + - 640 + - 480 + rostopic: /camera/infra2/image_rect_raw + timeshift_cam_imu: -0.030340187355085417 \ No newline at end of file diff --git a/ov_msckf/launch/pgeneva_ros_kaistvio.launch b/config/kaist_vio/pgeneva_ros_kaistvio.launch.old similarity index 100% rename from ov_msckf/launch/pgeneva_ros_kaistvio.launch rename to config/kaist_vio/pgeneva_ros_kaistvio.launch.old diff --git a/config/rpng_aruco/estimator_config.yaml b/config/rpng_aruco/estimator_config.yaml new file mode 100644 index 000000000..a17157cc6 --- /dev/null +++ b/config/rpng_aruco/estimator_config.yaml @@ -0,0 +1,98 @@ +%YAML:1.0 # need to specify the file type at the top! + +verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT + +use_fej: true # if we should use first-estimate Jacobians (enable for good consistency) +use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it +use_rk4int: true # if rk4 integration should be used (overrides imu averaging) + +use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints +max_cameras: 2 + +calib_cam_extrinsics: true +calib_cam_intrinsics: true +calib_cam_timeoffset: true + +max_clones: 15 +max_slam: 75 +max_slam_in_update: 25 +max_msckf_in_update: 40 +dt_slam_delay: 2 + +gravity_mag: 9.81 + +feat_rep_msckf: "GLOBAL_3D" +feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH" + +# zero velocity update parameters we can use +# we support either IMU-based or disparity detection. +try_zupt: true +zupt_chi2_multipler: 0 # set to 0 for only disp-based +zupt_max_velocity: 0.1 +zupt_noise_multiplier: 50 +zupt_max_disparity: 0.5 # set to 0 for only imu-based +zupt_only_at_beginning: true + +# ================================================================== +# ================================================================== + +init_window_time: 0.5 +init_imu_thresh: 1.2 +init_max_disparity: 1.5 +init_max_features: 50.0 + +# ================================================================== +# ================================================================== + +record_timing_information: false +record_timing_filepath: "/tmp/traj_timing.txt" + +save_total_state: false +filepath_est: "/tmp/ov_estimate.txt" +filepath_std: "/tmp/ov_estimate_std.txt" +filepath_gt: "/tmp/ov_groundtruth.txt" + +# ================================================================== +# ================================================================== + +# our front-end feature tracking parameters +# we have a KLT and descriptor based (KLT is better implemented...) +use_klt: true +num_pts: 150 +fast_threshold: 15 +grid_x: 20 +grid_y: 20 +min_px_dist: 20 +knn_ratio: 0.85 +downsample_cameras: false +multi_threading: true +histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE + +# aruco tag tracker for the system +# DICT_6X6_1000 from https://chev.me/arucogen/ +use_aruco: true +num_aruco: 1024 +downsize_aruco: true + +# ================================================================== +# ================================================================== + +# camera noises and chi-squared threshold multipliers +up_msckf_sigma_px: 1 +up_msckf_chi2_multipler: 1 +up_slam_sigma_px: 1 +up_slam_chi2_multipler: 1 +up_aruco_sigma_px: 1 +up_aruco_chi2_multipler: 8 + +# masks for our images +use_mask: false + +# imu and camera spacial-temporal +# imu config should also have the correct noise values +relative_config_imu: "kalibr_imu_chain.yaml" +relative_config_imucam: "kalibr_imucam_chain.yaml" + + + diff --git a/config/rpng_aruco/kalibr_imu_chain.yaml b/config/rpng_aruco/kalibr_imu_chain.yaml new file mode 100644 index 000000000..394cdca13 --- /dev/null +++ b/config/rpng_aruco/kalibr_imu_chain.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 + +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + model: calibrated + rostopic: /imu0 + time_offset: 0.0 + update_rate: 200.0 \ No newline at end of file diff --git a/config/rpng_aruco/kalibr_imucam_chain.yaml b/config/rpng_aruco/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..74ebdbe18 --- /dev/null +++ b/config/rpng_aruco/kalibr_imucam_chain.yaml @@ -0,0 +1,28 @@ +%YAML:1.0 + +cam0: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [-0.99997806, -0.00600501, 0.0027968, 0.03847796] + - [0.00601449, -0.99997615, 0.00339343, -0.0045601] + - [0.00277635, 0.00341018, 0.99999033, 0.00418038] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1] + camera_model: pinhole + distortion_coeffs: [-0.292031518680717,0.08753155838496009,0.0009568457669165753,2.3463489813256424e-05] + distortion_model: radtan + intrinsics: [470.0502737897896,468.7574814232544,405.80799445368035,245.2879780490104] #fu, fv, cu, cv + resolution: [752, 480] + rostopic: /cam0/image_raw +cam1: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [-0.99984421, -0.00389232, 0.01721638, -0.07075565] + - [0.00394176, -0.9999882, 0.0028389, -0.00418534] + - [0.01720512, 0.00290632, 0.99984776, 0.00388861] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0] + camera_model: pinhole + distortion_coeffs: [-0.2847596229068525,0.07908861097045865,0.0011071433505703875,0.0005094909873658998] + distortion_model: radtan + intrinsics: [472.98384780424163,471.9917417027018,382.1928744696835,268.2536666120421] #fu, fv, cu, cv + resolution: [752, 480] + rostopic: /cam1/image_raw \ No newline at end of file diff --git a/config/rpng_ironsides/estimator_config.yaml b/config/rpng_ironsides/estimator_config.yaml new file mode 100644 index 000000000..a49a5c680 --- /dev/null +++ b/config/rpng_ironsides/estimator_config.yaml @@ -0,0 +1,105 @@ +%YAML:1.0 # need to specify the file type at the top! + +verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT + +use_fej: true # if we should use first-estimate Jacobians (enable for good consistency) +use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it +use_rk4int: true # if rk4 integration should be used (overrides imu averaging) + +use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints +max_cameras: 2 + +calib_cam_extrinsics: false +calib_cam_intrinsics: true +calib_cam_timeoffset: true + +max_clones: 12 +max_slam: 50 +max_slam_in_update: 25 +max_msckf_in_update: 40 +dt_slam_delay: 1 + +gravity_mag: 9.80114 + +feat_rep_msckf: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH" + +# zero velocity update parameters we can use +# we support either IMU-based or disparity detection. +try_zupt: true +zupt_chi2_multipler: 1 # set to 0 for only disp-based +zupt_max_velocity: 0.5 +zupt_noise_multiplier: 10 +zupt_max_disparity: 0.4 # set to 0 for only imu-based +zupt_only_at_beginning: false + +# ================================================================== +# ================================================================== + +init_window_time: 1.0 +init_imu_thresh: 0.5 +init_max_disparity: 1.5 +init_max_features: 50.0 + +# ================================================================== +# ================================================================== + +record_timing_information: false +record_timing_filepath: "/tmp/traj_timing.txt" + +save_total_state: false +filepath_est: "/tmp/ov_estimate.txt" +filepath_std: "/tmp/ov_estimate_std.txt" +filepath_gt: "/tmp/ov_groundtruth.txt" + +# ================================================================== +# ================================================================== + +# our front-end feature tracking parameters +# we have a KLT and descriptor based (KLT is better implemented...) +use_klt: true +num_pts: 200 +fast_threshold: 10 +grid_x: 20 +grid_y: 20 +min_px_dist: 20 +knn_ratio: 0.65 +downsample_cameras: false +multi_threading: true +histogram_method: "CLAHE" # NONE, HISTOGRAM, CLAHE + +fi_max_dist: 150 +fi_max_baseline: 200 +fi_max_cond_number: 20000 +fi_triangulate_1d: false + +# aruco tag tracker for the system +# DICT_6X6_1000 from https://chev.me/arucogen/ +use_aruco: false +num_aruco: 1024 +downsize_aruco: true + +# ================================================================== +# ================================================================== + +# camera noises and chi-squared threshold multipliers +up_msckf_sigma_px: 2 +up_msckf_chi2_multipler: 1 +up_slam_sigma_px: 2 +up_slam_chi2_multipler: 1 +up_aruco_sigma_px: 1 +up_aruco_chi2_multipler: 1 + +# masks for our images +use_mask: true +mask0: "../../../ov_data/masks/ironsides0.png" #relative to current file +mask1: "../../../ov_data/masks/ironsides1.png" #relative to current file + +# imu and camera spacial-temporal +# imu config should also have the correct noise values +relative_config_imu: "kalibr_imu_chain.yaml" +relative_config_imucam: "kalibr_imucam_chain.yaml" + + + diff --git a/config/rpng_ironsides/kalibr_imu_chain.yaml b/config/rpng_ironsides/kalibr_imu_chain.yaml new file mode 100644 index 000000000..7e14da487 --- /dev/null +++ b/config/rpng_ironsides/kalibr_imu_chain.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 + +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 0.0027052931930236323 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 1.3054568211204843e-04 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 1.1186830841306218e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 8.997530210630026e-07 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + model: calibrated + rostopic: /imu0 + time_offset: 0.0 + update_rate: 200.0 \ No newline at end of file diff --git a/config/rpng_ironsides/kalibr_imucam_chain.yaml b/config/rpng_ironsides/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..8af656255 --- /dev/null +++ b/config/rpng_ironsides/kalibr_imucam_chain.yaml @@ -0,0 +1,31 @@ +%YAML:1.0 + +cam0: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [0.99992127, -0.0078594, 0.0097819, -0.05845078] + - [0.00784873, 0.99996856, 0.00112822, -0.00728728] + - [-0.00979046, -0.00105136, 0.99995152, 0.0623674] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1] + camera_model: pinhole + distortion_coeffs: [-0.03149689493503132, 0.07696336480701078, -0.06608854732019281, 0.019667561645120218] + distortion_model: equidistant + intrinsics: [276.4850207717928, 278.0310503180516, 314.5836189313042, 240.16980920673427] #fu, fv, cu, cv + resolution: [640, 480] + rostopic: /cam0/image_raw + timeshift_cam_imu: 0.00621 + +cam1: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [0.99995933, 0.00327998, 0.00840069, 0.00793529] + - [-0.00328309, 0.99999455, 0.000356, -0.00716413] + - [-0.00839948, -0.00038357, 0.99996465, 0.06245421] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0] + camera_model: pinhole + distortion_coeffs: [-0.02998039058251529, 0.07202819722706337, -0.06178718820631651, 0.017655045017816777] + distortion_model: equidistant + intrinsics: [277.960323846132, 279.4348778432714, 322.404194404853, 236.72685252691352] #fu, fv, cu, cv + resolution: [640, 480] + rostopic: /cam1/image_raw + timeshift_cam_imu: 0.00621 \ No newline at end of file diff --git a/config/rpng_sim/estimator_config.yaml b/config/rpng_sim/estimator_config.yaml new file mode 100644 index 000000000..3c25232bf --- /dev/null +++ b/config/rpng_sim/estimator_config.yaml @@ -0,0 +1,111 @@ +%YAML:1.0 # need to specify the file type at the top! + +verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT + +use_fej: true # if we should use first-estimate Jacobians (enable for good consistency) +use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it +use_rk4int: true # if rk4 integration should be used (overrides imu averaging) + +use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints +max_cameras: 2 + +calib_cam_extrinsics: true +calib_cam_intrinsics: true +calib_cam_timeoffset: true + +max_clones: 11 +max_slam: 50 +max_slam_in_update: 25 +max_msckf_in_update: 10 +dt_slam_delay: 2 + +gravity_mag: 9.81 + +feat_rep_msckf: "GLOBAL_3D" +feat_rep_slam: "GLOBAL_3D" +feat_rep_aruco: "GLOBAL_3D" + +# zero velocity update parameters we can use +# we support either IMU-based or disparity detection. +try_zupt: false +zupt_chi2_multipler: 0 # set to 0 for only disp-based +zupt_max_velocity: 0.1 +zupt_noise_multiplier: 50 +zupt_max_disparity: 0.5 # set to 0 for only imu-based +zupt_only_at_beginning: true + +# ================================================================== +# ================================================================== + +init_window_time: 0.75 +init_imu_thresh: 1.0 +init_max_disparity: 1.5 +init_max_features: 50.0 + +# ================================================================== +# ================================================================== + +record_timing_information: false +record_timing_filepath: "/tmp/traj_timing.txt" + +save_total_state: false +filepath_est: "/tmp/ov_estimate.txt" +filepath_std: "/tmp/ov_estimate_std.txt" +filepath_gt: "/tmp/ov_groundtruth.txt" + +# ================================================================== +# ================================================================== + +# our front-end feature tracking parameters +# we have a KLT and descriptor based (KLT is better implemented...) +use_klt: true +num_pts: 250 +fast_threshold: 15 +grid_x: 20 +grid_y: 20 +min_px_dist: 15 +knn_ratio: 0.70 +downsample_cameras: false +multi_threading: true +histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE + +# aruco tag tracker for the system +# DICT_6X6_1000 from https://chev.me/arucogen/ +use_aruco: false +num_aruco: 1024 +downsize_aruco: true + +# ================================================================== +# ================================================================== + +# camera noises and chi-squared threshold multipliers +up_msckf_sigma_px: 1 +up_msckf_chi2_multipler: 1 +up_slam_sigma_px: 1 +up_slam_chi2_multipler: 1 +up_aruco_sigma_px: 1 +up_aruco_chi2_multipler: 1 + +# masks for our images +use_mask: false + +# imu and camera spacial-temporal +# imu config should also have the correct noise values +relative_config_imu: "kalibr_imu_chain.yaml" +relative_config_imucam: "kalibr_imucam_chain.yaml" + + +# ================================================================== +# ================================================================== + + +sim_seed_state_init: 0 +sim_seed_preturb: 0 +sim_seed_measurements: 0 +sim_do_perturbation: false +sim_traj_path: "src/open_vins/ov_data/sim/tum_corridor1_512_16_okvis.txt" +sim_distance_threshold: 1.2 +sim_freq_cam: 10 +sim_freq_imu: 400 +sim_min_feature_gen_dist: 5.0 +sim_max_feature_gen_dist: 7.0 \ No newline at end of file diff --git a/config/rpng_sim/kalibr_imu_chain.yaml b/config/rpng_sim/kalibr_imu_chain.yaml new file mode 100644 index 000000000..394cdca13 --- /dev/null +++ b/config/rpng_sim/kalibr_imu_chain.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 + +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + model: calibrated + rostopic: /imu0 + time_offset: 0.0 + update_rate: 200.0 \ No newline at end of file diff --git a/config/rpng_sim/kalibr_imucam_chain.yaml b/config/rpng_sim/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..6e14a9084 --- /dev/null +++ b/config/rpng_sim/kalibr_imucam_chain.yaml @@ -0,0 +1,28 @@ +%YAML:1.0 + +cam0: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975] + - [0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768] + - [-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1] + camera_model: pinhole + distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] + distortion_model: radtan + intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv + resolution: [752, 480] + rostopic: /cam0/image_raw +cam1: + T_imu_cam: #rotation from camera to IMU, position of IMU in camera + - [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556] + - [0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024] + - [-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0] + camera_model: pinhole + distortion_coeffs: [-0.28368365,0.07451284,-0.00010473,-3.55590700e-05] + distortion_model: radtan + intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv + resolution: [752, 480] + rostopic: /cam1/image_raw \ No newline at end of file diff --git a/config/tum_vi/estimator_config.yaml b/config/tum_vi/estimator_config.yaml new file mode 100644 index 000000000..7e43d72e6 --- /dev/null +++ b/config/tum_vi/estimator_config.yaml @@ -0,0 +1,100 @@ +%YAML:1.0 # need to specify the file type at the top! + +verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT + +use_fej: true # if we should use first-estimate Jacobians (enable for good consistency) +use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it +use_rk4int: true # if rk4 integration should be used (overrides imu averaging) + +use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints +max_cameras: 2 + +calib_cam_extrinsics: true +calib_cam_intrinsics: true +calib_cam_timeoffset: true + +max_clones: 11 +max_slam: 50 +max_slam_in_update: 25 +max_msckf_in_update: 40 +dt_slam_delay: 5 + +gravity_mag: 9.80766 + +feat_rep_msckf: "GLOBAL_3D" +feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH" + +# zero velocity update parameters we can use +# we support either IMU-based or disparity detection. +try_zupt: false +zupt_chi2_multipler: 0 # set to 0 for only disp-based +zupt_max_velocity: 0.1 +zupt_noise_multiplier: 50 +zupt_max_disparity: 2.0 # set to 0 for only imu-based +zupt_only_at_beginning: true + +# ================================================================== +# ================================================================== + +init_window_time: 0.85 +init_imu_thresh: 0.45 # room1-5:0.45, room6:0.25 +init_max_disparity: 15.0 +init_max_features: 50.0 + +# ================================================================== +# ================================================================== + +record_timing_information: false +record_timing_filepath: "/tmp/traj_timing.txt" + +save_total_state: false +filepath_est: "/tmp/ov_estimate.txt" +filepath_std: "/tmp/ov_estimate_std.txt" +filepath_gt: "/tmp/ov_groundtruth.txt" + +# ================================================================== +# ================================================================== + +# our front-end feature tracking parameters +# we have a KLT and descriptor based (KLT is better implemented...) +use_klt: true +num_pts: 250 +fast_threshold: 15 +grid_x: 20 +grid_y: 20 +min_px_dist: 15 +knn_ratio: 0.65 +downsample_cameras: false +multi_threading: true +histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE + +# aruco tag tracker for the system +# DICT_6X6_1000 from https://chev.me/arucogen/ +use_aruco: false +num_aruco: 1024 +downsize_aruco: true + +# ================================================================== +# ================================================================== + +# camera noises and chi-squared threshold multipliers +up_msckf_sigma_px: 1 +up_msckf_chi2_multipler: 1 +up_slam_sigma_px: 1 +up_slam_chi2_multipler: 1 +up_aruco_sigma_px: 1 +up_aruco_chi2_multipler: 1 + +# masks for our images +use_mask: true +mask0: "../../../ov_data/masks/tumvi0.png" #relative to current file +mask1: "../../../ov_data/masks/tumvi1.png" #relative to current file + +# imu and camera spacial-temporal +# imu config should also have the correct noise values +relative_config_imu: "kalibr_imu_chain.yaml" +relative_config_imucam: "kalibr_imucam_chain.yaml" + + + diff --git a/config/tum_vi/kalibr_imu_chain.yaml b/config/tum_vi/kalibr_imu_chain.yaml new file mode 100644 index 000000000..8571eeb9f --- /dev/null +++ b/config/tum_vi/kalibr_imu_chain.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 # need to specify the file type at the top! + +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 0.0028 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 0.00086 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 0.00016 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 2.2e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + model: calibrated + rostopic: /imu0 + time_offset: 0.0 + update_rate: 200.0 \ No newline at end of file diff --git a/config/tum_vi/kalibr_imucam_chain.yaml b/config/tum_vi/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..9da64c5ec --- /dev/null +++ b/config/tum_vi/kalibr_imucam_chain.yaml @@ -0,0 +1,30 @@ +%YAML:1.0 # need to specify the file type at the top! + +cam0: + T_cam_imu: #rotation from IMU to camera, position of camera in IMU + - [-0.9995250378696743, 0.029615343885863205, -0.008522328211654736, 0.04727988224914392] + - [0.0075019185074052044, -0.03439736061393144, -0.9993800792498829, -0.047443232143367084] + - [-0.02989013031643309, -0.998969345370175, 0.03415885127385616, -0.0681999605066297] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1] + camera_model: pinhole + distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182] + distortion_model: equidistant + intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504] + resolution: [512, 512] + rostopic: /cam0/image_raw + + +cam1: + T_cam_imu: #rotation from IMU to camera, position of camera in IMU + - [-0.9995110484978581, 0.030299116376600627, -0.0077218830287333565, -0.053697434688869734] + - [0.008104079263822521, 0.012511643720192351, -0.9998888851620987, -0.046131737923635924] + - [-0.030199136245891378, -0.9994625667418545, -0.012751072573940885, -0.07149261284195751] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0] + camera_model: pinhole + distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606, 0.0003299517423931039] + distortion_model: equidistant + intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983] + resolution: [512, 512] + rostopic: /cam1/image_raw \ No newline at end of file diff --git a/config/uzhfpv_indoor/estimator_config.yaml b/config/uzhfpv_indoor/estimator_config.yaml new file mode 100644 index 000000000..142d412c9 --- /dev/null +++ b/config/uzhfpv_indoor/estimator_config.yaml @@ -0,0 +1,99 @@ +%YAML:1.0 # need to specify the file type at the top! + +verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT + +use_fej: true # if we should use first-estimate Jacobians (enable for good consistency) +use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it +use_rk4int: true # if rk4 integration should be used (overrides imu averaging) + +use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints +max_cameras: 2 + +calib_cam_extrinsics: false +calib_cam_intrinsics: true +calib_cam_timeoffset: true + +max_clones: 11 +max_slam: 50 +max_slam_in_update: 25 +max_msckf_in_update: 30 +dt_slam_delay: 2 + +gravity_mag: 9.81 + +feat_rep_msckf: "GLOBAL_3D" +feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH" + +# zero velocity update parameters we can use +# we support either IMU-based or disparity detection. +try_zupt: true +zupt_chi2_multipler: 0 # set to 0 for only disp-based +zupt_max_velocity: 0.5 +zupt_noise_multiplier: 20 +zupt_max_disparity: 0.4 # set to 0 for only imu-based +zupt_only_at_beginning: false + +# ================================================================== +# ================================================================== + +init_window_time: 1.0 +init_imu_thresh: 0.5 +init_max_disparity: 1.5 +init_max_features: 50.0 + +# ================================================================== +# ================================================================== + +record_timing_information: false +record_timing_filepath: "/tmp/traj_timing.txt" + +save_total_state: false +filepath_est: "/tmp/ov_estimate.txt" +filepath_std: "/tmp/ov_estimate_std.txt" +filepath_gt: "/tmp/ov_groundtruth.txt" + +# ================================================================== +# ================================================================== + +# our front-end feature tracking parameters +# we have a KLT and descriptor based (KLT is better implemented...) +use_klt: true +num_pts: 200 +fast_threshold: 15 +grid_x: 20 +grid_y: 20 +min_px_dist: 15 +knn_ratio: 0.70 +downsample_cameras: false +multi_threading: true +histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE + +# aruco tag tracker for the system +# DICT_6X6_1000 from https://chev.me/arucogen/ +use_aruco: false +num_aruco: 1024 +downsize_aruco: true + +# ================================================================== +# ================================================================== + +# camera noises and chi-squared threshold multipliers +up_msckf_sigma_px: 2 +up_msckf_chi2_multipler: 1 +up_slam_sigma_px: 2 +up_slam_chi2_multipler: 1 +up_aruco_sigma_px: 1 +up_aruco_chi2_multipler: 1 + +# masks for our images +use_mask: false + +# imu and camera spacial-temporal +# imu config should also have the correct noise values +relative_config_imu: "kalibr_imu_chain.yaml" +relative_config_imucam: "kalibr_imucam_chain.yaml" + + + + diff --git a/config/uzhfpv_indoor/kalibr_imu_chain.yaml b/config/uzhfpv_indoor/kalibr_imu_chain.yaml new file mode 100644 index 000000000..5e91ccd79 --- /dev/null +++ b/config/uzhfpv_indoor/kalibr_imu_chain.yaml @@ -0,0 +1,20 @@ +%YAML:1.0 # need to specify the file type at the top! + +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) +# accelerometer_noise_density: 0.1 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) +# accelerometer_random_walk: 0.002 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) +# gyroscope_noise_density: 0.05 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) +# gyroscope_random_walk: 4.0e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + model: calibrated + rostopic: /snappy_imu + time_offset: 0.0 + update_rate: 200.0 \ No newline at end of file diff --git a/config/uzhfpv_indoor/kalibr_imucam_chain.yaml b/config/uzhfpv_indoor/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..aedd2f589 --- /dev/null +++ b/config/uzhfpv_indoor/kalibr_imucam_chain.yaml @@ -0,0 +1,37 @@ +%YAML:1.0 # need to specify the file type at the top! + +cam0: + T_cam_imu: + - [-0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517] + - [0.014401251861751119, -0.00041887083271471837, -0.9998962088597202, -6.605455433829172e-05] + - [0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1] + camera_model: pinhole + distortion_coeffs: [-0.013721808247486035, 0.020727425669427896, -0.012786476702685545, + 0.0025242267320687625] + distortion_model: equidistant + intrinsics: [278.66723066149086, 278.48991409740296, 319.75221200593535, 241.96858910358173] + resolution: [640, 480] + rostopic: /snappy_cam/stereo_l + timeshift_cam_imu: -0.016684572091862235 +cam1: + T_cam_imu: + - [-0.011823057800830705, -0.9998701444077991, -0.010950325390841398, -0.057904961033265645] + - [0.011552991631909482, 0.01081376681432078, -0.9998747875767439, 0.00043766687615362694] + - [0.9998633625093938, -0.011948086424720228, 0.011423639621249038, -0.00039944945687402214] + - [0.0, 0.0, 0.0, 1.0] + T_cn_cnm1: + - [0.9998053017199788, 0.011197738450911484, 0.01624713224548414, -0.07961594300469246] + - [-0.011147758116324, 0.9999328574031386, -0.0031635699090552883, 0.0007443452072558462] + - [-0.016281466199246444, 0.00298183486707869, 0.9998630018753686, 0.0004425529195268342] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0] + camera_model: pinhole + distortion_coeffs: [-0.008456929295619607, 0.011407590938612062, -0.006951788325762078, + 0.0015368127092821786] + distortion_model: equidistant + intrinsics: [277.61640629770613, 277.63749695723294, 314.8944703346039, 236.04310050462587] + resolution: [640, 480] + rostopic: /snappy_cam/stereo_r + timeshift_cam_imu: -0.016591431247074982 \ No newline at end of file diff --git a/config/uzhfpv_indoor_45/estimator_config.yaml b/config/uzhfpv_indoor_45/estimator_config.yaml new file mode 100644 index 000000000..142d412c9 --- /dev/null +++ b/config/uzhfpv_indoor_45/estimator_config.yaml @@ -0,0 +1,99 @@ +%YAML:1.0 # need to specify the file type at the top! + +verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT + +use_fej: true # if we should use first-estimate Jacobians (enable for good consistency) +use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it +use_rk4int: true # if rk4 integration should be used (overrides imu averaging) + +use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints +max_cameras: 2 + +calib_cam_extrinsics: false +calib_cam_intrinsics: true +calib_cam_timeoffset: true + +max_clones: 11 +max_slam: 50 +max_slam_in_update: 25 +max_msckf_in_update: 30 +dt_slam_delay: 2 + +gravity_mag: 9.81 + +feat_rep_msckf: "GLOBAL_3D" +feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH" +feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH" + +# zero velocity update parameters we can use +# we support either IMU-based or disparity detection. +try_zupt: true +zupt_chi2_multipler: 0 # set to 0 for only disp-based +zupt_max_velocity: 0.5 +zupt_noise_multiplier: 20 +zupt_max_disparity: 0.4 # set to 0 for only imu-based +zupt_only_at_beginning: false + +# ================================================================== +# ================================================================== + +init_window_time: 1.0 +init_imu_thresh: 0.5 +init_max_disparity: 1.5 +init_max_features: 50.0 + +# ================================================================== +# ================================================================== + +record_timing_information: false +record_timing_filepath: "/tmp/traj_timing.txt" + +save_total_state: false +filepath_est: "/tmp/ov_estimate.txt" +filepath_std: "/tmp/ov_estimate_std.txt" +filepath_gt: "/tmp/ov_groundtruth.txt" + +# ================================================================== +# ================================================================== + +# our front-end feature tracking parameters +# we have a KLT and descriptor based (KLT is better implemented...) +use_klt: true +num_pts: 200 +fast_threshold: 15 +grid_x: 20 +grid_y: 20 +min_px_dist: 15 +knn_ratio: 0.70 +downsample_cameras: false +multi_threading: true +histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE + +# aruco tag tracker for the system +# DICT_6X6_1000 from https://chev.me/arucogen/ +use_aruco: false +num_aruco: 1024 +downsize_aruco: true + +# ================================================================== +# ================================================================== + +# camera noises and chi-squared threshold multipliers +up_msckf_sigma_px: 2 +up_msckf_chi2_multipler: 1 +up_slam_sigma_px: 2 +up_slam_chi2_multipler: 1 +up_aruco_sigma_px: 1 +up_aruco_chi2_multipler: 1 + +# masks for our images +use_mask: false + +# imu and camera spacial-temporal +# imu config should also have the correct noise values +relative_config_imu: "kalibr_imu_chain.yaml" +relative_config_imucam: "kalibr_imucam_chain.yaml" + + + + diff --git a/config/uzhfpv_indoor_45/kalibr_imu_chain.yaml b/config/uzhfpv_indoor_45/kalibr_imu_chain.yaml new file mode 100644 index 000000000..32c182c76 --- /dev/null +++ b/config/uzhfpv_indoor_45/kalibr_imu_chain.yaml @@ -0,0 +1,20 @@ +%YAML:1.0 # need to specify the file type at the top! + +imu0: + T_i_b: + - [1.0, 0.0, 0.0, 0.0] + - [0.0, 1.0, 0.0, 0.0] + - [0.0, 0.0, 1.0, 0.0] + - [0.0, 0.0, 0.0, 1.0] + accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + # accelerometer_noise_density: 0.1 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) + # accelerometer_random_walk: 0.002 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) + # gyroscope_noise_density: 0.05 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) + # gyroscope_random_walk: 4.0e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) + model: calibrated + rostopic: /snappy_imu + time_offset: 0.0 + update_rate: 200.0 \ No newline at end of file diff --git a/config/uzhfpv_indoor_45/kalibr_imucam_chain.yaml b/config/uzhfpv_indoor_45/kalibr_imucam_chain.yaml new file mode 100644 index 000000000..37838c854 --- /dev/null +++ b/config/uzhfpv_indoor_45/kalibr_imucam_chain.yaml @@ -0,0 +1,37 @@ +%YAML:1.0 # need to specify the file type at the top! + +cam0: + T_cam_imu: + - [-0.027256691772188965, -0.9996260641688061, 0.0021919370477445077, 0.02422852666805565] + - [-0.7139206120417471, 0.017931469899155242, -0.6999970157716363, 0.008974432843748055] + - [0.6996959571525168, -0.020644471939022302, -0.714142404092339, -0.000638971731537894] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1] + camera_model: pinhole + distortion_coeffs: [-6.545154718304953e-06, -0.010379525898159981, 0.014935312423953146, + -0.005639061406567785] + distortion_model: equidistant + intrinsics: [275.46015578667294, 274.9948095922592, 315.958384100568, 242.7123497822731] + resolution: [640, 480] + rostopic: /snappy_cam/stereo_l + timeshift_cam_imu: -0.01484888826656275 +cam1: + T_cam_imu: + - [-0.01749277298389329, -0.9997914625864506, -0.010537278233961556, -0.05569997768397372] + - [-0.7090991957246053, 0.019835234209851005, -0.7048296915614142, 0.00884826894411553] + - [0.7048917175822481, -0.004857450265962848, -0.7092982952614942, -0.0019997713120269607] + - [0.0, 0.0, 0.0, 1.0] + T_cn_cnm1: + - [0.9998713028057842, 0.0019367839962957476, 0.015925661468614183, -0.07993259169905036] + - [-0.0020450612045710957, 0.9999748874354272, 0.0067854420026733295, -7.205400304978925e-05] + - [-0.01591211959893364, -0.006817137687752675, 0.9998501543149417, -0.0009141881692325364] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0] + camera_model: pinhole + distortion_coeffs: [-0.012138050918285051, 0.02244029339184358, -0.013753165428754275, + 0.002725090438517269] + distortion_model: equidistant + intrinsics: [274.4628309070672, 273.9261674470783, 315.93654481793794, 235.779167375461] + resolution: [640, 480] + rostopic: /snappy_cam/stereo_r + timeshift_cam_imu: -0.014950736007814259 \ No newline at end of file diff --git a/docs/bib/extra.bib b/docs/bib/extra.bib index 783aa7566..26c656879 100644 --- a/docs/bib/extra.bib +++ b/docs/bib/extra.bib @@ -40,7 +40,7 @@ @inproceedings{Schubert2018IROS url = {https://arxiv.org/pdf/1804.06120.pdf}, } -@inproceedings{Furgale2013ICRA, +@inproceedings{Furgale2013IROS, title = {Unified temporal and spatial calibration for multi-sensor systems}, author = {Furgale, Paul and Rehder, Joern and Siegwart, Roland}, booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}, @@ -228,4 +228,14 @@ @article{Jeon2021RAL publisher={IEEE} } +@inproceedings{Dong2012IROS, + title={Estimator initialization in vision-aided inertial navigation with unknown camera-IMU calibration}, + author={Dong-Si, Tue-Cuong and Mourikis, Anastasios I}, + booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}, + pages={1064--1071}, + year={2012}, + organization={IEEE} +} + + diff --git a/docs/css/custom.css b/docs/css/custom.css index b6bd9942d..7b8b33bc0 100644 --- a/docs/css/custom.css +++ b/docs/css/custom.css @@ -1,4 +1,3 @@ - /* don't indent each paragraph since we frequently use equations */ main p { text-indent: 0rem !important; @@ -36,9 +35,11 @@ body > header > nav a#m-navbar-brand, body > header > nav #m-navbar-brand a { .m-doc-template, dl.m-doc dd, ul.m-doc li > span.m-doc { color: #1a1a1a; } + .m-doc-template a, dl.m-doc dd a, ul.m-doc li > span.m-doc a { color: #1a1a1a; } + .m-block.m-dim, .m-text.m-dim, .m-label.m-flat.m-dim { color: #1a1a1a; } \ No newline at end of file diff --git a/docs/css/m-udel+documentation.compiled.css b/docs/css/m-udel+documentation.compiled.css index 81054871f..0a9a854db 100644 --- a/docs/css/m-udel+documentation.compiled.css +++ b/docs/css/m-udel+documentation.compiled.css @@ -24,1500 +24,2417 @@ DEALINGS IN THE SOFTWARE. */ -*, ::before, ::after { box-sizing: border-box; } -body { margin: 0; } +*, ::before, ::after { + box-sizing: border-box; +} + +body { + margin: 0; +} + .m-container { - width: 100%; - margin: auto; - padding-left: 1rem; - padding-right: 1rem; + width: 100%; + margin: auto; + padding-left: 1rem; + padding-right: 1rem; } + .m-row { - margin-left: -1rem; - margin-right: -1rem; 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} - .m-pull-s-1 { right: calc(1 * 100% / 12); } - .m-pull-s-2 { right: calc(2 * 100% / 12); } - .m-pull-s-3 { right: calc(3 * 100% / 12); } - .m-pull-s-4 { right: calc(4 * 100% / 12); } - .m-pull-s-5 { right: calc(5 * 100% / 12); } - .m-pull-s-6 { right: calc(6 * 100% / 12); } - .m-pull-s-7 { right: calc(7 * 100% / 12); } - .m-pull-s-8 { right: calc(8 * 100% / 12); } - .m-pull-s-9 { right: calc(9 * 100% / 12); } - .m-pull-s-10 { right: calc(10 * 100% / 12); } - .m-pull-s-11 { right: calc(11 * 100% / 12); } - .m-clearfix-t::after { display: none; } - .m-hide-s { display: none; } - .m-show-s { display: block; } - .m-col-s-none { - width: auto; - float: none; - } } -@media screen and (min-width: 768px) { - .m-container { width: 750px; } - .m-container-inflatable .m-col-m-10 .m-container-inflate:not([class*='m-left-']):not([class*='m-right-']) { - margin-left: -10%; - margin-right: -10%; - } - .m-container-inflatable .m-col-m-10 .m-container-inflate.m-left-m { - margin-left: -10%; - } - .m-container-inflatable .m-col-m-10 .m-container-inflate.m-right-m { - margin-right: -10%; - } - [class*='m-col-m-'] { float: left; } - .m-left-m { + +.m-left-t { padding-right: 1rem; float: left; - } - .m-right-m, [class*='m-col-m-'].m-right-m { +} + +.m-right-t, [class*='m-col-t-'].m-right-t { padding-left: 1rem; float: right; - } - .m-center-m, [class*='m-col-m-'].m-center-m { - margin-left: auto; - margin-right: auto; - float: none; - } - .m-col-m-1 { width: calc(1 * 100% / 12); } - .m-col-m-2 { width: calc(2 * 100% / 12); } - .m-col-m-3 { width: calc(3 * 100% / 12); } - .m-col-m-4 { width: calc(4 * 100% / 12); } - .m-col-m-5 { width: calc(5 * 100% / 12); } - .m-col-m-6 { width: calc(6 * 100% / 12); } - .m-col-m-7 { width: calc(7 * 100% / 12); } - .m-col-m-8 { width: calc(8 * 100% / 12); } - .m-col-m-9 { width: calc(9 * 100% / 12); } - .m-col-m-10 { width: calc(10 * 100% / 12); } - .m-col-m-11 { width: calc(11 * 100% / 12); } - .m-col-m-12 { width: calc(12 * 100% / 12); } - .m-push-m-0 { left: calc(0 * 100% / 12); } - .m-push-m-1 { left: calc(1 * 100% / 12); } - .m-push-m-2 { left: calc(2 * 100% / 12); } - .m-push-m-3 { left: calc(3 * 100% / 12); } - .m-push-m-4 { left: calc(4 * 100% / 12); } - .m-push-m-5 { left: calc(5 * 100% / 12); } - .m-push-m-6 { left: calc(6 * 100% / 12); } - .m-push-m-7 { left: calc(7 * 100% / 12); } - .m-push-m-8 { left: calc(8 * 100% / 12); } - .m-push-m-9 { left: calc(9 * 100% / 12); } - .m-push-m-10 { left: calc(10 * 100% / 12); } - .m-push-m-11 { left: calc(11 * 100% / 12); } - .m-pull-m-0 { right: calc(0 * 100% / 12); } - .m-pull-m-1 { right: calc(1 * 100% / 12); } - .m-pull-m-2 { right: calc(2 * 100% / 12); } - .m-pull-m-3 { right: calc(3 * 100% / 12); } - .m-pull-m-4 { right: calc(4 * 100% / 12); } - .m-pull-m-5 { right: calc(5 * 100% / 12); } - .m-pull-m-6 { right: calc(6 * 100% / 12); } - .m-pull-m-7 { right: calc(7 * 100% / 12); } - .m-pull-m-8 { right: calc(8 * 100% / 12); } - .m-pull-m-9 { right: calc(9 * 100% / 12); } - .m-pull-m-10 { right: calc(10 * 100% / 12); } - .m-pull-m-11 { right: calc(11 * 100% / 12); } - .m-clearfix-s::after { display: none; } - .m-hide-m { display: none; } - .m-show-m { display: block; } - .m-col-m-none { - width: auto; +} + +.m-center-t, [class*='m-col-t-'].m-center-t { float: none; - } } -@media screen and (min-width: 992px) { - .m-container { width: 960px; } - .m-container-inflatable .m-col-l-10 .m-container-inflate:not([class*='m-left-']):not([class*='m-right-']) { - margin-left: -10%; - margin-right: -10%; - } - .m-container-inflatable .m-col-l-10 .m-container-inflate.m-left-l { - margin-left: -10%; - } - .m-container-inflatable .m-col-l-10 .m-container-inflate.m-right-l { - margin-right: -10%; - } - [class*='m-col-l-'] { float: left; } - .m-left-l { - padding-right: 1rem; - float: left; - } - .m-right-l, [class*='m-col-l-'].m-right-l { - padding-left: 1rem; - float: right; - } - .m-center-l, [class*='m-col-l-'].m-center-l { + +.m-center-t, [class*='m-col-t-'].m-center-t { margin-left: auto; margin-right: auto; float: none; - } - .m-col-l-1 { width: calc(1 * 100% / 12); } - .m-col-l-2 { width: calc(2 * 100% / 12); } - .m-col-l-3 { width: calc(3 * 100% / 12); } - .m-col-l-4 { width: calc(4 * 100% / 12); } - .m-col-l-5 { width: calc(5 * 100% / 12); } - .m-col-l-6 { width: calc(6 * 100% / 12); } - .m-col-l-7 { width: calc(7 * 100% / 12); } - .m-col-l-8 { width: calc(8 * 100% / 12); } - .m-col-l-9 { width: calc(9 * 100% / 12); } - .m-col-l-10 { width: calc(10 * 100% / 12); } - .m-col-l-11 { width: calc(11 * 100% / 12); } - .m-col-l-12 { width: calc(12 * 100% / 12); } - .m-push-l-0 { left: calc(0 * 100% / 12); } - .m-push-l-1 { left: calc(1 * 100% / 12); } - .m-push-l-2 { left: calc(2 * 100% / 12); } - .m-push-l-3 { left: calc(3 * 100% / 12); } - .m-push-l-4 { left: calc(4 * 100% / 12); } - .m-push-l-5 { left: calc(5 * 100% / 12); } - .m-push-l-6 { left: calc(6 * 100% / 12); } - .m-push-l-7 { left: calc(7 * 100% / 12); } - .m-push-l-8 { left: calc(8 * 100% / 12); } - .m-push-l-9 { left: calc(9 * 100% / 12); } - .m-push-l-10 { left: calc(10 * 100% / 12); } - .m-push-l-11 { left: calc(11 * 100% / 12); } - .m-pull-l-0 { right: calc(0 * 100% / 12); } - .m-pull-l-1 { right: calc(1 * 100% / 12); } - .m-pull-l-2 { right: calc(2 * 100% / 12); } - .m-pull-l-3 { right: calc(3 * 100% / 12); } - .m-pull-l-4 { right: calc(4 * 100% / 12); } - .m-pull-l-5 { right: calc(5 * 100% / 12); } - .m-pull-l-6 { right: calc(6 * 100% / 12); } - .m-pull-l-7 { right: calc(7 * 100% / 12); } - .m-pull-l-8 { right: calc(8 * 100% / 12); } - .m-pull-l-9 { right: calc(9 * 100% / 12); } - .m-pull-l-10 { right: calc(10 * 100% / 12); } - .m-pull-l-11 { right: calc(11 * 100% / 12); } - .m-clearfix-m::after { display: none; } - .m-hide-l { display: none; } - .m-show-l { display: block; } - .m-col-l-none { - width: auto; - float: none; - } } -html { - font-size: 1em; - background-color: #ffffff; -} -body { - font-family: 'Source Sans Pro', sans-serif; - font-size: 1rem; - line-height: normal; - color: #000000; -} -h1, h2, h3, h4, h5, h6 { - margin-top: 0; - font-weight: normal; -} -h1 { - margin-bottom: 1rem; -} -h2, h3, h4, h5, h6 { - margin-bottom: 0.5rem; -} -p, ul, ol, dl { - margin-top: 0; -} -ul, ol { - padding-left: 2rem; +.m-col-t-1 { + width: calc(1 * 100% / 12); } -ul ol, ul ul, ol ol, ol ul { - margin-bottom: 0; + +.m-col-t-2 { + width: calc(2 * 100% / 12); } -main p { - text-indent: 1.5rem; - text-align: justify; + +.m-col-t-3 { + width: calc(3 * 100% / 12); } -main p.m-noindent, li > p, dd > p, table.m-table td > p { - text-indent: 0; - text-align: left; + +.m-col-t-4 { + width: calc(4 * 100% / 12); } -blockquote { - margin-top: 0; - margin-left: 1rem; - margin-right: 1rem; - padding: 1rem; - border-left-style: solid; - border-left-width: 0.25rem; + +.m-col-t-5 { + width: calc(5 * 100% / 12); } -hr { - width: 75%; - border-width: 0.0625rem; - border-style: solid; + +.m-col-t-6 { + width: calc(6 * 100% / 12); } -blockquote, hr { - border-color: #c7cfd9; + +.m-col-t-7 { + width: calc(7 * 100% / 12); } -strong, .m-text.m-strong { font-weight: bold; } -em, .m-text.m-em { font-style: italic; } -s, .m-text.m-s { text-decoration: line-through; } -sub, sup, .m-text.m-sub, .m-text.m-sup { - font-size: 0.75rem; - line-height: 0; - position: relative; - vertical-align: baseline; + +.m-col-t-8 { + width: calc(8 * 100% / 12); } -sup, .m-text.m-sup { top: -0.35rem; } -sub, .m-text.m-sub { bottom: -0.2rem; } -abbr { - cursor: help; - text-decoration: underline dotted; + +.m-col-t-9 { + width: calc(9 * 100% / 12); } -a { - color: #205275; + +.m-col-t-10 { + width: calc(10 * 100% / 12); } -a.m-flat { - text-decoration: none; + +.m-col-t-11 { + width: calc(11 * 100% / 12); } -a:hover, a:focus, a:active { - color: #2f73a3; + +.m-col-t-12 { + width: calc(12 * 100% / 12); } -a img { border: 0; } -svg a { cursor: pointer; } -mark { - padding: 0.0625rem; - background-color: #f0c63e; - color: #4c93d3; + +.m-push-t-1 { + left: calc(1 * 100% / 12); } -.m-link-wrap { - word-break: break-all; + +.m-push-t-2 { + left: calc(2 * 100% / 12); } -pre, code { - font-family: 'Source Code Pro', monospace, monospace, monospace; - font-size: 0.8em; - color: #000000; - background-color: #f2f7fa; + +.m-push-t-3 { + left: calc(3 * 100% / 12); } -pre.m-console, code.m-console { - color: #000000; - background-color: #000000; + +.m-push-t-4 { + left: calc(4 * 100% / 12); } -pre { - padding: 0.5rem 1rem; - border-radius: 0.2rem; - overflow-x: auto; - margin-top: 0; + +.m-push-t-5 { + left: calc(5 * 100% / 12); } -pre.m-console-wrap { - white-space: pre-wrap; - word-break: break-all; + +.m-push-t-6 { + left: calc(6 * 100% / 12); } -code { - padding: 0.125rem; + +.m-push-t-7 { + left: calc(7 * 100% / 12); } -*:focus { outline-color: #2f73a3; } -div.m-scroll { - max-width: 100%; - overflow-x: auto; + +.m-push-t-8 { + left: calc(8 * 100% / 12); } -.m-fullwidth { - width: 100%; + +.m-push-t-9 { + left: calc(9 * 100% / 12); } -.m-spacing-150 { - line-height: 1.5rem; + +.m-push-t-10 { + left: calc(10 * 100% / 12); } -.m-text-center, .m-text-center.m-noindent, table.m-table th.m-text-center, .m-text-center p { - text-align: center; + +.m-push-t-11 { + left: calc(11 * 100% / 12); } -.m-text-left, .m-text-left.m-noindent, table.m-table th.m-text-left, .m-text-right p { - text-align: left; + +.m-pull-t-1 { + right: calc(1 * 100% / 12); } -.m-text-right, .m-text-right.m-noindent, table.m-table th.m-text-right, .m-text-right p { - text-align: right; + +.m-pull-t-2 { + right: calc(2 * 100% / 12); } -.m-text-top, table.m-table th.m-text-top, table.m-table td.m-text-top { - vertical-align: top; + +.m-pull-t-3 { + right: calc(3 * 100% / 12); } -.m-text-middle, table.m-table th.m-text-middle, table.m-table td.m-text-middle { - vertical-align: middle; + +.m-pull-t-4 { + right: calc(4 * 100% / 12); } -.m-text-bottom, table.m-table th.m-text-bottom, table.m-table td.m-text-bottom { - vertical-align: bottom; + +.m-pull-t-5 { + right: calc(5 * 100% / 12); } -.m-text.m-tiny { font-size: 50.0%; } -.m-text.m-small { font-size: 85.4%; } -.m-text.m-big { font-size: 117%; } -h1 .m-thin, h2 .m-thin, h3 .m-thin, h4 .m-thin, h5 .m-thin, h6 .m-thin { - font-weight: normal; + +.m-pull-t-6 { + right: calc(6 * 100% / 12); } -ul.m-unstyled, ol.m-unstyled { - list-style-type: none; - padding-left: 0; + +.m-pull-t-7 { + right: calc(7 * 100% / 12); } -ul[class*='m-block-'], ol[class*='m-block-'] { - padding-left: 0; + +.m-pull-t-8 { + right: calc(8 * 100% / 12); } -ul[class*='m-block-'] li, ol[class*='m-block-'] li { - display: inline; + +.m-pull-t-9 { + right: calc(9 * 100% / 12); } -ul[class*='m-block-bar-'] li:not(:last-child)::after, ol[class*='m-block-bar-'] li:not(:last-child)::after { - content: " | "; + +.m-pull-t-10 { + right: calc(10 * 100% / 12); } -ul[class*='m-block-dot-'] li:not(:last-child)::after, ol[class*='m-block-dot-'] li:not(:last-child)::after { - content: " • "; + +.m-pull-t-11 { + right: calc(11 * 100% / 12); } + @media screen and (min-width: 576px) { - ul.m-block-bar-s, ol.m-block-bar-s, - ul.m-block-dot-s, ol.m-block-dot-s { padding-left: 2rem; } - ul.m-block-bar-s li, ol.m-block-bar-s li, - ul.m-block-dot-s li, ol.m-block-dot-s li { display: list-item; } - ul.m-block-bar-s li:not(:last-child)::after, ol.m-block-bar-s li:not(:last-child)::after, - ul.m-block-dot-s li:not(:last-child)::after, ol.m-block-dot-s li:not(:last-child)::after { content: ""; } + .m-container { + width: 560px; + } + + .m-container-inflatable .m-col-s-10 .m-container-inflate:not([class*='m-left-']):not([class*='m-right-']) { + margin-left: -10%; + margin-right: -10%; + } + + .m-container-inflatable .m-col-s-10 .m-container-inflate.m-left-s { + margin-left: -10%; + } + + .m-container-inflatable .m-col-s-10 .m-container-inflate.m-right-s { + margin-right: -10%; + } + + [class*='m-col-s-'] { + float: left; + } + + .m-left-s { + padding-right: 1rem; + float: left; + } + + .m-right-s, [class*='m-col-s-'].m-right-s { + padding-left: 1rem; + float: right; + } + + .m-center-s, [class*='m-col-s-'].m-center-s { + margin-left: auto; + margin-right: auto; + float: none; + } + + .m-col-s-1 { + width: calc(1 * 100% / 12); + } + + .m-col-s-2 { + width: calc(2 * 100% / 12); + } + + .m-col-s-3 { + width: calc(3 * 100% / 12); + } + + .m-col-s-4 { + width: calc(4 * 100% / 12); + } + + .m-col-s-5 { + width: calc(5 * 100% / 12); + } + + .m-col-s-6 { + width: calc(6 * 100% / 12); + } + + .m-col-s-7 { + width: calc(7 * 100% / 12); + } + + .m-col-s-8 { + width: calc(8 * 100% / 12); + } + + .m-col-s-9 { + width: calc(9 * 100% / 12); + } + + .m-col-s-10 { + width: calc(10 * 100% / 12); + } + + .m-col-s-11 { + width: calc(11 * 100% / 12); + } + + .m-col-s-12 { + width: calc(12 * 100% / 12); + } + + .m-push-s-0 { + left: calc(0 * 100% / 12); + } + + .m-push-s-1 { + left: calc(1 * 100% / 12); + } + + .m-push-s-2 { + left: calc(2 * 100% / 12); + } + + .m-push-s-3 { + left: calc(3 * 100% / 12); + } + + .m-push-s-4 { + left: calc(4 * 100% / 12); + } + + .m-push-s-5 { + left: calc(5 * 100% / 12); + } + + .m-push-s-6 { + left: calc(6 * 100% / 12); + } + + .m-push-s-7 { + left: calc(7 * 100% / 12); + } + + .m-push-s-8 { + left: calc(8 * 100% / 12); + } + + .m-push-s-9 { + left: calc(9 * 100% / 12); + } + + .m-push-s-10 { + left: calc(10 * 100% / 12); + } + + .m-push-s-11 { + left: calc(11 * 100% / 12); + } + + .m-pull-s-0 { + right: calc(0 * 100% / 12); + } + + .m-pull-s-1 { + right: calc(1 * 100% / 12); + } + + .m-pull-s-2 { + right: calc(2 * 100% / 12); + } + + .m-pull-s-3 { + right: calc(3 * 100% / 12); + } + + .m-pull-s-4 { + right: calc(4 * 100% / 12); + } + + .m-pull-s-5 { + right: calc(5 * 100% / 12); + } + + .m-pull-s-6 { + right: calc(6 * 100% / 12); + } + + .m-pull-s-7 { + right: calc(7 * 100% / 12); + } + + .m-pull-s-8 { + right: calc(8 * 100% / 12); + } + + .m-pull-s-9 { + right: calc(9 * 100% / 12); + } + + .m-pull-s-10 { + right: calc(10 * 100% / 12); + } + + .m-pull-s-11 { + right: calc(11 * 100% / 12); + } + + .m-clearfix-t::after { + display: none; + } + + .m-hide-s { + display: none; + } + + .m-show-s { + display: block; + } + + .m-col-s-none { + width: auto; + float: none; + } } + @media screen and (min-width: 768px) { - ul.m-block-bar-m, ol.m-block-bar-m, - ul.m-block-dot-m, ol.m-block-dot-m { padding-left: 2rem; } - ul.m-block-bar-m li, ol.m-block-bar-m li, - ul.m-block-dot-m li, ol.m-block-dot-m li { display: list-item; } - ul.m-block-bar-m li:not(:last-child)::after, ol.m-block-bar-m li:not(:last-child)::after, - ul.m-block-dot-m li:not(:last-child)::after, ol.m-block-dot-m li:not(:last-child)::after { content: ""; } + .m-container { + width: 750px; + } + + .m-container-inflatable .m-col-m-10 .m-container-inflate:not([class*='m-left-']):not([class*='m-right-']) { + margin-left: -10%; + margin-right: -10%; + } + + .m-container-inflatable .m-col-m-10 .m-container-inflate.m-left-m { + margin-left: -10%; + } + + .m-container-inflatable .m-col-m-10 .m-container-inflate.m-right-m { + margin-right: -10%; + } + + [class*='m-col-m-'] { + float: left; + } + + .m-left-m { + padding-right: 1rem; + float: left; + } + + .m-right-m, [class*='m-col-m-'].m-right-m { + padding-left: 1rem; + float: right; + } + + .m-center-m, [class*='m-col-m-'].m-center-m { + margin-left: auto; + margin-right: auto; + float: none; + } + + .m-col-m-1 { + width: calc(1 * 100% / 12); + } + + .m-col-m-2 { + width: calc(2 * 100% / 12); + } + + .m-col-m-3 { + width: calc(3 * 100% / 12); + } + + .m-col-m-4 { + width: calc(4 * 100% / 12); + } + + .m-col-m-5 { + width: calc(5 * 100% / 12); + } + + .m-col-m-6 { + width: calc(6 * 100% / 12); + } + + .m-col-m-7 { + width: calc(7 * 100% / 12); + } + + .m-col-m-8 { + width: calc(8 * 100% / 12); + } + + .m-col-m-9 { + width: calc(9 * 100% / 12); + } + + .m-col-m-10 { + width: calc(10 * 100% / 12); + } + + .m-col-m-11 { + width: calc(11 * 100% / 12); + } + + .m-col-m-12 { + width: calc(12 * 100% / 12); + } + + .m-push-m-0 { + left: calc(0 * 100% / 12); + } + + .m-push-m-1 { + left: calc(1 * 100% / 12); + } + + .m-push-m-2 { + left: calc(2 * 100% / 12); + } + + .m-push-m-3 { + left: calc(3 * 100% / 12); + } + + .m-push-m-4 { + left: calc(4 * 100% / 12); + } + + .m-push-m-5 { + left: calc(5 * 100% / 12); + } + + .m-push-m-6 { + left: calc(6 * 100% / 12); + } + + .m-push-m-7 { + left: calc(7 * 100% / 12); + } + + .m-push-m-8 { + left: calc(8 * 100% / 12); + } + + .m-push-m-9 { + left: calc(9 * 100% / 12); + } + + .m-push-m-10 { + left: calc(10 * 100% / 12); + } + + .m-push-m-11 { + left: calc(11 * 100% / 12); + } + + .m-pull-m-0 { + right: calc(0 * 100% / 12); + } + + .m-pull-m-1 { + right: calc(1 * 100% / 12); + } + + .m-pull-m-2 { + right: calc(2 * 100% / 12); + } + + .m-pull-m-3 { + right: calc(3 * 100% / 12); + } + + .m-pull-m-4 { + right: calc(4 * 100% / 12); + } + + .m-pull-m-5 { + right: calc(5 * 100% / 12); + } + + .m-pull-m-6 { + right: calc(6 * 100% / 12); + } + + .m-pull-m-7 { + right: calc(7 * 100% / 12); + } + + .m-pull-m-8 { + right: calc(8 * 100% / 12); + } + + .m-pull-m-9 { + right: calc(9 * 100% / 12); + } + + .m-pull-m-10 { + right: calc(10 * 100% / 12); + } + + .m-pull-m-11 { + right: calc(11 * 100% / 12); + } + + .m-clearfix-s::after { + display: none; + } + + .m-hide-m { + display: none; + } + + .m-show-m { + display: block; + } + + .m-col-m-none { + width: auto; + float: none; + } } + @media screen and (min-width: 992px) { - ul.m-block-bar-l, ol.m-block-bar-l, - ul.m-block-dot-l, ol.m-block-dot-l { padding-left: 2rem; } - ul.m-block-bar-l li, ol.m-block-bar-l li, - ul.m-block-dot-l li, ol.m-block-dot-l li { display: list-item; } - ul.m-block-bar-l li:not(:last-child)::after, ol.m-block-bar-l li:not(:last-child)::after, - ul.m-block-dot-l li:not(:last-child)::after, ol.m-block-dot-l li:not(:last-child)::after { content: ""; } -} -p.m-poem { - text-indent: 0; - text-align: left; - margin-left: 1.5rem; -} -p.m-transition { - color: #c7cfd9; - text-indent: 0; - text-align: center; - font-size: 2rem; -} -dl.m-diary { - margin-bottom: 1.25rem; -} -dl.m-diary:last-child { - margin-bottom: 0.25rem; -} -dl.m-diary dt { - font-weight: bold; - width: 6rem; - float: left; - clear: both; - padding-top: 0.25rem; -} -dl.m-diary dd { - padding-top: 0.25rem; - padding-left: 6rem; - margin-left: 0; -} -a.m-footnote, dl.m-footnote dd span.m-footnote { - top: -0.35rem; - font-size: 0.75rem; - line-height: 0; - position: relative; - vertical-align: baseline; -} -a.m-footnote, dl.m-footnote dd span.m-footnote a { - text-decoration: none; -} -a.m-footnote::before { content: '['; } -a.m-footnote::after { content: ']'; } -dl.m-footnote dt { - width: 1.5rem; - float: left; - clear: both; -} -dl.m-footnote dd { - margin-left: 1.5rem; -} -dl.m-footnote { - font-size: 85.4%; + .m-container { + width: 960px; + } + + .m-container-inflatable .m-col-l-10 .m-container-inflate:not([class*='m-left-']):not([class*='m-right-']) { + margin-left: -10%; + margin-right: -10%; + } + + .m-container-inflatable .m-col-l-10 .m-container-inflate.m-left-l { + margin-left: -10%; + } + + .m-container-inflatable .m-col-l-10 .m-container-inflate.m-right-l { + margin-right: -10%; + } + + [class*='m-col-l-'] { + float: left; + } + + .m-left-l { + padding-right: 1rem; + float: left; + } + + .m-right-l, [class*='m-col-l-'].m-right-l { + padding-left: 1rem; + float: right; + } + + .m-center-l, [class*='m-col-l-'].m-center-l { + margin-left: auto; + margin-right: auto; + float: none; + } + + .m-col-l-1 { + width: calc(1 * 100% / 12); + } + + .m-col-l-2 { + width: calc(2 * 100% / 12); + } + + .m-col-l-3 { + width: calc(3 * 100% / 12); + } + + .m-col-l-4 { + width: calc(4 * 100% / 12); + } + + .m-col-l-5 { + width: calc(5 * 100% / 12); + } + + .m-col-l-6 { + width: calc(6 * 100% / 12); + } + + .m-col-l-7 { + width: calc(7 * 100% / 12); + } + + .m-col-l-8 { + width: calc(8 * 100% / 12); + } + + .m-col-l-9 { + width: calc(9 * 100% / 12); + } + + .m-col-l-10 { + width: calc(10 * 100% / 12); + } + + .m-col-l-11 { + width: calc(11 * 100% / 12); + } + + .m-col-l-12 { + width: calc(12 * 100% / 12); + } + + .m-push-l-0 { + left: calc(0 * 100% / 12); + } + + .m-push-l-1 { + left: calc(1 * 100% / 12); + } + + .m-push-l-2 { + left: calc(2 * 100% / 12); + } + + .m-push-l-3 { + left: calc(3 * 100% / 12); + } + + .m-push-l-4 { + left: calc(4 * 100% / 12); + } + + .m-push-l-5 { + left: calc(5 * 100% / 12); + } + + .m-push-l-6 { + left: calc(6 * 100% / 12); + } + + .m-push-l-7 { + left: calc(7 * 100% / 12); + } + + .m-push-l-8 { + left: calc(8 * 100% / 12); + } + + .m-push-l-9 { + left: calc(9 * 100% / 12); + } + + .m-push-l-10 { + left: calc(10 * 100% / 12); + } + + .m-push-l-11 { + left: calc(11 * 100% / 12); + } + + .m-pull-l-0 { + right: calc(0 * 100% / 12); + } + + .m-pull-l-1 { + right: calc(1 * 100% / 12); + } + + .m-pull-l-2 { + right: calc(2 * 100% / 12); + } + + .m-pull-l-3 { + right: calc(3 * 100% / 12); + } + + .m-pull-l-4 { + right: calc(4 * 100% / 12); + } + + .m-pull-l-5 { + right: calc(5 * 100% / 12); + } + + .m-pull-l-6 { + right: calc(6 * 100% / 12); + } + + .m-pull-l-7 { + right: calc(7 * 100% / 12); + } + + .m-pull-l-8 { + right: calc(8 * 100% / 12); + } + + .m-pull-l-9 { + right: calc(9 * 100% / 12); + } + + .m-pull-l-10 { + right: calc(10 * 100% / 12); + } + + .m-pull-l-11 { + right: calc(11 * 100% / 12); + } + + .m-clearfix-m::after { + display: none; + } + + .m-hide-l { + display: none; + } + + .m-show-l { + display: block; + } + + .m-col-l-none { + width: auto; + float: none; + } } -dl.m-footnote dd span.m-footnote a { - font-weight: bold; - font-style: italic; + +html { + font-size: 1em; + background-color: #ffffff; } -.m-note { - border-radius: 0.2rem; - padding: 1rem; + +body { + font-family: 'Source Sans Pro', sans-serif; + font-size: 1rem; + line-height: normal; + color: #000000; } -.m-frame { - background-color: #ffffff; - border-style: solid; - border-width: 0.125rem; - border-radius: 0.2rem; - border-color: #c7cfd9; - padding: 0.875rem; + +h1, h2, h3, h4, h5, h6 { + margin-top: 0; + font-weight: normal; } -.m-block { - border-style: solid; - border-width: 0.0625rem; - border-left-width: 0.25rem; - border-radius: 0.2rem; - border-color: #c7cfd9; - padding: 0.9375rem 0.9375rem 0.9375rem 0.75rem; + +h1 { + margin-bottom: 1rem; } -.m-block.m-badge::after { - content: ' '; - display: block; - clear: both; + +h2, h3, h4, h5, h6 { + margin-bottom: 0.5rem; } -.m-block.m-badge h3 { - margin-left: 5rem; + +p, ul, ol, dl { + margin-top: 0; } -.m-block.m-badge p { - margin-left: 5rem; - text-indent: 0; + +ul, ol { + padding-left: 2rem; } -.m-block.m-badge img { - width: 4rem; - height: 4rem; - border-radius: 2rem; - float: left; + +ul ol, ul ul, ol ol, ol ul { + margin-bottom: 0; } -div.m-button { - text-align: center; + +main p { + text-indent: 1.5rem; + text-align: justify; } -div.m-button a { - display: inline-block; - border-radius: 0.2rem; - padding-top: 0.75rem; - padding-bottom: 0.75rem; - padding-left: 1.5rem; - padding-right: 1.5rem; - text-decoration: none; - font-size: 1.17rem; + +main p.m-noindent, li > p, dd > p, table.m-table td > p { + text-indent: 0; + text-align: left; } -div.m-button.m-fullwidth a { - display: block; - padding-left: 0.5rem; - padding-right: 0.5rem; + +blockquote { + margin-top: 0; + margin-left: 1rem; + margin-right: 1rem; + padding: 1rem; + border-left-style: solid; + border-left-width: 0.25rem; } -div.m-button a .m-big:first-child { - font-size: 1.37rem; - font-weight: bold; + +hr { + width: 75%; + border-width: 0.0625rem; + border-style: solid; } -div.m-button a .m-small:last-child { - font-size: 0.854rem; + +blockquote, hr { + border-color: #c7cfd9; } -.m-label { - border-radius: 0.2rem; - font-size: 75%; - font-weight: normal; - padding: 0.125rem 0.25rem; - vertical-align: 7.5%; + +strong, .m-text.m-strong { + font-weight: bold; } -.m-label.m-flat { - border-width: 0.0625rem; - border-style: solid; - border-color: #bdbdbd; - padding: 0.0625rem 0.1875rem; + +em, .m-text.m-em { + font-style: italic; } -table.m-table { - border-collapse: collapse; - margin-left: auto; - margin-right: auto; + +s, .m-text.m-s { + text-decoration: line-through; } -table.m-table.m-big { - margin-top: 1.75rem; + +sub, sup, .m-text.m-sub, .m-text.m-sup { + font-size: 0.75rem; + line-height: 0; + position: relative; + vertical-align: baseline; } -div.m-scroll > table.m-table:last-child { - margin-bottom: 0.0625rem; + +sup, .m-text.m-sup { + top: -0.35rem; } -table.m-table:not(.m-flat) tbody tr:hover { - background-color: #c7cfd9; + +sub, .m-text.m-sub { + bottom: -0.2rem; } -table.m-table th, table.m-table td { - vertical-align: top; - border-style: solid; - border-top-width: 0.0625rem; - border-left-width: 0; - border-right-width: 0; - border-bottom-width: 0; - border-color: #c7cfd9; + +abbr { + cursor: help; + text-decoration: underline dotted; } -table.m-table caption { - padding-bottom: 0.5rem; + +a { + color: #205275; } -table.m-table thead tr:first-child th, table.m-table thead tr:first-child td { - border-top-width: 0.125rem; + +a.m-flat { + text-decoration: none; } -table.m-table thead th, table.m-table thead td { - border-bottom-width: 0.125rem; - vertical-align: bottom; + +a:hover, a:focus, a:active { + color: #2f73a3; } -table.m-table tfoot th, table.m-table tfoot td { - border-top-width: 0.125rem; + +a img { + border: 0; } -table.m-table th, table.m-table td { - padding: 0.5rem; + +svg a { + cursor: pointer; } -table.m-table.m-big th, table.m-table.m-big td { - padding: 0.75rem 1rem; + +mark { + padding: 0.0625rem; + background-color: #f0c63e; + color: #4c93d3; } -table.m-table th { - text-align: left; + +.m-link-wrap { + word-break: break-all; } -table.m-table th.m-thin { - font-weight: normal; + +pre, code { + font-family: 'Source Code Pro', monospace, monospace, monospace; + font-size: 0.8em; + color: #000000; + background-color: #f2f7fa; } -table.m-table td.m-default, table.m-table th.m-default, -table.m-table td.m-primary, table.m-table th.m-primary, -table.m-table td.m-success, table.m-table th.m-success, -table.m-table td.m-warning, table.m-table th.m-warning, -table.m-table td.m-danger, table.m-table th.m-danger, -table.m-table td.m-info, table.m-table th.m-info, -table.m-table td.m-dim, table.m-table th.m-dim { - padding-left: 0.4375rem; - padding-right: 0.4375rem; - border-left-width: 0.0625rem; + +pre.m-console, code.m-console { + color: #000000; + background-color: #000000; } -table.m-table.m-big td.m-default, table.m-table.m-big th.m-default, -table.m-table.m-big td.m-primary, table.m-table.m-big th.m-primary, -table.m-table.m-big td.m-success, table.m-table.m-big th.m-success, -table.m-table.m-big td.m-warning, table.m-table.m-big th.m-warning, -table.m-table.m-big td.m-danger, table.m-table.m-big th.m-danger, -table.m-table.m-big td.m-info, table.m-table.m-big th.m-info, -table.m-table.m-big td.m-dim, table.m-table.m-big th.m-dim { - padding-left: 0.9375rem; - padding-right: 0.9375rem; - border-left-width: 0.0625rem; + +pre { + padding: 0.5rem 1rem; + border-radius: 0.2rem; + overflow-x: auto; + margin-top: 0; } -table.m-table tr.m-default td, table.m-table td.m-default, -table.m-table tr.m-default th, table.m-table th.m-default, -table.m-table tr.m-primary td, table.m-table td.m-primary, -table.m-table tr.m-primary th, table.m-table th.m-primary, -table.m-table tr.m-success td, table.m-table td.m-success, -table.m-table tr.m-success th, table.m-table th.m-success, -table.m-table tr.m-warning td, table.m-table td.m-warning, -table.m-table tr.m-warning th, table.m-table th.m-warning, -table.m-table tr.m-danger td, table.m-table td.m-danger, -table.m-table tr.m-danger th, table.m-table th.m-danger, -table.m-table tr.m-info td, table.m-table td.m-info, -table.m-table tr.m-info th, table.m-table th.m-info, -table.m-table tr.m-dim td, table.m-table td.m-dim, -table.m-table tr.m-dim th, table.m-table th.m-dim { - border-color: #ffffff; + +pre.m-console-wrap { + white-space: pre-wrap; + word-break: break-all; } -.m-note pre, .m-note code, -table.m-table tr.m-default pre, table.m-table tr.m-default code, -table.m-table td.m-default pre, table.m-table td.m-default code, -table.m-table th.m-default pre, table.m-table th.m-default code, -table.m-table tr.m-primary pre, table.m-table tr.m-primary code, -table.m-table td.m-primary pre, table.m-table td.m-primary code, -table.m-table th.m-primary pre, table.m-table th.m-primary code, -table.m-table tr.m-success pre, table.m-table tr.m-success code, -table.m-table td.m-success pre, table.m-table td.m-success code, -table.m-table th.m-success pre, table.m-table th.m-success code, -table.m-table tr.m-warning pre, table.m-table tr.m-warning code, -table.m-table td.m-warning pre, table.m-table td.m-warning code, -table.m-table th.m-warning pre, table.m-table th.m-warning code, -table.m-table tr.m-danger pre, table.m-table tr.m-danger code, -table.m-table td.m-danger pre, table.m-table td.m-danger code, -table.m-table th.m-danger pre, table.m-table th.m-danger code, -table.m-table tr.m-info pre, table.m-table tr.m-info code, -table.m-table td.m-info pre, table.m-table td.m-info code, -table.m-table th.m-info pre, table.m-table th.m-info code, -table.m-table tr.m-dim pre, table.m-table tr.m-dim code, -table.m-table td.m-dim pre, table.m-table td.m-dim code, -table.m-table th.m-dim pre, table.m-table th.m-dim code { - background-color: rgba(251, 240, 236, 0.5); + +code { + padding: 0.125rem; } -img.m-image, svg.m-image { - display: block; - margin-left: auto; - margin-right: auto; + +*:focus { + outline-color: #2f73a3; } -div.m-image { - text-align: center; + +div.m-scroll { + max-width: 100%; + overflow-x: auto; } -img.m-image, svg.m-image, div.m-image img, div.m-image svg { - max-width: 100%; - border-radius: 0.2rem; + +.m-fullwidth { + width: 100%; } -div.m-image.m-fullwidth img, div.m-image.m-fullwidth svg { - width: 100%; + +.m-spacing-150 { + line-height: 1.5rem; } -img.m-image.m-badge, div.m-image.m-badge img { - border-radius: 50%; + +.m-text-center, .m-text-center.m-noindent, table.m-table th.m-text-center, .m-text-center p { + text-align: center; } -figure.m-figure { - max-width: 100%; - margin-top: 0; - margin-left: auto; - margin-right: auto; - position: relative; - display: table; + +.m-text-left, .m-text-left.m-noindent, table.m-table th.m-text-left, .m-text-right p { + text-align: left; } -figure.m-figure:before { - position: absolute; - content: ' '; - top: 0; - bottom: 0; - left: 0; - right: 0; - z-index: -1; - border-style: solid; - border-width: 0.125rem; - border-radius: 0.2rem; - border-color: #c7cfd9; + +.m-text-right, .m-text-right.m-noindent, table.m-table th.m-text-right, .m-text-right p { + text-align: right; } -figure.m-figure.m-flat:before { - border-color: transparent; + +.m-text-top, table.m-table th.m-text-top, table.m-table td.m-text-top { + vertical-align: top; } -figure.m-figure > * { - margin-left: 1rem; - margin-right: 1rem; - display: table-caption; - caption-side: bottom; + +.m-text-middle, table.m-table th.m-text-middle, table.m-table td.m-text-middle { + vertical-align: middle; } -figure.m-figure > *:first-child { - display: inline; + +.m-text-bottom, table.m-table th.m-text-bottom, table.m-table td.m-text-bottom { + vertical-align: bottom; } -figure.m-figure > *:last-child { - margin-bottom: 1rem !important; + +.m-text.m-tiny { + font-size: 50.0%; } -figure.m-figure img, figure.m-figure svg { - position: relative; - margin-left: 0; - margin-right: 0; - margin-bottom: 0; - border-top-left-radius: 0.2rem; - border-top-right-radius: 0.2rem; - max-width: 100%; + +.m-text.m-small { + font-size: 85.4%; } -figure.m-figure.m-flat img, figure.m-figure.m-flat svg { - border-bottom-left-radius: 0.2rem; - border-bottom-right-radius: 0.2rem; + +.m-text.m-big { + font-size: 117%; } -figure.m-figure a img, figure.m-figure a svg { - margin-left: -1rem; - margin-right: -1rem; + +h1 .m-thin, h2 .m-thin, h3 .m-thin, h4 .m-thin, h5 .m-thin, h6 .m-thin { + font-weight: normal; } -figure.m-figure.m-fullwidth, figure.m-figure.m-fullwidth > * { - display: block; + +ul.m-unstyled, ol.m-unstyled { + list-style-type: none; + padding-left: 0; } -figure.m-figure.m-fullwidth > *:first-child { - display: inline; + +ul[class*='m-block-'], ol[class*='m-block-'] { + padding-left: 0; } -figure.m-figure.m-fullwidth img, figure.m-figure.m-fullwidth svg { - width: 100%; + +ul[class*='m-block-'] li, ol[class*='m-block-'] li { + display: inline; } -figure.m-figure.m-fullwidth:after { - content: ' '; - display: block; - margin-top: 1rem; - height: 1px; + +ul[class*='m-block-bar-'] li:not(:last-child)::after, ol[class*='m-block-bar-'] li:not(:last-child)::after { + content: " | "; } -.m-code-figure, .m-console-figure { - margin-top: 0; - margin-left: 0; - margin-right: 0; - position: relative; - padding: 1rem; + +ul[class*='m-block-dot-'] li:not(:last-child)::after, ol[class*='m-block-dot-'] li:not(:last-child)::after { + content: " • "; } -.m-code-figure:before, .m-console-figure:before { - position: absolute; - content: ' '; - top: 0; - bottom: 0; - left: 0; - right: 0; - z-index: -1; - border-style: solid; - border-width: 0.125rem; - border-radius: 0.2rem; + +@media screen and (min-width: 576px) { + ul.m-block-bar-s, ol.m-block-bar-s, + ul.m-block-dot-s, ol.m-block-dot-s { + padding-left: 2rem; + } + + ul.m-block-bar-s li, ol.m-block-bar-s li, + ul.m-block-dot-s li, ol.m-block-dot-s li { + display: list-item; + } + + ul.m-block-bar-s li:not(:last-child)::after, ol.m-block-bar-s li:not(:last-child)::after, + ul.m-block-dot-s li:not(:last-child)::after, ol.m-block-dot-s li:not(:last-child)::after { + content: ""; + } } -.m-code-figure:before { - border-color: #f2f7fa; + +@media screen and (min-width: 768px) { + ul.m-block-bar-m, ol.m-block-bar-m, + ul.m-block-dot-m, ol.m-block-dot-m { + padding-left: 2rem; + } + + ul.m-block-bar-m li, ol.m-block-bar-m li, + ul.m-block-dot-m li, ol.m-block-dot-m li { + display: list-item; + } + + ul.m-block-bar-m li:not(:last-child)::after, ol.m-block-bar-m li:not(:last-child)::after, + ul.m-block-dot-m li:not(:last-child)::after, ol.m-block-dot-m li:not(:last-child)::after { + content: ""; + } } -.m-console-figure:before { - border-color: #000000; + +@media screen and (min-width: 992px) { + ul.m-block-bar-l, ol.m-block-bar-l, + ul.m-block-dot-l, ol.m-block-dot-l { + padding-left: 2rem; + } + + ul.m-block-bar-l li, ol.m-block-bar-l li, + ul.m-block-dot-l li, ol.m-block-dot-l li { + display: list-item; + } + + ul.m-block-bar-l li:not(:last-child)::after, ol.m-block-bar-l li:not(:last-child)::after, + ul.m-block-dot-l li:not(:last-child)::after, ol.m-block-dot-l li:not(:last-child)::after { + content: ""; + } } -.m-code-figure.m-flat:before, .m-console-figure.m-flat:before { - border-color: transparent; -} -.m-code-figure > pre:first-child, .m-console-figure > pre:first-child { - position: relative; - margin: -1rem -1rem 1rem -1rem; - border-bottom-left-radius: 0; - border-bottom-right-radius: 0; + +p.m-poem { + text-indent: 0; + text-align: left; + margin-left: 1.5rem; } -.m-code-figure > pre.m-nopad, .m-console-figure > pre.m-nopad { - margin-left: -0.875rem; - margin-right: -0.875rem; - margin-top: -1rem; - margin-bottom: -0.875rem; - padding-left: 0.875rem; + +p.m-transition { + color: #c7cfd9; + text-indent: 0; + text-align: center; + font-size: 2rem; } -figure.m-figure figcaption, .m-code-figure figcaption, .m-console-figure figcaption { - margin-top: 0.5rem; - margin-bottom: 0.5rem; - font-weight: normal; - font-size: 1.17rem; + +dl.m-diary { + margin-bottom: 1.25rem; } -.m-imagegrid > div { - background-color: #ffffff; + +dl.m-diary:last-child { + margin-bottom: 0.25rem; } -.m-imagegrid > div > figure { - display: block; - float: left; - position: relative; - margin: 0; + +dl.m-diary dt { + font-weight: bold; + width: 6rem; + float: left; + clear: both; + padding-top: 0.25rem; } -.m-imagegrid > div > figure > div, -.m-imagegrid > div > figure > figcaption, -.m-imagegrid > div > figure > a > div, -.m-imagegrid > div > figure > a > figcaption { - position: absolute; - top: 0; - left: 0; - width: 100%; - height: 100%; - border-color: #ffffff; - border-style: solid; - border-width: 0.25rem; - padding: 0.5rem; + +dl.m-diary dd { + padding-top: 0.25rem; + padding-left: 6rem; + margin-left: 0; } -.m-imagegrid > div > figure:first-child > div, -.m-imagegrid > div > figure:first-child > figcaption, -.m-imagegrid > div > figure:first-child > a > div, -.m-imagegrid > div > figure:first-child > a > figcaption { - border-left-width: 0; + +a.m-footnote, dl.m-footnote dd span.m-footnote { + top: -0.35rem; + font-size: 0.75rem; + line-height: 0; + position: relative; + vertical-align: baseline; } -.m-imagegrid > div > figure:last-child > div, -.m-imagegrid > div > figure:last-child > figcaption, -.m-imagegrid > div > figure:last-child > a > div, -.m-imagegrid > div > figure:last-child > a > figcaption { - border-right-width: 0; + +a.m-footnote, dl.m-footnote dd span.m-footnote a { + text-decoration: none; } -.m-imagegrid > div > figure > figcaption, -.m-imagegrid > div > figure > a > figcaption { - color: transparent; - overflow: hidden; - text-overflow: ellipsis; - white-space: nowrap; - font-size: 0.75rem; + +a.m-footnote::before { + content: '['; } -.m-imagegrid > div > figure > div::before, -.m-imagegrid > div > figure > figcaption::before, -.m-imagegrid > div > figure > a > div::before, -.m-imagegrid > div > figure > a > figcaption::before { - content: ''; - display: inline-block; - height: 100%; - vertical-align: bottom; - width: 0; + +a.m-footnote::after { + content: ']'; } -.m-imagegrid > div > figure:hover > figcaption, -.m-imagegrid > div > figure:hover > a > figcaption { - background: linear-gradient(transparent 0%, transparent 75%, rgba(0, 0, 0, 0.85) 100%); - color: #ffffff; + +dl.m-footnote dt { + width: 1.5rem; + float: left; + clear: both; } -.m-imagegrid > div > figure > img, -.m-imagegrid > div > figure > a > img { - width: 100%; - height: 100%; + +dl.m-footnote dd { + margin-left: 1.5rem; } -.m-imagegrid > div::after { - display: block; - content: ' '; - clear: both; + +dl.m-footnote { + font-size: 85.4%; } -@media screen and (max-width: 767px) { - .m-imagegrid > div > figure { - float: none; - width: 100% !important; - } - .m-imagegrid > div > figure > div, - .m-imagegrid > div > figure > figcaption, - .m-imagegrid > div > figure > a > div, - .m-imagegrid > div > figure > a > figcaption { - border-left-width: 0; - border-right-width: 0; - } + +dl.m-footnote dd span.m-footnote a { + font-weight: bold; + font-style: italic; } -.m-container-inflatable > .m-row > [class*='m-col-'] > .m-note, -.m-container-inflatable > .m-row > [class*='m-col-'] > .m-frame, -.m-container-inflatable > .m-row > [class*='m-col-'] > .m-block, -.m-container-inflatable > .m-row > [class*='m-col-'] > .m-imagegrid, -.m-container-inflatable > .m-row > [class*='m-col-'] > pre, -.m-container-inflatable > .m-row > [class*='m-col-'] > .m-code-figure, -.m-container-inflatable > .m-row > [class*='m-col-'] > .m-console-figure, -.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-note, -.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-frame, -.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-block, -.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-imagegrid, -.m-container-inflatable > .m-row > [class*='m-col-'] section > pre, -.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-code-figure, -.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-console-figure, -.m-container-inflatable [class*='m-center-'] > .m-note, -.m-container-inflatable [class*='m-center-'] > .m-frame, -.m-container-inflatable [class*='m-center-'] > .m-block, -.m-container-inflatable [class*='m-center-'] > .m-imagegrid, -.m-container-inflatable [class*='m-center-'] > pre, -.m-container-inflatable [class*='m-center-'] > .m-code-figure, -.m-container-inflatable [class*='m-center-'] > .m-console-figure, -.m-container-inflatable [class*='m-left-'] > .m-note, -.m-container-inflatable [class*='m-left-'] > .m-frame, -.m-container-inflatable [class*='m-left-'] > .m-block, -.m-container-inflatable [class*='m-left-'] > .m-imagegrid, -.m-container-inflatable [class*='m-left-'] > pre, -.m-container-inflatable [class*='m-left-'] > .m-code-figure, -.m-container-inflatable [class*='m-left-'] > .m-console-figure, -.m-container-inflatable [class*='m-right-'] > .m-note, -.m-container-inflatable [class*='m-right-'] > .m-frame, -.m-container-inflatable [class*='m-right-'] > .m-block, -.m-container-inflatable [class*='m-right-'] > .m-imagegrid, -.m-container-inflatable [class*='m-right-'] > pre, -.m-container-inflatable [class*='m-right-'] > .m-code-figure, -.m-container-inflatable [class*='m-right-'] > .m-console-figure, -.m-container-inflatable .m-container-inflate > .m-note, -.m-container-inflatable .m-container-inflate > .m-frame, -.m-container-inflatable .m-container-inflate > .m-block, -.m-container-inflatable .m-container-inflate > .m-imagegrid, -.m-container-inflatable .m-container-inflate > pre, -.m-container-inflatable .m-container-inflate > .m-code-figure, -.m-container-inflatable .m-container-inflate > .m-console-figure -{ - margin-left: -1rem; - margin-right: -1rem; + +.m-note { + border-radius: 0.2rem; + padding: 1rem; } -@media screen and (min-width: 576px) { - .m-container-inflatable .m-center-s > .m-note, - .m-container-inflatable .m-center-s > .m-frame, - .m-container-inflatable .m-center-s > .m-block, - .m-container-inflatable .m-center-s > .m-imagegrid, - .m-container-inflatable .m-center-s > pre, - .m-container-inflatable .m-center-s > .m-code-figure, - .m-container-inflatable .m-center-s > .m-console-figure { - margin-left: -1rem; - margin-right: -1rem; - } - .m-container-inflatable .m-left-s > .m-note, - .m-container-inflatable .m-left-s > .m-frame, - .m-container-inflatable .m-left-s > .m-block, - .m-container-inflatable .m-left-s > .m-imagegrid, - .m-container-inflatable .m-left-s > pre, - .m-container-inflatable .m-left-s > .m-code-figure, - .m-container-inflatable .m-left-s > .m-console-figure { - margin-left: -1rem; - margin-right: 0; - } - .m-container-inflatable .m-right-s > .m-note, - .m-container-inflatable .m-right-s > .m-frame, - .m-container-inflatable .m-right-s > .m-block, - .m-container-inflatable .m-right-s > .m-imagegrid, - .m-container-inflatable .m-right-s > pre, - .m-container-inflatable .m-right-s > .m-code-figure, - .m-container-inflatable .m-right-s > .m-console-figure { - margin-left: 0; - margin-right: -1rem; - } - .m-container-inflatable > .m-row > .m-col-s-10 > .m-imagegrid.m-container-inflate, - .m-container-inflatable > .m-row > .m-col-s-10 section > .m-imagegrid.m-container-inflate { - margin-left: -10%; - margin-right: -10%; - } + +.m-frame { + background-color: #ffffff; + border-style: solid; + border-width: 0.125rem; + border-radius: 0.2rem; + border-color: #c7cfd9; + padding: 0.875rem; } -@media screen and (min-width: 768px) { - .m-container-inflatable .m-center-m > .m-note, - .m-container-inflatable .m-center-m > .m-frame, - .m-container-inflatable .m-center-m > .m-block, - .m-container-inflatable .m-center-m > .m-imagegrid, - .m-container-inflatable .m-center-m > pre, - .m-container-inflatable .m-center-m > .m-code-figure, - .m-container-inflatable .m-center-m > .m-console-figure { - margin-left: -1rem; - margin-right: -1rem; - } - .m-container-inflatable .m-left-m > .m-note, - .m-container-inflatable .m-left-m > .m-frame, - .m-container-inflatable .m-left-m > .m-block, - .m-container-inflatable .m-left-m > .m-imagegrid, - .m-container-inflatable .m-left-m > pre, - .m-container-inflatable .m-left-m > .m-code-figure, - .m-container-inflatable .m-left-m > .m-console-figure { - margin-left: -1rem; - margin-right: 0; - } - .m-container-inflatable .m-right-m > .m-note, - .m-container-inflatable .m-right-m > .m-frame, - .m-container-inflatable .m-right-m > .m-block, - .m-container-inflatable .m-right-m > .m-imagegrid, - .m-container-inflatable .m-right-m > pre, - .m-container-inflatable .m-right-m > .m-code-figure, - .m-container-inflatable .m-right-m > .m-console-figure { - margin-left: 0; - margin-right: -1rem; - } - .m-container-inflatable > .m-row > .m-col-m-10 > .m-imagegrid.m-container-inflate, - .m-container-inflatable > .m-row > .m-col-m-10 section > .m-imagegrid.m-container-inflate { - margin-left: -10%; - margin-right: -10%; - } + +.m-block { + border-style: solid; + border-width: 0.0625rem; + border-left-width: 0.25rem; + border-radius: 0.2rem; + border-color: #c7cfd9; + padding: 0.9375rem 0.9375rem 0.9375rem 0.75rem; } -@media screen and (min-width: 992px) { - .m-container-inflatable .m-center-l > .m-note, - .m-container-inflatable .m-center-l > .m-frame, - .m-container-inflatable .m-center-l > .m-block, - .m-container-inflatable .m-center-l > .m-imagegrid, - .m-container-inflatable .m-center-l > pre, - .m-container-inflatable .m-center-l > .m-code-figure, - .m-container-inflatable .m-center-l > .m-console-figure { - margin-left: -1rem; - margin-right: -1rem; - } - .m-container-inflatable .m-left-l > .m-note, - .m-container-inflatable .m-left-l > .m-frame, - .m-container-inflatable .m-left-l > .m-block, - .m-container-inflatable .m-left-l > .m-imagegrid, - .m-container-inflatable .m-left-l > pre, - .m-container-inflatable .m-left-l > .m-code-figure, - .m-container-inflatable .m-left-l > .m-console-figure { - margin-left: -1rem; - margin-right: 0; - } - .m-container-inflatable .m-right-l > .m-note, - .m-container-inflatable .m-right-l > .m-frame, - .m-container-inflatable .m-right-l > .m-block, - .m-container-inflatable .m-right-l > .m-imagegrid, - .m-container-inflatable .m-right-l > pre, - .m-container-inflatable .m-right-l > .m-code-figure, - .m-container-inflatable .m-right-l > .m-console-figure { - margin-left: 0; - margin-right: -1rem; - } - .m-container-inflatable > .m-row > .m-col-l-10 > .m-imagegrid.m-container-inflate, - .m-container-inflatable > .m-row > .m-col-l-10 section > .m-imagegrid.m-container-inflate { - margin-left: -10%; - margin-right: -10%; - } + +.m-block.m-badge::after { + content: ' '; + display: block; + clear: both; } -pre.m-code span.hll { - margin-left: -1.0rem; - margin-right: -1.0rem; - padding-left: 1.0rem; + +.m-block.m-badge h3 { + margin-left: 5rem; } -.m-code.m-inverted > span, .m-console.m-inverted > span { - opacity: 0.3333; + +.m-block.m-badge p { + margin-left: 5rem; + text-indent: 0; } -.m-code.m-inverted > span.hll, .m-console.m-inverted > span.hll { - opacity: 1; - background-color: transparent; - border-color: transparent; -} -.m-code.m-inverted { color: rgba(91, 91, 91, 0.33); } -.m-console.m-inverted { color: rgba(91, 91, 91, 0.33); } -.m-code.m-inverted > span.hll { color: #000000; } -.m-cosole.m-inverted > span.hll { color: #000000; } -.m-code-color { - display: inline-block; - width: 0.75rem; - height: 0.75rem; - vertical-align: -0.05rem; - margin-left: 0.2rem; - margin-right: 0.1rem; - border-radius: 0.1rem; + +.m-block.m-badge img { + width: 4rem; + height: 4rem; + border-radius: 2rem; + float: left; } -div.m-math { - overflow-x: auto; - overflow-y: hidden; + +div.m-button { + text-align: center; } -div.m-math svg { - margin-left: auto; - margin-right: auto; - display: block; + +div.m-button a { + display: inline-block; + border-radius: 0.2rem; + padding-top: 0.75rem; + padding-bottom: 0.75rem; + padding-left: 1.5rem; + padding-right: 1.5rem; + text-decoration: none; + font-size: 1.17rem; } -div.m-button a svg.m-math { fill: #ffffff; } -div.m-button.m-flat a svg.m-math { fill: #000000; } -div.m-button.m-flat a:hover svg.m-math, div.m-button.m-default a:focus svg.m-math, -div.m-button.m-default a:active svg.m-math { - fill: #2f73a3; + +div.m-button.m-fullwidth a { + display: block; + padding-left: 0.5rem; + padding-right: 0.5rem; } -.m-graph { font-size: 1em; } -div.m-plot svg, div.m-graph svg { - max-width: 100%; - margin-left: auto; - margin-right: auto; - display: block; -} -div.m-plot .m-background { fill: #f2f7fa; } -div.m-plot svg .m-label { font-size: 11px; } -div.m-plot svg .m-title { font-size: 13px; } -div.m-plot svg .m-label, div.m-plot svg .m-title { fill: #000000; } -div.m-plot svg .m-line { - stroke: #000000; - stroke-width: 0.8; + +div.m-button a .m-big:first-child { + font-size: 1.37rem; + font-weight: bold; } -div.m-plot svg .m-error { - stroke: #000000; - stroke-width: 1.5; + +div.m-button a .m-small:last-child { + font-size: 0.854rem; } -div.m-plot svg .m-label.m-dim { fill: #bdbdbd; } -.m-graph g.m-edge path, .m-graph g.m-node.m-flat ellipse, -.m-graph g.m-node.m-flat polygon { - fill: none; + +.m-label { + border-radius: 0.2rem; + font-size: 75%; + font-weight: normal; + padding: 0.125rem 0.25rem; + vertical-align: 7.5%; } -.m-graph g.m-node:not(.m-flat) text { - fill: #ffffff; + +.m-label.m-flat { + border-width: 0.0625rem; + border-style: solid; + border-color: #bdbdbd; + padding: 0.0625rem 0.1875rem; } -figure.m-figure > svg.m-math:first-child, -figure.m-figure > svg.m-graph:first-child { - padding: 1rem; - box-sizing: content-box; + +table.m-table { + border-collapse: collapse; + margin-left: auto; + margin-right: auto; } -figure.m-figure:not(.m-flat) > svg.m-math:first-child, -figure.m-figure:not(.m-flat) > svg.m-graph:first-child { - background-color: #c7cfd9; + +table.m-table.m-big { + margin-top: 1.75rem; } -.m-block.m-default { border-left-color: #c7cfd9; } -.m-block.m-default h3, .m-block.m-default h4, .m-block.m-default h5, .m-block.m-default h6, -.m-text.m-default, .m-label.m-flat.m-default { - color: #000000; + +div.m-scroll > table.m-table:last-child { + margin-bottom: 0.0625rem; } -.m-block.m-default h3 a, .m-block.m-default h4 a, .m-block.m-default h5 a, .m-block.m-default h6 a { - color: #205275; + +table.m-table:not(.m-flat) tbody tr:hover { + background-color: #c7cfd9; } -.m-block.m-primary { border-left-color: #205275; } -.m-block.m-primary h3, .m-block.m-primary h4, .m-block.m-primary h5, .m-block.m-primary h6, -.m-block.m-primary h3 a, .m-block.m-primary h4 a, .m-block.m-primary h5 a, .m-block.m-primary h6 a, -.m-text.m-primary, .m-label.m-flat.m-primary { - color: #205275; + +table.m-table th, table.m-table td { + vertical-align: top; + border-style: solid; + border-top-width: 0.0625rem; + border-left-width: 0; + border-right-width: 0; + border-bottom-width: 0; + border-color: #c7cfd9; } -.m-block.m-success { border-left-color: #31c25d; } -.m-block.m-success h3, .m-block.m-success h4, .m-block.m-success h5, .m-block.m-success h6, -.m-block.m-success h3 a, .m-block.m-success h4 a, .m-block.m-success h5 a, .m-block.m-success h6 a, -.m-text.m-success, .m-label.m-flat.m-success { - color: #31c25d; + +table.m-table caption { + padding-bottom: 0.5rem; } -.m-block.m-warning { border-left-color: #d19600; } -.m-block.m-warning h3, .m-block.m-warning h4, .m-block.m-warning h5, .m-block.m-warning h6, -.m-block.m-warning h3 a, .m-block.m-warning h4 a, .m-block.m-warning h5 a, .m-block.m-warning h6 a, -.m-text.m-warning, .m-label.m-flat.m-warning { - color: #d19600; + +table.m-table thead tr:first-child th, table.m-table thead tr:first-child td { + border-top-width: 0.125rem; } -.m-block.m-danger { border-left-color: #f60000; } -.m-block.m-danger h3, .m-block.m-danger h4, .m-block.m-danger h5, .m-block.m-danger h6, -.m-block.m-danger h3 a, .m-block.m-danger h4 a, .m-block.m-danger h5 a, .m-block.m-danger h6 a, -.m-text.m-danger, .m-label.m-flat.m-danger { - color: #f60000; + +table.m-table thead th, table.m-table thead td { + border-bottom-width: 0.125rem; + vertical-align: bottom; } -.m-block.m-info { border-left-color: #2e7dc5; } -.m-block.m-info h3, .m-block.m-info h4, .m-block.m-info h5, .m-block.m-info h6, -.m-block.m-info h3 a, .m-block.m-info h4 a, .m-block.m-info h5 a, .m-block.m-info h6 a, -.m-text.m-info, .m-label.m-flat.m-info { - color: #2e7dc5; + +table.m-table tfoot th, table.m-table tfoot td { + border-top-width: 0.125rem; } -.m-block.m-dim { border-left-color: #bdbdbd; } -.m-block.m-dim, .m-text.m-dim, .m-label.m-flat.m-dim { - color: #bdbdbd; + +table.m-table th, table.m-table td { + padding: 0.5rem; } -.m-block.m-dim a, .m-text.m-dim a { color: #c0c0c0; } -.m-block.m-dim a:hover, .m-block.m-dim a:focus, .m-block.m-dim a:active, -.m-text.m-dim a:hover, .m-text.m-dim a:focus, .m-text.m-dim a:active { - color: #949494; + +table.m-table.m-big th, table.m-table.m-big td { + padding: 0.75rem 1rem; } -.m-block.m-flat { border-color: transparent; } -.m-block.m-flat h3, .m-block.m-flat h4, .m-block.m-flat h5, .m-block.m-flat h6 { - color: #000000; + +table.m-table th { + text-align: left; } -.m-block.m-default h3 a:hover, .m-block.m-default h3 a:focus, .m-block.m-default h3 a:active, -.m-block.m-default h4 a:hover, .m-block.m-default h4 a:focus, .m-block.m-default h4 a:active, -.m-block.m-default h5 a:hover, .m-block.m-default h5 a:focus, .m-block.m-default h5 a:active, -.m-block.m-default h6 a:hover, .m-block.m-default h6 a:focus, .m-block.m-default h6 a:active { - color: #205275; + +table.m-table th.m-thin { + font-weight: normal; } -.m-block.m-primary h3 a:hover, .m-block.m-primary h3 a:focus, .m-block.m-primary h3 a:active, -.m-block.m-primary h4 a:hover, .m-block.m-primary h4 a:focus, .m-block.m-primary h4 a:active, -.m-block.m-primary h5 a:hover, .m-block.m-primary h5 a:focus, .m-block.m-primary h5 a:active, -.m-block.m-primary h6 a:hover, .m-block.m-primary h6 a:focus, .m-block.m-primary h6 a:active { - color: #000000; + +table.m-table td.m-default, table.m-table th.m-default, +table.m-table td.m-primary, table.m-table th.m-primary, +table.m-table td.m-success, table.m-table th.m-success, +table.m-table td.m-warning, table.m-table th.m-warning, +table.m-table td.m-danger, table.m-table th.m-danger, +table.m-table td.m-info, table.m-table th.m-info, +table.m-table td.m-dim, table.m-table th.m-dim { + padding-left: 0.4375rem; + padding-right: 0.4375rem; + border-left-width: 0.0625rem; } -.m-block.m-success h3 a:hover, .m-block.m-success h3 a:focus, .m-block.m-success h3 a:active, -.m-block.m-success h4 a:hover, .m-block.m-success h4 a:focus, .m-block.m-success h4 a:active, -.m-block.m-success h5 a:hover, .m-block.m-success h5 a:focus, .m-block.m-success h5 a:active, -.m-block.m-success h6 a:hover, .m-block.m-success h6 a:focus, .m-block.m-success h6 a:active { - color: #dcf6e3; + +table.m-table.m-big td.m-default, table.m-table.m-big th.m-default, +table.m-table.m-big td.m-primary, table.m-table.m-big th.m-primary, +table.m-table.m-big td.m-success, table.m-table.m-big th.m-success, +table.m-table.m-big td.m-warning, table.m-table.m-big th.m-warning, +table.m-table.m-big td.m-danger, table.m-table.m-big th.m-danger, +table.m-table.m-big td.m-info, table.m-table.m-big th.m-info, +table.m-table.m-big td.m-dim, table.m-table.m-big th.m-dim { + padding-left: 0.9375rem; + padding-right: 0.9375rem; + border-left-width: 0.0625rem; } -.m-block.m-warning h3 a:hover, .m-block.m-warning h3 a:focus, .m-block.m-warning h3 a:active, -.m-block.m-warning h4 a:hover, .m-block.m-warning h4 a:focus, .m-block.m-warning h4 a:active, -.m-block.m-warning h5 a:hover, .m-block.m-warning h5 a:focus, .m-block.m-warning h5 a:active, -.m-block.m-warning h6 a:hover, .m-block.m-warning h6 a:focus, .m-block.m-warning h6 a:active { - color: #fff1cc; + +table.m-table tr.m-default td, table.m-table td.m-default, +table.m-table tr.m-default th, table.m-table th.m-default, +table.m-table tr.m-primary td, table.m-table td.m-primary, +table.m-table tr.m-primary th, table.m-table th.m-primary, +table.m-table tr.m-success td, table.m-table td.m-success, +table.m-table tr.m-success th, table.m-table th.m-success, +table.m-table tr.m-warning td, table.m-table td.m-warning, +table.m-table tr.m-warning th, table.m-table th.m-warning, +table.m-table tr.m-danger td, table.m-table td.m-danger, +table.m-table tr.m-danger th, table.m-table th.m-danger, +table.m-table tr.m-info td, table.m-table td.m-info, +table.m-table tr.m-info th, table.m-table th.m-info, +table.m-table tr.m-dim td, table.m-table td.m-dim, +table.m-table tr.m-dim th, table.m-table th.m-dim { + border-color: #ffffff; } -.m-block.m-danger h3 a:hover, .m-block.m-danger h3 a:focus, .m-block.m-danger h3 a:active, -.m-block.m-danger h4 a:hover, .m-block.m-danger h4 a:focus, .m-block.m-danger h4 a:active, -.m-block.m-danger h5 a:hover, .m-block.m-danger h5 a:focus, .m-block.m-danger h5 a:active, -.m-block.m-danger h6 a:hover, .m-block.m-danger h6 a:focus, .m-block.m-danger h6 a:active { - color: #f6dddc; + +.m-note pre, .m-note code, +table.m-table tr.m-default pre, table.m-table tr.m-default code, +table.m-table td.m-default pre, table.m-table td.m-default code, +table.m-table th.m-default pre, table.m-table th.m-default code, +table.m-table tr.m-primary pre, table.m-table tr.m-primary code, +table.m-table td.m-primary pre, table.m-table td.m-primary code, +table.m-table th.m-primary pre, table.m-table th.m-primary code, +table.m-table tr.m-success pre, table.m-table tr.m-success code, +table.m-table td.m-success pre, table.m-table td.m-success code, +table.m-table th.m-success pre, table.m-table th.m-success code, +table.m-table tr.m-warning pre, table.m-table tr.m-warning code, +table.m-table td.m-warning pre, table.m-table td.m-warning code, +table.m-table th.m-warning pre, table.m-table th.m-warning code, +table.m-table tr.m-danger pre, table.m-table tr.m-danger code, +table.m-table td.m-danger pre, table.m-table td.m-danger code, +table.m-table th.m-danger pre, table.m-table th.m-danger code, +table.m-table tr.m-info pre, table.m-table tr.m-info code, +table.m-table td.m-info pre, table.m-table td.m-info code, +table.m-table th.m-info pre, table.m-table th.m-info code, +table.m-table tr.m-dim pre, table.m-table tr.m-dim code, +table.m-table td.m-dim pre, table.m-table td.m-dim code, +table.m-table th.m-dim pre, table.m-table th.m-dim code { + background-color: rgba(251, 240, 236, 0.5); } -.m-block.m-info h3 a:hover, .m-block.m-info h3 a:focus, .m-block.m-info h3 a:active, -.m-block.m-info h4 a:hover, .m-block.m-info h4 a:focus, .m-block.m-info h4 a:active, -.m-block.m-info h5 a:hover, .m-block.m-info h5 a:focus, .m-block.m-info h5 a:active, -.m-block.m-info h6 a:hover, .m-block.m-info h6 a:focus, .m-block.m-info h6 a:active { - color: #c6ddf2; + +img.m-image, svg.m-image { + display: block; + margin-left: auto; + margin-right: auto; } -div.m-button a, .m-label { color: #ffffff; } -div.m-button.m-flat a { color: #000000; } -div.m-button.m-flat a:hover, div.m-button.m-default a:focus, div.m-button.m-default a:active { - color: #2f73a3; -} -div.m-button.m-default a, .m-label:not(.m-flat).m-default { background-color: #000000; } -div.m-button.m-primary a, .m-label:not(.m-flat).m-primary { background-color: #205275; } -div.m-button.m-success a, .m-label:not(.m-flat).m-success { background-color: #31c25d; } -div.m-button.m-warning a, .m-label:not(.m-flat).m-warning { background-color: #d19600; } -div.m-button.m-danger a, .m-label:not(.m-flat).m-danger { background-color: #f60000; } -div.m-button.m-info a, .m-label:not(.m-flat).m-info { background-color: #2e7dc5; } -div.m-button.m-dim a, .m-label:not(.m-flat).m-dim { background-color: #bdbdbd; } -div.m-button.m-default a:hover, div.m-button.m-default a:focus, div.m-button.m-default a:active { - background-color: #205275; + +div.m-image { + text-align: center; } -div.m-button.m-primary a:hover, div.m-button.m-primary a:focus, div.m-button.m-primary a:active { - background-color: #000000; + +img.m-image, svg.m-image, div.m-image img, div.m-image svg { + max-width: 100%; + border-radius: 0.2rem; } -div.m-button.m-success a:hover, div.m-button.m-success a:focus, div.m-button.m-success a:active { - background-color: #dcf6e3; + +div.m-image.m-fullwidth img, div.m-image.m-fullwidth svg { + width: 100%; } -div.m-button.m-warning a:hover, div.m-button.m-warning a:focus, div.m-button.m-warning a:active { - background-color: #fff1cc; + +img.m-image.m-badge, div.m-image.m-badge img { + border-radius: 50%; } -div.m-button.m-danger a:hover, div.m-button.m-danger a:focus, div.m-button.m-danger a:active { - background-color: #f6dddc; + +figure.m-figure { + max-width: 100%; + margin-top: 0; + margin-left: auto; + margin-right: auto; + position: relative; + display: table; } -div.m-button.m-info a:hover, div.m-button.m-info a:focus, div.m-button.m-info a:active { - background-color: #c6ddf2; + +figure.m-figure:before { + position: absolute; + content: ' '; + top: 0; + bottom: 0; + left: 0; + right: 0; + z-index: -1; + border-style: solid; + border-width: 0.125rem; + border-radius: 0.2rem; + border-color: #c7cfd9; } -div.m-button.m-dim a:hover, div.m-button.m-dim a:focus, div.m-button.m-dim a:active { - background-color: #c0c0c0; + +figure.m-figure.m-flat:before { + border-color: transparent; } -.m-note.m-default { background-color: #f2f7fa; } -.m-note.m-default, -table.m-table tr.m-default td, table.m-table td.m-default, -table.m-table tr.m-default th, table.m-table th.m-default { - color: #000000; + +figure.m-figure > * { + margin-left: 1rem; + margin-right: 1rem; + display: table-caption; + caption-side: bottom; } -.m-note.m-default a:hover, -table.m-table tr.m-default td a:hover, table.m-table td.m-default a:hover, -table.m-table tr.m-default th a:hover, table.m-table th.m-default a:hover, -.m-note.m-default a:focus, -table.m-table tr.m-default td a:focus, table.m-table td.m-default a:focus, -table.m-table tr.m-default th a:focus, table.m-table th.m-default a:focus, -.m-note.m-default a:active, -table.m-table tr.m-default td a:active, table.m-table td.m-default a:active, -table.m-table tr.m-default th a:active, table.m-table th.m-default a:active { - color: #205275; + +figure.m-figure > *:first-child { + display: inline; } -.m-note.m-primary a, -table.m-table tr.m-primary td a, table.m-table td.m-primary a, -table.m-table tr.m-primary th a, table.m-table th.m-primary a { - color: #2f73a3; + +figure.m-figure > *:last-child { + margin-bottom: 1rem !important; } -.m-note.m-primary, -table.m-table tr.m-primary td, table.m-table td.m-primary, -table.m-table tr.m-primary th, table.m-table th.m-primary { - background-color: #ef9069; - color: #fbe4d9; + +figure.m-figure img, figure.m-figure svg { + position: relative; + margin-left: 0; + margin-right: 0; + margin-bottom: 0; + border-top-left-radius: 0.2rem; + border-top-right-radius: 0.2rem; + max-width: 100%; } -.m-note.m-primary a, -table.m-table tr.m-primary td a, table.m-table td.m-primary a, -table.m-table tr.m-primary th a, table.m-table th.m-primary a { - color: #782f0d; + +figure.m-figure.m-flat img, figure.m-figure.m-flat svg { + border-bottom-left-radius: 0.2rem; + border-bottom-right-radius: 0.2rem; } -.m-note.m-primary a:hover, -table.m-table tr.m-primary td a:hover, table.m-table td.m-primary a:hover, -table.m-table tr.m-primary th a:hover, table.m-table th.m-primary a:hover, -.m-note.m-primary a:focus, -table.m-table tr.m-primary td a:focus, table.m-table td.m-primary a:focus, -table.m-table tr.m-primary th a:focus, table.m-table th.m-primary a:focus, -.m-note.m-primary a:active, -table.m-table tr.m-primary td a:active, table.m-table td.m-primary a:active, -table.m-table tr.m-primary th a:active, table.m-table th.m-primary a:active { - color: #2f1205; + +figure.m-figure a img, figure.m-figure a svg { + margin-left: -1rem; + margin-right: -1rem; } -.m-note.m-success, -table.m-table tr.m-success td, table.m-table td.m-success, -table.m-table tr.m-success th, table.m-table th.m-success { - background-color: #4dd376; - color: #f4fcf6; + +figure.m-figure.m-fullwidth, figure.m-figure.m-fullwidth > * { + display: block; } -.m-note.m-success a, -table.m-table tr.m-success td a, table.m-table td.m-success a, -table.m-table tr.m-success th a, table.m-table th.m-success a { - color: #c5f2d1; + +figure.m-figure.m-fullwidth > *:first-child { + display: inline; } -.m-note.m-success a:hover, -table.m-table tr.m-success td a:hover, table.m-table td.m-success a:hover, -table.m-table tr.m-success th a:hover, table.m-table th.m-success a:hover, -.m-note.m-success a:focus, -table.m-table tr.m-success td a:focus, table.m-table td.m-success a:focus, -table.m-table tr.m-success th a:focus, table.m-table th.m-success a:focus, -.m-note.m-success a:active, -table.m-table tr.m-success td a:active, table.m-table td.m-success a:active, -table.m-table tr.m-success th a:active, table.m-table th.m-success a:active { - color: #dcf6e3; + +figure.m-figure.m-fullwidth img, figure.m-figure.m-fullwidth svg { + width: 100%; } -.m-note.m-warning, table.m-table tr.m-warning td, table.m-table td.m-warning, - table.m-table tr.m-warning th, table.m-table th.m-warning { - background-color: #d19600; - color: #fff7e3; + +figure.m-figure.m-fullwidth:after { + content: ' '; + display: block; + margin-top: 1rem; + height: 1px; } -.m-note.m-warning a, table.m-table tr.m-warning td a, table.m-table td.m-warning a, - table.m-table tr.m-warning th a, table.m-table th.m-warning a { - color: #fff1cc; + +.m-code-figure, .m-console-figure { + margin-top: 0; + margin-left: 0; + margin-right: 0; + position: relative; + padding: 1rem; } -.m-note.m-warning a:hover, -table.m-table tr.m-warning td a:hover, table.m-table td.m-warning a:hover, -table.m-table tr.m-warning th a:hover, table.m-table th.m-warning a:hover, -.m-note.m-warning a:focus, -table.m-table tr.m-warning td a:focus, table.m-table td.m-warning a:focus, -table.m-table tr.m-warning th a:focus, table.m-table th.m-warning a:focus, -.m-note.m-warning a:active, -table.m-table tr.m-warning td a:active, table.m-table td.m-warning a:active, -table.m-table tr.m-warning th a:active, table.m-table th.m-warning a:active { - color: #fff7e3; + +.m-code-figure:before, .m-console-figure:before { + position: absolute; + content: ' '; + top: 0; + bottom: 0; + left: 0; + right: 0; + z-index: -1; + border-style: solid; + border-width: 0.125rem; + border-radius: 0.2rem; } -.m-note.m-danger, -table.m-table tr.m-danger td, table.m-table td.m-danger, -table.m-table tr.m-danger th, table.m-table th.m-danger { - background-color: #e23e3e; - color: #fdf3f3; + +.m-code-figure:before { + border-color: #f2f7fa; } -.m-note.m-danger a, -table.m-table tr.m-danger td a, table.m-table td.m-danger a, -table.m-table tr.m-danger th a, table.m-table th.m-danger a { - color: #f2c7c6; + +.m-console-figure:before { + border-color: #000000; } -.m-note.m-danger a:hover, -table.m-table tr.m-danger td a:hover, table.m-table td.m-danger a:hover, -table.m-table tr.m-danger th a:hover, table.m-table th.m-danger a:hover, -.m-note.m-danger a:focus, -table.m-table tr.m-danger td a:focus, table.m-table td.m-danger a:focus, -table.m-table tr.m-danger th a:focus, table.m-table th.m-danger a:focus, -.m-note.m-danger a:active, -table.m-table tr.m-danger td a:active, table.m-table td.m-danger a:active, -table.m-table tr.m-danger th a:active, table.m-table th.m-danger a:active { - color: #f6dddc; + +.m-code-figure.m-flat:before, .m-console-figure.m-flat:before { + border-color: transparent; } -.m-note.m-info, -table.m-table tr.m-info td, table.m-table td.m-info, -table.m-table tr.m-info th, table.m-table th.m-info { - background-color: #4c93d3; - color: #f4f8fc; + +.m-code-figure > pre:first-child, .m-console-figure > pre:first-child { + position: relative; + margin: -1rem -1rem 1rem -1rem; + border-bottom-left-radius: 0; + border-bottom-right-radius: 0; } -.m-note.m-info a, -table.m-table tr.m-info td a, table.m-table td.m-info a, -table.m-table tr.m-info th a, table.m-table th.m-info a { - color: #c6ddf2; + +.m-code-figure > pre.m-nopad, .m-console-figure > pre.m-nopad { + margin-left: -0.875rem; + margin-right: -0.875rem; + margin-top: -1rem; + margin-bottom: -0.875rem; + padding-left: 0.875rem; } -.m-note.m-info a:hover, -table.m-table tr.m-info td a:hover, table.m-table td.m-info a:hover, -table.m-table tr.m-info th a:hover, table.m-table th.m-info a:hover, -.m-note.m-info a:focus, -table.m-table tr.m-info td a:focus, table.m-table td.m-info a:focus, -table.m-table tr.m-info th a:focus, table.m-table th.m-info a:focus, -.m-note.m-info a:active, -table.m-table tr.m-info td a:active, table.m-table td.m-info a:active, -table.m-table tr.m-info th a:active, table.m-table th.m-info a:active { - color: #dbeaf7; + +figure.m-figure figcaption, .m-code-figure figcaption, .m-console-figure figcaption { + margin-top: 0.5rem; + margin-bottom: 0.5rem; + font-weight: normal; + font-size: 1.17rem; } -.m-note.m-dim, -table.m-table tr.m-dim td, table.m-table td.m-dim, -table.m-table tr.m-dim th, table.m-table th.m-dim { - background-color: #f1f1f1; - color: #7c7c7c; + +.m-imagegrid > div { + background-color: #ffffff; } -.m-note.m-dim a, -table.m-table tr.m-dim td a, table.m-table td.m-dim a, -table.m-table tr.m-dim th a, table.m-table th.m-dim a { - color: #c0c0c0; + +.m-imagegrid > div > figure { + display: block; + float: left; + position: relative; + margin: 0; } -.m-note.m-dim a:hover, -table.m-table tr.m-dim td a:hover, table.m-table td.m-dim a:hover, -table.m-table tr.m-dim th a:hover, table.m-table th.m-dim a:hover, -.m-note.m-dim a:focus, -table.m-table tr.m-dim td a:focus, table.m-table td.m-dim a:focus, -table.m-table tr.m-dim th a:focus, table.m-table th.m-dim a:focus, -.m-note.m-dim a:active, -table.m-table tr.m-dim td a:active, table.m-table td.m-dim a:active, -table.m-table tr.m-dim th a:active, table.m-table th.m-dim a:active { - color: #949494; -} -figure.m-figure.m-default:before { border-color: #f2f7fa; } -figure.m-figure.m-default figcaption { color: #000000; } -figure.m-figure.m-primary:before { border-color: #ef9069; } -figure.m-figure.m-primary figcaption { color: #205275; } -figure.m-figure.m-success:before { border-color: #4dd376; } -figure.m-figure.m-success figcaption { color: #31c25d; } -figure.m-figure.m-warning:before { border-color: #d19600; } -figure.m-figure.m-warning figcaption { color: #d19600; } -figure.m-figure.m-danger:before { border-color: #e23e3e; } -figure.m-figure.m-danger figcaption { color: #f60000; } -figure.m-figure.m-info:before { border-color: #4c93d3; } -figure.m-figure.m-info figcaption { color: #2e7dc5; } -figure.m-figure.m-dim:before { border-color: #f1f1f1; } -figure.m-figure.m-dim { color: #bdbdbd; } -figure.m-figure.m-dim a { color: #c0c0c0; } -figure.m-figure.m-dim a:hover, figure.m-figure.m-dim a:focus, figure.m-figure.m-dim a:active { - color: #949494; + +.m-imagegrid > div > figure > div, +.m-imagegrid > div > figure > figcaption, +.m-imagegrid > div > figure > a > div, +.m-imagegrid > div > figure > a > figcaption { + position: absolute; + top: 0; + left: 0; + width: 100%; + height: 100%; + border-color: #ffffff; + border-style: solid; + border-width: 0.25rem; + padding: 0.5rem; } -.m-math { fill: #000000; } -.m-math.m-default, .m-math g.m-default, .m-math rect.m-default, -div.m-plot svg .m-bar.m-default, -.m-graph g.m-edge polygon, -.m-graph g.m-node:not(.m-flat) ellipse, -.m-graph g.m-node:not(.m-flat) polygon, -.m-graph g.m-edge text, -.m-graph g.m-node.m-flat text, -.m-graph.m-default g.m-edge polygon, -.m-graph.m-default g.m-node:not(.m-flat) ellipse, -.m-graph.m-default g.m-node:not(.m-flat) polygon, -.m-graph.m-default g.m-edge text, -.m-graph.m-default g.m-node.m-flat text { - fill: #000000; + +.m-imagegrid > div > figure:first-child > div, +.m-imagegrid > div > figure:first-child > figcaption, +.m-imagegrid > div > figure:first-child > a > div, +.m-imagegrid > div > figure:first-child > a > figcaption { + border-left-width: 0; } + +.m-imagegrid > div > figure:last-child > div, +.m-imagegrid > div > figure:last-child > figcaption, +.m-imagegrid > div > figure:last-child > a > div, +.m-imagegrid > div > figure:last-child > a > figcaption { + border-right-width: 0; +} + +.m-imagegrid > div > figure > figcaption, +.m-imagegrid > div > figure > a > figcaption { + color: transparent; + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; + font-size: 0.75rem; +} + +.m-imagegrid > div > figure > div::before, +.m-imagegrid > div > figure > figcaption::before, +.m-imagegrid > div > figure > a > div::before, +.m-imagegrid > div > figure > a > figcaption::before { + content: ''; + display: inline-block; + height: 100%; + vertical-align: bottom; + width: 0; +} + +.m-imagegrid > div > figure:hover > figcaption, +.m-imagegrid > div > figure:hover > a > figcaption { + background: linear-gradient(transparent 0%, transparent 75%, rgba(0, 0, 0, 0.85) 100%); + color: #ffffff; +} + +.m-imagegrid > div > figure > img, +.m-imagegrid > div > figure > a > img { + width: 100%; + height: 100%; +} + +.m-imagegrid > div::after { + display: block; + content: ' '; + clear: both; +} + +@media screen and (max-width: 767px) { + .m-imagegrid > div > figure { + float: none; + width: 100% !important; + } + + .m-imagegrid > div > figure > div, + .m-imagegrid > div > figure > figcaption, + .m-imagegrid > div > figure > a > div, + .m-imagegrid > div > figure > a > figcaption { + border-left-width: 0; + border-right-width: 0; + } +} + +.m-container-inflatable > .m-row > [class*='m-col-'] > .m-note, +.m-container-inflatable > .m-row > [class*='m-col-'] > .m-frame, +.m-container-inflatable > .m-row > [class*='m-col-'] > .m-block, +.m-container-inflatable > .m-row > [class*='m-col-'] > .m-imagegrid, +.m-container-inflatable > .m-row > [class*='m-col-'] > pre, +.m-container-inflatable > .m-row > [class*='m-col-'] > .m-code-figure, +.m-container-inflatable > .m-row > [class*='m-col-'] > .m-console-figure, +.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-note, +.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-frame, +.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-block, +.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-imagegrid, +.m-container-inflatable > .m-row > [class*='m-col-'] section > pre, +.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-code-figure, +.m-container-inflatable > .m-row > [class*='m-col-'] section > .m-console-figure, +.m-container-inflatable [class*='m-center-'] > .m-note, +.m-container-inflatable [class*='m-center-'] > .m-frame, +.m-container-inflatable [class*='m-center-'] > .m-block, +.m-container-inflatable [class*='m-center-'] > .m-imagegrid, +.m-container-inflatable [class*='m-center-'] > pre, +.m-container-inflatable [class*='m-center-'] > .m-code-figure, +.m-container-inflatable [class*='m-center-'] > .m-console-figure, +.m-container-inflatable [class*='m-left-'] > .m-note, +.m-container-inflatable [class*='m-left-'] > .m-frame, +.m-container-inflatable [class*='m-left-'] > .m-block, +.m-container-inflatable [class*='m-left-'] > .m-imagegrid, +.m-container-inflatable [class*='m-left-'] > pre, +.m-container-inflatable [class*='m-left-'] > .m-code-figure, +.m-container-inflatable [class*='m-left-'] > .m-console-figure, +.m-container-inflatable [class*='m-right-'] > .m-note, +.m-container-inflatable [class*='m-right-'] > .m-frame, +.m-container-inflatable [class*='m-right-'] > .m-block, +.m-container-inflatable [class*='m-right-'] > .m-imagegrid, +.m-container-inflatable [class*='m-right-'] > pre, +.m-container-inflatable [class*='m-right-'] > .m-code-figure, +.m-container-inflatable [class*='m-right-'] > .m-console-figure, +.m-container-inflatable .m-container-inflate > .m-note, +.m-container-inflatable .m-container-inflate > .m-frame, +.m-container-inflatable .m-container-inflate > .m-block, +.m-container-inflatable .m-container-inflate > .m-imagegrid, +.m-container-inflatable .m-container-inflate > pre, +.m-container-inflatable .m-container-inflate > .m-code-figure, +.m-container-inflatable .m-container-inflate > .m-console-figure { + margin-left: -1rem; + margin-right: -1rem; +} + +@media screen and (min-width: 576px) { + .m-container-inflatable .m-center-s > .m-note, + .m-container-inflatable .m-center-s > .m-frame, + .m-container-inflatable .m-center-s > .m-block, + .m-container-inflatable .m-center-s > .m-imagegrid, + .m-container-inflatable .m-center-s > pre, + .m-container-inflatable .m-center-s > .m-code-figure, + .m-container-inflatable .m-center-s > .m-console-figure { + margin-left: -1rem; + margin-right: -1rem; + } + + .m-container-inflatable .m-left-s > .m-note, + .m-container-inflatable .m-left-s > .m-frame, + .m-container-inflatable .m-left-s > .m-block, + .m-container-inflatable .m-left-s > .m-imagegrid, + .m-container-inflatable .m-left-s > pre, + .m-container-inflatable .m-left-s > .m-code-figure, + .m-container-inflatable .m-left-s > .m-console-figure { + margin-left: -1rem; + margin-right: 0; + } + + .m-container-inflatable .m-right-s > .m-note, + .m-container-inflatable .m-right-s > .m-frame, + .m-container-inflatable .m-right-s > .m-block, + .m-container-inflatable .m-right-s > .m-imagegrid, + .m-container-inflatable .m-right-s > pre, + .m-container-inflatable .m-right-s > .m-code-figure, + .m-container-inflatable .m-right-s > .m-console-figure { + margin-left: 0; + margin-right: -1rem; + } + + .m-container-inflatable > .m-row > .m-col-s-10 > .m-imagegrid.m-container-inflate, + .m-container-inflatable > .m-row > .m-col-s-10 section > .m-imagegrid.m-container-inflate { + margin-left: -10%; + margin-right: -10%; + } +} + +@media screen and (min-width: 768px) { + .m-container-inflatable .m-center-m > .m-note, + .m-container-inflatable .m-center-m > .m-frame, + .m-container-inflatable .m-center-m > .m-block, + .m-container-inflatable .m-center-m > .m-imagegrid, + .m-container-inflatable .m-center-m > pre, + .m-container-inflatable .m-center-m > .m-code-figure, + .m-container-inflatable .m-center-m > .m-console-figure { + margin-left: -1rem; + margin-right: -1rem; + } + + .m-container-inflatable .m-left-m > .m-note, + .m-container-inflatable .m-left-m > .m-frame, + .m-container-inflatable .m-left-m > .m-block, + .m-container-inflatable .m-left-m > .m-imagegrid, + .m-container-inflatable .m-left-m > pre, + .m-container-inflatable .m-left-m > .m-code-figure, + .m-container-inflatable .m-left-m > .m-console-figure { + margin-left: -1rem; + margin-right: 0; + } + + .m-container-inflatable .m-right-m > .m-note, + .m-container-inflatable .m-right-m > .m-frame, + .m-container-inflatable .m-right-m > .m-block, + .m-container-inflatable .m-right-m > .m-imagegrid, + .m-container-inflatable .m-right-m > pre, + .m-container-inflatable .m-right-m > .m-code-figure, + .m-container-inflatable .m-right-m > .m-console-figure { + margin-left: 0; + margin-right: -1rem; + } + + .m-container-inflatable > .m-row > .m-col-m-10 > .m-imagegrid.m-container-inflate, + .m-container-inflatable > .m-row > .m-col-m-10 section > .m-imagegrid.m-container-inflate { + margin-left: -10%; + margin-right: -10%; + } +} + +@media screen and (min-width: 992px) { + .m-container-inflatable .m-center-l > .m-note, + .m-container-inflatable .m-center-l > .m-frame, + .m-container-inflatable .m-center-l > .m-block, + .m-container-inflatable .m-center-l > .m-imagegrid, + .m-container-inflatable .m-center-l > pre, + .m-container-inflatable .m-center-l > .m-code-figure, + .m-container-inflatable .m-center-l > .m-console-figure { + margin-left: -1rem; + margin-right: -1rem; + } + + .m-container-inflatable .m-left-l > .m-note, + .m-container-inflatable .m-left-l > .m-frame, + .m-container-inflatable .m-left-l > .m-block, + .m-container-inflatable .m-left-l > .m-imagegrid, + .m-container-inflatable .m-left-l > pre, + .m-container-inflatable .m-left-l > .m-code-figure, + .m-container-inflatable .m-left-l > .m-console-figure { + margin-left: -1rem; + margin-right: 0; + } + + .m-container-inflatable .m-right-l > .m-note, + .m-container-inflatable .m-right-l > .m-frame, + .m-container-inflatable .m-right-l > .m-block, + .m-container-inflatable .m-right-l > .m-imagegrid, + .m-container-inflatable .m-right-l > pre, + .m-container-inflatable .m-right-l > .m-code-figure, + .m-container-inflatable .m-right-l > .m-console-figure { + margin-left: 0; + margin-right: -1rem; + } + + .m-container-inflatable > .m-row > .m-col-l-10 > .m-imagegrid.m-container-inflate, + .m-container-inflatable > .m-row > .m-col-l-10 section > .m-imagegrid.m-container-inflate { + margin-left: -10%; + margin-right: -10%; + } +} + +pre.m-code span.hll { + margin-left: -1.0rem; + margin-right: -1.0rem; + padding-left: 1.0rem; +} + +.m-code.m-inverted > span, .m-console.m-inverted > span { + opacity: 0.3333; +} + +.m-code.m-inverted > span.hll, .m-console.m-inverted > span.hll { + opacity: 1; + background-color: transparent; + border-color: transparent; +} + +.m-code.m-inverted { + color: rgba(91, 91, 91, 0.33); +} + +.m-console.m-inverted { + color: rgba(91, 91, 91, 0.33); +} + +.m-code.m-inverted > span.hll { + color: #000000; +} + +.m-cosole.m-inverted > span.hll { + color: #000000; +} + +.m-code-color { + display: inline-block; + width: 0.75rem; + height: 0.75rem; + vertical-align: -0.05rem; + margin-left: 0.2rem; + margin-right: 0.1rem; + border-radius: 0.1rem; +} + +div.m-math { + overflow-x: auto; + overflow-y: hidden; +} + +div.m-math svg { + margin-left: auto; + margin-right: auto; + display: block; +} + +div.m-button a svg.m-math { + fill: #ffffff; +} + +div.m-button.m-flat a svg.m-math { + fill: #000000; +} + +div.m-button.m-flat a:hover svg.m-math, div.m-button.m-default a:focus svg.m-math, +div.m-button.m-default a:active svg.m-math { + fill: #2f73a3; +} + +.m-graph { + font-size: 1em; +} + +div.m-plot svg, div.m-graph svg { + max-width: 100%; + margin-left: auto; + margin-right: auto; + display: block; +} + +div.m-plot .m-background { + fill: #f2f7fa; +} + +div.m-plot svg .m-label { + font-size: 11px; +} + +div.m-plot svg .m-title { + font-size: 13px; +} + +div.m-plot svg .m-label, div.m-plot svg .m-title { + fill: #000000; +} + +div.m-plot svg .m-line { + stroke: #000000; + stroke-width: 0.8; +} + +div.m-plot svg .m-error { + stroke: #000000; + stroke-width: 1.5; +} + +div.m-plot svg .m-label.m-dim { + fill: #bdbdbd; +} + +.m-graph g.m-edge path, .m-graph g.m-node.m-flat ellipse, +.m-graph g.m-node.m-flat polygon { + fill: none; +} + +.m-graph g.m-node:not(.m-flat) text { + fill: #ffffff; +} + +figure.m-figure > svg.m-math:first-child, +figure.m-figure > svg.m-graph:first-child { + padding: 1rem; + box-sizing: content-box; +} + +figure.m-figure:not(.m-flat) > svg.m-math:first-child, +figure.m-figure:not(.m-flat) > svg.m-graph:first-child { + background-color: #c7cfd9; +} + +.m-block.m-default { + border-left-color: #c7cfd9; +} + +.m-block.m-default h3, .m-block.m-default h4, .m-block.m-default h5, .m-block.m-default h6, +.m-text.m-default, .m-label.m-flat.m-default { + color: #000000; +} + +.m-block.m-default h3 a, .m-block.m-default h4 a, .m-block.m-default h5 a, .m-block.m-default h6 a { + color: #205275; +} + +.m-block.m-primary { + border-left-color: #205275; +} + +.m-block.m-primary h3, .m-block.m-primary h4, .m-block.m-primary h5, .m-block.m-primary h6, +.m-block.m-primary h3 a, .m-block.m-primary h4 a, .m-block.m-primary h5 a, .m-block.m-primary h6 a, +.m-text.m-primary, .m-label.m-flat.m-primary { + color: #205275; +} + +.m-block.m-success { + border-left-color: #31c25d; +} + +.m-block.m-success h3, .m-block.m-success h4, .m-block.m-success h5, .m-block.m-success h6, +.m-block.m-success h3 a, .m-block.m-success h4 a, .m-block.m-success h5 a, .m-block.m-success h6 a, +.m-text.m-success, .m-label.m-flat.m-success { + color: #31c25d; +} + +.m-block.m-warning { + border-left-color: #d19600; +} + +.m-block.m-warning h3, .m-block.m-warning h4, .m-block.m-warning h5, .m-block.m-warning h6, +.m-block.m-warning h3 a, .m-block.m-warning h4 a, .m-block.m-warning h5 a, .m-block.m-warning h6 a, +.m-text.m-warning, .m-label.m-flat.m-warning { + color: #d19600; +} + +.m-block.m-danger { + border-left-color: #f60000; +} + +.m-block.m-danger h3, .m-block.m-danger h4, .m-block.m-danger h5, .m-block.m-danger h6, +.m-block.m-danger h3 a, .m-block.m-danger h4 a, .m-block.m-danger h5 a, .m-block.m-danger h6 a, +.m-text.m-danger, .m-label.m-flat.m-danger { + color: #f60000; +} + +.m-block.m-info { + border-left-color: #2e7dc5; +} + +.m-block.m-info h3, .m-block.m-info h4, .m-block.m-info h5, .m-block.m-info h6, +.m-block.m-info h3 a, .m-block.m-info h4 a, .m-block.m-info h5 a, .m-block.m-info h6 a, +.m-text.m-info, .m-label.m-flat.m-info { + color: #2e7dc5; +} + +.m-block.m-dim { + border-left-color: #bdbdbd; +} + +.m-block.m-dim, .m-text.m-dim, .m-label.m-flat.m-dim { + color: #bdbdbd; +} + +.m-block.m-dim a, .m-text.m-dim a { + color: #c0c0c0; +} + +.m-block.m-dim a:hover, .m-block.m-dim a:focus, .m-block.m-dim a:active, +.m-text.m-dim a:hover, .m-text.m-dim a:focus, .m-text.m-dim a:active { + color: #949494; +} + +.m-block.m-flat { + border-color: transparent; +} + +.m-block.m-flat h3, .m-block.m-flat h4, .m-block.m-flat h5, .m-block.m-flat h6 { + color: #000000; +} + +.m-block.m-default h3 a:hover, .m-block.m-default h3 a:focus, .m-block.m-default h3 a:active, +.m-block.m-default h4 a:hover, .m-block.m-default h4 a:focus, .m-block.m-default h4 a:active, +.m-block.m-default h5 a:hover, .m-block.m-default h5 a:focus, .m-block.m-default h5 a:active, +.m-block.m-default h6 a:hover, .m-block.m-default h6 a:focus, .m-block.m-default h6 a:active { + color: #205275; +} + +.m-block.m-primary h3 a:hover, .m-block.m-primary h3 a:focus, .m-block.m-primary h3 a:active, +.m-block.m-primary h4 a:hover, .m-block.m-primary h4 a:focus, .m-block.m-primary h4 a:active, +.m-block.m-primary h5 a:hover, .m-block.m-primary h5 a:focus, .m-block.m-primary h5 a:active, +.m-block.m-primary h6 a:hover, .m-block.m-primary h6 a:focus, .m-block.m-primary h6 a:active { + color: #000000; +} + +.m-block.m-success h3 a:hover, .m-block.m-success h3 a:focus, .m-block.m-success h3 a:active, +.m-block.m-success h4 a:hover, .m-block.m-success h4 a:focus, .m-block.m-success h4 a:active, +.m-block.m-success h5 a:hover, .m-block.m-success h5 a:focus, .m-block.m-success h5 a:active, +.m-block.m-success h6 a:hover, .m-block.m-success h6 a:focus, .m-block.m-success h6 a:active { + color: #dcf6e3; +} + +.m-block.m-warning h3 a:hover, .m-block.m-warning h3 a:focus, .m-block.m-warning h3 a:active, +.m-block.m-warning h4 a:hover, .m-block.m-warning h4 a:focus, .m-block.m-warning h4 a:active, +.m-block.m-warning h5 a:hover, .m-block.m-warning h5 a:focus, .m-block.m-warning h5 a:active, +.m-block.m-warning h6 a:hover, .m-block.m-warning h6 a:focus, .m-block.m-warning h6 a:active { + color: #fff1cc; +} + +.m-block.m-danger h3 a:hover, .m-block.m-danger h3 a:focus, .m-block.m-danger h3 a:active, +.m-block.m-danger h4 a:hover, .m-block.m-danger h4 a:focus, .m-block.m-danger h4 a:active, +.m-block.m-danger h5 a:hover, .m-block.m-danger h5 a:focus, .m-block.m-danger h5 a:active, +.m-block.m-danger h6 a:hover, .m-block.m-danger h6 a:focus, .m-block.m-danger h6 a:active { + color: #f6dddc; +} + +.m-block.m-info h3 a:hover, .m-block.m-info h3 a:focus, .m-block.m-info h3 a:active, +.m-block.m-info h4 a:hover, .m-block.m-info h4 a:focus, .m-block.m-info h4 a:active, +.m-block.m-info h5 a:hover, .m-block.m-info h5 a:focus, .m-block.m-info h5 a:active, +.m-block.m-info h6 a:hover, .m-block.m-info h6 a:focus, .m-block.m-info h6 a:active { + color: #c6ddf2; +} + +div.m-button a, .m-label { + color: #ffffff; +} + +div.m-button.m-flat a { + color: #000000; +} + +div.m-button.m-flat a:hover, div.m-button.m-default a:focus, div.m-button.m-default a:active { + color: #2f73a3; +} + +div.m-button.m-default a, .m-label:not(.m-flat).m-default { + background-color: #000000; +} + +div.m-button.m-primary a, .m-label:not(.m-flat).m-primary { + background-color: #205275; +} + +div.m-button.m-success a, .m-label:not(.m-flat).m-success { + background-color: #31c25d; +} + +div.m-button.m-warning a, .m-label:not(.m-flat).m-warning { + background-color: #d19600; +} + +div.m-button.m-danger a, .m-label:not(.m-flat).m-danger { + background-color: #f60000; +} + +div.m-button.m-info a, .m-label:not(.m-flat).m-info { + background-color: #2e7dc5; +} + +div.m-button.m-dim a, .m-label:not(.m-flat).m-dim { + background-color: #bdbdbd; +} + +div.m-button.m-default a:hover, div.m-button.m-default a:focus, div.m-button.m-default a:active { + background-color: #205275; +} + +div.m-button.m-primary a:hover, div.m-button.m-primary a:focus, div.m-button.m-primary a:active { + background-color: #000000; +} + +div.m-button.m-success a:hover, div.m-button.m-success a:focus, div.m-button.m-success a:active { + background-color: #dcf6e3; +} + +div.m-button.m-warning a:hover, div.m-button.m-warning a:focus, div.m-button.m-warning a:active { + background-color: #fff1cc; +} + +div.m-button.m-danger a:hover, div.m-button.m-danger a:focus, div.m-button.m-danger a:active { + background-color: #f6dddc; +} + +div.m-button.m-info a:hover, div.m-button.m-info a:focus, div.m-button.m-info a:active { + background-color: #c6ddf2; +} + +div.m-button.m-dim a:hover, div.m-button.m-dim a:focus, div.m-button.m-dim a:active { + background-color: #c0c0c0; +} + +.m-note.m-default { + background-color: #f2f7fa; +} + +.m-note.m-default, +table.m-table tr.m-default td, table.m-table td.m-default, +table.m-table tr.m-default th, table.m-table th.m-default { + color: #000000; +} + +.m-note.m-default a:hover, +table.m-table tr.m-default td a:hover, table.m-table td.m-default a:hover, +table.m-table tr.m-default th a:hover, table.m-table th.m-default a:hover, +.m-note.m-default a:focus, +table.m-table tr.m-default td a:focus, table.m-table td.m-default a:focus, +table.m-table tr.m-default th a:focus, table.m-table th.m-default a:focus, +.m-note.m-default a:active, +table.m-table tr.m-default td a:active, table.m-table td.m-default a:active, +table.m-table tr.m-default th a:active, table.m-table th.m-default a:active { + color: #205275; +} + +.m-note.m-primary a, +table.m-table tr.m-primary td a, table.m-table td.m-primary a, +table.m-table tr.m-primary th a, table.m-table th.m-primary a { + color: #2f73a3; +} + +.m-note.m-primary, +table.m-table tr.m-primary td, table.m-table td.m-primary, +table.m-table tr.m-primary th, table.m-table th.m-primary { + background-color: #ef9069; + color: #fbe4d9; +} + +.m-note.m-primary a, +table.m-table tr.m-primary td a, table.m-table td.m-primary a, +table.m-table tr.m-primary th a, table.m-table th.m-primary a { + color: #782f0d; +} + +.m-note.m-primary a:hover, +table.m-table tr.m-primary td a:hover, table.m-table td.m-primary a:hover, +table.m-table tr.m-primary th a:hover, table.m-table th.m-primary a:hover, +.m-note.m-primary a:focus, +table.m-table tr.m-primary td a:focus, table.m-table td.m-primary a:focus, +table.m-table tr.m-primary th a:focus, table.m-table th.m-primary a:focus, +.m-note.m-primary a:active, +table.m-table tr.m-primary td a:active, table.m-table td.m-primary a:active, +table.m-table tr.m-primary th a:active, table.m-table th.m-primary a:active { + color: #2f1205; +} + +.m-note.m-success, +table.m-table tr.m-success td, table.m-table td.m-success, +table.m-table tr.m-success th, table.m-table th.m-success { + background-color: #4dd376; + color: #f4fcf6; +} + +.m-note.m-success a, +table.m-table tr.m-success td a, table.m-table td.m-success a, +table.m-table tr.m-success th a, table.m-table th.m-success a { + color: #c5f2d1; +} + +.m-note.m-success a:hover, +table.m-table tr.m-success td a:hover, table.m-table td.m-success a:hover, +table.m-table tr.m-success th a:hover, table.m-table th.m-success a:hover, +.m-note.m-success a:focus, +table.m-table tr.m-success td a:focus, table.m-table td.m-success a:focus, +table.m-table tr.m-success th a:focus, table.m-table th.m-success a:focus, +.m-note.m-success a:active, +table.m-table tr.m-success td a:active, table.m-table td.m-success a:active, +table.m-table tr.m-success th a:active, table.m-table th.m-success a:active { + color: #dcf6e3; +} + +.m-note.m-warning, table.m-table tr.m-warning td, table.m-table td.m-warning, +table.m-table tr.m-warning th, table.m-table th.m-warning { + background-color: #d19600; + color: #fff7e3; +} + +.m-note.m-warning a, table.m-table tr.m-warning td a, table.m-table td.m-warning a, +table.m-table tr.m-warning th a, table.m-table th.m-warning a { + color: #fff1cc; +} + +.m-note.m-warning a:hover, +table.m-table tr.m-warning td a:hover, table.m-table td.m-warning a:hover, +table.m-table tr.m-warning th a:hover, table.m-table th.m-warning a:hover, +.m-note.m-warning a:focus, +table.m-table tr.m-warning td a:focus, table.m-table td.m-warning a:focus, +table.m-table tr.m-warning th a:focus, table.m-table th.m-warning a:focus, +.m-note.m-warning a:active, +table.m-table tr.m-warning td a:active, table.m-table td.m-warning a:active, +table.m-table tr.m-warning th a:active, table.m-table th.m-warning a:active { + color: #fff7e3; +} + +.m-note.m-danger, +table.m-table tr.m-danger td, table.m-table td.m-danger, +table.m-table tr.m-danger th, table.m-table th.m-danger { + background-color: #e23e3e; + color: #fdf3f3; +} + +.m-note.m-danger a, +table.m-table tr.m-danger td a, table.m-table td.m-danger a, +table.m-table tr.m-danger th a, table.m-table th.m-danger a { + color: #f2c7c6; +} + +.m-note.m-danger a:hover, +table.m-table tr.m-danger td a:hover, table.m-table td.m-danger a:hover, +table.m-table tr.m-danger th a:hover, table.m-table th.m-danger a:hover, +.m-note.m-danger a:focus, +table.m-table tr.m-danger td a:focus, table.m-table td.m-danger a:focus, +table.m-table tr.m-danger th a:focus, table.m-table th.m-danger a:focus, +.m-note.m-danger a:active, +table.m-table tr.m-danger td a:active, table.m-table td.m-danger a:active, +table.m-table tr.m-danger th a:active, table.m-table th.m-danger a:active { + color: #f6dddc; +} + +.m-note.m-info, +table.m-table tr.m-info td, table.m-table td.m-info, +table.m-table tr.m-info th, table.m-table th.m-info { + background-color: #4c93d3; + color: #f4f8fc; +} + +.m-note.m-info a, +table.m-table tr.m-info td a, table.m-table td.m-info a, +table.m-table tr.m-info th a, table.m-table th.m-info a { + color: #c6ddf2; +} + +.m-note.m-info a:hover, +table.m-table tr.m-info td a:hover, table.m-table td.m-info a:hover, +table.m-table tr.m-info th a:hover, table.m-table th.m-info a:hover, +.m-note.m-info a:focus, +table.m-table tr.m-info td a:focus, table.m-table td.m-info a:focus, +table.m-table tr.m-info th a:focus, table.m-table th.m-info a:focus, +.m-note.m-info a:active, +table.m-table tr.m-info td a:active, table.m-table td.m-info a:active, +table.m-table tr.m-info th a:active, table.m-table th.m-info a:active { + color: #dbeaf7; +} + +.m-note.m-dim, +table.m-table tr.m-dim td, table.m-table td.m-dim, +table.m-table tr.m-dim th, table.m-table th.m-dim { + background-color: #f1f1f1; + color: #7c7c7c; +} + +.m-note.m-dim a, +table.m-table tr.m-dim td a, table.m-table td.m-dim a, +table.m-table tr.m-dim th a, table.m-table th.m-dim a { + color: #c0c0c0; +} + +.m-note.m-dim a:hover, +table.m-table tr.m-dim td a:hover, table.m-table td.m-dim a:hover, +table.m-table tr.m-dim th a:hover, table.m-table th.m-dim a:hover, +.m-note.m-dim a:focus, +table.m-table tr.m-dim td a:focus, table.m-table td.m-dim a:focus, +table.m-table tr.m-dim th a:focus, table.m-table th.m-dim a:focus, +.m-note.m-dim a:active, +table.m-table tr.m-dim td a:active, table.m-table td.m-dim a:active, +table.m-table tr.m-dim th a:active, table.m-table th.m-dim a:active { + color: #949494; +} + +figure.m-figure.m-default:before { + border-color: #f2f7fa; +} + +figure.m-figure.m-default figcaption { + color: #000000; +} + +figure.m-figure.m-primary:before { + border-color: #ef9069; +} + +figure.m-figure.m-primary figcaption { + color: #205275; +} + +figure.m-figure.m-success:before { + border-color: #4dd376; +} + +figure.m-figure.m-success figcaption { + color: #31c25d; +} + +figure.m-figure.m-warning:before { + border-color: #d19600; +} + +figure.m-figure.m-warning figcaption { + color: #d19600; +} + +figure.m-figure.m-danger:before { + border-color: #e23e3e; +} + +figure.m-figure.m-danger figcaption { + color: #f60000; +} + +figure.m-figure.m-info:before { + border-color: #4c93d3; +} + +figure.m-figure.m-info figcaption { + color: #2e7dc5; +} + +figure.m-figure.m-dim:before { + border-color: #f1f1f1; +} + +figure.m-figure.m-dim { + color: #bdbdbd; +} + +figure.m-figure.m-dim a { + color: #c0c0c0; +} + +figure.m-figure.m-dim a:hover, figure.m-figure.m-dim a:focus, figure.m-figure.m-dim a:active { + color: #949494; +} + +.m-math { + fill: #000000; +} + +.m-math.m-default, .m-math g.m-default, .m-math rect.m-default, +div.m-plot svg .m-bar.m-default, +.m-graph g.m-edge polygon, +.m-graph g.m-node:not(.m-flat) ellipse, +.m-graph g.m-node:not(.m-flat) polygon, +.m-graph g.m-edge text, +.m-graph g.m-node.m-flat text, +.m-graph.m-default g.m-edge polygon, +.m-graph.m-default g.m-node:not(.m-flat) ellipse, +.m-graph.m-default g.m-node:not(.m-flat) polygon, +.m-graph.m-default g.m-edge text, +.m-graph.m-default g.m-node.m-flat text { + fill: #000000; +} + .m-graph g.m-edge polygon, .m-graph g.m-edge path, .m-graph g.m-node ellipse, @@ -1528,1087 +2445,1668 @@ div.m-plot svg .m-bar.m-default, .m-graph.m-default g.m-node ellipse, .m-graph.m-default g.m-node polygon, .m-graph.m-default g.m-node polyline { - stroke: #000000; + stroke: #000000; +} + +.m-math.m-primary, .m-math g.m-primary, .m-math rect.m-primary, +div.m-plot svg .m-bar.m-primary, +.m-graph.m-primary g.m-edge polygon, +.m-graph.m-primary g.m-node:not(.m-flat) ellipse, +.m-graph.m-primary g.m-node:not(.m-flat) polygon, +.m-graph.m-primary g.m-edge text, +.m-graph.m-primary g.m-node.m-flat text { + fill: #205275; +} + +.m-graph.m-primary g.m-edge polygon, +.m-graph.m-primary g.m-edge path, +.m-graph.m-primary g.m-node ellipse, +.m-graph.m-primary g.m-node polygon, +.m-graph.m-primary g.m-node polyline { + stroke: #205275; +} + +.m-math.m-success, .m-math g.m-success, .m-math rect.m-success, +div.m-plot svg .m-bar.m-success, +.m-graph.m-success g.m-edge polygon, +.m-graph.m-success g.m-node:not(.m-flat) ellipse, +.m-graph.m-success g.m-node:not(.m-flat) polygon, +.m-graph.m-success g.m-edge text, +.m-graph.m-success g.m-node.m-flat text { + fill: #31c25d; +} + +.m-graph.m-success g.m-edge polygon, +.m-graph.m-success g.m-edge path, +.m-graph.m-success g.m-node ellipse, +.m-graph.m-success g.m-node polygon, +.m-graph.m-success g.m-node polyline { + stroke: #31c25d; +} + +.m-math.m-warning, .m-math g.m-warning, .m-math rect.m-warning, +div.m-plot svg .m-bar.m-warning, +.m-graph.m-warning g.m-edge polygon, +.m-graph.m-warning g.m-node:not(.m-flat) ellipse, +.m-graph.m-warning g.m-node:not(.m-flat) polygon, +.m-graph.m-warning g.m-edge text, +.m-graph.m-warning g.m-node.m-flat text { + fill: #d19600; +} + +.m-graph.m-warning g.m-edge polygon, +.m-graph.m-warning g.m-edge path, +.m-graph.m-warning g.m-node ellipse, +.m-graph.m-warning g.m-node polygon, +.m-graph.m-warning g.m-node polyline { + stroke: #d19600; +} + +.m-math.m-danger, .m-math g.m-danger, .m-math rect.m-danger, +div.m-plot svg .m-bar.m-danger, +.m-graph.m-danger g.m-edge polygon, +.m-graph.m-danger g.m-node:not(.m-flat) ellipse, +.m-graph.m-danger g.m-node:not(.m-flat) polygon, +.m-graph.m-danger g.m-edge text, +.m-graph.m-danger g.m-node.m-flat text { + fill: #f60000; +} + +.m-graph.m-danger g.m-edge polygon, +.m-graph.m-danger g.m-edge path, +.m-graph.m-danger g.m-node ellipse, +.m-graph.m-danger g.m-node polygon, +.m-graph.m-danger g.m-node polyline { + stroke: #f60000; +} + +.m-math.m-info, .m-math g.m-info, .m-math rect.m-info, +div.m-plot svg .m-bar.m-info, +.m-graph.m-info g.m-edge polygon, +.m-graph.m-info g.m-node:not(.m-flat) ellipse, +.m-graph.m-info g.m-node:not(.m-flat) polygon, +.m-graph.m-info g.m-edge text, +.m-graph.m-info g.m-node.m-flat text { + fill: #2e7dc5; +} + +.m-graph.m-info g.m-edge polygon, +.m-graph.m-info g.m-edge path, +.m-graph.m-info g.m-node ellipse, +.m-graph.m-info g.m-node polygon, +.m-graph.m-info g.m-node polyline { + stroke: #2e7dc5; +} + +.m-math.m-dim, .m-math g.m-dim, .m-math rect.m-dim, +div.m-plot svg .m-bar.m-dim, +.m-graph.m-dim g.m-edge polygon, +.m-graph.m-dim g.m-node:not(.m-flat) ellipse, +.m-graph.m-dim g.m-node:not(.m-flat) polygon, +.m-graph.m-dim g.m-edge text, +.m-graph.m-dim g.m-node.m-flat text { + fill: #bdbdbd; +} + +.m-graph.m-dim g.m-edge polygon, +.m-graph.m-dim g.m-edge path, +.m-graph.m-dim g.m-node ellipse, +.m-graph.m-dim g.m-node polygon, +.m-graph.m-dim g.m-node polyline { + stroke: #bdbdbd; +} + +.m-graph g.m-edge.m-default polygon, +.m-graph g.m-node.m-default:not(.m-flat) ellipse, +.m-graph g.m-node.m-default:not(.m-flat) polygon, +.m-graph g.m-edge.m-default text, +.m-graph g.m-node.m-default.m-flat text { + fill: #000000; +} + +.m-graph g.m-edge.m-default polygon, +.m-graph g.m-edge.m-default path, +.m-graph g.m-node.m-default ellipse, +.m-graph g.m-node.m-default polygon, +.m-graph g.m-node.m-default polyline { + stroke: #000000; +} + +.m-graph g.m-edge.m-primary polygon, +.m-graph g.m-node.m-primary:not(.m-flat) ellipse, +.m-graph g.m-node.m-primary:not(.m-flat) polygon, +.m-graph g.m-edge.m-primary text, +.m-graph g.m-node.m-primary.m-flat text { + fill: #205275; +} + +.m-graph g.m-edge.m-primary polygon, +.m-graph g.m-edge.m-primary path, +.m-graph g.m-node.m-primary ellipse, +.m-graph g.m-node.m-primary polygon, +.m-graph g.m-node.m-primary polyline { + stroke: #205275; +} + +.m-graph g.m-edge.m-success polygon, +.m-graph g.m-node.m-success:not(.m-flat) ellipse, +.m-graph g.m-node.m-success:not(.m-flat) polygon, +.m-graph g.m-edge.m-success text, +.m-graph g.m-node.m-success.m-flat text { + fill: #31c25d; +} + +.m-graph g.m-edge.m-success polygon, +.m-graph g.m-edge.m-success path, +.m-graph g.m-node.m-success ellipse, +.m-graph g.m-node.m-success polygon, +.m-graph g.m-node.m-success polyline { + stroke: #31c25d; +} + +.m-graph g.m-edge.m-warning polygon, +.m-graph g.m-node.m-warning:not(.m-flat) ellipse, +.m-graph g.m-node.m-warning:not(.m-flat) polygon, +.m-graph g.m-edge.m-warning text, +.m-graph g.m-node.m-warning.m-flat text { + fill: #d19600; +} + +.m-graph g.m-edge.m-warning polygon, +.m-graph g.m-edge.m-warning path, +.m-graph g.m-node.m-warning ellipse, +.m-graph g.m-node.m-warning polygon, +.m-graph g.m-node.m-warning polyline { + stroke: #d19600; +} + +.m-graph g.m-edge.m-danger polygon, +.m-graph g.m-node.m-danger:not(.m-flat) ellipse, +.m-graph g.m-node.m-danger:not(.m-flat) polygon, +.m-graph g.m-edge.m-danger text, +.m-graph g.m-node.m-danger.m-flat text { + fill: #f60000; +} + +.m-graph g.m-edge.m-danger polygon, +.m-graph g.m-edge.m-danger path, +.m-graph g.m-node.m-danger ellipse, +.m-graph g.m-node.m-danger polygon, +.m-graph g.m-node.m-danger polyline { + stroke: #f60000; +} + +.m-graph g.m-edge.m-info polygon, +.m-graph g.m-node.m-info:not(.m-flat) ellipse, +.m-graph g.m-node.m-info:not(.m-flat) polygon, +.m-graph g.m-edge.m-info text, +.m-graph g.m-node.m-info.m-flat text { + fill: #2e7dc5; +} + +.m-graph g.m-edge.m-info polygon, +.m-graph g.m-edge.m-info path, +.m-graph g.m-node.m-info ellipse, +.m-graph g.m-node.m-info polygon, +.m-graph g.m-node.m-info polyline { + stroke: #2e7dc5; +} + +.m-graph g.m-edge.m-dim polygon, +.m-graph g.m-node.m-dim:not(.m-flat) ellipse, +.m-graph g.m-node.m-dim:not(.m-flat) polygon, +.m-graph g.m-edge.m-dim text, +.m-graph g.m-node.m-dim.m-flat text { + fill: #bdbdbd; +} + +.m-graph g.m-edge.m-dim polygon, +.m-graph g.m-edge.m-dim path, +.m-graph g.m-node.m-dim ellipse, +.m-graph g.m-node.m-dim polygon, +.m-graph g.m-node.m-dim polyline { + stroke: #bdbdbd; +} + +p, ul, ol, dl, blockquote, pre, .m-code-figure, .m-console-figure, hr, .m-note, +.m-frame, .m-block, div.m-button, div.m-scroll, table.m-table, div.m-image, +img.m-image, svg.m-image, figure.m-figure, .m-imagegrid, div.m-math, +div.m-graph, div.m-plot { + margin-bottom: 1rem; +} + +p:last-child, p.m-nopadb, ul:last-child, ul.m-nopadb, +ol:last-child, ol.m-nopadb, dl:last-child, dl.m-nopadb, +blockquote:last-child, blockquote.m-nopadb, pre:last-child, pre.m-nopadb, +.m-code-figure:last-child, .m-code-figure.m-nopadb, +.m-console-figure:last-child, .m-console-figure.m-nopadb, +hr:last-child, hr.m-nopadb, .m-note:last-child, .m-note.m-nopadb, +.m-frame:last-child, .m-frame.m-nopadb, .m-block:last-child, .m-block.m-nopadb, +div.m-button:last-child, div.m-button.m-nopadb, +div.m-scroll:last-child, div.m-scroll.m-nopadb, +table.m-table:last-child, table.m-table.m-nopadb, +img.m-image:last-child, img.m-image.m-nopadb, +svg.m-image:last-child, svg.m-image.m-nopadb, +div.m-image:last-child, div.m-image.m-nopadb, +figure.m-figure:last-child, figure.m-figure.m-nopadb, +.m-imagegrid:last-child, .m-imagegrid.m-nopadb, +div.m-math:last-child, div.m-math.m-nopadb, +div.m-graph:last-child, div.m-graph.m-nopadb, +div.m-plot:last-child, div.m-plot.m-nopadb { + margin-bottom: 0; +} + +li > p:last-child, li > blockquote:last-child, li > pre:last-child, +li > .m-code-figure:last-child, li > .m-console-figure:last-child, +li > .m-note:last-child, li > .m-frame:last-child, li > .m-block:last-child, +li > div.m-button:last-child, li > div.m-scroll:last-child, li > table.m-table:last-child, +li > img.m-image:last-child, li > svg.m-image:last-child, li > div.m-image:last-child, +li > figure.m-figure:last-child, li > div.m-math:last-child, +li > div.m-graph:last-child, li > div.m-plot:last-child { + margin-bottom: 1rem; +} + +li:last-child > p:last-child, li:last-child > p.m-nopadb, +li:last-child > blockquote:last-child, li:last-child > blockquote.m-nopadb, +li:last-child > pre:last-child, li:last-child > pre.m-nopadb, +li:last-child > .m-code-figure:last-child, li:last-child > .m-code-figure.m-nopadb, +li:last-child > .m-console-figure:last-child, li:last-child > .m-console-figure.m-nopadb, +li:last-child > .m-note:last-child, li:last-child > .m-note.m-nopadb, +li:last-child > .m-frame:last-child, li:last-child > .m-frame.m-nopadb, +li:last-child > .m-block:last-child, li:last-child > .m-block.m-nopadb, +li:last-child > div.m-button:last-child, li:last-child > div.m-button.m-nopadb, +li:last-child > div.m-scroll:last-child, li:last-child > div.m-scroll.m-nopadb, +li:last-child > table.m-table:last-child, li:last-child > table.m-table.m-nopadb, +li:last-child > img.m-image:last-child, li:last-child > img.m-image.m-nopadb, +li:last-child > svg.m-image:last-child, li:last-child > svg.m-image.m-nopadb, +li:last-child > div.m-image:last-child, li:last-child > div.m-image.m-nopadb, +li:last-child > figure.m-figure:last-child, li:last-child > figure.m-figure.m-nopadb, +li:last-child > div.m-math:last-child, li:last-child > div.m-math.m-nopadb, +li:last-child > div.m-graph:last-child, li:last-child > div.m-graph.m-nopadb, +li:last-child > div.m-plot:last-child, li:last-child > div.m-plot.m-nopadb { + margin-bottom: 0; +} + +body > header > nav { + width: 100%; + background-color: #ffffff; + min-height: 3rem; +} + +body > header > nav.m-navbar-landing, +body > header > nav.m-navbar-cover { + background-color: transparent; + position: relative; +} + +body > header > nav.m-navbar-landing { + opacity: 0.8; +} + +body > header > nav.m-navbar-cover { + background-color: rgba(255, 255, 255, 0.25); + opacity: 1; +} + +body > header > nav.m-navbar-landing:hover, +body > header > nav.m-navbar-cover:hover { + background-color: rgba(255, 255, 255, 0.75); + opacity: 1; +} + +body > header > nav.m-navbar-landing:target, +body > header > nav.m-navbar-cover:target { + background-color: #ffffff; + opacity: 1; +} + +body > header > nav.m-navbar-landing #m-navbar-brand.m-navbar-brand-hidden { + visibility: hidden; +} + +body > header > nav.m-navbar-landing:target #m-navbar-brand.m-navbar-brand-hidden { + visibility: visible; +} + +body > header > nav { + margin-left: auto; + margin-right: auto; + color: #000000; +} + +body > header > nav a { + text-decoration: none; + text-transform: lowercase; + display: inline-block; + vertical-align: middle; + line-height: 2.75rem; + color: #000000; +} + +body > header > nav #m-navbar-brand, body > header > nav a#m-navbar-show, body > header > nav a#m-navbar-hide { + font-weight: normal; + font-size: 1.125rem; + padding-left: 1rem; + padding-right: 1rem; +} + +body > header > nav a#m-navbar-brand, body > header > nav #m-navbar-brand a { + text-transform: lowercase; +} + +body > header > nav a#m-navbar-brand img, body > header > nav #m-navbar-brand a img { + width: 1.75rem; + height: 1.75rem; + vertical-align: -22.5%; + margin-right: 0.5rem; +} + +body > header > nav #m-navbar-brand a { + padding-left: 0; + padding-right: 0; +} + +body > header > nav #m-navbar-brand .m-thin { + font-weight: normal; +} + +body > header > nav #m-navbar-brand .m-breadcrumb { + color: #bdbdbd; +} + +body > header > nav a#m-navbar-show:before, body > header > nav a#m-navbar-hide:before { + content: '\2630'; +} + +body > header > nav #m-navbar-collapse { + padding-bottom: 1rem; +} + +body > header > nav #m-navbar-collapse li { + border-style: solid; + border-color: transparent; + border-width: 0 0 0 0.25rem; + margin-left: -1rem; +} + +body > header > nav #m-navbar-collapse li a { + border-style: solid; + border-color: transparent; + line-height: 1.5rem; + margin-left: -0.25rem; + padding-left: 0.75rem; + border-width: 0 0 0 0.25rem; + width: 100%; +} + +body > header > nav #m-navbar-collapse li a#m-navbar-current { + color: #2f73a3; + border-color: #2f73a3; +} + +body > header > nav ol { + list-style-type: none; + margin: 0; +} + +body > header > nav ol ol { + padding-left: 1.5rem; +} + +body > header > nav .m-row > [class*='m-col-'] { + padding-top: 0; + padding-bottom: 0; +} + +body > header > nav a:hover, body > header > nav a:focus, body > header > nav a:active { + color: #205275; +} + +body > header > nav #m-navbar-collapse li:hover { + border-color: #205275; +} + +body > header > nav #m-navbar-collapse li a:hover, +body > header > nav #m-navbar-collapse li a:focus, +body > header > nav #m-navbar-collapse li a:active { + border-color: #205275; + background-color: rgba(255, 255, 255, 0.5); +} + +body > header > nav.m-navbar-landing #m-navbar-collapse li a:hover, +body > header > nav.m-navbar-cover #m-navbar-collapse li a:hover, +body > header > nav.m-navbar-landing #m-navbar-collapse li a:focus, +body > header > nav.m-navbar-cover #m-navbar-collapse li a:focus, +body > header > nav.m-navbar-landing #m-navbar-collapse li a:active, +body > header > nav.m-navbar-cover #m-navbar-collapse li a:active { + background-color: var(--header-link-active-background-color-semi); +} + +body > header > nav #m-navbar-hide { + display: none; +} + +body > header > nav:target #m-navbar-collapse { + display: block; +} + +body > header > nav:target #m-navbar-show { + display: none; +} + +body > header > nav:target #m-navbar-hide { + display: inline-block; +} + +@media screen and (min-width: 768px) { + body > header > nav #m-navbar-show, body > header > nav #m-navbar-hide, + body > header > nav:target #m-navbar-show, body > header > nav:target #m-navbar-hide { + display: none; + } + + body > header > nav #m-navbar-collapse li a { + line-height: 2.75rem; + } + + body > header > nav a, body > header > nav #m-navbar-collapse li a { + margin-left: 0; + padding-left: 1rem; + padding-right: 1rem; + white-space: nowrap; + } + + body > header > nav #m-navbar-collapse { + padding-bottom: 0; + } + + body > header > nav #m-navbar-collapse li ol { + background-color: #ffffff; + } + + body > header > nav #m-navbar-collapse ol ol li { + margin-left: 0; + padding-left: 0; + border-left-width: 0; + } + + body > header > nav #m-navbar-collapse ol ol li a { + padding-left: 0.75rem; + } + + body > header > nav #m-navbar-collapse > .m-row > ol > li { + margin-left: 0; + border-left-width: 0; + } + + body > header > nav #m-navbar-collapse > .m-row > ol > li > a { + border-width: 0.25rem 0 0 0; + } + + body > header > nav #m-navbar-collapse ol { + padding-left: 0; + padding-right: 0; + } + + body > header > nav #m-navbar-collapse > .m-row > ol, body > header > nav #m-navbar-collapse > .m-row > ol > li { + float: left; + } + + body > header > nav #m-navbar-collapse ol ol { + z-index: 99999; + position: absolute; + visibility: hidden; + } + + body > header > nav #m-navbar-collapse li:hover ol { + visibility: visible; + } +} + +body > footer { + width: 100%; +} + +body > footer > nav { + padding-top: 1rem; + padding-bottom: 1rem; + font-size: 0.85rem; + text-align: center; + color: #7c7c7c; + background-color: #eeeeee; +} + +body > footer > nav h3, body > footer > nav h3 a { + text-transform: uppercase; + font-weight: normal; +} + +body > footer > nav ul { + list-style-type: none; + padding: 0; + margin: 0; +} + +body > footer > nav a { + text-decoration: none; + text-transform: lowercase; + color: #191919; +} + +body > footer > nav a:hover, body > footer > nav a:focus, body > footer > nav a:active { + color: #494949; +} + +body > main { + padding-top: 1rem; + padding-bottom: 1rem; +} + +article h1 { + font-size: 1.75rem; +} + +article h1 .m-breadcrumb { + color: #bdbdbd; + font-weight: normal; +} + +article h1 .m-breadcrumb a { + color: #205275; +} + +article h1 .m-breadcrumb a:hover, article h1 a:focus, article h1 a:active { + color: #2e73a3; +} + +article > header h1 { + font-size: 2rem; + margin-bottom: 0.5rem; +} + +article h1 a, article > header h1, article > header h1 a, +article section > h2, article section > h2 a, +article section > h3, article section > h3 a, +article section > h4, article section > h4 a, +article section > h5, article section > h5 a, +article section > h6, article section > h6 a { + color: #205275; +} + +article h1 a:hover, article > header h1 a:hover, article > header h1 a:focus, article > header h1 a:active, +article section > h2 a:hover, article section > h2 a:focus, article section > h2 a:active, +article section > h3 a:hover, article section > h3 a:focus, article section > h3 a:active, +article section > h4 a:hover, article section > h4 a:focus, article section > h4 a:active, +article section > h5 a:hover, article section > h5 a:focus, article section > h5 a:active, +article section > h6 a:hover, article section > h6 a:focus, article section > h6 a:active { + color: #2e73a3; +} + +article > header .m-date { + display: block; + width: 2.5rem; + float: left; + text-align: center; + line-height: 95%; + font-size: 0.75rem; + font-weight: normal; + white-space: nowrap; + border-right-style: solid; + border-right-width: 0.125rem; + border-color: #205275; + padding-right: 0.75rem; + margin-top: -0.1rem; + margin-right: 0.75rem; + margin-bottom: 0.25rem; +} + +article > header .m-date-day { + display: block; + font-weight: bold; + padding-top: 0.2rem; + padding-bottom: 0.15rem; + font-size: 1.25rem; +} + +article > header p { + color: #7a7a7a; + font-size: 1.125rem; +} + +article > header h1::after { + content: " "; + clear: both; + display: table; +} + +article > footer { + color: #969696; +} + +article > footer p { + font-style: italic; + font-size: 0.85rem; + text-indent: 0; +} + +article section:target { + margin-left: -1.0rem; + border-left-style: solid; + border-left-width: 0.25rem; + padding-left: 0.75rem; + border-color: #205275; +} + +article h1 a, article > header h1 a, article section > h2 a, article section > h3 a, +article section > h4 a, article section > h5 a, article section > h6 a { + text-decoration: none; +} + +#m-landing-image, #m-cover-image, article#m-jumbo > header #m-jumbo-image { + background-size: cover; + background-color: #666666; + background-position: center center; + background-repeat: no-repeat; + margin-top: -4rem; + padding-top: 5rem; +} + +#m-landing-image { + color: #ffffff; +} + +#m-cover-image { + height: 30rem; + margin-bottom: -26rem; +} + +#m-landing-cover h1 { + font-size: 2.8rem; + margin-top: -0.5rem; + padding-left: 1.5rem; + padding-bottom: 1rem; + text-transform: lowercase; +} + +#m-landing-cover { + padding-bottom: 10rem; + margin-bottom: -6rem; +} + +article#m-jumbo { + margin-top: -1rem; +} + +#m-landing-cover, #m-cover-image > div, article#m-jumbo > header #m-jumbo-cover { + background: linear-gradient(transparent 0%, transparent 50%, #ffffff 100%); + width: 100%; + height: 100%; +} + +article#m-jumbo > header h1, article#m-jumbo > header h2 { + text-align: center; + font-weight: bold; +} + +article#m-jumbo > header a { + text-decoration: none; +} + +article#m-jumbo > header #m-jumbo-cover { + padding-bottom: 5rem; +} + +article#m-jumbo > header #m-jumbo-image { + font-size: 2.5vmin; + margin-bottom: -3rem; +} + +article#m-jumbo > header h1 { + font-size: 10vmin; +} + +article#m-jumbo > header h2 { + font-size: 3vmin; +} + +@media screen and (max-height: 640px) , screen and (max-width: 640px) { + article#m-jumbo > header h1 { + font-size: 3rem; + } + + article#m-jumbo > header #m-jumbo-image, article#m-jumbo > header h2 { + font-size: 1rem; + } +} + +article#m-jumbo > header, article#m-jumbo > header h1, article#m-jumbo > header a { + color: #ffffff; +} + +article#m-jumbo > header a:hover, article#m-jumbo > header a:focus, article#m-jumbo > header a:active { + color: #f0f0f0; +} + +article#m-jumbo.m-inverted > header, article#m-jumbo.m-inverted > header h1, article#m-jumbo.m-inverted > header a { + color: #000000; +} + +article#m-jumbo.m-inverted > header a:hover, article#m-jumbo.m-inverted > header a:focus, article#m-jumbo.m-inverted > header a:active { + color: #0f0f0f; +} + +.m-landing-news h3 a { + color: #000000; + text-decoration: none; + text-transform: uppercase; +} + +.m-landing-news h3 a:hover, .m-landing-news h3 a:hover, .m-landing-news h3 a:focus, .m-landing-news h3 a:active { + color: #205275; +} + +.m-landing-news time { + display: inline-block; + margin-left: 1rem; + float: right; +} + +.m-article-pagination { + text-align: center; + padding: 1rem; +} + +nav.m-navpanel { + text-align: center; +} + +nav.m-navpanel h3 { + text-transform: uppercase; + font-weight: normal; +} + +nav.m-navpanel ol { + text-transform: lowercase; +} + +nav.m-navpanel ol, nav.m-navpanel ul { + list-style-type: none; + padding: 0; +} + +nav.m-navpanel a { + color: #292929; + text-decoration: none; +} + +nav.m-navpanel a:hover, nav.m-navpanel a:focus, nav.m-navpanel a:active { + color: #205275; +} + +ul.m-tagcloud li { + display: inline; +} + +ul.m-tagcloud li.m-tag-1 { + font-size: 0.75rem; +} + +ul.m-tagcloud li.m-tag-2 { + font-size: 0.825rem; +} + +ul.m-tagcloud li.m-tag-3 { + font-size: 1rem; +} + +ul.m-tagcloud li.m-tag-4 { + font-size: 1.25rem; +} + +ul.m-tagcloud li.m-tag-5 { + font-size: 1.5rem; +} + +article section:target figure.m-code-figure, article section:target figure.m-console-figure { + z-index: 1; +} + +article, article > header, article section { + margin-bottom: 1rem; +} + +article:last-child, article section:last-child { + margin-bottom: 0; +} + +.m-container-inflatable section:target > .m-note, +.m-container-inflatable section:target > .m-frame, +.m-container-inflatable section:target > .m-block, +.m-container-inflatable section:target > pre, +.m-container-inflatable section:target > .m-code-figure > pre:first-child, +.m-container-inflatable section:target > .m-console-figure > pre:first-child, +.m-container-inflatable section:target section > .m-note, +.m-container-inflatable section:target section > .m-frame, +.m-container-inflatable section:target section > .m-block, +.m-container-inflatable section:target section > pre, +.m-container-inflatable section:target section > .m-code-figure > pre:first-child, +.m-container-inflatable section:target section > .m-console-figure > pre:first-child, +.m-container-inflatable section:target [class*='m-center-'] > .m-note, +.m-container-inflatable section:target [class*='m-center-'] > .m-frame, +.m-container-inflatable section:target [class*='m-center-'] > .m-block, +.m-container-inflatable section:target [class*='m-center-'] > pre, +.m-container-inflatable section:target [class*='m-center-'] > .m-code-figure > pre:first-child, +.m-container-inflatable section:target [class*='m-center-'] > .m-console-figure > pre:first-child, +.m-container-inflatable section:target [class*='m-left-'] > .m-note, +.m-container-inflatable section:target [class*='m-left-'] > .m-frame, +.m-container-inflatable section:target [class*='m-left-'] > .m-block, +.m-container-inflatable section:target [class*='m-left-'] > pre, +.m-container-inflatable section:target [class*='m-left-'] > .m-code-figure > pre:first-child, +.m-container-inflatable section:target [class*='m-left-'] > .m-console-figure > pre:first-child, +.m-container-inflatable section:target [class*='m-right-'] > .m-note, +.m-container-inflatable section:target [class*='m-right-'] > .m-frame, +.m-container-inflatable section:target [class*='m-right-'] > .m-block, +.m-container-inflatable section:target [class*='m-right-'] > pre, +.m-container-inflatable section:target [class*='m-right-'] > .m-code-figure > pre:first-child, +.m-container-inflatable section:target [class*='m-right-'] > .m-console-figure > pre:first-child, +.m-container-inflatable section:target .m-container-inflate > .m-note, +.m-container-inflatable section:target .m-container-inflate > .m-frame, +.m-container-inflatable section:target .m-container-inflate > .m-block, +.m-container-inflatable section:target .m-container-inflate > pre, +.m-container-inflatable section:target .m-container-inflate > .m-code-figure > pre:first-child, +.m-container-inflatable section:target .m-container-inflate > .m-console-figure > pre:first-child { + margin-left: -1.0rem; + border-left-style: solid; + border-left-width: 0.25rem; + border-top-left-radius: 0; + border-bottom-left-radius: 0; + padding-left: 0.75rem; } -.m-math.m-primary, .m-math g.m-primary, .m-math rect.m-primary, -div.m-plot svg .m-bar.m-primary, -.m-graph.m-primary g.m-edge polygon, -.m-graph.m-primary g.m-node:not(.m-flat) ellipse, -.m-graph.m-primary g.m-node:not(.m-flat) polygon, -.m-graph.m-primary g.m-edge text, -.m-graph.m-primary g.m-node.m-flat text { - fill: #205275; + +.m-container-inflatable section:target > .m-code-figure::before, +.m-container-inflatable section:target > .m-console-figure::before, +.m-container-inflatable section:target section > .m-code-figure::before, +.m-container-inflatable section:target section > .m-console-figure::before, +.m-container-inflatable section:target [class*='m-center-'] > .m-code-figure::before, +.m-container-inflatable section:target [class*='m-center-'] > .m-console-figure::before, +.m-container-inflatable section:target [class*='m-left-'] > .m-code-figure::before, +.m-container-inflatable section:target [class*='m-left-'] > .m-console-figure::before, +.m-container-inflatable section:target [class*='m-right-'] > .m-code-figure::before, +.m-container-inflatable section:target [class*='m-right-'] > .m-console-figure::before, +.m-container-inflatable section:target .m-container-inflate > .m-code-figure::before, +.m-container-inflatable section:target .m-container-inflate > .m-console-figure::before { + border-top-left-radius: 0; + border-bottom-left-radius: 0; + border-left-width: 0.25rem; } -.m-graph.m-primary g.m-edge polygon, -.m-graph.m-primary g.m-edge path, -.m-graph.m-primary g.m-node ellipse, -.m-graph.m-primary g.m-node polygon, -.m-graph.m-primary g.m-node polyline { - stroke: #205275; + +.m-container-inflatable section:target > .m-code-figure > pre.m-nopad, +.m-container-inflatable section:target > .m-console-figure > pre.m-nopad { + margin-left: -0.75rem; + padding-left: -0.75rem; } -.m-math.m-success, .m-math g.m-success, .m-math rect.m-success, -div.m-plot svg .m-bar.m-success, -.m-graph.m-success g.m-edge polygon, -.m-graph.m-success g.m-node:not(.m-flat) ellipse, -.m-graph.m-success g.m-node:not(.m-flat) polygon, -.m-graph.m-success g.m-edge text, -.m-graph.m-success g.m-node.m-flat text { - fill: #31c25d; + +@media screen and (min-width: 576px) { + .m-container-inflatable section:target .m-center-s > .m-note, + .m-container-inflatable section:target .m-center-s > pre, + .m-container-inflatable section:target .m-center-s > figure.m-code-figure > pre:first-child, + .m-container-inflatable section:target .m-center-s > figure.m-console-figure > pre:first-child, + .m-container-inflatable section:target .m-right-s > figure.m-code-figure > pre:first-child, + .m-container-inflatable section:target .m-right-s > figure.m-console-figure > pre:first-child { + border-left-width: 0; + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + padding-left: 1rem; + } + + .m-container-inflatable section:target .m-center-s > .m-block, + .m-container-inflatable section:target .m-right-s > .m-block { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + } + + .m-container-inflatable section:target .m-center-s > .m-frame, + .m-container-inflatable section:target .m-right-s > .m-frame { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + border-left-width: 0.125rem; + padding-left: 0.875rem; + } + + .m-container-inflatable section:target .m-right-s > .m-block, + .m-container-inflatable section:target .m-right-s > .m-frame { + margin-left: 0; + } + + .m-container-inflatable section:target .m-right-s > .m-note, + .m-container-inflatable section:target .m-right-s > pre { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + margin-left: 0; + border-left-width: 0; + padding-left: 1rem; + } + + .m-container-inflatable section:target .m-center-s > figure.m-code-figure::before, + .m-container-inflatable section:target .m-center-s > figure.m-console-figure::before, + .m-container-inflatable section:target .m-right-s > figure.m-code-figure::before, + .m-container-inflatable section:target .m-right-s > figure.m-console-figure::before { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + border-left-width: 0.125rem; + } } -.m-graph.m-success g.m-edge polygon, -.m-graph.m-success g.m-edge path, -.m-graph.m-success g.m-node ellipse, -.m-graph.m-success g.m-node polygon, -.m-graph.m-success g.m-node polyline { - stroke: #31c25d; + +@media screen and (min-width: 768px) { + .m-container-inflatable section:target .m-center-m > .m-note, + .m-container-inflatable section:target .m-center-m > pre, + .m-container-inflatable section:target .m-center-m > figure.m-code-figure > pre:first-child, + .m-container-inflatable section:target .m-center-m > figure.m-console-figure > pre:first-child, + .m-container-inflatable section:target .m-right-m > figure.m-code-figure > pre:first-child, + .m-container-inflatable section:target .m-right-m > figure.m-console-figure > pre:first-child { + border-left-width: 0; + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + padding-left: 1rem; + } + + .m-container-inflatable section:target .m-center-m > .m-block, + .m-container-inflatable section:target .m-right-m > .m-block { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + } + + .m-container-inflatable section:target .m-center-m > .m-frame, + .m-container-inflatable section:target .m-right-m > .m-frame { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + border-left-width: 0.125rem; + padding-left: 0.875rem; + } + + .m-container-inflatable section:target .m-right-m > .m-block, + .m-container-inflatable section:target .m-right-m > .m-frame { + margin-left: 0; + } + + .m-container-inflatable section:target .m-right-m > .m-note, + .m-container-inflatable section:target .m-right-m > pre { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + margin-left: 0; + border-left-width: 0; + padding-left: 1rem; + } + + .m-container-inflatable section:target .m-center-m > figure.m-code-figure::before, + .m-container-inflatable section:target .m-center-m > figure.m-console-figure::before, + .m-container-inflatable section:target .m-right-m > figure.m-code-figure::before, + .m-container-inflatable section:target .m-right-m > figure.m-console-figure::before { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + border-left-width: 0.125rem; + } } -.m-math.m-warning, .m-math g.m-warning, .m-math rect.m-warning, -div.m-plot svg .m-bar.m-warning, -.m-graph.m-warning g.m-edge polygon, -.m-graph.m-warning g.m-node:not(.m-flat) ellipse, -.m-graph.m-warning g.m-node:not(.m-flat) polygon, -.m-graph.m-warning g.m-edge text, -.m-graph.m-warning g.m-node.m-flat text { - fill: #d19600; + +@media screen and (min-width: 992px) { + .m-container-inflatable section:target .m-center-l > .m-note, + .m-container-inflatable section:target .m-center-l > pre, + .m-container-inflatable section:target .m-center-l > figure.m-code-figure > pre:first-child, + .m-container-inflatable section:target .m-center-l > figure.m-console-figure > pre:first-child, + .m-container-inflatable section:target .m-right-l > figure.m-code-figure > pre:first-child, + .m-container-inflatable section:target .m-right-l > figure.m-console-figure > pre:first-child { + border-left-width: 0; + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + padding-left: 1rem; + } + + .m-container-inflatable section:target .m-center-l > .m-block, + .m-container-inflatable section:target .m-right-l > .m-block { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + } + + .m-container-inflatable section:target .m-center-l > .m-frame, + .m-container-inflatable section:target .m-right-l > .m-frame { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + border-left-width: 0.125rem; + padding-left: 0.875rem; + } + + .m-container-inflatable section:target .m-right-l > .m-block, + .m-container-inflatable section:target .m-right-l > .m-frame { + margin-left: 0; + } + + .m-container-inflatable section:target .m-right-l > .m-note, + .m-container-inflatable section:target .m-right-l > pre { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + margin-left: 0; + border-left-width: 0; + padding-left: 1rem; + } + + .m-container-inflatable section:target .m-center-l > figure.m-code-figure::before, + .m-container-inflatable section:target .m-center-l > figure.m-console-figure::before, + .m-container-inflatable section:target .m-right-l > figure.m-code-figure::before, + .m-container-inflatable section:target .m-right-l > figure.m-console-figure::before { + border-top-left-radius: 0.2rem; + border-bottom-left-radius: 0.2rem; + border-left-width: 0.125rem; + } } -.m-graph.m-warning g.m-edge polygon, -.m-graph.m-warning g.m-edge path, -.m-graph.m-warning g.m-node ellipse, -.m-graph.m-warning g.m-node polygon, -.m-graph.m-warning g.m-node polyline { - stroke: #d19600; + +.m-container-inflatable section:target > figure.m-code-figure::before, +.m-container-inflatable section:target > figure.m-console-figure::before, +.m-container-inflatable section:target section > figure.m-code-figure::before, +.m-container-inflatable section:target section > figure.m-console-figure::before, +.m-container-inflatable section:target [class*='m-center-'] > figure.m-code-figure::before, +.m-container-inflatable section:target [class*='m-center-'] > figure.m-console-figure::before, +.m-container-inflatable section:target [class*='m-left-'] > figure.m-code-figure::before, +.m-container-inflatable section:target [class*='m-left-'] > figure.m-console-figure::before, +.m-container-inflatable section:target [class*='m-right-'] > figure.m-code-figure::before, +.m-container-inflatable section:target [class*='m-right-'] > figure.m-console-figure::before, +.m-container-inflatable section:target .m-container-inflatable > figure.m-code-figure::before, +.m-container-inflatable section:target .m-container-inflatable > figure.m-console-figure::before { + border-left-color: #c7cfd9; } -.m-math.m-danger, .m-math g.m-danger, .m-math rect.m-danger, -div.m-plot svg .m-bar.m-danger, -.m-graph.m-danger g.m-edge polygon, -.m-graph.m-danger g.m-node:not(.m-flat) ellipse, -.m-graph.m-danger g.m-node:not(.m-flat) polygon, -.m-graph.m-danger g.m-edge text, -.m-graph.m-danger g.m-node.m-flat text { - fill: #f60000; + +@media screen and (min-width: 576px) { + .m-container-inflatable section:target .m-center-s > figure.m-code-figure::before, + .m-container-inflatable section:target .m-right-s > figure.m-code-figure::before { + border-color: #f2f7fa; + } + + .m-container-inflatable section:target .m-center-s > figure.m-console-figure::before, + .m-container-inflatable section:target .m-right-s > figure.m-console-figure::before { + border-color: #000000; + } } -.m-graph.m-danger g.m-edge polygon, -.m-graph.m-danger g.m-edge path, -.m-graph.m-danger g.m-node ellipse, -.m-graph.m-danger g.m-node polygon, -.m-graph.m-danger g.m-node polyline { - stroke: #f60000; + +@media screen and (min-width: 768px) { + .m-container-inflatable section:target .m-center-m > figure.m-code-figure::before, + .m-container-inflatable section:target .m-right-m > figure.m-code-figure::before { + border-color: #f2f7fa; + } + + .m-container-inflatable section:target .m-center-m > figure.m-console-figure::before, + .m-container-inflatable section:target .m-right-m > figure.m-console-figure::before { + border-color: #000000; + } } -.m-math.m-info, .m-math g.m-info, .m-math rect.m-info, -div.m-plot svg .m-bar.m-info, -.m-graph.m-info g.m-edge polygon, -.m-graph.m-info g.m-node:not(.m-flat) ellipse, -.m-graph.m-info g.m-node:not(.m-flat) polygon, -.m-graph.m-info g.m-edge text, -.m-graph.m-info g.m-node.m-flat text { - fill: #2e7dc5; + +@media screen and (min-width: 992px) { + .m-container-inflatable section:target .m-center-l > figure.m-code-figure::before, + .m-container-inflatable section:target .m-right-l > figure.m-code-figure::before { + border-color: #f2f7fa; + } + + .m-container-inflatable section:target .m-center-l > figure.m-console-figure::before, + .m-container-inflatable section:target .m-right-l > figure.m-console-figure::before { + border-color: #000000; + } } -.m-graph.m-info g.m-edge polygon, -.m-graph.m-info g.m-edge path, -.m-graph.m-info g.m-node ellipse, -.m-graph.m-info g.m-node polygon, -.m-graph.m-info g.m-node polyline { - stroke: #2e7dc5; + +.m-container-inflatable section:target pre, +.m-container-inflatable section:target figure.m-code-figure > pre:first-child, +.m-container-inflatable section:target figure.m-console-figure > pre:first-child { + border-color: #c7cfd9; } -.m-math.m-dim, .m-math g.m-dim, .m-math rect.m-dim, -div.m-plot svg .m-bar.m-dim, -.m-graph.m-dim g.m-edge polygon, -.m-graph.m-dim g.m-node:not(.m-flat) ellipse, -.m-graph.m-dim g.m-node:not(.m-flat) polygon, -.m-graph.m-dim g.m-edge text, -.m-graph.m-dim g.m-node.m-flat text { - fill: #bdbdbd; + +.m-container-inflatable section:target .m-note.m-default { + border-color: #c7cfd9; } -.m-graph.m-dim g.m-edge polygon, -.m-graph.m-dim g.m-edge path, -.m-graph.m-dim g.m-node ellipse, -.m-graph.m-dim g.m-node polygon, -.m-graph.m-dim g.m-node polyline { - stroke: #bdbdbd; + +.m-container-inflatable section:target .m-note.m-primary { + border-color: #205275; } -.m-graph g.m-edge.m-default polygon, -.m-graph g.m-node.m-default:not(.m-flat) ellipse, -.m-graph g.m-node.m-default:not(.m-flat) polygon, -.m-graph g.m-edge.m-default text, -.m-graph g.m-node.m-default.m-flat text { - fill: #000000; + +.m-container-inflatable section:target .m-note.m-success { + border-color: #31c25d; } -.m-graph g.m-edge.m-default polygon, -.m-graph g.m-edge.m-default path, -.m-graph g.m-node.m-default ellipse, -.m-graph g.m-node.m-default polygon, -.m-graph g.m-node.m-default polyline { - stroke: #000000; + +.m-container-inflatable section:target .m-note.m-warning { + border-color: #d19600; } -.m-graph g.m-edge.m-primary polygon, -.m-graph g.m-node.m-primary:not(.m-flat) ellipse, -.m-graph g.m-node.m-primary:not(.m-flat) polygon, -.m-graph g.m-edge.m-primary text, -.m-graph g.m-node.m-primary.m-flat text { - fill: #205275; + +.m-container-inflatable section:target .m-note.m-danger { + border-color: #f60000; } -.m-graph g.m-edge.m-primary polygon, -.m-graph g.m-edge.m-primary path, -.m-graph g.m-node.m-primary ellipse, -.m-graph g.m-node.m-primary polygon, -.m-graph g.m-node.m-primary polyline { - stroke: #205275; + +.m-container-inflatable section:target .m-note.m-info { + border-color: #2e7dc5; } -.m-graph g.m-edge.m-success polygon, -.m-graph g.m-node.m-success:not(.m-flat) ellipse, -.m-graph g.m-node.m-success:not(.m-flat) polygon, -.m-graph g.m-edge.m-success text, -.m-graph g.m-node.m-success.m-flat text { - fill: #31c25d; + +.m-container-inflatable section:target .m-note.m-dim { + border-color: #bdbdbd; } -.m-graph g.m-edge.m-success polygon, -.m-graph g.m-edge.m-success path, -.m-graph g.m-node.m-success ellipse, -.m-graph g.m-node.m-success polygon, -.m-graph g.m-node.m-success polyline { - stroke: #31c25d; + +.m-code .hll { + background-color: #ffffcc } -.m-graph g.m-edge.m-warning polygon, -.m-graph g.m-node.m-warning:not(.m-flat) ellipse, -.m-graph g.m-node.m-warning:not(.m-flat) polygon, -.m-graph g.m-edge.m-warning text, -.m-graph g.m-node.m-warning.m-flat text { - fill: #d19600; + +.m-code { + background: #f8f8f8; } -.m-graph g.m-edge.m-warning polygon, -.m-graph g.m-edge.m-warning path, -.m-graph g.m-node.m-warning ellipse, -.m-graph g.m-node.m-warning polygon, -.m-graph g.m-node.m-warning polyline { - stroke: #d19600; + +.m-code .c { + color: #8f5902; + font-style: italic } -.m-graph g.m-edge.m-danger polygon, -.m-graph g.m-node.m-danger:not(.m-flat) ellipse, -.m-graph g.m-node.m-danger:not(.m-flat) polygon, -.m-graph g.m-edge.m-danger text, -.m-graph g.m-node.m-danger.m-flat text { - fill: #f60000; + +.m-code .err { + color: #a40000; + border: 1px solid #ef2929 } -.m-graph g.m-edge.m-danger polygon, -.m-graph g.m-edge.m-danger path, -.m-graph g.m-node.m-danger ellipse, -.m-graph g.m-node.m-danger polygon, -.m-graph g.m-node.m-danger polyline { - stroke: #f60000; + +.m-code .g { + color: #000000 } -.m-graph g.m-edge.m-info polygon, -.m-graph g.m-node.m-info:not(.m-flat) ellipse, -.m-graph g.m-node.m-info:not(.m-flat) polygon, -.m-graph g.m-edge.m-info text, -.m-graph g.m-node.m-info.m-flat text { - fill: #2e7dc5; + +.m-code .k { + color: #204a87; + font-weight: bold } -.m-graph g.m-edge.m-info polygon, -.m-graph g.m-edge.m-info path, -.m-graph g.m-node.m-info ellipse, -.m-graph g.m-node.m-info polygon, -.m-graph g.m-node.m-info polyline { - stroke: #2e7dc5; + +.m-code .l { + color: #000000 } -.m-graph g.m-edge.m-dim polygon, -.m-graph g.m-node.m-dim:not(.m-flat) ellipse, -.m-graph g.m-node.m-dim:not(.m-flat) polygon, -.m-graph g.m-edge.m-dim text, -.m-graph g.m-node.m-dim.m-flat text { - fill: #bdbdbd; + +.m-code .n { + color: #000000 +} + +.m-code .o { + color: #ce5c00; + font-weight: bold +} + +.m-code .x { + color: #000000 +} + +.m-code .p { + color: #000000; + font-weight: bold } -.m-graph g.m-edge.m-dim polygon, -.m-graph g.m-edge.m-dim path, -.m-graph g.m-node.m-dim ellipse, -.m-graph g.m-node.m-dim polygon, -.m-graph g.m-node.m-dim polyline { - stroke: #bdbdbd; + +.m-code .ch { + color: #8f5902; + font-style: italic } -p, ul, ol, dl, blockquote, pre, .m-code-figure, .m-console-figure, hr, .m-note, -.m-frame, .m-block, div.m-button, div.m-scroll, table.m-table, div.m-image, -img.m-image, svg.m-image, figure.m-figure, .m-imagegrid, div.m-math, -div.m-graph, div.m-plot { - margin-bottom: 1rem; + +.m-code .cm { + color: #8f5902; + font-style: italic } -p:last-child, p.m-nopadb, ul:last-child, ul.m-nopadb, -ol:last-child, ol.m-nopadb, dl:last-child, dl.m-nopadb, -blockquote:last-child, blockquote.m-nopadb, pre:last-child, pre.m-nopadb, -.m-code-figure:last-child, .m-code-figure.m-nopadb, -.m-console-figure:last-child, .m-console-figure.m-nopadb, -hr:last-child, hr.m-nopadb, .m-note:last-child, .m-note.m-nopadb, -.m-frame:last-child, .m-frame.m-nopadb, .m-block:last-child, .m-block.m-nopadb, -div.m-button:last-child, div.m-button.m-nopadb, -div.m-scroll:last-child, div.m-scroll.m-nopadb, -table.m-table:last-child, table.m-table.m-nopadb, -img.m-image:last-child, img.m-image.m-nopadb, -svg.m-image:last-child, svg.m-image.m-nopadb, -div.m-image:last-child, div.m-image.m-nopadb, -figure.m-figure:last-child, figure.m-figure.m-nopadb, -.m-imagegrid:last-child, .m-imagegrid.m-nopadb, -div.m-math:last-child, div.m-math.m-nopadb, -div.m-graph:last-child, div.m-graph.m-nopadb, -div.m-plot:last-child, div.m-plot.m-nopadb { - margin-bottom: 0; + +.m-code .cp { + color: #8f5902; + font-style: italic } -li > p:last-child, li > blockquote:last-child, li > pre:last-child, -li > .m-code-figure:last-child, li > .m-console-figure:last-child, -li > .m-note:last-child, li > .m-frame:last-child, li > .m-block:last-child, -li > div.m-button:last-child, li > div.m-scroll:last-child, li > table.m-table:last-child, -li > img.m-image:last-child, li > svg.m-image:last-child, li > div.m-image:last-child, -li > figure.m-figure:last-child, li > div.m-math:last-child, -li > div.m-graph:last-child, li > div.m-plot:last-child { - margin-bottom: 1rem; + +.m-code .cpf { + color: #8f5902; + font-style: italic } -li:last-child > p:last-child, li:last-child > p.m-nopadb, -li:last-child > blockquote:last-child, li:last-child > blockquote.m-nopadb, -li:last-child > pre:last-child, li:last-child > pre.m-nopadb, -li:last-child > .m-code-figure:last-child, li:last-child > .m-code-figure.m-nopadb, -li:last-child > .m-console-figure:last-child, li:last-child > .m-console-figure.m-nopadb, -li:last-child > .m-note:last-child, li:last-child > .m-note.m-nopadb, -li:last-child > .m-frame:last-child, li:last-child > .m-frame.m-nopadb, -li:last-child > .m-block:last-child, li:last-child > .m-block.m-nopadb, -li:last-child > div.m-button:last-child, li:last-child > div.m-button.m-nopadb, -li:last-child > div.m-scroll:last-child, li:last-child > div.m-scroll.m-nopadb, -li:last-child > table.m-table:last-child, li:last-child > table.m-table.m-nopadb, -li:last-child > img.m-image:last-child, li:last-child > img.m-image.m-nopadb, -li:last-child > svg.m-image:last-child, li:last-child > svg.m-image.m-nopadb, -li:last-child > div.m-image:last-child, li:last-child > div.m-image.m-nopadb, -li:last-child > figure.m-figure:last-child, li:last-child > figure.m-figure.m-nopadb, -li:last-child > div.m-math:last-child, li:last-child > div.m-math.m-nopadb, -li:last-child > div.m-graph:last-child, li:last-child > div.m-graph.m-nopadb, -li:last-child > div.m-plot:last-child, li:last-child > div.m-plot.m-nopadb { - margin-bottom: 0; + +.m-code .c1 { + color: #8f5902; + font-style: italic } -body > header > nav { - width: 100%; - background-color: #ffffff; - min-height: 3rem; +.m-code .cs { + color: #8f5902; + font-style: italic } -body > header > nav.m-navbar-landing, -body > header > nav.m-navbar-cover { - background-color: transparent; - position: relative; + +.m-code .gd { + color: #a40000 } -body > header > nav.m-navbar-landing { - opacity: 0.8; + +.m-code .ge { + color: #000000; + font-style: italic } -body > header > nav.m-navbar-cover { - background-color: rgba(255, 255, 255, 0.25); - opacity: 1; + +.m-code .gr { + color: #ef2929 } -body > header > nav.m-navbar-landing:hover, -body > header > nav.m-navbar-cover:hover { - background-color: rgba(255, 255, 255, 0.75); - opacity: 1; + +.m-code .gh { + color: #000080; + font-weight: bold } -body> header > nav.m-navbar-landing:target, -body> header > nav.m-navbar-cover:target { - background-color: #ffffff; - opacity: 1; + +.m-code .gi { + color: #00A000 } -body > header > nav.m-navbar-landing #m-navbar-brand.m-navbar-brand-hidden { - visibility: hidden; + +.m-code .go { + color: #000000; + font-style: italic } -body > header > nav.m-navbar-landing:target #m-navbar-brand.m-navbar-brand-hidden { - visibility: visible; + +.m-code .gp { + color: #8f5902 } -body > header > nav { - margin-left: auto; - margin-right: auto; - color: #000000; + +.m-code .gs { + color: #000000; + font-weight: bold } -body > header > nav a { - text-decoration: none; - text-transform: lowercase; - display: inline-block; - vertical-align: middle; - line-height: 2.75rem; - color: #000000; + +.m-code .gu { + color: #800080; + font-weight: bold } -body > header > nav #m-navbar-brand, body > header > nav a#m-navbar-show, body > header > nav a#m-navbar-hide { - font-weight: normal; - font-size: 1.125rem; - padding-left: 1rem; - padding-right: 1rem; + +.m-code .gt { + color: #a40000; + font-weight: bold } -body > header > nav a#m-navbar-brand, body > header > nav #m-navbar-brand a { - text-transform: lowercase; + +.m-code .kc { + color: #204a87; + font-weight: bold } -body > header > nav a#m-navbar-brand img, body > header > nav #m-navbar-brand a img { - width: 1.75rem; - height: 1.75rem; - vertical-align: -22.5%; - margin-right: 0.5rem; + +.m-code .kd { + color: #204a87; + font-weight: bold } -body > header > nav #m-navbar-brand a { - padding-left: 0; - padding-right: 0; + +.m-code .kn { + color: #204a87; + font-weight: bold } -body > header > nav #m-navbar-brand .m-thin { - font-weight: normal; + +.m-code .kp { + color: #204a87; + font-weight: bold } -body > header > nav #m-navbar-brand .m-breadcrumb { - color: #bdbdbd; + +.m-code .kr { + color: #204a87; + font-weight: bold } -body > header > nav a#m-navbar-show:before, body > header > nav a#m-navbar-hide:before { - content:'\2630'; + +.m-code .kt { + color: #204a87; + font-weight: bold } -body > header > nav #m-navbar-collapse { - padding-bottom: 1rem; + +.m-code .ld { + color: #000000 } -body > header > nav #m-navbar-collapse li { - border-style: solid; - border-color: transparent; - border-width: 0 0 0 0.25rem; - margin-left: -1rem; + +.m-code .m { + color: #0000cf; + font-weight: bold } -body > header > nav #m-navbar-collapse li a { - border-style: solid; - border-color: transparent; - line-height: 1.5rem; - margin-left: -0.25rem; - padding-left: 0.75rem; - border-width: 0 0 0 0.25rem; - width: 100%; + +.m-code .s { + color: #4e9a06 } -body > header > nav #m-navbar-collapse li a#m-navbar-current { - color: #2f73a3; - border-color: #2f73a3; + +.m-code .na { + color: #c4a000 } -body > header > nav ol { - list-style-type: none; - margin: 0; + +.m-code .nb { + color: #204a87 } -body > header > nav ol ol { - padding-left: 1.5rem; + +.m-code .nc { + color: #000000 } -body > header > nav .m-row > [class*='m-col-'] { - padding-top: 0; - padding-bottom: 0; + +.m-code .no { + color: #000000 } -body > header > nav a:hover, body > header > nav a:focus, body > header > nav a:active { - color: #205275; + +.m-code .nd { + color: #5c35cc; + font-weight: bold } -body > header > nav #m-navbar-collapse li:hover { - border-color: #205275; + +.m-code .ni { + color: #ce5c00 } -body > header > nav #m-navbar-collapse li a:hover, -body > header > nav #m-navbar-collapse li a:focus, -body > header > nav #m-navbar-collapse li a:active { - border-color: #205275; - background-color: rgba(255, 255, 255, 0.5); + +.m-code .ne { + color: #cc0000; + font-weight: bold } -body > header > nav.m-navbar-landing #m-navbar-collapse li a:hover, -body > header > nav.m-navbar-cover #m-navbar-collapse li a:hover, -body > header > nav.m-navbar-landing #m-navbar-collapse li a:focus, -body > header > nav.m-navbar-cover #m-navbar-collapse li a:focus, -body > header > nav.m-navbar-landing #m-navbar-collapse li a:active, -body > header > nav.m-navbar-cover #m-navbar-collapse li a:active { - background-color: var(--header-link-active-background-color-semi); + +.m-code .nf { + color: #000000 } -body > header > nav #m-navbar-hide { - display: none; + +.m-code .nl { + color: #f57900 } -body > header > nav:target #m-navbar-collapse { - display: block; + +.m-code .nn { + color: #000000 } -body > header > nav:target #m-navbar-show { - display: none; + +.m-code .nx { + color: #000000 } -body > header > nav:target #m-navbar-hide { - display: inline-block; + +.m-code .py { + color: #000000 } -@media screen and (min-width: 768px) { - body > header > nav #m-navbar-show, body > header > nav #m-navbar-hide, - body > header > nav:target #m-navbar-show, body > header > nav:target #m-navbar-hide { - display: none; - } - body > header > nav #m-navbar-collapse li a { - line-height: 2.75rem; - } - body > header > nav a, body > header > nav #m-navbar-collapse li a { - margin-left: 0; - padding-left: 1rem; - padding-right: 1rem; - white-space: nowrap; - } - body > header > nav #m-navbar-collapse { - padding-bottom: 0; - } - body > header > nav #m-navbar-collapse li ol { - background-color: #ffffff; - } - body > header > nav #m-navbar-collapse ol ol li { - margin-left: 0; - padding-left: 0; - border-left-width: 0; - } - body > header > nav #m-navbar-collapse ol ol li a { - padding-left: 0.75rem; - } - body > header > nav #m-navbar-collapse > .m-row > ol > li { - margin-left: 0; - border-left-width: 0; - } - body > header > nav #m-navbar-collapse > .m-row > ol > li > a { - border-width: 0.25rem 0 0 0; - } - body > header > nav #m-navbar-collapse ol { - padding-left: 0; - padding-right: 0; - } - body > header > nav #m-navbar-collapse > .m-row > ol, body > header > nav #m-navbar-collapse > .m-row > ol > li { - float: left; - } - body > header > nav #m-navbar-collapse ol ol { - z-index: 99999; - position: absolute; - visibility: hidden; - } - body > header > nav #m-navbar-collapse li:hover ol { - visibility: visible; - } + +.m-code .nt { + color: #204a87; + font-weight: bold } -body > footer { - width: 100%; + +.m-code .nv { + color: #000000 } -body > footer > nav { - padding-top: 1rem; - padding-bottom: 1rem; - font-size: 0.85rem; - text-align: center; - color: #7c7c7c; - background-color: #eeeeee; + +.m-code .ow { + color: #204a87; + font-weight: bold } -body > footer > nav h3, body > footer > nav h3 a { - text-transform: uppercase; - font-weight: normal; + +.m-code .w { + color: #f8f8f8; + text-decoration: underline } -body > footer > nav ul { - list-style-type: none; - padding: 0; - margin: 0; + +.m-code .mb { + color: #0000cf; + font-weight: bold } -body > footer > nav a { - text-decoration: none; - text-transform: lowercase; - color: #191919; + +.m-code .mf { + color: #0000cf; + font-weight: bold } -body > footer > nav a:hover, body > footer > nav a:focus, body > footer > nav a:active { - color: #494949; + +.m-code .mh { + color: #0000cf; + font-weight: bold } -body > main { - padding-top: 1rem; - padding-bottom: 1rem; + +.m-code .mi { + color: #0000cf; + font-weight: bold } -article h1 { - font-size: 1.75rem; + +.m-code .mo { + color: #0000cf; + font-weight: bold } -article h1 .m-breadcrumb { - color: #bdbdbd; - font-weight: normal; + +.m-code .sa { + color: #4e9a06 } -article h1 .m-breadcrumb a { - color: #205275; + +.m-code .sb { + color: #4e9a06 } -article h1 .m-breadcrumb a:hover, article h1 a:focus, article h1 a:active { - color: #2e73a3; + +.m-code .sc { + color: #4e9a06 } -article > header h1 { - font-size: 2rem; - margin-bottom: 0.5rem; + +.m-code .dl { + color: #4e9a06 } -article h1 a, article > header h1, article > header h1 a, -article section > h2, article section > h2 a, -article section > h3, article section > h3 a, -article section > h4, article section > h4 a, -article section > h5, article section > h5 a, -article section > h6, article section > h6 a { - color: #205275; + +.m-code .sd { + color: #8f5902; + font-style: italic } -article h1 a:hover, article > header h1 a:hover, article > header h1 a:focus, article > header h1 a:active, -article section > h2 a:hover, article section > h2 a:focus, article section > h2 a:active, -article section > h3 a:hover, article section > h3 a:focus, article section > h3 a:active, -article section > h4 a:hover, article section > h4 a:focus, article section > h4 a:active, -article section > h5 a:hover, article section > h5 a:focus, article section > h5 a:active, -article section > h6 a:hover, article section > h6 a:focus, article section > h6 a:active { - color: #2e73a3; + +.m-code .s2 { + color: #4e9a06 } -article > header .m-date { - display: block; - width: 2.5rem; - float: left; - text-align: center; - line-height: 95%; - font-size: 0.75rem; - font-weight: normal; - white-space: nowrap; - border-right-style: solid; - border-right-width: 0.125rem; - border-color: #205275; - padding-right: 0.75rem; - margin-top: -0.1rem; - margin-right: 0.75rem; - margin-bottom: 0.25rem; + +.m-code .se { + color: #4e9a06 } -article > header .m-date-day { - display: block; - font-weight: bold; - padding-top: 0.2rem; - padding-bottom: 0.15rem; - font-size: 1.25rem; + +.m-code .sh { + color: #4e9a06 } -article > header p { - color: #7a7a7a; - font-size: 1.125rem; + +.m-code .si { + color: #4e9a06 } -article > header h1::after { - content: " "; - clear: both; - display: table; + +.m-code .sx { + color: #4e9a06 } -article > footer { - color: #969696; + +.m-code .sr { + color: #4e9a06 } -article > footer p { - font-style: italic; - font-size: 0.85rem; - text-indent: 0; + +.m-code .s1 { + color: #4e9a06 } -article section:target { - margin-left: -1.0rem; - border-left-style: solid; - border-left-width: 0.25rem; - padding-left: 0.75rem; - border-color: #205275; + +.m-code .ss { + color: #4e9a06 } -article h1 a, article > header h1 a, article section > h2 a, article section > h3 a, -article section > h4 a, article section > h5 a, article section > h6 a { - text-decoration: none; + +.m-code .bp { + color: #3465a4 } -#m-landing-image, #m-cover-image, article#m-jumbo > header #m-jumbo-image { - background-size: cover; - background-color: #666666; - background-position: center center; - background-repeat: no-repeat; - margin-top: -4rem; - padding-top: 5rem; + +.m-code .fm { + color: #000000 } -#m-landing-image { - color: #ffffff; + +.m-code .vc { + color: #000000 } -#m-cover-image { - height: 30rem; - margin-bottom: -26rem; + +.m-code .vg { + color: #000000 } -#m-landing-cover h1 { - font-size: 2.8rem; - margin-top: -0.5rem; - padding-left: 1.5rem; - padding-bottom: 1rem; - text-transform: lowercase; + +.m-code .vi { + color: #000000 } -#m-landing-cover { - padding-bottom: 10rem; - margin-bottom: -6rem; + +.m-code .vm { + color: #000000 } -article#m-jumbo { - margin-top: -1rem; + +.m-code .il { + color: #0000cf; + font-weight: bold } -#m-landing-cover, #m-cover-image > div, article#m-jumbo > header #m-jumbo-cover { - background: linear-gradient(transparent 0%, transparent 50%, #ffffff 100%); - width: 100%; - height: 100%; + +.m-console .hll { + background-color: #ffffcc } -article#m-jumbo > header h1, article#m-jumbo > header h2 { - text-align: center; - font-weight: bold; + +.m-console .g-AnsiBackgroundBlack { + background-color: #232627 } -article#m-jumbo > header a { - text-decoration: none; + +.m-console .g-AnsiBackgroundBlue { + background-color: #1d99f3 } -article#m-jumbo > header #m-jumbo-cover { - padding-bottom: 5rem; + +.m-console .g-AnsiBackgroundBrightBlack { + background-color: #7f8c8d } -article#m-jumbo > header #m-jumbo-image { - font-size: 2.5vmin; - margin-bottom: -3rem; + +.m-console .g-AnsiBackgroundBrightBlue { + background-color: #3daee9 } -article#m-jumbo > header h1 { - font-size: 10vmin; + +.m-console .g-AnsiBackgroundBrightCyan { + background-color: #16a085 } -article#m-jumbo > header h2 { - font-size: 3vmin; + +.m-console .g-AnsiBackgroundBrightGreen { + background-color: #1cdc9a } -@media screen and (max-height: 640px) , screen and (max-width: 640px) { - article#m-jumbo > header h1 { - font-size: 3rem; - } - article#m-jumbo > header #m-jumbo-image, article#m-jumbo > header h2 { - font-size: 1rem; - } + +.m-console .g-AnsiBackgroundBrightMagenta { + background-color: #8e44ad } -article#m-jumbo > header, article#m-jumbo > header h1, article#m-jumbo > header a { - color: #ffffff; + +.m-console .g-AnsiBackgroundBrightRed { + background-color: #c0392b } -article#m-jumbo > header a:hover, article#m-jumbo > header a:focus, article#m-jumbo > header a:active { - color: #f0f0f0; + +.m-console .g-AnsiBackgroundBrightWhite { + background-color: #ffffff } -article#m-jumbo.m-inverted > header, article#m-jumbo.m-inverted > header h1, article#m-jumbo.m-inverted > header a { - color: #000000; + +.m-console .g-AnsiBackgroundBrightYellow { + background-color: #fdbc4b } -article#m-jumbo.m-inverted > header a:hover, article#m-jumbo.m-inverted > header a:focus, article#m-jumbo.m-inverted > header a:active { - color: #0f0f0f; + +.m-console .g-AnsiBackgroundCyan { + background-color: #1abc9c } -.m-landing-news h3 a { - color: #000000; - text-decoration: none; - text-transform: uppercase; + +.m-console .g-AnsiBackgroundDefault { + background-color: #fcfcfc } -.m-landing-news h3 a:hover, .m-landing-news h3 a:hover, .m-landing-news h3 a:focus, .m-landing-news h3 a:active { - color: #205275; + +.m-console .g-AnsiBackgroundGreen { + background-color: #11d116 } -.m-landing-news time { - display: inline-block; - margin-left: 1rem; - float: right; + +.m-console .g-AnsiBackgroundMagenta { + background-color: #9b59b6 } -.m-article-pagination { - text-align: center; - padding: 1rem; + +.m-console .g-AnsiBackgroundRed { + background-color: #ed1515 } -nav.m-navpanel { - text-align: center; + +.m-console .g-AnsiBackgroundWhite { + background-color: #fcfcfc } -nav.m-navpanel h3 { - text-transform: uppercase; - font-weight: normal; + +.m-console .g-AnsiBackgroundYellow { + background-color: #f67400 } -nav.m-navpanel ol { - text-transform: lowercase; + +.m-console .g-AnsiBlack { + color: #232627 } -nav.m-navpanel ol, nav.m-navpanel ul { - list-style-type: none; - padding: 0; + +.m-console .g-AnsiBlue { + color: #1d99f3 } -nav.m-navpanel a { - color: #292929; - text-decoration: none; + +.m-console .g-AnsiBrightBlack { + color: #7f8c8d; + font-weight: bold } -nav.m-navpanel a:hover, nav.m-navpanel a:focus, nav.m-navpanel a:active { - color: #205275; -} -ul.m-tagcloud li { display: inline; } -ul.m-tagcloud li.m-tag-1 { font-size: 0.75rem; } -ul.m-tagcloud li.m-tag-2 { font-size: 0.825rem; } -ul.m-tagcloud li.m-tag-3 { font-size: 1rem; } -ul.m-tagcloud li.m-tag-4 { font-size: 1.25rem; } -ul.m-tagcloud li.m-tag-5 { font-size: 1.5rem; } -article section:target figure.m-code-figure, article section:target figure.m-console-figure { - z-index: 1; + +.m-console .g-AnsiBrightBlue { + color: #3daee9; + font-weight: bold } -article, article > header, article section { margin-bottom: 1rem; } -article:last-child, article section:last-child { margin-bottom: 0; } -.m-container-inflatable section:target > .m-note, -.m-container-inflatable section:target > .m-frame, -.m-container-inflatable section:target > .m-block, -.m-container-inflatable section:target > pre, -.m-container-inflatable section:target > .m-code-figure > pre:first-child, -.m-container-inflatable section:target > .m-console-figure > pre:first-child, -.m-container-inflatable section:target section > .m-note, -.m-container-inflatable section:target section > .m-frame, -.m-container-inflatable section:target section > .m-block, -.m-container-inflatable section:target section > pre, -.m-container-inflatable section:target section > .m-code-figure > pre:first-child, -.m-container-inflatable section:target section > .m-console-figure > pre:first-child, -.m-container-inflatable section:target [class*='m-center-'] > .m-note, -.m-container-inflatable section:target [class*='m-center-'] > .m-frame, -.m-container-inflatable section:target [class*='m-center-'] > .m-block, -.m-container-inflatable section:target [class*='m-center-'] > pre, -.m-container-inflatable section:target [class*='m-center-'] > .m-code-figure > pre:first-child, -.m-container-inflatable section:target [class*='m-center-'] > .m-console-figure > pre:first-child, -.m-container-inflatable section:target [class*='m-left-'] > .m-note, -.m-container-inflatable section:target [class*='m-left-'] > .m-frame, -.m-container-inflatable section:target [class*='m-left-'] > .m-block, -.m-container-inflatable section:target [class*='m-left-'] > pre, -.m-container-inflatable section:target [class*='m-left-'] > .m-code-figure > pre:first-child, -.m-container-inflatable section:target [class*='m-left-'] > .m-console-figure > pre:first-child, -.m-container-inflatable section:target [class*='m-right-'] > .m-note, -.m-container-inflatable section:target [class*='m-right-'] > .m-frame, -.m-container-inflatable section:target [class*='m-right-'] > .m-block, -.m-container-inflatable section:target [class*='m-right-'] > pre, -.m-container-inflatable section:target [class*='m-right-'] > .m-code-figure > pre:first-child, -.m-container-inflatable section:target [class*='m-right-'] > .m-console-figure > pre:first-child, -.m-container-inflatable section:target .m-container-inflate > .m-note, -.m-container-inflatable section:target .m-container-inflate > .m-frame, -.m-container-inflatable section:target .m-container-inflate > .m-block, -.m-container-inflatable section:target .m-container-inflate > pre, -.m-container-inflatable section:target .m-container-inflate > .m-code-figure > pre:first-child, -.m-container-inflatable section:target .m-container-inflate > .m-console-figure > pre:first-child { - margin-left: -1.0rem; - border-left-style: solid; - border-left-width: 0.25rem; - border-top-left-radius: 0; - border-bottom-left-radius: 0; - padding-left: 0.75rem; + +.m-console .g-AnsiBrightCyan { + color: #16a085; + font-weight: bold } -.m-container-inflatable section:target > .m-code-figure::before, -.m-container-inflatable section:target > .m-console-figure::before, -.m-container-inflatable section:target section > .m-code-figure::before, -.m-container-inflatable section:target section > .m-console-figure::before, -.m-container-inflatable section:target [class*='m-center-'] > .m-code-figure::before, -.m-container-inflatable section:target [class*='m-center-'] > .m-console-figure::before, -.m-container-inflatable section:target [class*='m-left-'] > .m-code-figure::before, -.m-container-inflatable section:target [class*='m-left-'] > .m-console-figure::before, -.m-container-inflatable section:target [class*='m-right-'] > .m-code-figure::before, -.m-container-inflatable section:target [class*='m-right-'] > .m-console-figure::before, -.m-container-inflatable section:target .m-container-inflate > .m-code-figure::before, -.m-container-inflatable section:target .m-container-inflate > .m-console-figure::before { - border-top-left-radius: 0; - border-bottom-left-radius: 0; - border-left-width: 0.25rem; + +.m-console .g-AnsiBrightDefault { + color: #ffffff; + font-weight: bold } -.m-container-inflatable section:target > .m-code-figure > pre.m-nopad, -.m-container-inflatable section:target > .m-console-figure > pre.m-nopad { - margin-left: -0.75rem; - padding-left: -0.75rem; + +.m-console .g-AnsiBrightGreen { + color: #1cdc9a; + font-weight: bold } -@media screen and (min-width: 576px) { - .m-container-inflatable section:target .m-center-s > .m-note, - .m-container-inflatable section:target .m-center-s > pre, - .m-container-inflatable section:target .m-center-s > figure.m-code-figure > pre:first-child, - .m-container-inflatable section:target .m-center-s > figure.m-console-figure > pre:first-child, - .m-container-inflatable section:target .m-right-s > figure.m-code-figure > pre:first-child, - .m-container-inflatable section:target .m-right-s > figure.m-console-figure > pre:first-child { - border-left-width: 0; - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - padding-left: 1rem; - } - .m-container-inflatable section:target .m-center-s > .m-block, - .m-container-inflatable section:target .m-right-s > .m-block { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - } - .m-container-inflatable section:target .m-center-s > .m-frame, - .m-container-inflatable section:target .m-right-s > .m-frame { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - border-left-width: 0.125rem; - padding-left: 0.875rem; - } - .m-container-inflatable section:target .m-right-s > .m-block, - .m-container-inflatable section:target .m-right-s > .m-frame { - margin-left: 0; - } - .m-container-inflatable section:target .m-right-s > .m-note, - .m-container-inflatable section:target .m-right-s > pre { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - margin-left: 0; - border-left-width: 0; - padding-left: 1rem; - } - .m-container-inflatable section:target .m-center-s > figure.m-code-figure::before, - .m-container-inflatable section:target .m-center-s > figure.m-console-figure::before, - .m-container-inflatable section:target .m-right-s > figure.m-code-figure::before, - .m-container-inflatable section:target .m-right-s > figure.m-console-figure::before { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - border-left-width: 0.125rem; - } + +.m-console .g-AnsiBrightMagenta { + color: #8e44ad; + font-weight: bold } -@media screen and (min-width: 768px) { - .m-container-inflatable section:target .m-center-m > .m-note, - .m-container-inflatable section:target .m-center-m > pre, - .m-container-inflatable section:target .m-center-m > figure.m-code-figure > pre:first-child, - .m-container-inflatable section:target .m-center-m > figure.m-console-figure > pre:first-child, - .m-container-inflatable section:target .m-right-m > figure.m-code-figure > pre:first-child, - .m-container-inflatable section:target .m-right-m > figure.m-console-figure > pre:first-child { - border-left-width: 0; - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - padding-left: 1rem; - } - .m-container-inflatable section:target .m-center-m > .m-block, - .m-container-inflatable section:target .m-right-m > .m-block { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - } - .m-container-inflatable section:target .m-center-m > .m-frame, - .m-container-inflatable section:target .m-right-m > .m-frame { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - border-left-width: 0.125rem; - padding-left: 0.875rem; - } - .m-container-inflatable section:target .m-right-m > .m-block, - .m-container-inflatable section:target .m-right-m > .m-frame { - margin-left: 0; - } - .m-container-inflatable section:target .m-right-m > .m-note, - .m-container-inflatable section:target .m-right-m > pre { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - margin-left: 0; - border-left-width: 0; - padding-left: 1rem; - } - .m-container-inflatable section:target .m-center-m > figure.m-code-figure::before, - .m-container-inflatable section:target .m-center-m > figure.m-console-figure::before, - .m-container-inflatable section:target .m-right-m > figure.m-code-figure::before, - .m-container-inflatable section:target .m-right-m > figure.m-console-figure::before { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - border-left-width: 0.125rem; - } + +.m-console .g-AnsiBrightRed { + color: #c0392b; + font-weight: bold } -@media screen and (min-width: 992px) { - .m-container-inflatable section:target .m-center-l > .m-note, - .m-container-inflatable section:target .m-center-l > pre, - .m-container-inflatable section:target .m-center-l > figure.m-code-figure > pre:first-child, - .m-container-inflatable section:target .m-center-l > figure.m-console-figure > pre:first-child, - .m-container-inflatable section:target .m-right-l > figure.m-code-figure > pre:first-child, - .m-container-inflatable section:target .m-right-l > figure.m-console-figure > pre:first-child { - border-left-width: 0; - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - padding-left: 1rem; - } - .m-container-inflatable section:target .m-center-l > .m-block, - .m-container-inflatable section:target .m-right-l > .m-block { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - } - .m-container-inflatable section:target .m-center-l > .m-frame, - .m-container-inflatable section:target .m-right-l > .m-frame { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - border-left-width: 0.125rem; - padding-left: 0.875rem; - } - .m-container-inflatable section:target .m-right-l > .m-block, - .m-container-inflatable section:target .m-right-l > .m-frame { - margin-left: 0; - } - .m-container-inflatable section:target .m-right-l > .m-note, - .m-container-inflatable section:target .m-right-l > pre { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - margin-left: 0; - border-left-width: 0; - padding-left: 1rem; - } - .m-container-inflatable section:target .m-center-l > figure.m-code-figure::before, - .m-container-inflatable section:target .m-center-l > figure.m-console-figure::before, - .m-container-inflatable section:target .m-right-l > figure.m-code-figure::before, - .m-container-inflatable section:target .m-right-l > figure.m-console-figure::before { - border-top-left-radius: 0.2rem; - border-bottom-left-radius: 0.2rem; - border-left-width: 0.125rem; - } + +.m-console .g-AnsiBrightWhite { + color: #ffffff; + font-weight: bold } -.m-container-inflatable section:target > figure.m-code-figure::before, -.m-container-inflatable section:target > figure.m-console-figure::before, -.m-container-inflatable section:target section > figure.m-code-figure::before, -.m-container-inflatable section:target section > figure.m-console-figure::before, -.m-container-inflatable section:target [class*='m-center-'] > figure.m-code-figure::before, -.m-container-inflatable section:target [class*='m-center-'] > figure.m-console-figure::before, -.m-container-inflatable section:target [class*='m-left-'] > figure.m-code-figure::before, -.m-container-inflatable section:target [class*='m-left-'] > figure.m-console-figure::before, -.m-container-inflatable section:target [class*='m-right-'] > figure.m-code-figure::before, -.m-container-inflatable section:target [class*='m-right-'] > figure.m-console-figure::before, -.m-container-inflatable section:target .m-container-inflatable > figure.m-code-figure::before, -.m-container-inflatable section:target .m-container-inflatable > figure.m-console-figure::before { - border-left-color: #c7cfd9; + +.m-console .g-AnsiBrightYellow { + color: #fdbc4b; + font-weight: bold } -@media screen and (min-width: 576px) { - .m-container-inflatable section:target .m-center-s > figure.m-code-figure::before, - .m-container-inflatable section:target .m-right-s > figure.m-code-figure::before { - border-color: #f2f7fa; - } - .m-container-inflatable section:target .m-center-s > figure.m-console-figure::before, - .m-container-inflatable section:target .m-right-s > figure.m-console-figure::before { - border-color: #000000; - } + +.m-console .g-AnsiCyan { + color: #1abc9c } -@media screen and (min-width: 768px) { - .m-container-inflatable section:target .m-center-m > figure.m-code-figure::before, - .m-container-inflatable section:target .m-right-m > figure.m-code-figure::before { - border-color: #f2f7fa; - } - .m-container-inflatable section:target .m-center-m > figure.m-console-figure::before, - .m-container-inflatable section:target .m-right-m > figure.m-console-figure::before { - border-color: #000000; - } + +.m-console .g-AnsiDefault { + color: #fcfcfc } -@media screen and (min-width: 992px) { - .m-container-inflatable section:target .m-center-l > figure.m-code-figure::before, - .m-container-inflatable section:target .m-right-l > figure.m-code-figure::before { - border-color: #f2f7fa; - } - .m-container-inflatable section:target .m-center-l > figure.m-console-figure::before, - .m-container-inflatable section:target .m-right-l > figure.m-console-figure::before { - border-color: #000000; - } + +.m-console .g-AnsiGreen { + color: #11d116 } -.m-container-inflatable section:target pre, -.m-container-inflatable section:target figure.m-code-figure > pre:first-child, -.m-container-inflatable section:target figure.m-console-figure > pre:first-child { - border-color: #c7cfd9; + +.m-console .g-AnsiMagenta { + color: #9b59b6 } -.m-container-inflatable section:target .m-note.m-default { - border-color: #c7cfd9; + +.m-console .g-AnsiRed { + color: #ed1515 } -.m-container-inflatable section:target .m-note.m-primary { - border-color: #205275; + +.m-console .g-AnsiWhite { + color: #fcfcfc } -.m-container-inflatable section:target .m-note.m-success { - border-color: #31c25d; + +.m-console .g-AnsiYellow { + color: #f67400 } -.m-container-inflatable section:target .m-note.m-warning { - border-color: #d19600; + +.m-console .go { + color: #fcfcfc } -.m-container-inflatable section:target .m-note.m-danger { - border-color: #f60000; + +.m-console .gp { + color: #16a085; + font-weight: bold } -.m-container-inflatable section:target .m-note.m-info { - border-color: #2e7dc5; + +.m-console .w { + color: #fcfcfc } -.m-container-inflatable section:target .m-note.m-dim { - border-color: #bdbdbd; -} - -.m-code .hll { background-color: #ffffcc } -.m-code { background: #f8f8f8; } -.m-code .c { color: #8f5902; font-style: italic } -.m-code .err { color: #a40000; border: 1px solid #ef2929 } -.m-code .g { color: #000000 } -.m-code .k { color: #204a87; font-weight: bold } -.m-code .l { color: #000000 } -.m-code .n { color: #000000 } -.m-code .o { color: #ce5c00; font-weight: bold } -.m-code .x { color: #000000 } -.m-code .p { color: #000000; font-weight: bold } -.m-code .ch { color: #8f5902; font-style: italic } -.m-code .cm { color: #8f5902; font-style: italic } -.m-code .cp { color: #8f5902; font-style: italic } -.m-code .cpf { color: #8f5902; font-style: italic } -.m-code .c1 { color: #8f5902; font-style: italic } -.m-code .cs { color: #8f5902; font-style: italic } -.m-code .gd { color: #a40000 } -.m-code .ge { color: #000000; font-style: italic } -.m-code .gr { color: #ef2929 } -.m-code .gh { color: #000080; font-weight: bold } -.m-code .gi { color: #00A000 } -.m-code .go { color: #000000; font-style: italic } -.m-code .gp { color: #8f5902 } -.m-code .gs { color: #000000; font-weight: bold } -.m-code .gu { color: #800080; font-weight: bold } -.m-code .gt { color: #a40000; font-weight: bold } -.m-code .kc { color: #204a87; font-weight: bold } -.m-code .kd { color: #204a87; font-weight: bold } -.m-code .kn { color: #204a87; font-weight: bold } -.m-code .kp { color: #204a87; font-weight: bold } -.m-code .kr { color: #204a87; font-weight: bold } -.m-code .kt { color: #204a87; font-weight: bold } -.m-code .ld { color: #000000 } -.m-code .m { color: #0000cf; font-weight: bold } -.m-code .s { color: #4e9a06 } -.m-code .na { color: #c4a000 } -.m-code .nb { color: #204a87 } -.m-code .nc { color: #000000 } -.m-code .no { color: #000000 } -.m-code .nd { color: #5c35cc; font-weight: bold } -.m-code .ni { color: #ce5c00 } -.m-code .ne { color: #cc0000; font-weight: bold } -.m-code .nf { color: #000000 } -.m-code .nl { color: #f57900 } -.m-code .nn { color: #000000 } -.m-code .nx { color: #000000 } -.m-code .py { color: #000000 } -.m-code .nt { color: #204a87; font-weight: bold } -.m-code .nv { color: #000000 } -.m-code .ow { color: #204a87; font-weight: bold } -.m-code .w { color: #f8f8f8; text-decoration: underline } -.m-code .mb { color: #0000cf; font-weight: bold } -.m-code .mf { color: #0000cf; font-weight: bold } -.m-code .mh { color: #0000cf; font-weight: bold } -.m-code .mi { color: #0000cf; font-weight: bold } -.m-code .mo { color: #0000cf; font-weight: bold } -.m-code .sa { color: #4e9a06 } -.m-code .sb { color: #4e9a06 } -.m-code .sc { color: #4e9a06 } -.m-code .dl { color: #4e9a06 } -.m-code .sd { color: #8f5902; font-style: italic } -.m-code .s2 { color: #4e9a06 } -.m-code .se { color: #4e9a06 } -.m-code .sh { color: #4e9a06 } -.m-code .si { color: #4e9a06 } -.m-code .sx { color: #4e9a06 } -.m-code .sr { color: #4e9a06 } -.m-code .s1 { color: #4e9a06 } -.m-code .ss { color: #4e9a06 } -.m-code .bp { color: #3465a4 } -.m-code .fm { color: #000000 } -.m-code .vc { color: #000000 } -.m-code .vg { color: #000000 } -.m-code .vi { color: #000000 } -.m-code .vm { color: #000000 } -.m-code .il { color: #0000cf; font-weight: bold } - -.m-console .hll { background-color: #ffffcc } -.m-console .g-AnsiBackgroundBlack { background-color: #232627 } -.m-console .g-AnsiBackgroundBlue { background-color: #1d99f3 } -.m-console .g-AnsiBackgroundBrightBlack { background-color: #7f8c8d } -.m-console .g-AnsiBackgroundBrightBlue { background-color: #3daee9 } -.m-console .g-AnsiBackgroundBrightCyan { background-color: #16a085 } -.m-console .g-AnsiBackgroundBrightGreen { background-color: #1cdc9a } -.m-console .g-AnsiBackgroundBrightMagenta { background-color: #8e44ad } -.m-console .g-AnsiBackgroundBrightRed { background-color: #c0392b } -.m-console .g-AnsiBackgroundBrightWhite { background-color: #ffffff } -.m-console .g-AnsiBackgroundBrightYellow { background-color: #fdbc4b } -.m-console .g-AnsiBackgroundCyan { background-color: #1abc9c } -.m-console .g-AnsiBackgroundDefault { background-color: #fcfcfc } -.m-console .g-AnsiBackgroundGreen { background-color: #11d116 } -.m-console .g-AnsiBackgroundMagenta { background-color: #9b59b6 } -.m-console .g-AnsiBackgroundRed { background-color: #ed1515 } -.m-console .g-AnsiBackgroundWhite { background-color: #fcfcfc } -.m-console .g-AnsiBackgroundYellow { background-color: #f67400 } -.m-console .g-AnsiBlack { color: #232627 } -.m-console .g-AnsiBlue { color: #1d99f3 } -.m-console .g-AnsiBrightBlack { color: #7f8c8d; font-weight: bold } -.m-console .g-AnsiBrightBlue { color: #3daee9; font-weight: bold } -.m-console .g-AnsiBrightCyan { color: #16a085; font-weight: bold } -.m-console .g-AnsiBrightDefault { color: #ffffff; font-weight: bold } -.m-console .g-AnsiBrightGreen { color: #1cdc9a; font-weight: bold } -.m-console .g-AnsiBrightMagenta { color: #8e44ad; font-weight: bold } -.m-console .g-AnsiBrightRed { color: #c0392b; font-weight: bold } -.m-console .g-AnsiBrightWhite { color: #ffffff; font-weight: bold } -.m-console .g-AnsiBrightYellow { color: #fdbc4b; font-weight: bold } -.m-console .g-AnsiCyan { color: #1abc9c } -.m-console .g-AnsiDefault { color: #fcfcfc } -.m-console .g-AnsiGreen { color: #11d116 } -.m-console .g-AnsiMagenta { color: #9b59b6 } -.m-console .g-AnsiRed { color: #ed1515 } -.m-console .g-AnsiWhite { color: #fcfcfc } -.m-console .g-AnsiYellow { color: #f67400 } -.m-console .go { color: #fcfcfc } -.m-console .gp { color: #16a085; font-weight: bold } -.m-console .w { color: #fcfcfc } a.m-doc, a.m-doc-self, a.m-doc-external, ul.m-doc li.m-doc-expansible > a:first-child, ul.m-doc li.m-doc-collapsible > a:first-child, .m-code.m-inverted.m-doc-include > a { - text-decoration: none; + text-decoration: none; } + a.m-doc, a.m-doc-self { - font-weight: bold; + font-weight: bold; } + .m-thin a.m-doc, .m-thin a.m-doc-self { - font-weight: normal; + font-weight: normal; } + ul.m-doc li.m-doc-expansible > a:first-child, ul.m-doc li.m-doc-collapsible > a:first-child, ul.m-doc li.m-doc-expansible > a:first-child:hover, @@ -2617,13 +4115,15 @@ ul.m-doc li.m-doc-expansible > a:first-child:active, ul.m-doc li.m-doc-collapsible > a:first-child:hover, ul.m-doc li.m-doc-collapsible > a:first-child:focus, ul.m-doc li.m-doc-collapsible > a:first-child:active { - color: #000000; + color: #000000; } + a.m-doc-self, ul.m-doc li.m-doc-expansible > a:first-child:before, ul.m-doc li.m-doc-collapsible > a:first-child:before { - color: #205275; + color: #205275; } + a.m-doc-self:hover, a.m-doc-self:focus, a.m-doc-self:active, ul.m-doc li.m-doc-expansible > a:first-child:hover::before, ul.m-doc li.m-doc-expansible > a:first-child:focus::before, @@ -2631,258 +4131,324 @@ ul.m-doc li.m-doc-expansible > a:first-child:active::before, ul.m-doc li.m-doc-collapsible > a:first-child:hover::before, ul.m-doc li.m-doc-collapsible > a:first-child:focus::before, ul.m-doc li.m-doc-collapsible > a:first-child:active::before { - color: #2e73a3; + color: #2e73a3; } + h3 a.m-doc-external { - font-weight: normal; + font-weight: normal; } + span.m-doc-wrap-bumper { - margin-right: -1rem; + margin-right: -1rem; } + span.m-doc-wrap { - padding-left: 1rem; - display: inline-block; - vertical-align: text-top; - white-space: pre-line; - max-width: 100%; + padding-left: 1rem; + display: inline-block; + vertical-align: text-top; + white-space: pre-line; + max-width: 100%; } + dl.m-doc dd { - margin-bottom: 0.5rem; + margin-bottom: 0.5rem; } + dl.m-doc dd { - margin-left: 0; - padding-left: 2.5rem; + margin-left: 0; + padding-left: 2.5rem; } + dl.m-doc dt:target, dl.m-doc dt:target + dd { - margin-left: -1.0rem; - border-left-style: solid; - border-left-width: 0.25rem; - border-color: #205275; + margin-left: -1.0rem; + border-left-style: solid; + border-left-width: 0.25rem; + border-color: #205275; +} + +dl.m-doc dt:target { + padding-left: 0.75rem; } -dl.m-doc dt:target { padding-left: 0.75rem; } -dl.m-doc dt:target + dd { padding-left: 3.25rem; } + +dl.m-doc dt:target + dd { + padding-left: 3.25rem; +} + ul.m-doc { - list-style: none; - margin-left: 1.0375rem; - padding-left: 0.9rem; - border-left-color: #c7cfd9; - border-left-width: 0.0625rem; - border-left-style: solid; + list-style: none; + margin-left: 1.0375rem; + padding-left: 0.9rem; + border-left-color: #c7cfd9; + border-left-width: 0.0625rem; + border-left-style: solid; } + ul.m-doc li { - text-indent: -1rem; - padding-left: 1rem; + text-indent: -1rem; + padding-left: 1rem; } + ul.m-doc li.m-doc-expansible > ul { - display: none; + display: none; } + ul.m-doc li.m-doc-expansible, ul.m-doc li.m-doc-collapsible { - padding-left: 0.6rem; + padding-left: 0.6rem; } + ul.m-doc li.m-doc-expansible > ul.m-doc, ul.m-doc li.m-doc-collapsible > ul.m-doc { - margin-left: 0.5rem; + margin-left: 0.5rem; } + ul.m-doc li.m-doc-expansible > a:first-child:before, ul.m-doc li.m-doc-collapsible > a:first-child:before { - background-color: #ffffff; - display: inline-block; - width: 0.4rem; - font-weight: bold; + background-color: #ffffff; + display: inline-block; + width: 0.4rem; + font-weight: bold; +} + +ul.m-doc li.m-doc-expansible > a:first-child:before { + content: '⊕'; +} + +ul.m-doc li.m-doc-collapsible > a:first-child:before { + content: '⊖'; } -ul.m-doc li.m-doc-expansible > a:first-child:before { content: '⊕'; } -ul.m-doc li.m-doc-collapsible > a:first-child:before { content: '⊖'; } + h1 .m-doc-template, h1 .m-doc-include { - font-size: 1.3rem; - font-weight: normal; + font-size: 1.3rem; + font-weight: normal; } + h1 .m-doc-include:last-child { - margin-bottom: -0.5rem; + margin-bottom: -0.5rem; } + h3 .m-doc-template, h3 .m-doc-include { - font-size: 1rem; - font-weight: normal; + font-size: 1rem; + font-weight: normal; } + .m-doc-template, dl.m-doc dd, ul.m-doc li > span.m-doc { - color: #bdbdbd; + color: #bdbdbd; } + dl.m-doc dd svg.m-math, ul.m-doc li > span.m-doc svg.m-math { - fill: #bdbdbd; + fill: #bdbdbd; } + .m-doc-template a, dl.m-doc dd a, ul.m-doc li > span.m-doc a { - color: #c0c0c0; + color: #c0c0c0; } + .m-doc-template a:hover, .m-doc-template a:focus, .m-doc-template a:active, dl.m-doc dd a:hover, dl.m-doc dd a:focus, dl.m-doc dd a:active, ul.m-doc li > span.m-doc a:hover, ul.m-doc li > span.m-doc a:focus, ul.m-doc li > span.m-doc a:active { - color: #949494; + color: #949494; } + .m-code.m-inverted.m-doc-include > a:link, .m-code.m-inverted.m-doc-include > a:visited { - opacity: 0.6666; + opacity: 0.6666; } + .m-code.m-inverted.m-doc-include > a:hover, .m-code.m-inverted.m-doc-include > a:focus, .m-code.m-inverted.m-doc-include > a:active { - opacity: 1; + opacity: 1; } + article section.m-doc-details > div { - margin-top: 0; - margin-left: 0; - margin-right: 0; - position: relative; - padding: 1rem; + margin-top: 0; + margin-left: 0; + margin-right: 0; + position: relative; + padding: 1rem; } + article section.m-doc-details > div::before { - position: absolute; - content: ' '; - top: 0; - bottom: 0; - left: 0; - right: 0; - z-index: -1; - border-style: solid; - border-width: 0.125rem; - border-radius: 0.2rem; - border-color: #f2f7fa; + position: absolute; + content: ' '; + top: 0; + bottom: 0; + left: 0; + right: 0; + z-index: -1; + border-style: solid; + border-width: 0.125rem; + border-radius: 0.2rem; + border-color: #f2f7fa; } + article section.m-doc-details > div > h3:first-child { - position: relative; - margin: -1rem -1rem 1rem -1rem; - padding: 0.5rem 1rem; - background-color: #f2f7fa; - border-top-left-radius: 0.2rem; - border-top-right-radius: 0.2rem; - border-bottom-left-radius: 0; - border-bottom-right-radius: 0; + position: relative; + margin: -1rem -1rem 1rem -1rem; + padding: 0.5rem 1rem; + background-color: #f2f7fa; + border-top-left-radius: 0.2rem; + border-top-right-radius: 0.2rem; + border-bottom-left-radius: 0; + border-bottom-right-radius: 0; } + article section.m-doc-details:target { - border-color: transparent; + border-color: transparent; } + article section.m-doc-details:target > div { - z-index: 1; + z-index: 1; } + .m-container-inflatable > .m-row > [class*='m-col-'] section.m-doc-details > div { - margin-left: -1rem; - margin-right: -1rem; + margin-left: -1rem; + margin-right: -1rem; } + .m-container-inflatable section.m-doc-details:target > div > h3:first-child, .m-container-inflatable section.m-doc-details:target section > div > h3:first-child { - margin-left: -1.0rem; - border-left-style: solid; - border-left-color: #2e73a3; - border-left-width: 0.25rem; - padding-left: 0.75rem; + margin-left: -1.0rem; + border-left-style: solid; + border-left-color: #2e73a3; + border-left-width: 0.25rem; + padding-left: 0.75rem; } + .m-container-inflatable section.m-doc-details:target > div::before, .m-container-inflatable section-dox-details:target section > div.m::before { - border-left-width: 0.25rem; - border-left-color: #205275; + border-left-width: 0.25rem; + border-left-color: #205275; } + a.m-doc-search-icon { - padding-left: 1rem; - padding-right: 1rem; + padding-left: 1rem; + padding-right: 1rem; } + a.m-doc-search-icon svg { - fill: #000000; + fill: #000000; } + body > header > nav #m-navbar-collapse a.m-doc-search-icon svg { - vertical-align: -5%; + vertical-align: -5%; } + a.m-doc-search-icon:focus svg, a.m-doc-search-icon:hover svg, a.m-doc-search-icon:active svg { - fill: #205275; + fill: #205275; } + .m-doc-search { - display: none; - z-index: 10; - position: fixed; - left: 0; - right: 0; - top: 0; - bottom: 0; - background-color: rgba(255, 255, 255, 0.75); + display: none; + z-index: 10; + position: fixed; + left: 0; + right: 0; + top: 0; + bottom: 0; + background-color: rgba(255, 255, 255, 0.75); } + .m-doc-search:target { - display: block; + display: block; } + .m-doc-search > a { - display: block; - position: absolute; - left: 0; - right: 0; - top: 0; - bottom: 0; + display: block; + position: absolute; + left: 0; + right: 0; + top: 0; + bottom: 0; } + .m-doc-search-header { - margin-top: 2.5rem; - padding: 0.5rem 1rem; - height: 2rem; + margin-top: 2.5rem; + padding: 0.5rem 1rem; + height: 2rem; } + .m-doc-search-header > div:first-child { - float: right; + float: right; } + .m-doc-search-content { - background-color: #ffffff; - border-radius: 0.2rem; - padding: 1rem; + background-color: #ffffff; + border-radius: 0.2rem; + padding: 1rem; } + .m-doc-search input { - width: 100%; - height: 3rem; - font-size: 1.2rem; - border-width: 0; - color: #000000; - background-color: #f2f7fa; - border-radius: 0.2rem; - margin-bottom: 1rem; - padding: 0 1rem; + width: 100%; + height: 3rem; + font-size: 1.2rem; + border-width: 0; + color: #000000; + background-color: #f2f7fa; + border-radius: 0.2rem; + margin-bottom: 1rem; + padding: 0 1rem; } + .m-doc-search #search-notfound { - display: none; + display: none; } + .m-doc-search ul#search-results { - list-style-type: none; - padding-left: 0; - max-height: calc(100vh - 12.5rem); - overflow-y: auto; - display: none; + list-style-type: none; + padding-left: 0; + max-height: calc(100vh - 12.5rem); + overflow-y: auto; + display: none; } + .m-doc-search ul#search-results li a { - display: block; - padding-left: 1rem; - padding-right: 1rem; - text-decoration: none; - width: 100%; - line-height: 1.5rem; - color: #000000; + display: block; + padding-left: 1rem; + padding-right: 1rem; + text-decoration: none; + width: 100%; + line-height: 1.5rem; + color: #000000; } + .m-doc-search ul#search-results li a > div { - white-space: nowrap; - overflow: hidden; + white-space: nowrap; + overflow: hidden; } + .m-doc-search ul#search-results li a > div:not(.m-doc-search-alias) { - direction: rtl; + direction: rtl; } + .m-doc-search ul#search-results li a .m-label { - float: right; - line-height: 1rem; - margin-top: 0.1rem; - margin-left: 0.25rem; + float: right; + line-height: 1rem; + margin-top: 0.1rem; + margin-left: 0.25rem; } + .m-doc-search ul#search-results li a .m-label.m-flat { - margin-right: -0.75rem; + margin-right: -0.75rem; } + .m-doc-search ul#search-results li#search-current a { - background-color: #f2f7fa; + background-color: #f2f7fa; } + .m-doc-search ul#search-results li#search-current.m-doc-search-copied a { - background-color: #4dd376; + background-color: #4dd376; } + .m-doc-search-typed { - color: #205275; + color: #205275; } -.m-doc-search input[type="search"] { -webkit-appearance: textfield; } + +.m-doc-search input[type="search"] { + -webkit-appearance: textfield; +} + .m-doc-search input[type="search"]::-webkit-search-decoration, .m-doc-search input[type="search"]::-webkit-search-cancel-button, .m-doc-search input[type="search"]::-webkit-search-results-button, .m-doc-search input[type="search"]::-webkit-search-results-decoration { - display: none; + display: none; } diff --git a/docs/dev-coding-style.dox b/docs/dev-coding-style.dox index 994a8a36f..9191506c7 100644 --- a/docs/dev-coding-style.dox +++ b/docs/dev-coding-style.dox @@ -39,9 +39,28 @@ Eigen::Vector3d p_IinC; //=> 3d position of the IMU frame in the camera frame Eigen::Vector3d p_FinG; //=> position of feature F in the global frame G @endcode +@section coding-style-printing Print Statements +The code uses a simple print statement level logic that allows the user to enable and disable the verbosity. +In general the user can specify the following (see [ov_core/src/utils/print.h](ov_core/src/utils/print.h) file for details): +- PrintLevel::ALL : All PRINT_XXXX will output to the console +- PrintLevel::DEBUG : "DEBUG", "INFO", "WARNING" and "ERROR" will be printed. "ALL" will be silenced +- PrintLevel::INFO : "INFO", "WARNING" and "ERROR" will be printed. "ALL" and "DEBUG" will be silenced +- PrintLevel::WARNING : "WARNING" and "ERROR" will be printed. "ALL", "DEBUG" and "INFO" will be silenced +- PrintLevel::ERROR : Only "ERROR" will be printed. All the rest are silenced +- PrintLevel::SILENT : All PRINT_XXXX will be silenced. +To use these, you can specify the following using the [printf](https://www.cplusplus.com/reference/cstdio/printf/) standard input logic. +A user can also specify colors (see [ov_core/src/utils/colors.h](ov_core/src/utils/colors.h) file for details): + +@code{.cpp} +PRINT_ALL("the value is %.2f\n", variable); +PRINT_DEBUG("the value is %.2f\n", variable); +PRINT_INFO("the value is %.2f\n", variable); +PRINT_WARNING("the value is %.2f\n", variable); +PRINT_ERROR(RED "the value is %.2f\n" RESET, variable); +@endcode */ \ No newline at end of file diff --git a/docs/dev-docker.dox b/docs/dev-docker.dox index 33d50b437..f95617dc1 100644 --- a/docs/dev-docker.dox +++ b/docs/dev-docker.dox @@ -1,7 +1,7 @@ /** -@page dev-docker Developing with Docker +@page dev-docker Building with Docker @tableofcontents @@ -62,16 +62,18 @@ docker run -it --net=host --gpus all \ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ osrf/ros:noetic-desktop-full \ bash -# you should be able to launch rviz once in bash -rviz +rviz # you should be able to launch rviz once in bash @endcode + + @section dev-docker-openvins Running OpenVINS with Docker Clone the OpenVINS repository, build the container and then launch it. -The [Dockerfile](https://github.com/rpng/open_vins/blob/master/Dockerfile) will not build the repo by default, thus you will need to build the project. - +The [Dockerfile](https://docs.docker.com/engine/reference/builder/) will not build the repo by default, thus you will need to build the project. +We have a few docker files for each version of ROS and operating system we support. +In the following we will use the [Dockerfile_ros1_20_04](https://github.com/rpng/open_vins/blob/master/Dockerfile_ros1_20_04) which is for a ROS1 install with a 20.04 system. @m_class{m-block m-warning} @@ -85,15 +87,15 @@ mkdir -p ~/workspace/catkin_ws_ov/src cd ~/workspace/catkin_ws_ov/src git clone https://github.com/rpng/open_vins.git cd open_vins -docker build -t openvins . -cd ~/workspace/catkin_ws_ov +export VERSION=ros1_20_04 # which docker file version you want (ROS1 vs ROS2 and ubuntu version) +docker build -t ov_$VERSION -f Dockerfile_$VERSION . @endcode -If the dockerfile breaks, you can remove the image and reinstall using the above +If the dockerfile breaks, you can remove the image and reinstall using the following: @code{.shell-session} docker image list -docker image rm openvins --force +docker image rm ov_ros1_20_04 --force @endcode From here it is a good idea to create a nice helper command which will launch the docker and also pass the GUI to your host machine. @@ -108,8 +110,7 @@ Here you can append it to the bottom of the ~/.bashrc so that we always have it can add and remove mounts from this command as you see the need. @code{.shell-session} -nano ~/.bashrc -# add to the bashrc file +nano ~/.bashrc # add to the bashrc file xhost + &> /dev/null export DOCKER_CATKINWS=/home/username/workspace/catkin_ws_ov export DOCKER_DATASETS=/home/username/datasets @@ -117,19 +118,23 @@ alias ov_docker="docker run -it --net=host --gpus all \ --env=\"NVIDIA_DRIVER_CAPABILITIES=all\" --env=\"DISPLAY\" \ --env=\"QT_X11_NO_MITSHM=1\" --volume=\"/tmp/.X11-unix:/tmp/.X11-unix:rw\" \ --mount type=bind,source=$DOCKER_CATKINWS,target=/catkin_ws \ - --mount type=bind,source=$DOCKER_DATASETS,target=/datasets \ - openvins $1" -# save and exit -source ~/.bashrc + --mount type=bind,source=$DOCKER_DATASETS,target=/datasets $1" +source ~/.bashrc # after you save and exit @endcode Now we can launch RVIZ and also compile the OpenVINS codebase. -From two different terminals on the host machine one can run the following: +From two different terminals on the host machine one can run the following (ROS 1): + +@code{.shell-session} +ov_docker ov_ros1_20_04 roscore +ov_docker ov_ros1_20_04 rosrun rviz rviz -d /catkin_ws/src/open_vins/ov_msckf/launch/display.rviz +@endcode + +To actually get a bash environment that we can use to build and run things with we can do the following. +Note that any install or changes to operating system variables will not persist, thus only edit within your workspace which is linked as a volume. @code{.shell-session} -ov_docker roscore -ov_docker rosrun rviz rviz -d /catkin_ws/src/open_vins/ov_msckf/launch/display.rviz -ov_docker bash +ov_docker ov_ros1_20_04 bash @endcode Now once inside the docker with the bash shell we can build and launch an example simulation: @@ -138,9 +143,21 @@ Now once inside the docker with the bash shell we can build and launch an exampl cd catkin_ws catkin build source devel/setup.bash -roslaunch ov_msckf pgeneva_sim.launch +rosrun ov_eval plot_trajectories none src/open_vins/ov_data/sim/udel_gore.txt +roslaunch ov_msckf simulation.launch @endcode +And a version for ROS 2 we can do the following: + +@code{.shell-session} +cd catkin_ws +colcon build --event-handlers console_cohesion+ +source install/setup.bash +ros2 run ov_eval plot_trajectories none src/open_vins/ov_data/sim/udel_gore.txt +ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml +@endcode + + @m_class{m-block m-danger} @par Real-time Performance @@ -149,6 +166,8 @@ roslaunch ov_msckf pgeneva_sim.launch the "serial" nodes which allows for the same parameters to be used as when installing directly on an OS. + + @section dev-docker-clion Using Jetbrains Clion and Docker Jetbrains provides some instructions on their side and a youtube video. @@ -163,7 +182,7 @@ After building the OpenVINS image (as above) we can do the following which will This process will allow us to connect Clion to it. @code{.shell-session} -docker run -d --cap-add sys_ptrace -p127.0.0.1:2222:22 --name clion_remote_env openvins +docker run -d --cap-add sys_ptrace -p127.0.0.1:2222:22 --name clion_remote_env ov_ros1_20_04 @endcode We can now change Clion to use the docker remote: diff --git a/docs/dev-ros1-to-ros2.dox b/docs/dev-ros1-to-ros2.dox new file mode 100644 index 000000000..6589faaf0 --- /dev/null +++ b/docs/dev-ros1-to-ros2.dox @@ -0,0 +1,49 @@ +/** + + +@page dev-ros1-to-ros2 ROS1 to ROS2 Bag Conversion Guide + + + +@section gs-ros1-to-ros2-option-1 rosbags + +[rosbags](https://gitlab.com/ternaris/rosbags) is the simplest utility which does not depend on ROS installs at all. +ROS bag conversion is a hard problem since you need to have both ROS1 and ROS2 dependencies. +This is what was used to generate the converted ROS2 bag files for standard datasets. +To do a conversion of a bag file we can do the following: + +@code{.shell-session} +pip install rosbags +rosbags-convert V1_01_easy.bag +@endcode + + + + +@section dev-ros1-to-ros2-option-2 rosbag2 play + +To do this conversion you will need to have both ROS1 and ROS2 installed on your system. +Also ensure that you have installed all dependencies and backends required. +The main [rosbag2](https://github.com/ros2/rosbag2) readme has a lot of good details. + +@code{.shell-session} +sudo apt-get install ros-$ROS2_DISTRO-ros2bag ros-$ROS2_DISTRO-rosbag2* +sudo apt install ros-$ROS2_DISTRO-rosbag2-bag-v2-plugins +@endcode + +From here we can do the following. +This is based on [this issue](https://github.com/ros2/rosbag2/issues/139#issuecomment-516167831). +You might run into issues with the .so files being corrupted (see [this issue](https://github.com/ros2/rosbag2/issues/94)) +Not sure if there is a fix besides building it from scratch yourself. + +@code{.shell-session} +source_ros1 +source_ros2 +ros2 bag play -s rosbag_v2 V1_01_easy.bag +@endcode + + + + + +*/ diff --git a/docs/dev-welcome.dox b/docs/dev-welcome.dox index cc9bc2fa3..7e0dff983 100644 --- a/docs/dev-welcome.dox +++ b/docs/dev-welcome.dox @@ -4,11 +4,11 @@ @page dev-welcome Internals and Developers - @subpage dev-coding-style --- General coding styles and conventions -- @subpage dev-docker --- How to use docker images to develop with - @subpage dev-docs --- Developer guide on how documentation can be built +- @subpage dev-ros1-to-ros2 --- Some notes on ROS bag conversion - @subpage dev-index --- Description of the covariance index system -- @subpage dev-roadmap --- Where we plan to go in the future - @subpage dev-profiling --- Some notes on performing profiling +- @subpage dev-roadmap --- Where we plan to go in the future */ \ No newline at end of file diff --git a/docs/getting-started.dox b/docs/getting-started.dox index 858259009..0098ce60a 100644 --- a/docs/getting-started.dox +++ b/docs/getting-started.dox @@ -35,6 +35,7 @@ The ov_eval library has a bunch of evaluation methods and scripts that one can u @section getting-started-more Getting Started Guides - @subpage gs-installing --- Installation guide for OpenVINS and dependencies +- @subpage dev-docker --- Installing with Docker instead of from source - @subpage gs-tutorial --- Simple tutorial on getting OpenVINS running out of the box. - @subpage gs-datasets --- Links to supported datasets and configuration files - @subpage gs-calibration --- Guide to how to calibration your own visual-inertial sensors. diff --git a/docs/gs-calibration.dox b/docs/gs-calibration.dox index 9a49c9f4f..364abdbd9 100644 --- a/docs/gs-calibration.dox +++ b/docs/gs-calibration.dox @@ -29,7 +29,7 @@ Within this *OpenVINS* project we address these by advocating the *online* estim The first task is to calibrate the camera intrinsic values such as the focal length, camera center, and distortion coefficients. -Our group often uses the [Kalibr](https://github.com/ethz-asl/kalibr/) @cite Furgale2013ICRA calibration toolbox to perform both intrinsic and extrinsic offline calibrations, by proceeding the following steps: +Our group often uses the [Kalibr](https://github.com/ethz-asl/kalibr/) @cite Furgale2013IROS calibration toolbox to perform both intrinsic and extrinsic offline calibrations, by proceeding the following steps: 1. Clone and build the [Kalibr](https://github.com/ethz-asl/kalibr/) toolbox 2. Print out a calibration board to use (we normally use the [Aprilgrid 6x6 0.8x0.8 m (A0 page)](https://drive.google.com/file/d/0B0T1sizOvRsUdjFJem9mQXdiMTQ/edit?usp=sharing)) diff --git a/docs/gs-datasets.dox b/docs/gs-datasets.dox index 951d21586..cf829e0f1 100644 --- a/docs/gs-datasets.dox +++ b/docs/gs-datasets.dox @@ -14,6 +14,7 @@ The ETH ASL [EuRoC MAV dataset](https://projects.asl.ethz.ch/datasets/doku.php?i The reason for this is the synchronised inertial+camera sensor data and the high quality groundtruth. The dataset contains different sequences of varying difficulty of a Micro Aerial Vehicle (MAV) flying in an indoor room. Monochrome stereo images are collected by a two Aptina MT9V034 global shutter cameras at 20 frames per seconds, while a ADIS16448 MEMS inertial unit provides linear accelerations and angular velocities at a rate of 200 samples per second. + We recommend that most users start testing on this dataset before moving on to the other datasets that our system support or before trying with your own collected data. The machine hall datasets have the MAV being picked up in the beginning and then set down, we normally skip this part, but it should be able to be handled by the filter if SLAM features are enabled. Please take a look at the [run_ros_eth.sh](https://github.com/rpng/open_vins/blob/master/ov_msckf/scripts/run_ros_eth.sh) script for some reasonable default values (they might still need to be tuned). @@ -27,14 +28,19 @@ Please take a look at the [run_ros_eth.sh](https://github.com/rpng/open_vins/blo You can find the output at this [link](https://drive.google.com/drive/folders/1d62Q_RQwHzKLcIdUlTeBmojr7j0UL4sM?usp=sharing) and is what we normally use to evaluate the error on this dataset. @m_div{m-text-center} -| Dataset Name | Length (m) | Dataset Link | Groundtruth Traj. | Example Launch | +| Dataset Name | Length (m) | Dataset Link | Groundtruth Traj. | Config | |-------------:|--------|--------------|------------------|------------------| -| Vicon Room 1 01 | 58 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_01_easy/V1_01_easy.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_eth.launch) | -| Vicon Room 1 02 | 76 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_eth.launch) | -| Vicon Room 1 03 | 79 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_03_difficult/V1_03_difficult.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_eth.launch) | -| Vicon Room 2 01 | 37 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room2/V2_01_easy/V2_01_easy.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_eth.launch) | -| Vicon Room 2 02 | 83 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room2/V2_02_medium/V2_02_medium.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_eth.launch) | -| Vicon Room 2 03 | 86 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room2/V2_03_difficult/V2_03_difficult.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_eth.launch) | +| Vicon Room 1 01 | 58 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_01_easy/V1_01_easy.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Vicon Room 1 02 | 76 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag) , [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing)| [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Vicon Room 1 03 | 79 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_03_difficult/V1_03_difficult.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Vicon Room 2 01 | 37 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room2/V2_01_easy/V2_01_easy.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Vicon Room 2 02 | 83 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room2/V2_02_medium/V2_02_medium.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Vicon Room 2 03 | 86 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room2/V2_03_difficult/V2_03_difficult.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Machine Hall 01 | 80 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Machine Hall 02 | 73 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_02_easy/MH_02_easy.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Machine Hall 03 | 131 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_03_medium/MH_03_medium.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Machine Hall 04 | 92 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_04_difficult/MH_04_difficult.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | +| Machine Hall 05 | 98 | [rosbag](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_05_difficult/MH_05_difficult.bag), [rosbag2](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3?usp=sharing) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/euroc_mav) | [config](https://github.com/rpng/open_vins/blob/master/config/euroc_mav) | @m_enddiv @@ -59,14 +65,14 @@ Note that we focus on the room datasets as full 6 dof pose collection is availab @m_div{m-text-center} -| Dataset Name | Length (m) | Dataset Link | Groundtruth Traj. | Example Launch | +| Dataset Name | Length (m) | Dataset Link | Groundtruth Traj. | Config | |-------------:|--------|--------------|------------------|------------------| -| room1 | 147 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room1_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_tum.launch) | -| room2 | 142 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room2_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_tum.launch) | -| room3 | 136 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room3_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_tum.launch) | -| room4 | 69 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room4_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_tum.launch) | -| room5 | 132 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room5_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_tum.launch) | -| room6 | 67 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room6_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_tum.launch) | +| room1 | 147 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room1_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [config](https://github.com/rpng/open_vins/blob/master/config/tum_vi) | +| room2 | 142 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room2_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [config](https://github.com/rpng/open_vins/blob/master/config/tum_vi) | +| room3 | 136 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room3_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [config](https://github.com/rpng/open_vins/blob/master/config/tum_vi) | +| room4 | 69 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room4_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [config](https://github.com/rpng/open_vins/blob/master/config/tum_vi) | +| room5 | 132 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room5_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [config](https://github.com/rpng/open_vins/blob/master/config/tum_vi) | +| room6 | 67 | [rosbag](http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-room6_512_16.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/tum_vi) | [config](https://github.com/rpng/open_vins/blob/master/config/tum_vi) | @m_enddiv @@ -96,14 +102,14 @@ Thus, please ensure that you have enabled online calibration of these parameters Additionally, there is no groundtruth for these datasets, but some do include GPS messages if you wish to compare relative to something. @m_div{m-text-center} -| Dataset Name | Length (m) | Dataset Link | Groundtruth Traj. | Example Launch | +| Dataset Name | Length (m) | Dataset Link | Groundtruth Traj. | Config | |-------------:|--------|--------------|------------------|------------------| -| ArUco Room 01 | 27 | [rosbag](https://drive.google.com/file/d/1ytjo8V6pCroaVd8-QSop7R4DbsvvKyRQ/view?usp=sharing) | none | [launch aruco](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_serial_aruco.launch) | -| ArUco Room 02 | 93 | [rosbag](https://drive.google.com/file/d/1l_hnPUW6ufqxPtrLqRRHHI4mfGRZB1ha/view?usp=sharing) | none | [launch aruco](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_serial_aruco.launch) | -| ArUco Hallway 01 | 190 | [rosbag](https://drive.google.com/file/d/1FQBo3uHqRd0qm8GUb50Q-sj5gukcwaoU/view?usp=sharing) | none | [launch aruco](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_serial_aruco.launch) | -| ArUco Hallway 02 | 105 | [rosbag](https://drive.google.com/file/d/1oAbnV3MPOeaUSjnSc3g8t-pWV1nVjbys/view?usp=sharing) | none | [launch aruco](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_serial_aruco.launch) | -| Neighborhood 01 | 2300 | [rosbag](https://drive.google.com/file/d/1N07SDbaLEkq9pVEvi6oiHpavaRuFs3j2/view?usp=sharing) | none | [launch ironsides](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_serial_ironsides.launch) | -| Neighborhood 02 | 7400 | [rosbag](https://drive.google.com/file/d/1QEUi40sO8OkVXEGF5JojiiZMHMSiSqtg/view?usp=sharing) | none | [launch ironsides](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_serial_ironsides.launch) | +| ArUco Room 01 | 27 | [rosbag](https://drive.google.com/file/d/1ytjo8V6pCroaVd8-QSop7R4DbsvvKyRQ/view?usp=sharing) | none | [config aruco](https://github.com/rpng/open_vins/blob/master/config/rpng_aruco) | +| ArUco Room 02 | 93 | [rosbag](https://drive.google.com/file/d/1l_hnPUW6ufqxPtrLqRRHHI4mfGRZB1ha/view?usp=sharing) | none | [config aruco](https://github.com/rpng/open_vins/blob/master/config/rpng_aruco) | +| ArUco Hallway 01 | 190 | [rosbag](https://drive.google.com/file/d/1FQBo3uHqRd0qm8GUb50Q-sj5gukcwaoU/view?usp=sharing) | none | [config aruco](https://github.com/rpng/open_vins/blob/master/config/rpng_aruco) | +| ArUco Hallway 02 | 105 | [rosbag](https://drive.google.com/file/d/1oAbnV3MPOeaUSjnSc3g8t-pWV1nVjbys/view?usp=sharing) | none | [config aruco](https://github.com/rpng/open_vins/blob/master/config/rpng_aruco) | +| Neighborhood 01 | 2300 | [rosbag](https://drive.google.com/file/d/1N07SDbaLEkq9pVEvi6oiHpavaRuFs3j2/view?usp=sharing) | none | [config ironsides](https://github.com/rpng/open_vins/blob/master/config/rpng_ironsides) | +| Neighborhood 02 | 7400 | [rosbag](https://drive.google.com/file/d/1QEUi40sO8OkVXEGF5JojiiZMHMSiSqtg/view?usp=sharing) | none | [config ironsides](https://github.com/rpng/open_vins/blob/master/config/rpng_ironsides) | @m_enddiv @@ -113,7 +119,7 @@ Additionally, there is no groundtruth for these datasets, but some do include GP @section gs-data-uzhfpv UZH-FPV Drone Racing Dataset -The [UZH-FPV Drone Racing Dataset](http://rpg.ifi.uzh.ch/uzh-fpv.html) @cite Schubert2018IROS is a dataset focused on high-speed agressive 6dof motion with very high levels of optical flow as compared to other datasets. +The [UZH-FPV Drone Racing Dataset](https://fpv.ifi.uzh.ch/) @cite Schubert2018IROS is a dataset focused on high-speed agressive 6dof motion with very high levels of optical flow as compared to other datasets. A FPV drone racing quadrotor has on board a Qualcomm Snapdragon Flight board which can provide inertial measurement and has two 640x480 grayscale global shutter fisheye camera's attached. The groundtruth is collected with a Leica Nova MS60 laser tracker. There are four total sensor configurations and calibration provides including: indoor forward facing stereo, indoor 45 degree stereo, outdoor forward facing, and outdoor 45 degree. @@ -124,24 +130,26 @@ Please take a look at the [run_ros_uzhfpv.sh](https://github.com/rpng/open_vins/ @m_class{m-block m-warning} -@par Outdoor Dataset Support - These outdoor datasets seem to give strange relative pose errors (RPE) and thus, while we can run on them, we don't recommend comparing methods on these. - Please see the below indoor datasets that we are able to run on and the error results look reasonable. +@par Dataset Groundtruthing + Only the Absolute Trajectory Error (ATE) should be used as a metric for this dataset. + This is due to inaccurate groundtruth orientation estimates which are explain in their [report](https://fpv.ifi.uzh.ch/wp-content/uploads/2020/11/Ground-Truth-Rotation-Issue-Report.pdf) on the issue. + The basic summary is that it is hard to get an accurate orientation information due to the point-based Leica measurements used to groundtruth. + @m_div{m-text-center} -| Dataset Name | Length (m) | Dataset Link | Groundtruth Traj. | Example Launch | +| Dataset Name | Length (m) | Dataset Link | Groundtruth Traj. | Config | |-------------:|--------|--------------|------------------|------------------| -| Indoor 5 | 157 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_forward_5_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 6 | 204 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_forward_6_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 7 | 314 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_forward_7_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 9 | 136 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_forward_9_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 10 | 129 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_forward_10_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 45deg 2 | 207 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_45_2_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 45deg 4 | 164 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_45_4_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 45deg 12 | 112 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_45_12_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 45deg 13 | 159 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_45_13_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | -| Indoor 45deg 14 | 211 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv/indoor_45_14_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_uzhfpv.launch) | +| Indoor 5 | 157 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_forward_5_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor) | +| Indoor 6 | 204 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_forward_6_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor) | +| Indoor 7 | 314 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_forward_7_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor) | +| Indoor 9 | 136 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_forward_9_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor) | +| Indoor 10 | 129 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_forward_10_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor) | +| Indoor 45deg 2 | 207 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_45_2_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor_45) | +| Indoor 45deg 4 | 164 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_45_4_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor_45) | +| Indoor 45deg 12 | 112 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_45_12_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor_45) | +| Indoor 45deg 13 | 159 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_45_13_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor_45) | +| Indoor 45deg 14 | 211 | [rosbag](http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v2/indoor_45_14_snapdragon_with_gt.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/uzh_fpv) | [config](https://github.com/rpng/open_vins/blob/master/config/uzhfpv_indoor_45) | @m_enddiv @@ -149,10 +157,9 @@ Please take a look at the [run_ros_uzhfpv.sh](https://github.com/rpng/open_vins/ - @section gs-data-kaist KAIST Urban Dataset -The [KAIST urban dataset](https://irap.kaist.ac.kr/dataset/index.html) @cite Jeong2019IJRR is a dataset focus on autonomous driving and localization in challenging complex urban environments. +The [KAIST urban dataset](https://sites.google.com/view/complex-urban-dataset) @cite Jeong2019IJRR is a dataset focus on autonomous driving and localization in challenging complex urban environments. The dataset was collected in Korea with a vehicle equipped with stereo camera pair, 2d SICK LiDARs, 3d Velodyne LiDAR, Xsens IMU, fiber optic gyro (FoG), wheel encoders, and RKT GPS. The camera is 10 Hz, while the Xsens IMU is 100 Hz sensing rate. A groundtruth "baseline" trajectory is also provided which is the resulting output from fusion of the FoG, RKT GPS, and wheel encoders. @@ -181,9 +188,9 @@ Typically we process the datasets at 1.5x rate so we get a ~20 Hz image feed and @m_div{m-text-center} | Dataset Name | Length (km) | Dataset Link | Groundtruth Traj. | Example Launch | |-------------:|--------|--------------|------------------|------------------| -| Urban 28 | 11.47 | [download](https://irap.kaist.ac.kr/dataset/download_2.html) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaist.launch) | -| Urban 38 | 11.42 | [download](https://irap.kaist.ac.kr/dataset/download_2.html) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaist.launch) | -| Urban 39 | 11.06 | [download](https://irap.kaist.ac.kr/dataset/download_2.html) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaist.launch) | +| Urban 28 | 11.47 | [download](https://sites.google.com/view/complex-urban-dataset/download-lidar-stereo?authuser=0) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist) | +| Urban 38 | 11.42 | [download](https://sites.google.com/view/complex-urban-dataset/download-lidar-stereo?authuser=0) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist) | +| Urban 39 | 11.06 | [download](https://sites.google.com/view/complex-urban-dataset/download-lidar-stereo?authuser=0) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist) | @m_enddiv @@ -197,17 +204,17 @@ This topic has been provided in ov_data for convinces sake. @m_div{m-text-center} | Dataset Name | Length (km) | Dataset Link | Groundtruth Traj. | Example Launch | |-------------:|--------|--------------|------------------|------------------| -| circle | 29.99 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/circle/circle.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| circle_fast | 64.15 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/circle/circle_fast.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| circle_head | 35.05 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/circle/circle_head.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| infinite | 29.35 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/infinite/infinite.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| infinite_fast | 54.24 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/infinite/infinite_fast.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| infinite_head | 37.45 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/infinite/infinite_head.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| rotation | 7.82 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/rotation/rotation.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| rotation_fast | 14.55 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/rotation/rotation_fast.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| square | 41.94 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/square/square.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| square_fast | 44.07 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/square/square_fast.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | -| square_head | 50.00 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/square/square_head.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [launch](https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_kaistvio.launch) | +| circle | 29.99 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/circle/circle.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| circle_fast | 64.15 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/circle/circle_fast.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| circle_head | 35.05 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/circle/circle_head.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| infinite | 29.35 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/infinite/infinite.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| infinite_fast | 54.24 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/infinite/infinite_fast.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| infinite_head | 37.45 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/infinite/infinite_head.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| rotation | 7.82 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/rotation/rotation.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| rotation_fast | 14.55 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/rotation/rotation_fast.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| square | 41.94 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/square/square.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| square_fast | 44.07 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/square/square_fast.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | +| square_head | 50.00 | [download](https://urserver.kaist.ac.kr/publicdata/KAIST_VIO_Dataset/square/square_head.bag) | [link](https://github.com/rpng/open_vins/tree/master/ov_data/kaist_vio) | [config](https://github.com/rpng/open_vins/blob/master/config/kaist_vio) | @m_enddiv diff --git a/docs/gs-installing.dox b/docs/gs-installing.dox index 7fe56c797..f560780e7 100644 --- a/docs/gs-installing.dox +++ b/docs/gs-installing.dox @@ -2,6 +2,7 @@ @page gs-installing Installation Guide +@tableofcontents @section gs-install-ros ROS Dependency @@ -13,51 +14,99 @@ See the [opencv_contrib](https://github.com/opencv/opencv_contrib) readme on how We have tested building with OpenCV 3.2, 3.3, 3.4, 4.2, and 4.5. Please see the official instructions to install ROS: -- [Ubuntu 16.04 ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu) (uses OpenCV 3.3) -- [Ubuntu 18.04 ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) (uses OpenCV 3.2) -- [Ubuntu 20.04 ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) (uses OpenCV 4.2) +- [Ubuntu 16.04 ROS 1 Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu) (uses OpenCV 3.3) +- [Ubuntu 18.04 ROS 1 Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) (uses OpenCV 3.2) +- [Ubuntu 20.04 ROS 1 Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) (uses OpenCV 4.2) +- [Ubuntu 18.04 ROS 2 Dashing](https://docs.ros.org/en/dashing/) (uses OpenCV 3.2) +- [Ubuntu 20.04 ROS 2 Galactic](https://docs.ros.org/en/galactic/) (uses OpenCV 4.2) -@m_class{m-block m-warning} +We do support ROS-free builds, but don't recommend using this interface as we have limited support for it. +You will need to ensure you have installed OpenCV and Eigen3 which are the only dependencies. +If ROS is not found on the system, one can use command line options to run the simulation without any visualization or `cmake -DENABLE_ROS=OFF ..`. +If you are using the ROS-free interface, you will need to properly construct the @ref ov_msckf::VioManagerOptions struct with proper information and feed inertial and image data into the correct functions. +The simulator can give you and example on how to do this. + +@subsection gs-install-ros-1 ROS1 Install -@par ROS Usage in OpenVINS - We do support ROS-free builds, but don't recommend using this interface as we have limited support for it. - You will need to ensure you have installed OpenCV and Eigen3 which are the only dependencies. - If ROS is not found on the system, one can use command line options to run the simulation without any visualization or `cmake -DENABLE_CATKIN_ROS=OFF ..`. - If you are using the ROS-free interface, you will need to properly construct the @ref ov_msckf::VioManagerOptions struct with proper information and feed inertial and image data into the correct functions. +To install we can perform the following: @code{.shell-session} sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt-get update -export ROS_DISTRO=noetic # kinetic=16.04, melodic=18.04, noetic=20.04 -sudo apt-get install ros-$ROS_DISTRO-desktop-full -echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc -source ~/.bashrc -sudo apt-get install libeigen3-dev python-catkin-tools # ubuntu 16.04 or 18.04 +export ROS1_DISTRO=noetic # kinetic=16.04, melodic=18.04, noetic=20.04 +sudo apt-get install ros-$ROS1_DISTRO-desktop-full +sudo apt-get install libeigen3-dev python-catkin-tools # ubuntu 16.04, 18.04 sudo apt-get install libeigen3-dev python3-catkin-tools python3-osrf-pycommon # ubuntu 20.04 @endcode +If you only have ROS1 on your system and are not cross installing ROS2, then you can run the following to append this to your bashrc file. +Every time a terminal is open, thus will load the ROS1 environmental variables required to find all dependencies for building and system installed packages. -@section gs-install-opencv OpenCV Dependency (from source) +@code{.shell-session} +echo "source /opt/ros/$ROS1_DISTRO/setup.bash" >> ~/.bashrc +source ~/.bashrc +@endcode -We leverage [OpenCV](https://opencv.org/) for this project which you can typically use the install from ROS. -If these do not work (or are using non-ROS building), then you can try building OpenCV from source ensuring you include the contrib modules. -One should make sure you can see some of the "contrib" (e.g. aruco) when you cmake to ensure you have linked to the contrib modules. +Otherwise, if you want to also install ROS2, you must *NOT* have a global source. +Instead we can have a nice helper command which can be used when we build a ROS1 workspace. +Additionally, the `source_devel` command can be used when in your workspace root to source built packages. +Once appended simply run `source_ros1` to load your ROS1 environmental variables. @code{.shell-session} -git clone https://github.com/opencv/opencv/ -git clone https://github.com/opencv/opencv_contrib/ -mkdir opencv/build/ -cd opencv/build/ -cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. -make -j8 -sudo make install +echo "alias source_ros1=\"source /opt/ros/$ROS1_DISTRO/setup.bash\"" >> ~/.bashrc +echo "alias source_devel=\"source devel/setup.bash\"" >> ~/.bashrc +source ~/.bashrc +@endcode + + +@subsection gs-install-ros-2 ROS2 Install + +To install we can perform the following: + +@code{.shell-session} +sudo apt update && sudo apt install curl gnupg lsb-release +sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg +echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null +sudo apt-get update +export ROS2_DISTRO=galactic # dashing=18.04, galactic=20.04 +sudo apt install ros-$ROS2_DISTRO-desktop +sudo apt-get install ros-$ROS2_DISTRO-ros2bag ros-$ROS2_DISTRO-rosbag2* # rosbag utilities (seems to be separate) +@endcode + +If you only have ROS2 on your system and are not cross installing ROS1, then you can run the following to append this to your bashrc file. +Every time a terminal is open, thus will load the ROS2 environmental variables required to find all dependencies for building and system installed packages. + +@code{.shell-session} +echo "source /opt/ros/$ROS2_DISTRO/setup.bash" >> ~/.bashrc +source ~/.bashrc +@endcode + +Otherwise, if you want to also install ROS1, you must *NOT* have a global source. +Instead we can have a nice helper command which can be used when we build a ROS1 workspace. +Additionally, the `source_install` command can be used when in your workspace root to source built packages. +Once appended simply run `source_ros2` to load your ROS1 environmental variables. + +@code{.shell-session} +echo "alias source_ros2=\"source /opt/ros/$ROS2_DISTRO/setup.bash\"" >> ~/.bashrc +echo "alias source_install=\"source install/setup.bash\"" >> ~/.bashrc +source ~/.bashrc @endcode -If you do not want to build the modules, you should also be able to do this (while it is not as well tested). -The ArucoTag tracker depends on a non-free module in the contrib repository, thus this will need to be disabled. -You can disable this with `catkin build -DENABLE_ARUCO_TAGS=OFF` or `cmake -DENABLE_ARUCO_TAGS=OFF ..` in your build folder. + +@section gs-install-cmake Upgrading CMake to Version 3.12 + +We use a newer version of [cmake](https://cmake.org/download/) so you will probably need to upgrade your system if you are on an old ubuntu version. +You can run the following which downloads a script and will install it for you. + +@code{.shell-session} +wget https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh +sudo mkdir /opt/cmake +sudo sh cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license +sudo ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake +cmake --version +@endcode @section gs-install-openvins Cloning the OpenVINS Project @@ -67,31 +116,69 @@ If you did not install the catkin_tools build system, you should be able to buil If you run into any problems please google search the issue first and if you are unable to find a solution please open an issue on our github page. After the build is successful please following the @ref gs-tutorial guide on getting a dataset and running the system. +There are additional options that users might be interested in. +Configure these with `catkin build -D=OFF` or `cmake -D=ON ..` in the ROS free case. + +- `ENABLE_ROS` - (default ON) - Enable or disable building with ROS (if it is found) +- `ENABLE_ARUCO_TAGS` - (default ON) - Enable or disable aruco tag (disable if no contrib modules) +- `BUILD_OV_EVAL` - (default ON) - Enable or disable building of ov_eval +- `DISABLE_MATPLOTLIB` - (default OFF) - Disable or enable matplotlib plot scripts in ov_eval + @code{.shell-session} -sudo apt-get install python-catkin-tools mkdir -p ~/workspace/catkin_ws_ov/src/ cd ~/workspace/catkin_ws_ov/src/ git clone https://github.com/rpng/open_vins/ cd .. -catkin build +catkin build # ROS1 +colcon build # ROS2 +colcon build --event-handlers console_cohesion+ # ROS2 with verbose output @endcode + @section gs-install-oveval Additional Evaluation Requirements -If you want to use the plotting utility wrapper of [matplotlib-cpp](https://github.com/lava/matplotlib-cpp) to generate plots directly from running the cpp code in ov_eval you will need to make sure you have a valid Python 2.7 install of matplotlib. +If you want to use the plotting utility wrapper of [matplotlib-cpp](https://github.com/lava/matplotlib-cpp) to generate plots directly from running the cpp code in ov_eval you will need to make sure you have a valid Python 2.7 or 3 install of matplotlib. On ubuntu 16.04 you can do the following command which should take care of everything you need. If you can't link properly, make sure you can call it from Python normally (i.e. that your Python environment is not broken). You can disable this visualization if it is broken for you by passing the -DDISABLE_MATPLOTLIB=ON parameter to your catkin build. Additionally if you wish to record CPU and memory usage of the node, you will need to install the [psutil](https://github.com/giampaolo/psutil) library. @code{.shell-session} -sudo apt-get install python-matplotlib python-numpy python2.7-dev python-psutil +sudo apt-get install python2.7-dev python-matplotlib python-numpy python-psutil # for python2 systems +sudo apt-get install python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk # for python3 systems catkin build -DDISABLE_MATPLOTLIB=OFF # build with viz (default) catkin build -DDISABLE_MATPLOTLIB=ON # build without viz @endcode +@section gs-install-opencv OpenCV Dependency (from source) + +We leverage [OpenCV](https://opencv.org/) for this project which you can typically use the install from ROS. +If the ROS version of [cv_bridge](http://wiki.ros.org/cv_bridge) does not work (or are using non-ROS building), then you can try building OpenCV from source ensuring you include the contrib modules. +One should make sure you can see some of the "contrib" (e.g. aruco) when you cmake to ensure you have linked to the contrib modules. + + +@m_class{m-block m-warning} + +@par OpenCV Install + Try to first build with your system / ROS OpenCV. + Only fall back onto this if it does not allow you to compile, or want a newer version! + +@code{.shell-session} +git clone https://github.com/opencv/opencv/ +git clone https://github.com/opencv/opencv_contrib/ +mkdir opencv/build/ +cd opencv/build/ +cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. +make -j8 +sudo make install +@endcode + +If you do not want to build the modules, you should also be able to do this (while it is not as well tested). +The ArucoTag tracker depends on a non-free module in the contrib repository, thus this will need to be disabled. +You can disable this with `catkin build -DENABLE_ARUCO_TAGS=OFF` or `cmake -DENABLE_ARUCO_TAGS=OFF ..` in your build folder. + */ diff --git a/docs/gs-tutorial.dox b/docs/gs-tutorial.dox index b8eaf6f84..246793389 100644 --- a/docs/gs-tutorial.dox +++ b/docs/gs-tutorial.dox @@ -2,135 +2,159 @@ @page gs-tutorial Simple Tutorial +@tableofcontents This guide assumes that you have already built the project successfully and are now ready to run the program on some datasets. If you have not compiled the program yet please follow the @ref gs-installing guide. The first that we will download is a dataset to run the program on. In this tutorial we will run on the [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) @cite Burri2016IJRR which provides monochrome stereo images at 20Hz with a MEMS ADIS16448 IMU at 200Hz. - - -@m_div{m-button m-primary} +@m_div{m-col-m-6 m-button m-primary} -@m_div{m-big}Download ROS Bag@m_enddiv -@m_div{m-small} Vicon Room 1 01 @m_enddiv +@m_div{m-big}Download ROS 1 Bag@m_enddiv +@m_div{m-small}Vicon Room 1 01 Easy @m_enddiv + +@m_enddiv + +@m_div{m-col-m-6 m-button m-primary} + +@m_div{m-big}Download ROS 2 Bag@m_enddiv +@m_div{m-small}Vicon Room 1 01 Easy @m_enddiv @m_enddiv -All configuration information for the system is exposed to the user in the launch file. -We will create a launch file that will launch our MSCKF estimation node and feed the ROS bag into the system in serial. +All configuration information for the system is exposed to the user in the configuration file, and can be overridden in the launch file. +We will create a launch file that will launch our MSCKF estimation node and feed the ROS bag into the system. One can take a look in the [launch](https://github.com/rpng/open_vins/tree/master/ov_msckf/launch) folder for more examples. +For OpenVINS we need to define a series of files: +- `estimator_config.yaml` - Contains OpenVINS specific configuration files. Each of these can be overridden in the launch file. +- `kalibr_imu_chain.yaml` - IMU noise parameters and topic information based on the sensor in the dataset. This should be the same as Kalibr's (see @ref gs-calib-imu-static). +- `kalibr_imucam_chain.yaml` - Camera to IMU transformation and camera intrinsics. This should be the same as Kalibr's (see @ref gs-calib-cam-static). + + + +@section gs-tutorial-ros1 ROS 1 Tutorial + +The ROS1 system uses the [roslaunch](http://wiki.ros.org/roslaunch) system to manage and launch nodes. +These files can launch multiple nodes, and each node can their own set of parameters set. +Consider the below launch file. +We can see the main parameter that is being passed into the estimator is the `config_path` file which has all configuration for this specific dataset. +Additionally, we can see that we are launching the `run_subscribe_msckf` ROS 1 node, and are going to be overriding the `use_stereo` and `max_cameras` with the specificed values. +ROS parameters always have priority, and you should see in the console that they have been successfully overridden. @m_div{m-container-inflate} @code{.xml} - - - - - - - [0,1] - - - - - - - - - - - - - [0.0,0.0,9.81] - - - - - - - - - - - - - - - - - - - - - - - [458.654,457.296,367.215,248.375] - [-0.28340811,0.07395907,0.00019359,1.76187114e-05] - [457.587,456.134,379.999,255.238] - [-0.28368365,0.07451284,-0.00010473,-3.55590700e-05] - - - - [ - 0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, - 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, - -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, - 0.0, 0.0, 0.0, 1.0 - ] - - - [ - 0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, - 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, - -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, - 0.0, 0.0, 0.0, 1.0 - ] - - + + + + + + + + + + + - - - + @endcode @m_enddiv +Since the configuration file for the EurocMav dataset has already been created, we can simply do the following. +Note it is good practice to run a `roscore` that stays active so that you do not need to relaunch rviz or other packages. +@code{.shell-session} +roscore # term 0 +source devel/setup.bash # term 1 +roslaunch ov_msckf subscribe.launch config:=euroc_mav +@endcode + +In another two terminals we can run the following. +For RVIZ, one can open the `ov_msckf/launch/display.rviz` configuration file. +You should see the system publishing features and a state estimate. -One will need to edit the path to the ROS bag that was downloaded from the [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) website. -Lets now look at the different sections in this launch file in more detail. -A lot of the parameters that are exposed have not been included in the above file and will instead be set to their default values. -Please take a look at the other launch files or the ov_msckf::VioManager constructor for more details on what parameters are exposed. +@code{.shell-session} +rviz # term 2 +rosbag play V1_01_easy.bag # term 3 +@endcode -| Group | Description | -|---|---| -| bag topics | ROS topics that we will parse the IMU and camera data from. If we are only using one camera, i.e. monocular, then only the first camera topic is used. | -| stereo pairs | Even set of camera ids, which stereo tracking will be tried to be performed on. For example a 0,1,2,3 means that you want to perform stereo tracking of the 0,1 and 2,3 camera pairs. | -| bag params. | Location of the bag we will read along with the start time, in seconds, and duration we want to run on. | -| world/filter params. | This has most of the core parameters that can be tuned to improve filter performance including the sliding window size, representation, gravity, and number of environmental SLAM features. One can also change the number of cameras from 1 to 2 to do stereo matching and update. | -| tracker/extractor params. | For our visual front-end tracker we have a few key parameters that we can tune, most importantly is the number of features extracted. | -| sensor noise values | Since our feature measurement function is on the raw pixels (see @ref update-feat), the pixel noise should be 1 pixel if we have good calibration. We additionally have the *continuous time* white noise and random walk values for our IMU. | -| camera intrinsics | Camera intrinsic values from the EurocMav dataset. | -| camera extrinsics | Camera extrinsics values from the EurocMav dataset. Note that they have the rotation from camera to imu and position of the imu in the camera in the imu frame. | +@section gs-tutorial-ros2 ROS 2 Tutorial +For ROS 2, launch files and nodes have become a bit more combersom due to the removal of a centralized communication method. +This both allows for more distributed systems, but causes a bit more on the developer to perform integration. +The launch system is described in [this](https://design.ros2.org/articles/roslaunch.html) design article. +Consider the following launch file which does the same as the ROS 1 launch file above. +@m_div{m-container-inflate} +@code{.py} +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, LogInfo, OpaqueFunction +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, TextSubstitution +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory, get_package_prefix +import os +import sys + +launch_args = [ + DeclareLaunchArgument(name='namespace', default_value='', description='namespace'), + DeclareLaunchArgument(name='config', default_value='euroc_mav', description='euroc_mav, tum_vi, rpng_aruco...'), + DeclareLaunchArgument(name='verbosity', default_value='INFO', description='ALL, DEBUG, INFO, WARNING, ERROR, SILENT'), + DeclareLaunchArgument(name='use_stereo', default_value='true', description=''), + DeclareLaunchArgument(name='max_cameras', default_value='2', description='') +] + +def launch_setup(context): + configs_dir=os.path.join(get_package_share_directory('ov_msckf'),'..','config') + available_configs = os.listdir(configs_dir) + config = LaunchConfiguration('config').perform(context) + if not config in available_configs: + return[LogInfo(msg='ERROR: unknown config: \'{}\' - Available configs are: {} - not starting OpenVINS'.format(config,', '.join(available_configs)))] + config_path = os.path.join(get_package_share_directory('ov_msckf'),'config',config,'estimator_config.yaml') + node1 = Node(package = 'ov_msckf', + executable = 'run_subscribe_msckf', + namespace = LaunchConfiguration('namespace'), + parameters =[{'verbosity': LaunchConfiguration('verbosity')}, + {'use_stereo': LaunchConfiguration('use_stereo')}, + {'max_cameras': LaunchConfiguration('max_cameras')}, + {'config_path': config_path}]) + return [node1] + +def generate_launch_description(): + opfunc = OpaqueFunction(function = launch_setup) + ld = LaunchDescription(launch_args) + ld.add_action(opfunc) + return ld -If we create a launch file `tutorial.launch` in our `/ov_msckf/launch/` folder with the above contents and have replaced the bag path to the downloaded bag location, we can do the following. +@endcode +@m_enddiv +We can see that first the `launch_setup` function defines the nodes that we will be launching from this file. +Then the `LaunchDescription` is created given the launch arguments and the node is added to it and returned to ROS. +We can the launch it using the following: @code{.shell-session} -source devel/setup.bash -roslaunch ov_msckf tutorial.launch +source install/setup.bash +ros2 launch ov_msckf subscribe.launch.py config:=euroc_mav @endcode +We can then use the ROS2 rosbag file. +First make sure you have installed the rosbag2 and all its backends. +If you downloaded the bag above you should already have a valid bag format. +Otherwise, you will need to convert it following @ref dev-ros1-to-ros2 . +A "bag" is now defined by a db3 sqlite database and config yaml file in a folder. +In another terminal we can run the following: +@code{.shell-session} +ros2 bag play V1_01_easy +@endcode diff --git a/docs/img/splineframes.svg b/docs/img/splineframes.svg index 807c852e7..42d6adc6c 100644 --- a/docs/img/splineframes.svg +++ b/docs/img/splineframes.svg @@ -1,142 +1,214 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/mcss_theme/m-theme-udel.css b/docs/mcss_theme/m-theme-udel.css index 9ad101727..c04d50dfa 100644 --- a/docs/mcss_theme/m-theme-udel.css +++ b/docs/mcss_theme/m-theme-udel.css @@ -23,138 +23,138 @@ */ :root { - /* Text properties */ - /*--font: 'Libre Baskerville', serif;*/ - /*--code-font: 'Source Code Pro', monospace;*/ - --font: 'Source Sans Pro', sans-serif; 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- --dim-filled-link-active-color: #949494; - --dim-button-active-color: #c0c0c0; + /* Text properties */ + /*--font: 'Libre Baskerville', serif;*/ + /*--code-font: 'Source Code Pro', monospace;*/ + --font: 'Source Sans Pro', sans-serif; + --code-font: 'Source Code Pro', monospace; + --font-size: 1em; + --code-font-size: 0.8em; /* *not* rem, so it follows surrounding font size */ + --line-height: normal; + --paragraph-indent: 1.5rem; + --paragraph-align: justify; + --link-decoration: underline; + --link-decoration-nav: none; + --link-decoration-heading: none; + --nav-brand-case: lowercase; + --nav-menu-case: lowercase; + --nav-heading-case: uppercase; + --nav-categories-case: lowercase; + --landing-header-case: lowercase; + --heading-font-weight: normal; + + /* Shapes */ + --border-radius: 0.2rem; + + /* Basics */ + --background-color: #ffffff; + --color: #000000; + --line-color: #c7cfd9; + --link-color: #205275; + --link-active-color: #2f73a3; + --mark-color: #4c93d3; + --mark-background-color: #f0c63e; + --code-color: #000000; + --code-inverted-color: rgba(91, 91, 91, 0.33); + --console-color: var(--code-color); + --console-inverted-color: var(--code-inverted-color); + /* This is simply color-picked --code-note-background-color on top of + --background-color */ + --code-background-color: #f2f7fa; + --code-note-background-color: rgba(251, 240, 236, 0.5); + --console-background-color: #000000; + --button-background-color: #ffffff; + + /* Header */ + --header-border-width: 0.25rem 0 0 0; + --header-color: #000000; + --header-breadcrumb-color: #bdbdbd; /* same as --dim-color */ + --header-background-color: #ffffff; + --header-background-color-landing: rgba(255, 255, 255, 0.75); + --header-background-color-jumbo: rgba(255, 255, 255, 0.25); + --header-link-color: #000000; + --header-link-active-color: #205275; + --header-link-current-color: #2f73a3; + --header-link-active-background-color: #ffffff; + --header-link-active-background-color: rgba(255, 255, 255, 0.5); + + /* Footer */ + --footer-font-size: 0.85rem; + --footer-color: #7c7c7c; + --footer-background-color: #eeeeee; + --footer-link-color: #191919; + --footer-link-active-color: #494949; + + /* Cover image */ + --cover-image-background-color: #666666; + + /* Search (used only by m-documentation.css) */ + --search-overlay-color: var(--header-background-color-landing); + --search-background-color: var(--header-background-color); + + /* Article */ + --article-header-color: #7a7a7a; + --article-footer-color: #969696; + --article-heading-color: #205275; + --article-heading-active-color: #2e73a3; + + /* Right navigation panel */ + --navpanel-link-color: #292929; + --navpanel-link-active-color: #205275; + + /* Plots */ + --plot-background-color: #f2f7fa; + --plot-error-color: #000000; + + /* Colored components */ + --default-color: #000000; + --default-link-active-color: #205275; + --default-filled-color: #000000; + --default-filled-background-color: #f2f7fa; + --default-filled-link-color: #2f73a3; + --default-filled-link-active-color: #205275; + + --primary-color: #205275; + --primary-link-active-color: #000000; + --primary-filled-color: #fbe4d9; + --primary-filled-background-color: #ef9069; + --primary-filled-link-color: #782f0d; + --primary-filled-link-active-color: #2f1205; + + --success-color: #31c25d; + --success-link-active-color: #dcf6e3; + --success-filled-color: #f4fcf6; + --success-filled-background-color: #4dd376; + --success-filled-link-color: #c5f2d1; + --success-filled-link-active-color: #dcf6e3; + + --warning-color: #d19600; + --warning-link-active-color: #fff1cc; + --warning-filled-color: #fff7e3; + --warning-filled-background-color: #d19600; + --warning-filled-link-color: #fff1cc; + --warning-filled-link-active-color: #fff7e3; + + --danger-color: #f60000; + --danger-link-active-color: #f6dddc; + --danger-filled-color: #fdf3f3; + --danger-filled-background-color: #e23e3e; + --danger-filled-link-color: #f2c7c6; + --danger-filled-link-active-color: #f6dddc; + + --info-color: #2e7dc5; + --info-link-active-color: #c6ddf2; + --info-filled-color: #f4f8fc; + --info-filled-background-color: #4c93d3; + --info-filled-link-color: #c6ddf2; + --info-filled-link-active-color: #dbeaf7; + + --dim-color: #bdbdbd; + --dim-link-color: #c0c0c0; + --dim-link-active-color: #949494; + --dim-filled-color: #7c7c7c; + --dim-filled-background-color: #f1f1f1; + --dim-filled-link-color: #c0c0c0; + --dim-filled-link-active-color: #949494; + --dim-button-active-color: #c0c0c0; } diff --git a/docs/mcss_theme/pygments-tango.css b/docs/mcss_theme/pygments-tango.css index e9353654f..d67b8f300 100644 --- a/docs/mcss_theme/pygments-tango.css +++ b/docs/mcss_theme/pygments-tango.css @@ -1,77 +1,419 @@ -.m-code .hll { background-color: #ffffcc } -.m-code { background: #f8f8f8; } -.m-code .c { color: #8f5902; font-style: italic } /* Comment */ -.m-code .err { color: #a40000; border: 1px solid #ef2929 } /* Error */ -.m-code .g { color: #000000 } /* Generic */ -.m-code .k { color: #204a87; font-weight: bold } /* Keyword */ -.m-code .l { color: #000000 } /* Literal */ -.m-code .n { color: #000000 } /* Name */ -.m-code .o { color: #ce5c00; 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+ font-weight: bold +} + +/* Keyword.Namespace */ +.m-code .kp { + color: #204a87; + font-weight: bold +} + +/* Keyword.Pseudo */ +.m-code .kr { + color: #204a87; + font-weight: bold +} + +/* Keyword.Reserved */ +.m-code .kt { + color: #204a87; + font-weight: bold +} + +/* Keyword.Type */ +.m-code .ld { + color: #000000 +} + +/* Literal.Date */ +.m-code .m { + color: #0000cf; + font-weight: bold +} + +/* Literal.Number */ +.m-code .s { + color: #4e9a06 +} + +/* Literal.String */ +.m-code .na { + color: #c4a000 +} + +/* Name.Attribute */ +.m-code .nb { + color: #204a87 +} + +/* Name.Builtin */ +.m-code .nc { + color: #000000 +} + +/* Name.Class */ +.m-code .no { + color: #000000 +} + +/* Name.Constant */ +.m-code .nd { + color: #5c35cc; + font-weight: bold +} + +/* Name.Decorator */ +.m-code .ni { + color: #ce5c00 +} + +/* Name.Entity */ +.m-code .ne { + color: #cc0000; + font-weight: bold +} + +/* Name.Exception */ +.m-code .nf { + color: #000000 +} + +/* Name.Function */ +.m-code .nl { + color: #f57900 +} + +/* Name.Label */ +.m-code .nn { + color: #000000 +} + +/* Name.Namespace */ +.m-code .nx { + color: #000000 +} + +/* Name.Other */ +.m-code .py { + color: #000000 +} + +/* Name.Property */ +.m-code .nt { + color: #204a87; + font-weight: bold +} + +/* Name.Tag */ +.m-code .nv { + color: #000000 +} + +/* Name.Variable */ +.m-code .ow { + color: #204a87; + font-weight: bold +} + +/* Operator.Word */ +.m-code .w { + color: #f8f8f8; + text-decoration: underline +} + +/* Text.Whitespace */ +.m-code .mb { + color: #0000cf; + font-weight: bold +} + +/* Literal.Number.Bin */ +.m-code .mf { + color: #0000cf; + font-weight: bold +} + +/* Literal.Number.Float */ +.m-code .mh { + color: #0000cf; + font-weight: bold +} + +/* Literal.Number.Hex */ +.m-code .mi { + color: #0000cf; + font-weight: bold +} + +/* Literal.Number.Integer */ +.m-code .mo { + color: #0000cf; + font-weight: bold +} + +/* Literal.Number.Oct */ +.m-code .sa { + color: #4e9a06 +} + +/* Literal.String.Affix */ +.m-code .sb { + color: #4e9a06 +} + +/* Literal.String.Backtick */ +.m-code .sc { + color: #4e9a06 +} + +/* Literal.String.Char */ +.m-code .dl { + color: #4e9a06 +} + +/* Literal.String.Delimiter */ +.m-code .sd { + color: #8f5902; + font-style: italic +} + +/* Literal.String.Doc */ +.m-code .s2 { + color: #4e9a06 +} + +/* Literal.String.Double */ +.m-code .se { + color: #4e9a06 +} + +/* Literal.String.Escape */ +.m-code .sh { + color: #4e9a06 +} + +/* Literal.String.Heredoc */ +.m-code .si { + color: #4e9a06 +} + +/* Literal.String.Interpol */ +.m-code .sx { + color: #4e9a06 +} + +/* Literal.String.Other */ +.m-code .sr { + color: #4e9a06 +} + +/* Literal.String.Regex */ +.m-code .s1 { + color: #4e9a06 +} + +/* Literal.String.Single */ +.m-code .ss { + color: #4e9a06 +} + +/* Literal.String.Symbol */ +.m-code .bp { + color: #3465a4 +} + +/* Name.Builtin.Pseudo */ +.m-code .fm { + color: #000000 +} + +/* Name.Function.Magic */ +.m-code .vc { + color: #000000 +} + +/* Name.Variable.Class */ +.m-code .vg { + color: #000000 +} + +/* Name.Variable.Global */ +.m-code .vi { + color: #000000 +} + +/* Name.Variable.Instance */ +.m-code .vm { + color: #000000 +} + +/* Name.Variable.Magic */ +.m-code .il { + color: #0000cf; + font-weight: bold +} + +/* Literal.Number.Integer.Long */ diff --git a/ov_core/CMakeLists.txt b/ov_core/CMakeLists.txt index 7fa4e6735..a4af70103 100644 --- a/ov_core/CMakeLists.txt +++ b/ov_core/CMakeLists.txt @@ -1,59 +1,51 @@ -cmake_minimum_required(VERSION 2.8.8) +cmake_minimum_required(VERSION 3.12) + +# Define our install directories based on GNU conventions +# https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html +include(GNUInstallDirs) # Project name project(ov_core) -# Find catkin (the ROS build system) -find_package(catkin QUIET COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs visualization_msgs cv_bridge) - # Include libraries (if we don't have opencv 4, then fallback to opencv 3) +# The OpenCV version needs to match the one used by cv_bridge otherwise you will get a segmentation fault! find_package(Eigen3 REQUIRED) -find_package(OpenCV 4 QUIET) +find_package(OpenCV 3 QUIET) if (NOT OpenCV_FOUND) - find_package(OpenCV 3 REQUIRED) -endif() + find_package(OpenCV 4 REQUIRED) +endif () find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time) - -# Display message to user -message(WARNING "OPENCV VERSION: " ${OpenCV_VERSION}) -message(WARNING "BOOST VERSION: " ${Boost_VERSION}) +message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION}) # If we will compile with aruco support option(ENABLE_ARUCO_TAGS "Enable or disable aruco tag (disable if no contrib modules)" ON) if (NOT ENABLE_ARUCO_TAGS) add_definitions(-DENABLE_ARUCO_TAGS=0) message(WARNING "DISABLING ARUCOTAG TRACKING!") -else() +else () add_definitions(-DENABLE_ARUCO_TAGS=1) -endif() - -# Describe catkin project -option(ENABLE_CATKIN_ROS "Enable or disable building with ROS (if it is found)" ON) -if (catkin_FOUND AND ENABLE_CATKIN_ROS) - add_definitions(-DROS_AVAILABLE=1) - catkin_package( - CATKIN_DEPENDS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs visualization_msgs cv_bridge - INCLUDE_DIRS src - LIBRARIES ov_core_lib - ) -else() - add_definitions(-DROS_AVAILABLE=0) - message(WARNING "BUILDING WITHOUT ROS!") -endif() - - -# Try to compile with c++11 -# http://stackoverflow.com/a/25836953 -include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) -CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -elseif(COMPILER_SUPPORTS_CXX0X) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") -else() - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") -endif() +endif () + +# check if we have our python libs files (will search for python3 then python2 installs) +# sudo apt-get install python-matplotlib python-numpy python-dev +# https://cmake.org/cmake/help/latest/module/FindPython.html +# https://stackoverflow.com/a/34580995/7718197 +find_package(Python COMPONENTS Interpreter Development) +option(DISABLE_MATPLOTLIB "Disable or enable matplotlib plot scripts in ov_eval" OFF) +if (Python_FOUND AND NOT DISABLE_MATPLOTLIB) + add_definitions(-DHAVE_PYTHONLIBS=1) + message(STATUS "PYTHON VERSION: " ${Python_VERSION}) + message(STATUS "PYTHON INCLUDE: " ${Python_INCLUDE_DIRS}) + message(STATUS "PYTHON LIBRARIES: " ${Python_LIBRARIES}) + include_directories(${Python_INCLUDE_DIRS}) + list(APPEND thirdparty_libraries ${Python_LIBRARIES}) +endif () + +# We need c++14 for ROS2, thus just require it for everybody +# NOTE: To future self, hope this isn't an issue... +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF) # Enable compile optimizations set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") @@ -61,50 +53,22 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-sign # Enable debug flags (use if you want to debug in gdb) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninitialized -fno-omit-frame-pointer") -# Include our header files -include_directories( - src - ${EIGEN3_INCLUDE_DIR} - ${Boost_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} -) - -# Set link libraries used by all binaries -list(APPEND thirdparty_libraries - ${Boost_LIBRARIES} - ${OpenCV_LIBRARIES} - ${catkin_LIBRARIES} -) - -################################################## -# Make the core library -################################################## -add_library(ov_core_lib SHARED - src/dummy.cpp - src/init/InertialInitializer.cpp - src/sim/BsplineSE3.cpp - src/track/TrackBase.cpp - src/track/TrackAruco.cpp - src/track/TrackDescriptor.cpp - src/track/TrackKLT.cpp - src/track/TrackSIM.cpp - src/types/Landmark.cpp - src/feat/Feature.cpp - src/feat/FeatureInitializer.cpp -) -target_link_libraries(ov_core_lib ${thirdparty_libraries}) -target_include_directories(ov_core_lib PUBLIC src) - - -################################################## -# Make binary files! -################################################## -if (catkin_FOUND AND ENABLE_CATKIN_ROS) - add_executable(test_tracking src/test_tracking.cpp) - target_link_libraries(test_tracking ov_core_lib ${thirdparty_libraries}) +# Find our ROS version! +# NOTE: Default to using the ROS1 package if both are in our enviroment +# NOTE: https://github.com/romainreignier/share_ros1_ros2_lib_demo +find_package(catkin QUIET COMPONENTS roscpp) +find_package(ament_cmake QUIET) +if(catkin_FOUND) + message(STATUS "ROS *1* version found, building ROS1.cmake") + include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake) +elseif(ament_cmake_FOUND) + message(STATUS "ROS *2* version found, building ROS2.cmake") + include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS2.cmake) +else() + message(STATUS "No ROS versions found, building ROS1.cmake") + include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake) endif() -add_executable(test_webcam src/test_webcam.cpp) -target_link_libraries(test_webcam ov_core_lib ${thirdparty_libraries}) + diff --git a/ov_core/cmake/ROS1.cmake b/ov_core/cmake/ROS1.cmake new file mode 100644 index 000000000..ce38e8a7f --- /dev/null +++ b/ov_core/cmake/ROS1.cmake @@ -0,0 +1,81 @@ +cmake_minimum_required(VERSION 3.3) + +# Find ROS build system +find_package(catkin QUIET COMPONENTS roscpp rosbag sensor_msgs cv_bridge) + +# Describe ROS project +option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON) +if (catkin_FOUND AND ENABLE_ROS) + add_definitions(-DROS_AVAILABLE=1) + catkin_package( + CATKIN_DEPENDS roscpp rosbag sensor_msgs cv_bridge + INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/src/ + LIBRARIES ov_core_lib + ) +else () + add_definitions(-DROS_AVAILABLE=0) + message(WARNING "BUILDING WITHOUT ROS!") +endif () + +# Include our header files +include_directories( + src + ${EIGEN3_INCLUDE_DIR} + ${Boost_INCLUDE_DIRS} + /usr/local/lib/python2.7/dist-packages/numpy/core/include + /usr/local/lib/python2.7/site-packages/numpy/core/include + ${catkin_INCLUDE_DIRS} +) + +# Set link libraries used by all binaries +list(APPEND thirdparty_libraries + ${Boost_LIBRARIES} + ${OpenCV_LIBRARIES} + ${catkin_LIBRARIES} +) + +################################################## +# Make the core library +################################################## + +add_library(ov_core_lib SHARED + src/dummy.cpp + src/sim/BsplineSE3.cpp + src/track/TrackBase.cpp + src/track/TrackAruco.cpp + src/track/TrackDescriptor.cpp + src/track/TrackKLT.cpp + src/track/TrackSIM.cpp + src/types/Landmark.cpp + src/feat/Feature.cpp + src/feat/FeatureInitializer.cpp + src/utils/print.cpp +) +target_link_libraries(ov_core_lib ${thirdparty_libraries}) +target_include_directories(ov_core_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/) +install(TARGETS ov_core_lib + LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} + RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} + PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} +) + +################################################## +# Make binary files! +################################################## + +if (catkin_FOUND AND ENABLE_ROS) + + add_executable(test_tracking src/test_tracking.cpp) + target_link_libraries(test_tracking ov_core_lib ${thirdparty_libraries}) + +endif () + +add_executable(test_webcam src/test_webcam.cpp) +target_link_libraries(test_webcam ov_core_lib ${thirdparty_libraries}) +install(TARGETS test_webcam + LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} + RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} + PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} +) + + diff --git a/ov_core/cmake/ROS2.cmake b/ov_core/cmake/ROS2.cmake new file mode 100644 index 000000000..6640f6575 --- /dev/null +++ b/ov_core/cmake/ROS2.cmake @@ -0,0 +1,74 @@ +cmake_minimum_required(VERSION 3.3) + +# Find ros dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(cv_bridge REQUIRED) + +# Describe ROS project +option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON) +if (NOT ENABLE_ROS) + message(FATAL_ERROR "Build with ROS1.cmake if you don't have ROS.") +endif () +add_definitions(-DROS_AVAILABLE=2) + +# Include our header files +include_directories( + src + ${EIGEN3_INCLUDE_DIR} + ${Boost_INCLUDE_DIRS} + /usr/local/lib/python2.7/dist-packages/numpy/core/include + /usr/local/lib/python2.7/site-packages/numpy/core/include +) + +# Set link libraries used by all binaries +list(APPEND thirdparty_libraries + ${Boost_LIBRARIES} + ${OpenCV_LIBRARIES} +) + +################################################## +# Make the core library +################################################## + +add_library(ov_core_lib SHARED + src/dummy.cpp + src/sim/BsplineSE3.cpp + src/track/TrackBase.cpp + src/track/TrackAruco.cpp + src/track/TrackDescriptor.cpp + src/track/TrackKLT.cpp + src/track/TrackSIM.cpp + src/types/Landmark.cpp + src/feat/Feature.cpp + src/feat/FeatureInitializer.cpp + src/utils/print.cpp +) +ament_target_dependencies(ov_core_lib rclcpp cv_bridge) +target_link_libraries(ov_core_lib ${thirdparty_libraries}) +target_include_directories(ov_core_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/) +install(TARGETS ov_core_lib + LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} + RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} + PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} +) +ament_export_include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src/) +ament_export_libraries(ov_core_lib) + +################################################## +# Make binary files! +################################################## + +# TODO: UPGRADE THIS TO ROS2 AS ANOTHER FILE!! +#if (catkin_FOUND AND ENABLE_ROS) +# add_executable(test_tracking src/test_tracking.cpp) +# target_link_libraries(test_tracking ov_core_lib ${thirdparty_libraries}) +#endif () + +add_executable(test_webcam src/test_webcam.cpp) +ament_target_dependencies(test_webcam rclcpp cv_bridge) +target_link_libraries(test_webcam ov_core_lib ${thirdparty_libraries}) +install(TARGETS test_webcam DESTINATION lib/${PROJECT_NAME}) + +# finally define this as the package +ament_package() \ No newline at end of file diff --git a/ov_core/package.xml b/ov_core/package.xml index 19dffc50a..a8e95b4b5 100644 --- a/ov_core/package.xml +++ b/ov_core/package.xml @@ -1,11 +1,13 @@ - + + ov_core - 1.0.0 + 2.5.0 Core algorithms for visual-inertial navigation algorithms. + https://docs.openvins.com/ Patrick Geneva @@ -15,31 +17,24 @@ GNU General Public License v3.0 - - catkin - - - cmake_modules - roscpp - rosbag - tf - std_msgs - geometry_msgs - sensor_msgs - nav_msgs - visualization_msgs - cv_bridge - - - roscpp - rosbag - tf - std_msgs - geometry_msgs - sensor_msgs - nav_msgs - visualization_msgs - cv_bridge + + catkin + cmake_modules + roscpp + rosbag + sensor_msgs + cv_bridge + + + ament_cmake + rclcpp + cv_bridge + + + + catkin + ament_cmake + \ No newline at end of file diff --git a/ov_core/src/cam/CamBase.h b/ov_core/src/cam/CamBase.h index 4b50d0467..47959f487 100644 --- a/ov_core/src/cam/CamBase.h +++ b/ov_core/src/cam/CamBase.h @@ -42,6 +42,13 @@ namespace ov_core { class CamBase { public: + /** + * @brief Default constructor + * @param width Width of the camera (raw pixels) + * @param height Height of the camera (raw pixels) + */ + CamBase(int width, int height) : _width(width), _height(height) {} + /** * @brief This will set and update the camera calibration values. * This should be called on startup for each camera and after update! @@ -160,6 +167,12 @@ class CamBase { /// Gets the camera distortion cv::Vec4d get_D() { return camera_d_OPENCV; } + /// Gets the width of the camera images + int w() { return _width; } + + /// Gets the height of the camera images + int h() { return _height; } + protected: // Cannot construct the base camera class, needs a distortion model CamBase() = default; @@ -172,6 +185,12 @@ class CamBase { /// Camera distortion in OpenCV format cv::Vec4d camera_d_OPENCV; + + /// Width of the camera (raw pixels) + int _width; + + /// Height of the camera (raw pixels) + int _height; }; } // namespace ov_core diff --git a/ov_core/src/cam/CamEqui.h b/ov_core/src/cam/CamEqui.h index abc44eaf6..1a6030ef0 100644 --- a/ov_core/src/cam/CamEqui.h +++ b/ov_core/src/cam/CamEqui.h @@ -91,8 +91,12 @@ namespace ov_core { class CamEqui : public CamBase { public: - // constructor - CamEqui() {} + /** + * @brief Default constructor + * @param width Width of the camera (raw pixels) + * @param height Height of the camera (raw pixels) + */ + CamEqui(int width, int height) : CamBase(width, height) {} /** * @brief Given a raw uv point, this will undistort it based on the camera matrices into normalized camera coords. diff --git a/ov_core/src/cam/CamRadtan.h b/ov_core/src/cam/CamRadtan.h index 0ee16d101..fa8bdd437 100644 --- a/ov_core/src/cam/CamRadtan.h +++ b/ov_core/src/cam/CamRadtan.h @@ -83,9 +83,11 @@ class CamRadtan : public CamBase { public: /** - * Default constructor. + * @brief Default constructor + * @param width Width of the camera (raw pixels) + * @param height Height of the camera (raw pixels) */ - CamRadtan() {} + CamRadtan(int width, int height) : CamBase(width, height) {} /** * @brief Given a raw uv point, this will undistort it based on the camera matrices into normalized camera coords. diff --git a/ov_core/src/dummy.cpp b/ov_core/src/dummy.cpp index 850e49e5f..32ca7eaa7 100644 --- a/ov_core/src/dummy.cpp +++ b/ov_core/src/dummy.cpp @@ -28,7 +28,6 @@ * key components of the ov_core codebase are the following: * * - 3d feature initialization (see @ref ov_core::FeatureInitializer) - * - Inertial state initialization (see @ref ov_core::InertialInitializer) * - SE(3) b-spline (see @ref ov_core::BsplineSE3) * - KLT, descriptor, aruco, and simulation feature trackers * - Groundtruth dataset reader (see @ref ov_core::DatasetReader) diff --git a/ov_core/src/feat/FeatureDatabase.h b/ov_core/src/feat/FeatureDatabase.h index d272dc997..c1eb1f3cc 100644 --- a/ov_core/src/feat/FeatureDatabase.h +++ b/ov_core/src/feat/FeatureDatabase.h @@ -28,6 +28,7 @@ #include #include "Feature.h" +#include "utils/print.h" namespace ov_core { @@ -104,7 +105,7 @@ class FeatureDatabase { } // Debug info - // ROS_INFO("featdb - adding new feature %d",(int)id); + // PRINT_DEBUG("featdb - adding new feature %d",(int)id); // Else we have not found the feature, so lets make it be a new one! std::shared_ptr feat = std::make_shared(); @@ -159,7 +160,7 @@ class FeatureDatabase { } // Debugging - // std::cout << "feature db size = " << features_idlookup.size() << std::endl; + // PRINT_DEBUG("feature db size = %u\n", features_idlookup.size()) // Return the old features return feats_old; @@ -206,7 +207,7 @@ class FeatureDatabase { } // Debugging - // std::cout << "feature db size = " << features_idlookup.size() << std::endl; + // PRINT_DEBUG("feature db size = %u\n", features_idlookup.size()) // Return the old features return feats_old; @@ -253,8 +254,8 @@ class FeatureDatabase { } // Debugging - // std::cout << "feature db size = " << features_idlookup.size() << std::endl; - // std::cout << "return vector = " << feats_has_timestamp.size() << std::endl; + // PRINT_DEBUG("feature db size = %u\n", features_idlookup.size()) + // PRINT_DEBUG("return vector = %u\n", feats_has_timestamp.size()) // Return the features return feats_has_timestamp; @@ -277,7 +278,7 @@ class FeatureDatabase { it++; } } - // std::cout << "feat db = " << sizebefore << " -> " << (int)features_idlookup.size() << std::endl; + // PRINT_DEBUG("feat db = %d -> %d\n", sizebefore, (int)features_idlookup.size() << std::endl; } /** @@ -386,7 +387,7 @@ class FeatureDatabase { features_idlookup[feat.first] = temp; } } - // std::cout << "feat db = " << sizebefore << " -> " << (int)features_idlookup.size() << std::endl; + // PRINT_DEBUG("feat db = %d -> %d\n", sizebefore, (int)features_idlookup.size() << std::endl; } protected: diff --git a/ov_core/src/feat/FeatureHelper.h b/ov_core/src/feat/FeatureHelper.h new file mode 100644 index 000000000..c74c9ca1d --- /dev/null +++ b/ov_core/src/feat/FeatureHelper.h @@ -0,0 +1,117 @@ +/* + * OpenVINS: An Open Platform for Visual-Inertial Research + * Copyright (C) 2021 Patrick Geneva + * Copyright (C) 2021 Guoquan Huang + * Copyright (C) 2021 OpenVINS Contributors + * Copyright (C) 2019 Kevin Eckenhoff + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef OV_CORE_FEATURE_HELPER_H +#define OV_CORE_FEATURE_HELPER_H + +#include +#include +#include +#include + +#include "Feature.h" +#include "FeatureDatabase.h" +#include "utils/print.h" + +namespace ov_core { + +/** + * @brief Contains some nice helper functions for features. + * + * These functions should only depend on feature and the feature database. + */ +class FeatureHelper { + +public: + /** + * @brief This functions will compute the disparity between common features in the two frames. + * + * First we find all features in the first frame. + * Then we loop through each and find the uv of it in the next requested frame. + * Features are skipped if no tracked feature is found (it was lost). + * NOTE: this is on the RAW coordinates of the feature not the normalized ones. + * NOTE: This computes the disparity over all cameras! + * + * @param db Feature database pointer + * @param time0 First camera frame timestamp + * @param time1 Second camera frame timestamp + * @param disp_mean Average raw disparity + * @param disp_var Variance of the disparities + * @param total_feats Total number of common features + */ + static void compute_disparity(std::shared_ptr db, double time0, double time1, double &disp_mean, + double &disp_var, int &total_feats) { + + // Get features seen from the first image + std::vector> feats0 = db->features_containing(time0, false, true); + + // Compute the disparity + std::vector disparities; + for (auto &feat : feats0) { + + // Get the two uvs for both times + for (auto &campairs : feat->timestamps) { + + // First find the two timestamps + size_t camid = campairs.first; + auto it0 = std::find(feat->timestamps.at(camid).begin(), feat->timestamps.at(camid).end(), time0); + auto it1 = std::find(feat->timestamps.at(camid).begin(), feat->timestamps.at(camid).end(), time1); + if (it0 == feat->timestamps.at(camid).end() || it1 == feat->timestamps.at(camid).end()) + continue; + auto idx0 = std::distance(feat->timestamps.at(camid).begin(), it0); + auto idx1 = std::distance(feat->timestamps.at(camid).begin(), it1); + + // Now lets calculate the disparity + Eigen::Vector2f uv0 = feat->uvs.at(camid).at(idx0).block(0, 0, 2, 1); + Eigen::Vector2f uv1 = feat->uvs.at(camid).at(idx1).block(0, 0, 2, 1); + disparities.push_back((uv1 - uv0).norm()); + } + } + + // If no disparities, just return + if (disparities.size() < 2) { + disp_mean = -1; + disp_var = -1; + total_feats = 0; + } + + // Compute mean and standard deviation in respect to it + disp_mean = 0; + for (double disp_i : disparities) { + disp_mean += disp_i; + } + disp_mean /= (double)disparities.size(); + disp_var = 0; + for (double &disp_i : disparities) { + disp_var += std::pow(disp_i - disp_mean, 2); + } + disp_var = std::sqrt(disp_var / (double)(disparities.size() - 1)); + total_feats = (int)disparities.size(); + } + +private: + // Cannot construct this class + FeatureHelper() {} +}; + +} // namespace ov_core + +#endif /* OV_CORE_FEATURE_HELPER_H */ \ No newline at end of file diff --git a/ov_core/src/feat/FeatureInitializer.cpp b/ov_core/src/feat/FeatureInitializer.cpp index f176c5c98..c4f681d5f 100644 --- a/ov_core/src/feat/FeatureInitializer.cpp +++ b/ov_core/src/feat/FeatureInitializer.cpp @@ -88,7 +88,10 @@ bool FeatureInitializer::single_triangulation(Feature *feat, std::unordered_map< singularValues.resize(svd.singularValues().rows(), 1); singularValues = svd.singularValues(); double condA = singularValues(0, 0) / singularValues(singularValues.rows() - 1, 0); - // std::cout << feat->featid << " - cond " << std::abs(condA) << " - z " << p_f(2, 0) << std::endl; + + // std::stringstream ss; + // ss << feat->featid << " - cond " << std::abs(condA) << " - z " << p_f(2, 0) << std::endl; + // PRINT_DEBUG(ss.str().c_str()); // If we have a bad condition number, or it is too close // Then set the flag for bad (i.e. set z-axis to nan) @@ -289,7 +292,9 @@ bool FeatureInitializer::single_gaussnewton(Feature *feat, std::unordered_mapp_FinA.norm() / base_line_max) << " - z " << feat->p_FinA(2) << std::endl; + // std::stringstream ss; + // ss << feat->featid << " - max base " << (feat->p_FinA.norm() / base_line_max) << " - z " << feat->p_FinA(2) << std::endl; + // PRINT_DEBUG(ss.str().c_str()); // Check if this feature is bad or not // 1. If the feature is too close diff --git a/ov_core/src/feat/FeatureInitializer.h b/ov_core/src/feat/FeatureInitializer.h index 4c8312377..0ec0547bc 100644 --- a/ov_core/src/feat/FeatureInitializer.h +++ b/ov_core/src/feat/FeatureInitializer.h @@ -26,6 +26,7 @@ #include "Feature.h" #include "FeatureInitializerOptions.h" +#include "utils/print.h" #include "utils/quat_ops.h" namespace ov_core { diff --git a/ov_core/src/feat/FeatureInitializerOptions.h b/ov_core/src/feat/FeatureInitializerOptions.h index bb83f04a7..720245ecc 100644 --- a/ov_core/src/feat/FeatureInitializerOptions.h +++ b/ov_core/src/feat/FeatureInitializerOptions.h @@ -22,6 +22,9 @@ #ifndef OV_CORE_INITIALIZEROPTIONS_H #define OV_CORE_INITIALIZEROPTIONS_H +#include "utils/opencv_yaml_parse.h" +#include "utils/print.h" + namespace ov_core { /** @@ -66,19 +69,33 @@ struct FeatureInitializerOptions { double max_cond_number = 10000; /// Nice print function of what parameters we have loaded - void print() { - printf("\t- triangulate_1d: %d\n", triangulate_1d); - printf("\t- refine_features: %d\n", refine_features); - printf("\t- max_runs: %d\n", max_runs); - printf("\t- init_lamda: %.3f\n", init_lamda); - printf("\t- max_lamda: %.3f\n", max_lamda); - printf("\t- min_dx: %.7f\n", min_dx); - printf("\t- min_dcost: %.7f\n", min_dcost); - printf("\t- lam_mult: %.3f\n", lam_mult); - printf("\t- min_dist: %.3f\n", min_dist); - printf("\t- max_dist: %.3f\n", max_dist); - printf("\t- max_baseline: %.3f\n", max_baseline); - printf("\t- max_cond_number: %.3f\n", max_cond_number); + void print(const std::shared_ptr &parser = nullptr) { + if (parser != nullptr) { + parser->parse_config("fi_triangulate_1d", triangulate_1d, false); + parser->parse_config("fi_refine_features", refine_features, false); + parser->parse_config("fi_max_runs", max_runs, false); + parser->parse_config("fi_init_lamda", init_lamda, false); + parser->parse_config("fi_max_lamda", max_lamda, false); + parser->parse_config("fi_min_dx", min_dx, false); + parser->parse_config("fi_min_dcost", min_dcost, false); + parser->parse_config("fi_lam_mult", lam_mult, false); + parser->parse_config("fi_min_dist", min_dist, false); + parser->parse_config("fi_max_dist", max_dist, false); + parser->parse_config("fi_max_baseline", max_baseline, false); + parser->parse_config("fi_max_cond_number", max_cond_number, false); + } + PRINT_DEBUG("\t- triangulate_1d: %d\n", triangulate_1d); + PRINT_DEBUG("\t- refine_features: %d\n", refine_features); + PRINT_DEBUG("\t- max_runs: %d\n", max_runs); + PRINT_DEBUG("\t- init_lamda: %.3f\n", init_lamda); + PRINT_DEBUG("\t- max_lamda: %.3f\n", max_lamda); + PRINT_DEBUG("\t- min_dx: %.7f\n", min_dx); + PRINT_DEBUG("\t- min_dcost: %.7f\n", min_dcost); + PRINT_DEBUG("\t- lam_mult: %.3f\n", lam_mult); + PRINT_DEBUG("\t- min_dist: %.3f\n", min_dist); + PRINT_DEBUG("\t- max_dist: %.3f\n", max_dist); + PRINT_DEBUG("\t- max_baseline: %.3f\n", max_baseline); + PRINT_DEBUG("\t- max_cond_number: %.3f\n", max_cond_number); } }; diff --git a/ov_core/src/init/InertialInitializer.cpp b/ov_core/src/init/InertialInitializer.cpp deleted file mode 100644 index e7e471510..000000000 --- a/ov_core/src/init/InertialInitializer.cpp +++ /dev/null @@ -1,159 +0,0 @@ -/* - * OpenVINS: An Open Platform for Visual-Inertial Research - * Copyright (C) 2021 Patrick Geneva - * Copyright (C) 2021 Guoquan Huang - * Copyright (C) 2021 OpenVINS Contributors - * Copyright (C) 2019 Kevin Eckenhoff - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - */ - -#include "InertialInitializer.h" - -using namespace ov_core; - -void InertialInitializer::feed_imu(const ImuData &message) { - - // Append it to our vector - imu_data.push_back(message); - - // Delete all measurements older than three of our initialization windows - auto it0 = imu_data.begin(); - while (it0 != imu_data.end() && it0->timestamp < message.timestamp - 3 * _window_length) { - it0 = imu_data.erase(it0); - } -} - -bool InertialInitializer::initialize_with_imu(double &time0, Eigen::Matrix &q_GtoI0, Eigen::Matrix &b_w0, - Eigen::Matrix &v_I0inG, Eigen::Matrix &b_a0, - Eigen::Matrix &p_I0inG, bool wait_for_jerk) { - - // Return if we don't have any measurements - if (imu_data.size() < 2) { - return false; - } - - // Newest and oldest imu timestamp - double newesttime = imu_data.at(imu_data.size() - 1).timestamp; - double oldesttime = imu_data.at(0).timestamp; - - // Return if we don't have enough for two windows - if (newesttime - oldesttime < 2 * _window_length) { - // printf(YELLOW "[INIT-IMU]: unable to select window of IMU readings, not enough readings\n" RESET); - return false; - } - - // First lets collect a window of IMU readings from the newest measurement to the oldest - std::vector window_1to0, window_2to1; - for (const ImuData &data : imu_data) { - if (data.timestamp > newesttime - 1 * _window_length && data.timestamp <= newesttime - 0 * _window_length) { - window_1to0.push_back(data); - } - if (data.timestamp > newesttime - 2 * _window_length && data.timestamp <= newesttime - 1 * _window_length) { - window_2to1.push_back(data); - } - } - - // Return if both of these failed - if (window_1to0.empty() || window_2to1.empty()) { - // printf(YELLOW "[INIT-IMU]: unable to select window of IMU readings, not enough readings\n" RESET); - return false; - } - - // Calculate the sample variance for the newest window from 1 to 0 - Eigen::Vector3d a_avg_1to0 = Eigen::Vector3d::Zero(); - for (const ImuData &data : window_1to0) { - a_avg_1to0 += data.am; - } - a_avg_1to0 /= (int)window_1to0.size(); - double a_var_1to0 = 0; - for (const ImuData &data : window_1to0) { - a_var_1to0 += (data.am - a_avg_1to0).dot(data.am - a_avg_1to0); - } - a_var_1to0 = std::sqrt(a_var_1to0 / ((int)window_1to0.size() - 1)); - - // Calculate the sample variance for the second newest window from 2 to 1 - Eigen::Vector3d a_avg_2to1 = Eigen::Vector3d::Zero(); - Eigen::Vector3d w_avg_2to1 = Eigen::Vector3d::Zero(); - for (size_t i = 0; i < window_2to1.size(); i++) { - a_avg_2to1 += window_2to1.at(i).am; - w_avg_2to1 += window_2to1.at(i).wm; - } - a_avg_2to1 = a_avg_2to1 / window_2to1.size(); - w_avg_2to1 = w_avg_2to1 / window_2to1.size(); - double a_var_2to1 = 0; - for (const ImuData &data : window_2to1) { - a_var_2to1 += (data.am - a_avg_2to1).dot(data.am - a_avg_2to1); - } - a_var_2to1 = std::sqrt(a_var_2to1 / ((int)window_2to1.size() - 1)); - // printf(BOLDGREEN "[INIT-IMU]: IMU excitation, %.4f,%.4f\n" RESET, a_var_1to0, a_var_2to1); - - // If it is below the threshold and we want to wait till we detect a jerk - if (a_var_1to0 < _imu_excite_threshold && wait_for_jerk) { - printf(YELLOW "[INIT-IMU]: no IMU excitation, below threshold %.4f < %.4f\n" RESET, a_var_1to0, _imu_excite_threshold); - return false; - } - - // We should also check that the old state was below the threshold! - // This is the case when we have started up moving, and thus we need to wait for a period of stationary motion - if (a_var_2to1 > _imu_excite_threshold && wait_for_jerk) { - printf(YELLOW "[INIT-IMU]: to much IMU excitation, above threshold %.4f > %.4f\n" RESET, a_var_2to1, _imu_excite_threshold); - return false; - } - - // If it is above the threshold and we are not waiting for a jerk - // Then we are not stationary (i.e. moving) so we should wait till we are - if ((a_var_1to0 > _imu_excite_threshold || a_var_2to1 > _imu_excite_threshold) && !wait_for_jerk) { - printf(YELLOW "[INIT-IMU]: to much IMU excitation, above threshold %.4f,%.4f > %.4f\n" RESET, a_var_1to0, a_var_2to1, - _imu_excite_threshold); - return false; - } - - // Get z axis, which alines with -g (z_in_G=0,0,1) - Eigen::Vector3d z_axis = a_avg_2to1 / a_avg_2to1.norm(); - - // Create an x_axis - Eigen::Vector3d e_1(1, 0, 0); - - // Make x_axis perpendicular to z - Eigen::Vector3d x_axis = e_1 - z_axis * z_axis.transpose() * e_1; - x_axis = x_axis / x_axis.norm(); - - // Get z from the cross product of these two - Eigen::Matrix y_axis = skew_x(z_axis) * x_axis; - - // From these axes get rotation - Eigen::Matrix Ro; - Ro.block(0, 0, 3, 1) = x_axis; - Ro.block(0, 1, 3, 1) = y_axis; - Ro.block(0, 2, 3, 1) = z_axis; - - // Create our state variables - Eigen::Matrix q_GtoI = rot_2_quat(Ro); - - // Set our biases equal to our noise (subtract our gravity from accelerometer bias) - Eigen::Matrix bg = w_avg_2to1; - Eigen::Matrix ba = a_avg_2to1 - quat_2_Rot(q_GtoI) * _gravity; - - // Set our state variables - time0 = window_2to1.at(window_2to1.size() - 1).timestamp; - q_GtoI0 = q_GtoI; - b_w0 = bg; - v_I0inG = Eigen::Matrix::Zero(); - b_a0 = ba; - p_I0inG = Eigen::Matrix::Zero(); - - // Done!!! - return true; -} diff --git a/ov_eval/src/plot/LICENSE b/ov_core/src/plot/LICENSE similarity index 100% rename from ov_eval/src/plot/LICENSE rename to ov_core/src/plot/LICENSE diff --git a/ov_eval/src/plot/matplotlibcpp.h b/ov_core/src/plot/matplotlibcpp.h similarity index 100% rename from ov_eval/src/plot/matplotlibcpp.h rename to ov_core/src/plot/matplotlibcpp.h diff --git a/ov_core/src/sim/BsplineSE3.cpp b/ov_core/src/sim/BsplineSE3.cpp index 9069bbb8d..6afd829fb 100644 --- a/ov_core/src/sim/BsplineSE3.cpp +++ b/ov_core/src/sim/BsplineSE3.cpp @@ -32,7 +32,7 @@ void BsplineSE3::feed_trajectory(std::vector traj_points) { } dt = sumdt / (traj_points.size() - 1); dt = (dt < 0.05) ? 0.05 : dt; - printf("[B-SPLINE]: control point dt = %.3f (original dt of %.3f)\n", dt, sumdt / (traj_points.size() - 1)); + PRINT_DEBUG("[B-SPLINE]: control point dt = %.3f (original dt of %.3f)\n", dt, sumdt / (traj_points.size() - 1)); // convert all our trajectory points into SE(3) matrices // we are given [timestamp, p_IinG, q_GtoI] @@ -55,8 +55,8 @@ void BsplineSE3::feed_trajectory(std::vector traj_points) { timestamp_max = pose.first; } } - printf("[B-SPLINE]: trajectory start time = %.6f\n", timestamp_min); - printf("[B-SPLINE]: trajectory end time = %.6f\n", timestamp_max); + PRINT_DEBUG("[B-SPLINE]: trajectory start time = %.6f\n", timestamp_min); + PRINT_DEBUG("[B-SPLINE]: trajectory end time = %.6f\n", timestamp_max); // then create spline control points double timestamp_curr = timestamp_min; @@ -66,7 +66,7 @@ void BsplineSE3::feed_trajectory(std::vector traj_points) { double t0, t1; Eigen::Matrix4d pose0, pose1; bool success = find_bounding_poses(timestamp_curr, trajectory_points, t0, pose0, t1, pose1); - // printf("[SIM]: time curr = %.6f | lambda = %.3f | dt = %.3f | dtmeas = + // PRINT_DEBUG("[SIM]: time curr = %.6f | lambda = %.3f | dt = %.3f | dtmeas = // %.3f\n",timestamp_curr,(timestamp_curr-t0)/(t1-t0),dt,(t1-t0)); // If we didn't find a bounding pose, then that means we are at the end of the dataset @@ -79,12 +79,14 @@ void BsplineSE3::feed_trajectory(std::vector traj_points) { Eigen::Matrix4d pose_interp = exp_se3(lambda * log_se3(pose1 * Inv_se3(pose0))) * pose0; control_points.insert({timestamp_curr, pose_interp}); timestamp_curr += dt; - // std::cout << pose_interp(0,3) << "," << pose_interp(1,3) << "," << pose_interp(2,3) << std::endl; + // std::stringstream ss; + // ss << pose_interp(0,3) << "," << pose_interp(1,3) << "," << pose_interp(2,3) << std::endl; + // PRINT_DEBUG(ss.str().c_str()); } // The start time of the system is two dt in since we need at least two older control points timestamp_start = timestamp_min + 2 * dt; - printf("[B-SPLINE]: start trajectory time of %.6f\n", timestamp_start); + PRINT_DEBUG("[B-SPLINE]: start trajectory time of %.6f\n", timestamp_start); } bool BsplineSE3::get_pose(double timestamp, Eigen::Matrix3d &R_GtoI, Eigen::Vector3d &p_IinG) { @@ -93,7 +95,7 @@ bool BsplineSE3::get_pose(double timestamp, Eigen::Matrix3d &R_GtoI, Eigen::Vect double t0, t1, t2, t3; Eigen::Matrix4d pose0, pose1, pose2, pose3; bool success = find_bounding_control_points(timestamp, control_points, t0, pose0, t1, pose1, t2, pose2, t3, pose3); - // printf("[SIM]: time curr = %.6f | dt1 = %.3f | dt2 = %.3f | dt3 = %.3f | dt4 = %.3f | success = + // PRINT_DEBUG("[SIM]: time curr = %.6f | dt1 = %.3f | dt2 = %.3f | dt3 = %.3f | dt4 = %.3f | success = // %d\n",timestamp,t0-timestamp,t1-timestamp,t2-timestamp,t3-timestamp,(int)success); // Return failure if we can't get bounding poses @@ -129,7 +131,7 @@ bool BsplineSE3::get_velocity(double timestamp, Eigen::Matrix3d &R_GtoI, Eigen:: double t0, t1, t2, t3; Eigen::Matrix4d pose0, pose1, pose2, pose3; bool success = find_bounding_control_points(timestamp, control_points, t0, pose0, t1, pose1, t2, pose2, t3, pose3); - // printf("[SIM]: time curr = %.6f | dt1 = %.3f | dt2 = %.3f | dt3 = %.3f | dt4 = %.3f | success = + // PRINT_DEBUG("[SIM]: time curr = %.6f | dt1 = %.3f | dt2 = %.3f | dt3 = %.3f | dt4 = %.3f | success = // %d\n",timestamp,t0-timestamp,t1-timestamp,t2-timestamp,t3-timestamp,(int)success); // Return failure if we can't get bounding poses diff --git a/ov_core/src/sim/BsplineSE3.h b/ov_core/src/sim/BsplineSE3.h index 8d3e68fca..3543e0f87 100644 --- a/ov_core/src/sim/BsplineSE3.h +++ b/ov_core/src/sim/BsplineSE3.h @@ -26,6 +26,7 @@ #include #include +#include "utils/print.h" #include "utils/quat_ops.h" namespace ov_core { diff --git a/ov_core/src/test_tracking.cpp b/ov_core/src/test_tracking.cpp index fc3f8b26f..321a4954f 100644 --- a/ov_core/src/test_tracking.cpp +++ b/ov_core/src/test_tracking.cpp @@ -38,6 +38,8 @@ #include "track/TrackAruco.h" #include "track/TrackDescriptor.h" #include "track/TrackKLT.h" +#include "utils/opencv_yaml_parse.h" +#include "utils/print.h" using namespace ov_core; @@ -59,71 +61,113 @@ void handle_stereo(double time0, double time1, cv::Mat img0, cv::Mat img1); // Main function int main(int argc, char **argv) { + + // Ensure we have a path, if the user passes it then we should use it + std::string config_path = "unset_path.txt"; + if (argc > 1) { + config_path = argv[1]; + } + + // Initialize this as a ROS node ros::init(argc, argv, "test_tracking"); - ros::NodeHandle nh("~"); + auto nh = std::make_shared("~"); + nh->param("config_path", config_path, config_path); + + // Load parameters + auto parser = std::make_shared(config_path, false); + parser->set_node_handler(nh); + + // Verbosity + std::string verbosity = "INFO"; + parser->parse_config("verbosity", verbosity); + ov_core::Printer::setPrintLevel(verbosity); // Our camera topics (left and right stereo) - std::string topic_camera0; - std::string topic_camera1; - nh.param("topic_camera0", topic_camera0, "/cam0/image_raw"); - nh.param("topic_camera1", topic_camera1, "/cam1/image_raw"); + std::string topic_camera0, topic_camera1; + nh->param("topic_camera0", topic_camera0, "/cam0/image_raw"); + nh->param("topic_camera1", topic_camera1, "/cam1/image_raw"); + parser->parse_external("relative_config_imucam", "cam" + std::to_string(0), "rostopic", topic_camera0); + parser->parse_external("relative_config_imucam", "cam" + std::to_string(1), "rostopic", topic_camera1); // Location of the ROS bag we want to read in std::string path_to_bag; - nh.param("path_bag", path_to_bag, "/home/patrick/datasets/eth/V1_01_easy.bag"); - // nh.param("path_bag", path_to_bag, "/home/patrick/datasets/open_vins/aruco_room_01.bag"); - printf("ros bag path is: %s\n", path_to_bag.c_str()); + nh->param("path_bag", path_to_bag, "/home/patrick/datasets/eth/V1_01_easy.bag"); + // nh->param("path_bag", path_to_bag, "/home/patrick/datasets/open_vins/aruco_room_01.bag"); + PRINT_INFO("ros bag path is: %s\n", path_to_bag.c_str()); // Get our start location and how much of the bag we want to play // Make the bag duration < 0 to just process to the end of the bag double bag_start, bag_durr; - nh.param("bag_start", bag_start, 0); - nh.param("bag_durr", bag_durr, -1); + nh->param("bag_start", bag_start, 0); + nh->param("bag_durr", bag_durr, -1); //=================================================================================== //=================================================================================== //=================================================================================== // Parameters for our extractor - ov_core::TrackBase::HistogramMethod method = ov_core::TrackBase::HistogramMethod::NONE; - int num_pts, num_aruco, fast_threshold, grid_x, grid_y, min_px_dist; - double knn_ratio; - bool do_downsizing, use_stereo; - nh.param("num_pts", num_pts, 400); - nh.param("num_aruco", num_aruco, 1024); - nh.param("clone_states", clone_states, 11); - nh.param("fast_threshold", fast_threshold, 10); - nh.param("grid_x", grid_x, 9); - nh.param("grid_y", grid_y, 7); - nh.param("min_px_dist", min_px_dist, 10); - nh.param("knn_ratio", knn_ratio, 0.70); - nh.param("downsize_aruco", do_downsizing, false); - nh.param("use_stereo", use_stereo, false); + int num_pts = 400; + int num_aruco = 1024; + int fast_threshold = 15; + int grid_x = 9; + int grid_y = 7; + int min_px_dist = 10; + double knn_ratio = 0.70; + bool do_downsizing = false; + bool use_stereo = false; + parser->parse_config("num_pts", num_pts, false); + parser->parse_config("num_aruco", num_aruco, false); + parser->parse_config("clone_states", clone_states, false); + parser->parse_config("fast_threshold", fast_threshold, false); + parser->parse_config("grid_x", grid_x, false); + parser->parse_config("grid_y", grid_y, false); + parser->parse_config("min_px_dist", min_px_dist, false); + parser->parse_config("knn_ratio", knn_ratio, false); + parser->parse_config("do_downsizing", do_downsizing, false); + parser->parse_config("use_stereo", use_stereo, false); + + // Histogram method + ov_core::TrackBase::HistogramMethod method; + std::string histogram_method_str = "HISTOGRAM"; + parser->parse_config("histogram_method", histogram_method_str, false); + if (histogram_method_str == "NONE") { + method = ov_core::TrackBase::NONE; + } else if (histogram_method_str == "HISTOGRAM") { + method = ov_core::TrackBase::HISTOGRAM; + } else if (histogram_method_str == "CLAHE") { + method = ov_core::TrackBase::CLAHE; + } else { + printf(RED "invalid feature histogram specified:\n" RESET); + printf(RED "\t- NONE\n" RESET); + printf(RED "\t- HISTOGRAM\n" RESET); + printf(RED "\t- CLAHE\n" RESET); + std::exit(EXIT_FAILURE); + } // Debug print! - printf("max features: %d\n", num_pts); - printf("max aruco: %d\n", num_aruco); - printf("clone states: %d\n", clone_states); - printf("grid size: %d x %d\n", grid_x, grid_y); - printf("fast threshold: %d\n", fast_threshold); - printf("min pixel distance: %d\n", min_px_dist); - printf("downsize aruco image: %d\n", do_downsizing); + PRINT_DEBUG("max features: %d\n", num_pts); + PRINT_DEBUG("max aruco: %d\n", num_aruco); + PRINT_DEBUG("clone states: %d\n", clone_states); + PRINT_DEBUG("grid size: %d x %d\n", grid_x, grid_y); + PRINT_DEBUG("fast threshold: %d\n", fast_threshold); + PRINT_DEBUG("min pixel distance: %d\n", min_px_dist); + PRINT_DEBUG("downsize aruco image: %d\n", do_downsizing); // Fake camera info (we don't need this, as we are not using the normalized coordinates for anything) std::unordered_map> cameras; for (int i = 0; i < 2; i++) { Eigen::Matrix cam0_calib; cam0_calib << 1, 1, 0, 0, 0, 0, 0, 0; - std::shared_ptr camera_calib = std::make_shared(); + std::shared_ptr camera_calib = std::make_shared(100, 100); camera_calib->set_value(cam0_calib); cameras.insert({i, camera_calib}); } // Lets make a feature extractor - //extractor = new TrackKLT(cameras, num_pts, num_aruco, !use_stereo, method, fast_threshold, grid_x, grid_y, min_px_dist); + extractor = new TrackKLT(cameras, num_pts, num_aruco, !use_stereo, method, fast_threshold, grid_x, grid_y, min_px_dist); // extractor = new TrackDescriptor(cameras, num_pts, num_aruco, !use_stereo, method, fast_threshold, grid_x, grid_y, min_px_dist, // knn_ratio); - extractor = new TrackAruco(cameras, num_aruco, !use_stereo, method, do_downsizing); + // extractor = new TrackAruco(cameras, num_aruco, !use_stereo, method, do_downsizing); //=================================================================================== //=================================================================================== @@ -144,13 +188,13 @@ int main(int argc, char **argv) { ros::Time time_init = view_full.getBeginTime(); time_init += ros::Duration(bag_start); ros::Time time_finish = (bag_durr < 0) ? view_full.getEndTime() : time_init + ros::Duration(bag_durr); - printf("time start = %.6f\n", time_init.toSec()); - printf("time end = %.6f\n", time_finish.toSec()); + PRINT_DEBUG("time start = %.6f\n", time_init.toSec()); + PRINT_DEBUG("time end = %.6f\n", time_finish.toSec()); view.addQuery(bag, time_init, time_finish); // Check to make sure we have data to play if (view.size() == 0) { - printf(RED "No messages to play on specified topics. Exiting.\n" RESET); + PRINT_ERROR(RED "No messages to play on specified topics. Exiting.\n" RESET); ros::shutdown(); return EXIT_FAILURE; } @@ -180,7 +224,7 @@ int main(int argc, char **argv) { try { cv_ptr = cv_bridge::toCvShare(s0, sensor_msgs::image_encodings::MONO8); } catch (cv_bridge::Exception &e) { - printf(RED "cv_bridge exception: %s\n" RESET, e.what()); + PRINT_ERROR(RED "cv_bridge exception: %s\n" RESET, e.what()); continue; } // Save to our temp variable @@ -198,7 +242,7 @@ int main(int argc, char **argv) { try { cv_ptr = cv_bridge::toCvShare(s1, sensor_msgs::image_encodings::MONO8); } catch (cv_bridge::Exception &e) { - printf(RED "cv_bridge exception: %s\n" RESET, e.what()); + PRINT_ERROR(RED "cv_bridge exception: %s\n" RESET, e.what()); continue; } // Save to our temp variable @@ -313,7 +357,7 @@ void handle_stereo(double time0, double time1, cv::Mat img0, cv::Mat img1) { double fpf = (double)featslengths / num_lostfeats; double mpf = (double)num_margfeats / frames; // DEBUG PRINT OUT - printf("fps = %.2f | lost_feats/frame = %.2f | track_length/lost_feat = %.2f | marg_tracks/frame = %.2f\n", fps, lpf, fpf, mpf); + PRINT_DEBUG("fps = %.2f | lost_feats/frame = %.2f | track_length/lost_feat = %.2f | marg_tracks/frame = %.2f\n", fps, lpf, fpf, mpf); // Reset variables frames = 0; time_start = time_curr; diff --git a/ov_core/src/test_webcam.cpp b/ov_core/src/test_webcam.cpp index 3f5032c11..484ffead7 100644 --- a/ov_core/src/test_webcam.cpp +++ b/ov_core/src/test_webcam.cpp @@ -37,7 +37,12 @@ #include "track/TrackAruco.h" #include "track/TrackDescriptor.h" #include "track/TrackKLT.h" -#include "utils/CLI11.hpp" +#include "utils/opencv_yaml_parse.h" +#include "utils/print.h" + +#if ROS_AVAILABLE == 1 +#include +#endif using namespace ov_core; @@ -47,8 +52,29 @@ TrackBase *extractor; // Main function int main(int argc, char **argv) { - // Create our command line parser - CLI::App app{"test_webcam"}; + // Ensure we have a path, if the user passes it then we should use it + std::string config_path = "unset_path.txt"; + if (argc > 1) { + config_path = argv[1]; + } + +#if ROS_AVAILABLE == 1 + // Initialize this as a ROS node + ros::init(argc, argv, "test_webcam"); + auto nh = std::make_shared("~"); + nh->param("config_path", config_path, config_path); +#endif + + // Load parameters + auto parser = std::make_shared(config_path, false); +#if ROS_AVAILABLE == 1 + parser->set_node_handler(nh); +#endif + + // Verbosity + std::string verbosity = "INFO"; + parser->parse_config("verbosity", verbosity); + ov_core::Printer::setPrintLevel(verbosity); // Defaults int num_pts = 500; @@ -61,41 +87,50 @@ int main(int argc, char **argv) { double knn_ratio = 0.85; bool do_downsizing = false; bool use_stereo = false; - ov_core::TrackBase::HistogramMethod method = ov_core::TrackBase::HistogramMethod::NONE; - - // Parameters for our extractor - app.add_option("--num_pts", num_pts, "Number of feature tracks"); - app.add_option("--num_aruco", num_aruco, "Number of aruco tag ids we have"); - app.add_option("--clone_states", clone_states, "Amount of clones to visualize track length with"); - app.add_option("--fast_threshold", fast_threshold, "Fast extraction threshold"); - app.add_option("--grid_x", grid_x, "Grid x size"); - app.add_option("--grid_y", grid_y, "Grid y size"); - app.add_option("--min_px_dist", min_px_dist, "Minimum number of pixels between different tracks"); - app.add_option("--knn_ratio", knn_ratio, "Knn descriptor ratio threshold"); - app.add_option("--do_downsizing", do_downsizing, "If we should downsize our arucotag images"); - - // Finally actually parse the command line and load it - try { - app.parse(argc, argv); - } catch (const CLI::ParseError &e) { - return app.exit(e); + parser->parse_config("num_pts", num_pts, false); + parser->parse_config("num_aruco", num_aruco, false); + parser->parse_config("clone_states", clone_states, false); + parser->parse_config("fast_threshold", fast_threshold, false); + parser->parse_config("grid_x", grid_x, false); + parser->parse_config("grid_y", grid_y, false); + parser->parse_config("min_px_dist", min_px_dist, false); + parser->parse_config("knn_ratio", knn_ratio, false); + parser->parse_config("do_downsizing", do_downsizing, false); + parser->parse_config("use_stereo", use_stereo, false); + + // Histogram method + ov_core::TrackBase::HistogramMethod method; + std::string histogram_method_str = "HISTOGRAM"; + parser->parse_config("histogram_method", histogram_method_str, false); + if (histogram_method_str == "NONE") { + method = ov_core::TrackBase::NONE; + } else if (histogram_method_str == "HISTOGRAM") { + method = ov_core::TrackBase::HISTOGRAM; + } else if (histogram_method_str == "CLAHE") { + method = ov_core::TrackBase::CLAHE; + } else { + printf(RED "invalid feature histogram specified:\n" RESET); + printf(RED "\t- NONE\n" RESET); + printf(RED "\t- HISTOGRAM\n" RESET); + printf(RED "\t- CLAHE\n" RESET); + std::exit(EXIT_FAILURE); } // Debug print! - printf("max features: %d\n", num_pts); - printf("max aruco: %d\n", num_aruco); - printf("clone states: %d\n", clone_states); - printf("grid size: %d x %d\n", grid_x, grid_y); - printf("fast threshold: %d\n", fast_threshold); - printf("min pixel distance: %d\n", min_px_dist); - printf("downsize aruco image: %d\n", do_downsizing); + PRINT_DEBUG("max features: %d\n", num_pts); + PRINT_DEBUG("max aruco: %d\n", num_aruco); + PRINT_DEBUG("clone states: %d\n", clone_states); + PRINT_DEBUG("grid size: %d x %d\n", grid_x, grid_y); + PRINT_DEBUG("fast threshold: %d\n", fast_threshold); + PRINT_DEBUG("min pixel distance: %d\n", min_px_dist); + PRINT_DEBUG("downsize aruco image: %d\n", do_downsizing); // Fake camera info (we don't need this, as we are not using the normalized coordinates for anything) std::unordered_map> cameras; for (int i = 0; i < 2; i++) { Eigen::Matrix cam0_calib; cam0_calib << 1, 1, 0, 0, 0, 0, 0, 0; - std::shared_ptr camera_calib = std::make_shared(); + std::shared_ptr camera_calib = std::make_shared(100, 100); camera_calib->set_value(cam0_calib); cameras.insert({i, camera_calib}); } @@ -112,7 +147,7 @@ int main(int argc, char **argv) { // Open the first webcam (0=laptop cam, 1=usb device) cv::VideoCapture cap; if (!cap.open(0)) { - printf(RED "Unable to open a webcam feed!\n" RESET); + PRINT_ERROR(RED "Unable to open a webcam feed!\n" RESET); return EXIT_FAILURE; } diff --git a/ov_core/src/track/Grider_FAST.h b/ov_core/src/track/Grider_FAST.h index 9abd222e1..0bef5d3d2 100644 --- a/ov_core/src/track/Grider_FAST.h +++ b/ov_core/src/track/Grider_FAST.h @@ -31,7 +31,7 @@ #include #include -#include "utils/lambda_body.h" +#include "utils/opencv_lambda_body.h" namespace ov_core { @@ -73,6 +73,22 @@ class Grider_FAST { static void perform_griding(const cv::Mat &img, const cv::Mat &mask, std::vector &pts, int num_features, int grid_x, int grid_y, int threshold, bool nonmaxSuppression) { + // We want to have equally distributed features + // NOTE: If we have more grids than number of total points, we calc the biggest grid we can do + // NOTE: Thus if we extract 1 point per grid we have + // NOTE: -> 1 = num_features / (grid_x * grid_y)) + // NOTE: -> grid_x = ratio * grid_y (keep the original grid ratio) + // NOTE: -> grid_y = sqrt(num_features / ratio) + if (num_features < grid_x * grid_y) { + double ratio = (double)grid_x / (double)grid_y; + grid_y = std::ceil(std::sqrt(num_features / ratio)); + grid_x = std::ceil(grid_y * ratio); + } + int num_features_grid = (int)((double)num_features / (double)(grid_x * grid_y)) + 1; + assert(grid_x > 0); + assert(grid_y > 0); + assert(num_features_grid > 0); + // Calculate the size our extraction boxes should be int size_x = img.cols / grid_x; int size_y = img.rows / grid_y; @@ -81,9 +97,6 @@ class Grider_FAST { assert(size_x > 0); assert(size_y > 0); - // We want to have equally distributed features - auto num_features_grid = (int)(num_features / (grid_x * grid_y)) + 1; - // Parallelize our 2d grid extraction!! int ct_cols = std::floor(img.cols / size_x); int ct_rows = std::floor(img.rows / size_y); diff --git a/ov_core/src/track/TrackAruco.cpp b/ov_core/src/track/TrackAruco.cpp index a7285feac..567e1e971 100644 --- a/ov_core/src/track/TrackAruco.cpp +++ b/ov_core/src/track/TrackAruco.cpp @@ -20,6 +20,7 @@ */ #include "TrackAruco.h" +#include "utils/print.h" using namespace ov_core; @@ -27,10 +28,10 @@ void TrackAruco::feed_new_camera(const CameraData &message) { // Error check that we have all the data if (message.sensor_ids.empty() || message.sensor_ids.size() != message.images.size() || message.images.size() != message.masks.size()) { - printf(RED "[ERROR]: MESSAGE DATA SIZES DO NOT MATCH OR EMPTY!!!\n" RESET); - printf(RED "[ERROR]: - message.sensor_ids.size() = %zu\n" RESET, message.sensor_ids.size()); - printf(RED "[ERROR]: - message.images.size() = %zu\n" RESET, message.images.size()); - printf(RED "[ERROR]: - message.masks.size() = %zu\n" RESET, message.masks.size()); + PRINT_ERROR(RED "[ERROR]: MESSAGE DATA SIZES DO NOT MATCH OR EMPTY!!!\n" RESET); + PRINT_ERROR(RED "[ERROR]: - message.sensor_ids.size() = %zu\n" RESET, message.sensor_ids.size()); + PRINT_ERROR(RED "[ERROR]: - message.images.size() = %zu\n" RESET, message.images.size()); + PRINT_ERROR(RED "[ERROR]: - message.masks.size() = %zu\n" RESET, message.masks.size()); std::exit(EXIT_FAILURE); } @@ -44,8 +45,8 @@ void TrackAruco::feed_new_camera(const CameraData &message) { } })); #else - printf(RED "[ERROR]: you have not compiled with aruco tag support!!!\n" RESET); - std::exit(EXIT_FAILURE); + PRINT_ERROR(RED "[ERROR]: you have not compiled with aruco tag support!!!\n" RESET); + std::exit(EXIT_FAILURE); #endif } @@ -147,9 +148,9 @@ void TrackAruco::perform_tracking(double timestamp, const cv::Mat &imgin, size_t rT3 = boost::posix_time::microsec_clock::local_time(); // Timing information - // printf("[TIME-ARUCO]: %.4f seconds for detection\n",(rT2-rT1).total_microseconds() * 1e-6); - // printf("[TIME-ARUCO]: %.4f seconds for feature DB update (%d features)\n",(rT3-rT2).total_microseconds() * 1e-6, - // (int)good_left.size()); printf("[TIME-ARUCO]: %.4f seconds for total\n",(rT3-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-ARUCO]: %.4f seconds for detection\n",(rT2-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-ARUCO]: %.4f seconds for feature DB update (%d features)\n",(rT3-rT2).total_microseconds() * 1e-6, + // (int)good_left.size()); PRINT_DEBUG("[TIME-ARUCO]: %.4f seconds for total\n",(rT3-rT1).total_microseconds() * 1e-6); } void TrackAruco::display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2) { @@ -173,6 +174,10 @@ void TrackAruco::display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2 max_height = pair.second.rows; } + // Return if we didn't have a last image + if (max_width == -1 || max_height == -1) + return; + // If the image is "small" thus we shoudl use smaller display codes bool is_small = (std::min(max_width, max_height) < 400); diff --git a/ov_core/src/track/TrackAruco.h b/ov_core/src/track/TrackAruco.h index fd99430c7..e4ef4a443 100644 --- a/ov_core/src/track/TrackAruco.h +++ b/ov_core/src/track/TrackAruco.h @@ -27,6 +27,7 @@ #endif #include "TrackBase.h" +#include "utils/print.h" namespace ov_core { @@ -34,8 +35,11 @@ namespace ov_core { * @brief Tracking of OpenCV Aruoc tags. * * This class handles the tracking of [OpenCV Aruco tags](https://github.com/opencv/opencv_contrib/tree/master/modules/aruco). - * We track the top left corner of the tag as compared to the pose of the tag or any other corners. - * Right now we hardcode the dictionary to be `cv::aruco::DICT_6X6_25`, so please generate tags in this family of tags. + * We track the corners of the tag as compared to the pose of the tag or any other corners. + * Right now we hardcode the dictionary to be `cv::aruco::DICT_6X6_1000`, so please generate tags in this family of tags. + * You can generate these tags using an online utility: https://chev.me/arucogen/ + * The actual size of the tags do not matter since we do not recover the pose and instead just use this for re-detection and tracking of the + * four corners of the tag. */ class TrackAruco : public TrackBase { @@ -52,12 +56,12 @@ class TrackAruco : public TrackBase { HistogramMethod histmethod, bool downsize) : TrackBase(cameras, 0, numaruco, binocular, histmethod), max_tag_id(numaruco), do_downsizing(downsize) { #if ENABLE_ARUCO_TAGS - aruco_dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); + aruco_dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_1000); aruco_params = cv::aruco::DetectorParameters::create(); // NOTE: people with newer opencv might fail here // aruco_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX; #else - printf(RED "[ERROR]: you have not compiled with aruco tag support!!!\n" RESET); + PRINT_ERROR(RED "[ERROR]: you have not compiled with aruco tag support!!!\n" RESET); std::exit(EXIT_FAILURE); #endif } @@ -107,7 +111,6 @@ class TrackAruco : public TrackBase { std::unordered_map> ids_aruco; std::unordered_map>> corners, rejects; #endif - }; } // namespace ov_core diff --git a/ov_core/src/track/TrackBase.h b/ov_core/src/track/TrackBase.h index 92c16dbb5..4a4affd25 100644 --- a/ov_core/src/track/TrackBase.h +++ b/ov_core/src/track/TrackBase.h @@ -37,7 +37,7 @@ #include "cam/CamBase.h" #include "feat/FeatureDatabase.h" #include "utils/colors.h" -#include "utils/lambda_body.h" +#include "utils/opencv_lambda_body.h" #include "utils/sensor_data.h" namespace ov_core { @@ -157,6 +157,12 @@ class TrackBase { } } + /// Getter method for number of active features + int get_num_features() { return num_features; } + + /// Setter method for number of active features + void set_num_features(int _num_features) { num_features = _num_features; } + protected: /// Camera object which has all calibration in it std::unordered_map> camera_calib; diff --git a/ov_core/src/track/TrackDescriptor.cpp b/ov_core/src/track/TrackDescriptor.cpp index 890faa23f..6857dbf6e 100644 --- a/ov_core/src/track/TrackDescriptor.cpp +++ b/ov_core/src/track/TrackDescriptor.cpp @@ -20,6 +20,7 @@ */ #include "TrackDescriptor.h" +#include "utils/print.h" using namespace ov_core; @@ -27,10 +28,10 @@ void TrackDescriptor::feed_new_camera(const CameraData &message) { // Error check that we have all the data if (message.sensor_ids.empty() || message.sensor_ids.size() != message.images.size() || message.images.size() != message.masks.size()) { - printf(RED "[ERROR]: MESSAGE DATA SIZES DO NOT MATCH OR EMPTY!!!\n" RESET); - printf(RED "[ERROR]: - message.sensor_ids.size() = %zu\n" RESET, message.sensor_ids.size()); - printf(RED "[ERROR]: - message.images.size() = %zu\n" RESET, message.images.size()); - printf(RED "[ERROR]: - message.masks.size() = %zu\n" RESET, message.masks.size()); + PRINT_ERROR(RED "[ERROR]: MESSAGE DATA SIZES DO NOT MATCH OR EMPTY!!!\n" RESET); + PRINT_ERROR(RED "[ERROR]: - message.sensor_ids.size() = %zu\n" RESET, message.sensor_ids.size()); + PRINT_ERROR(RED "[ERROR]: - message.images.size() = %zu\n" RESET, message.images.size()); + PRINT_ERROR(RED "[ERROR]: - message.masks.size() = %zu\n" RESET, message.masks.size()); std::exit(EXIT_FAILURE); } @@ -48,7 +49,7 @@ void TrackDescriptor::feed_new_camera(const CameraData &message) { } })); } else { - printf(RED "[ERROR]: invalid number of images passed %zu, we only support mono or stereo tracking", num_images); + PRINT_ERROR(RED "[ERROR]: invalid number of images passed %zu, we only support mono or stereo tracking", num_images); std::exit(EXIT_FAILURE); } } @@ -141,7 +142,7 @@ void TrackDescriptor::feed_monocular(const CameraData &message, size_t msg_id) { } // Debug info - // printf("LtoL = %d | good = %d | fromlast = %d\n",(int)matches_ll.size(),(int)good_left.size(),num_tracklast); + // PRINT_DEBUG("LtoL = %d | good = %d | fromlast = %d\n",(int)matches_ll.size(),(int)good_left.size(),num_tracklast); // Move forward in time img_last[cam_id] = img; @@ -152,11 +153,11 @@ void TrackDescriptor::feed_monocular(const CameraData &message, size_t msg_id) { rT5 = boost::posix_time::microsec_clock::local_time(); // Our timing information - // printf("[TIME-DESC]: %.4f seconds for detection\n",(rT2-rT1).total_microseconds() * 1e-6); - // printf("[TIME-DESC]: %.4f seconds for matching\n",(rT3-rT2).total_microseconds() * 1e-6); - // printf("[TIME-DESC]: %.4f seconds for merging\n",(rT4-rT3).total_microseconds() * 1e-6); - // printf("[TIME-DESC]: %.4f seconds for feature DB update (%d features)\n",(rT5-rT4).total_microseconds() * 1e-6, (int)good_left.size()); - // printf("[TIME-DESC]: %.4f seconds for total\n",(rT5-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-DESC]: %.4f seconds for detection\n",(rT2-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-DESC]: %.4f seconds for matching\n",(rT3-rT2).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-DESC]: %.4f seconds for merging\n",(rT4-rT3).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-DESC]: %.4f seconds for feature DB update (%d features)\n",(rT5-rT4).total_microseconds() * 1e-6, + // (int)good_left.size()); PRINT_DEBUG("[TIME-DESC]: %.4f seconds for total\n",(rT5-rT1).total_microseconds() * 1e-6); } void TrackDescriptor::feed_stereo(const CameraData &message, size_t msg_id_left, size_t msg_id_right) { @@ -297,7 +298,7 @@ void TrackDescriptor::feed_stereo(const CameraData &message, size_t msg_id_left, } // Debug info - // printf("LtoL = %d | RtoR = %d | LtoR = %d | good = %d | fromlast = %d\n", (int)matches_ll.size(), + // PRINT_DEBUG("LtoL = %d | RtoR = %d | LtoR = %d | good = %d | fromlast = %d\n", (int)matches_ll.size(), // (int)matches_rr.size(),(int)ids_left_new.size(),(int)good_left.size(),num_tracklast); // Move forward in time @@ -314,11 +315,11 @@ void TrackDescriptor::feed_stereo(const CameraData &message, size_t msg_id_left, rT5 = boost::posix_time::microsec_clock::local_time(); // Our timing information - // printf("[TIME-DESC]: %.4f seconds for detection\n",(rT2-rT1).total_microseconds() * 1e-6); - // printf("[TIME-DESC]: %.4f seconds for matching\n",(rT3-rT2).total_microseconds() * 1e-6); - // printf("[TIME-DESC]: %.4f seconds for merging\n",(rT4-rT3).total_microseconds() * 1e-6); - // printf("[TIME-DESC]: %.4f seconds for feature DB update (%d features)\n",(rT5-rT4).total_microseconds() * 1e-6, (int)good_left.size()); - // printf("[TIME-DESC]: %.4f seconds for total\n",(rT5-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-DESC]: %.4f seconds for detection\n",(rT2-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-DESC]: %.4f seconds for matching\n",(rT3-rT2).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-DESC]: %.4f seconds for merging\n",(rT4-rT3).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-DESC]: %.4f seconds for feature DB update (%d features)\n",(rT5-rT4).total_microseconds() * 1e-6, + // (int)good_left.size()); PRINT_DEBUG("[TIME-DESC]: %.4f seconds for total\n",(rT5-rT1).total_microseconds() * 1e-6); } void TrackDescriptor::perform_detection_monocular(const cv::Mat &img0, const cv::Mat &mask0, std::vector &pts0, diff --git a/ov_core/src/track/TrackKLT.cpp b/ov_core/src/track/TrackKLT.cpp index a262015c9..3d72f3417 100644 --- a/ov_core/src/track/TrackKLT.cpp +++ b/ov_core/src/track/TrackKLT.cpp @@ -20,6 +20,7 @@ */ #include "TrackKLT.h" +#include "utils/print.h" using namespace ov_core; @@ -27,10 +28,10 @@ void TrackKLT::feed_new_camera(const CameraData &message) { // Error check that we have all the data if (message.sensor_ids.empty() || message.sensor_ids.size() != message.images.size() || message.images.size() != message.masks.size()) { - printf(RED "[ERROR]: MESSAGE DATA SIZES DO NOT MATCH OR EMPTY!!!\n" RESET); - printf(RED "[ERROR]: - message.sensor_ids.size() = %zu\n" RESET, message.sensor_ids.size()); - printf(RED "[ERROR]: - message.images.size() = %zu\n" RESET, message.images.size()); - printf(RED "[ERROR]: - message.masks.size() = %zu\n" RESET, message.masks.size()); + PRINT_ERROR(RED "[ERROR]: MESSAGE DATA SIZES DO NOT MATCH OR EMPTY!!!\n" RESET); + PRINT_ERROR(RED "[ERROR]: - message.sensor_ids.size() = %zu\n" RESET, message.sensor_ids.size()); + PRINT_ERROR(RED "[ERROR]: - message.images.size() = %zu\n" RESET, message.images.size()); + PRINT_ERROR(RED "[ERROR]: - message.masks.size() = %zu\n" RESET, message.masks.size()); std::exit(EXIT_FAILURE); } @@ -48,7 +49,7 @@ void TrackKLT::feed_new_camera(const CameraData &message) { } })); } else { - printf(RED "[ERROR]: invalid number of images passed %zu, we only support mono or stereo tracking", num_images); + PRINT_ERROR(RED "[ERROR]: invalid number of images passed %zu, we only support mono or stereo tracking", num_images); std::exit(EXIT_FAILURE); } } @@ -114,7 +115,7 @@ void TrackKLT::feed_monocular(const CameraData &message, size_t msg_id) { img_mask_last[cam_id] = mask; pts_last[cam_id].clear(); ids_last[cam_id].clear(); - printf(RED "[KLT-EXTRACTOR]: Failed to get enough points to do RANSAC, resetting.....\n" RESET); + PRINT_ERROR(RED "[KLT-EXTRACTOR]: Failed to get enough points to do RANSAC, resetting.....\n" RESET); return; } @@ -154,11 +155,11 @@ void TrackKLT::feed_monocular(const CameraData &message, size_t msg_id) { rT5 = boost::posix_time::microsec_clock::local_time(); // Timing information - // printf("[TIME-KLT]: %.4f seconds for pyramid\n",(rT2-rT1).total_microseconds() * 1e-6); - // printf("[TIME-KLT]: %.4f seconds for detection\n",(rT3-rT2).total_microseconds() * 1e-6); - // printf("[TIME-KLT]: %.4f seconds for temporal klt\n",(rT4-rT3).total_microseconds() * 1e-6); - // printf("[TIME-KLT]: %.4f seconds for feature DB update (%d features)\n",(rT5-rT4).total_microseconds() * 1e-6, (int)good_left.size()); - // printf("[TIME-KLT]: %.4f seconds for total\n",(rT5-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for pyramid\n",(rT2-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for detection\n",(rT3-rT2).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for temporal klt\n",(rT4-rT3).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for feature DB update (%d features)\n",(rT5-rT4).total_microseconds() * 1e-6, + // (int)good_left.size()); PRINT_DEBUG("[TIME-KLT]: %.4f seconds for total\n",(rT5-rT1).total_microseconds() * 1e-6); } void TrackKLT::feed_stereo(const CameraData &message, size_t msg_id_left, size_t msg_id_right) { @@ -265,7 +266,7 @@ void TrackKLT::feed_stereo(const CameraData &message, size_t msg_id_left, size_t pts_last[cam_id_right].clear(); ids_last[cam_id_left].clear(); ids_last[cam_id_right].clear(); - printf(RED "[KLT-EXTRACTOR]: Failed to get enough points to do RANSAC, resetting.....\n" RESET); + PRINT_ERROR(RED "[KLT-EXTRACTOR]: Failed to get enough points to do RANSAC, resetting.....\n" RESET); return; } @@ -300,11 +301,11 @@ void TrackKLT::feed_stereo(const CameraData &message, size_t msg_id_left, size_t good_right.push_back(pts_right_new.at(index_right)); good_ids_left.push_back(ids_last[cam_id_left].at(i)); good_ids_right.push_back(ids_last[cam_id_right].at(index_right)); - // std::cout << "adding to stereo - " << ids_last[cam_id_left].at(i) << " , " << ids_last[cam_id_right].at(index_right) << std::endl; + // PRINT_DEBUG("adding to stereo - %u , %u\n", ids_last[cam_id_left].at(i), ids_last[cam_id_right].at(index_right)); } else if (mask_ll[i]) { good_left.push_back(pts_left_new.at(i)); good_ids_left.push_back(ids_last[cam_id_left].at(i)); - // std::cout << "adding to left - " << ids_last[cam_id_left].at(i) << std::endl; + // PRINT_DEBUG("adding to left - %u \n", ids_last[cam_id_left].at(i)); } } @@ -320,7 +321,7 @@ void TrackKLT::feed_stereo(const CameraData &message, size_t msg_id_left, size_t if (mask_rr[i] && !added_already) { good_right.push_back(pts_right_new.at(i)); good_ids_right.push_back(ids_last[cam_id_right].at(i)); - // std::cout << "adding to right - " << ids_last[cam_id_right].at(i) << std::endl; + // PRINT_DEBUG("adding to right - %u \n", ids_last[cam_id_right].at(i)); } } @@ -350,12 +351,12 @@ void TrackKLT::feed_stereo(const CameraData &message, size_t msg_id_left, size_t rT6 = boost::posix_time::microsec_clock::local_time(); // Timing information - // printf("[TIME-KLT]: %.4f seconds for pyramid\n",(rT2-rT1).total_microseconds() * 1e-6); - // printf("[TIME-KLT]: %.4f seconds for detection\n",(rT3-rT2).total_microseconds() * 1e-6); - // printf("[TIME-KLT]: %.4f seconds for temporal klt\n",(rT4-rT3).total_microseconds() * 1e-6); - // printf("[TIME-KLT]: %.4f seconds for stereo klt\n",(rT5-rT4).total_microseconds() * 1e-6); - // printf("[TIME-KLT]: %.4f seconds for feature DB update (%d features)\n",(rT6-rT5).total_microseconds() * 1e-6, (int)good_left.size()); - // printf("[TIME-KLT]: %.4f seconds for total\n",(rT6-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for pyramid\n",(rT2-rT1).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for detection\n",(rT3-rT2).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for temporal klt\n",(rT4-rT3).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for stereo klt\n",(rT5-rT4).total_microseconds() * 1e-6); + // PRINT_DEBUG("[TIME-KLT]: %.4f seconds for feature DB update (%d features)\n",(rT6-rT5).total_microseconds() * 1e-6, + // (int)good_left.size()); PRINT_DEBUG("[TIME-KLT]: %.4f seconds for total\n",(rT6-rT1).total_microseconds() * 1e-6); } void TrackKLT::perform_detection_monocular(const std::vector &img0pyr, const cv::Mat &mask0, std::vector &pts0, @@ -409,7 +410,7 @@ void TrackKLT::perform_detection_monocular(const std::vector &img0pyr, // Extract our features (use fast with griding) std::vector pts0_ext; - Grider_FAST::perform_griding(img0pyr.at(0), mask0, pts0_ext, num_featsneeded, grid_x, grid_y, threshold, true); + Grider_FAST::perform_griding(img0pyr.at(0), mask0, pts0_ext, num_features, grid_x, grid_y, threshold, true); // Now, reject features that are close a current feature std::vector kpts0_new; @@ -498,7 +499,7 @@ void TrackKLT::perform_detection_stereo(const std::vector &img0pyr, con // Extract our features (use fast with griding) std::vector pts0_ext; - Grider_FAST::perform_griding(img0pyr.at(0), mask0, pts0_ext, num_featsneeded_0, grid_x, grid_y, threshold, true); + Grider_FAST::perform_griding(img0pyr.at(0), mask0, pts0_ext, num_features, grid_x, grid_y, threshold, true); // Now, reject features that are close a current feature std::vector kpts0_new; @@ -632,7 +633,7 @@ void TrackKLT::perform_detection_stereo(const std::vector &img0pyr, con // Extract our features (use fast with griding) std::vector pts1_ext; - Grider_FAST::perform_griding(img1pyr.at(0), mask1, pts1_ext, num_featsneeded_1, grid_x, grid_y, threshold, true); + Grider_FAST::perform_griding(img1pyr.at(0), mask1, pts1_ext, num_features, grid_x, grid_y, threshold, true); // Now, reject features that are close a current feature for (auto &kpt : pts1_ext) { diff --git a/ov_core/src/track/TrackSIM.cpp b/ov_core/src/track/TrackSIM.cpp index f663746b1..557f06972 100644 --- a/ov_core/src/track/TrackSIM.cpp +++ b/ov_core/src/track/TrackSIM.cpp @@ -60,11 +60,12 @@ void TrackSIM::feed_measurement_simulation(double timestamp, const std::vectorw(); + int height = camera_calib.at(cam_id)->h(); // Move forward in time - img_last[cam_id] = cv::Mat::zeros(cv::Size(wh.first, wh.second), CV_8UC1); - img_mask_last[cam_id] = cv::Mat::zeros(cv::Size(wh.first, wh.second), CV_8UC1); + img_last[cam_id] = cv::Mat::zeros(cv::Size(width, height), CV_8UC1); + img_mask_last[cam_id] = cv::Mat::zeros(cv::Size(width, height), CV_8UC1); pts_last[cam_id] = good_left; ids_last[cam_id] = good_ids_left; } diff --git a/ov_core/src/track/TrackSIM.h b/ov_core/src/track/TrackSIM.h index 9ddd61e06..135900fd4 100644 --- a/ov_core/src/track/TrackSIM.h +++ b/ov_core/src/track/TrackSIM.h @@ -23,6 +23,7 @@ #define OV_CORE_TRACK_SIM_H #include "TrackBase.h" +#include "utils/print.h" namespace ov_core { @@ -42,11 +43,6 @@ class TrackSIM : public TrackBase { */ TrackSIM(std::unordered_map> cameras, int numaruco) : TrackBase(cameras, 0, numaruco, false, HistogramMethod::NONE) {} - /** - * @brief Set the width and height for the cameras - * @param _camera_wh Width and height for each camera - */ - void set_width_height(std::map> _camera_wh) { this->camera_wh = _camera_wh; } /** * @brief Process a new image @@ -54,8 +50,8 @@ class TrackSIM : public TrackBase { * @param message Contains our timestamp, images, and camera ids */ void feed_new_camera(const CameraData &message) override { - printf(RED "[SIM]: SIM TRACKER FEED NEW CAMERA CALLED!!!\n" RESET); - printf(RED "[SIM]: THIS SHOULD NEVER HAPPEN!\n" RESET); + PRINT_ERROR(RED "[SIM]: SIM TRACKER FEED NEW CAMERA CALLED!!!\n" RESET); + PRINT_ERROR(RED "[SIM]: THIS SHOULD NEVER HAPPEN!\n" RESET); std::exit(EXIT_FAILURE); } @@ -67,10 +63,6 @@ class TrackSIM : public TrackBase { */ void feed_measurement_simulation(double timestamp, const std::vector &camids, const std::vector>> &feats); - -protected: - /// Width and height of our cameras - std::map> camera_wh; }; } // namespace ov_core diff --git a/ov_core/src/types/Landmark.cpp b/ov_core/src/types/Landmark.cpp index 79613baec..a562c1a14 100644 --- a/ov_core/src/types/Landmark.cpp +++ b/ov_core/src/types/Landmark.cpp @@ -25,15 +25,15 @@ using namespace ov_type; Eigen::Matrix Landmark::get_xyz(bool getfej) const { - /// CASE: Global 3d feature representation - /// CASE: Anchored 3D feature representation + // CASE: Global 3d feature representation + // CASE: Anchored 3D feature representation if (_feat_representation == LandmarkRepresentation::Representation::GLOBAL_3D || _feat_representation == LandmarkRepresentation::Representation::ANCHORED_3D) { return (getfej) ? fej() : value(); } - /// CASE: Global inverse depth feature representation - /// CASE: Anchored full inverse depth feature representation + // CASE: Global inverse depth feature representation + // CASE: Anchored full inverse depth feature representation if (_feat_representation == LandmarkRepresentation::Representation::GLOBAL_FULL_INVERSE_DEPTH || _feat_representation == LandmarkRepresentation::Representation::ANCHORED_FULL_INVERSE_DEPTH) { Eigen::Matrix p_invFinG = (getfej) ? fej() : value(); @@ -43,7 +43,7 @@ Eigen::Matrix Landmark::get_xyz(bool getfej) const { return p_FinG; } - /// CASE: Anchored MSCKF inverse depth feature representation + // CASE: Anchored MSCKF inverse depth feature representation if (_feat_representation == LandmarkRepresentation::Representation::ANCHORED_MSCKF_INVERSE_DEPTH) { Eigen::Matrix p_FinA; Eigen::Matrix p_invFinA = value(); @@ -51,7 +51,7 @@ Eigen::Matrix Landmark::get_xyz(bool getfej) const { return p_FinA; } - /// CASE: Estimate single depth of the feature using the initial bearing + // CASE: Estimate single depth of the feature using the initial bearing if (_feat_representation == LandmarkRepresentation::Representation::ANCHORED_INVERSE_DEPTH_SINGLE) { // if(getfej) return 1.0/fej()(0)*uv_norm_zero_fej; return 1.0 / value()(0) * uv_norm_zero; @@ -64,8 +64,8 @@ Eigen::Matrix Landmark::get_xyz(bool getfej) const { void Landmark::set_from_xyz(Eigen::Matrix p_FinG, bool isfej) { - /// CASE: Global 3d feature representation - /// CASE: Anchored 3d feature representation + // CASE: Global 3d feature representation + // CASE: Anchored 3d feature representation if (_feat_representation == LandmarkRepresentation::Representation::GLOBAL_3D || _feat_representation == LandmarkRepresentation::Representation::ANCHORED_3D) { if (isfej) @@ -75,8 +75,8 @@ void Landmark::set_from_xyz(Eigen::Matrix p_FinG, bool isfej) { return; } - /// CASE: Global inverse depth feature representation - /// CASE: Anchored inverse depth feature representation + // CASE: Global inverse depth feature representation + // CASE: Anchored inverse depth feature representation if (_feat_representation == LandmarkRepresentation::Representation::GLOBAL_FULL_INVERSE_DEPTH || _feat_representation == LandmarkRepresentation::Representation::ANCHORED_FULL_INVERSE_DEPTH) { @@ -100,7 +100,7 @@ void Landmark::set_from_xyz(Eigen::Matrix p_FinG, bool isfej) { return; } - /// CASE: MSCKF anchored inverse depth representation + // CASE: MSCKF anchored inverse depth representation if (_feat_representation == LandmarkRepresentation::Representation::ANCHORED_MSCKF_INVERSE_DEPTH) { // MSCKF representation @@ -117,7 +117,7 @@ void Landmark::set_from_xyz(Eigen::Matrix p_FinG, bool isfej) { return; } - /// CASE: Estimate single depth of the feature using the initial bearing + // CASE: Estimate single depth of the feature using the initial bearing if (_feat_representation == LandmarkRepresentation::Representation::ANCHORED_INVERSE_DEPTH_SINGLE) { // Get the inverse depth diff --git a/ov_core/src/types/Landmark.h b/ov_core/src/types/Landmark.h index 2f9aa963d..f43dea60c 100644 --- a/ov_core/src/types/Landmark.h +++ b/ov_core/src/types/Landmark.h @@ -25,6 +25,7 @@ #include "LandmarkRepresentation.h" #include "Vec.h" #include "utils/colors.h" +#include "utils/print.h" namespace ov_type { @@ -78,10 +79,10 @@ class Landmark : public Vec { assert(dx.rows() == _size); set_value(_value + dx); // Ensure we are not near zero in the z-direction - if (LandmarkRepresentation::is_relative_representation(_feat_representation) && _value(_value.rows() - 1) < 1e-8) { - printf(YELLOW "WARNING DEPTH %.8f BECAME CLOSE TO ZERO IN UPDATE!!!\n" RESET, _value(_value.rows() - 1)); - should_marg = true; - } + // if (LandmarkRepresentation::is_relative_representation(_feat_representation) && _value(_value.rows() - 1) < 1e-8) { + // PRINT_DEBUG(YELLOW "WARNING DEPTH %.8f BECAME CLOSE TO ZERO IN UPDATE!!!\n" RESET, _value(_value.rows() - 1)); + // should_marg = true; + // } } /** diff --git a/ov_core/src/types/PoseJPL.h b/ov_core/src/types/PoseJPL.h index be8254119..6b765119d 100644 --- a/ov_core/src/types/PoseJPL.h +++ b/ov_core/src/types/PoseJPL.h @@ -122,10 +122,7 @@ class PoseJPL : public Type { Eigen::Matrix Rot() const { return _q->Rot(); } /// FEJ Rotation access - Eigen::Matrix Rot_fej() const { - return _q->Rot_fej(); - ; - } + Eigen::Matrix Rot_fej() const { return _q->Rot_fej(); } /// Rotation access as quaternion Eigen::Matrix quat() const { return _q->value(); } diff --git a/ov_core/src/utils/CLI11.hpp b/ov_core/src/utils/CLI11.hpp deleted file mode 100644 index caedc700f..000000000 --- a/ov_core/src/utils/CLI11.hpp +++ /dev/null @@ -1,7954 +0,0 @@ -#pragma once - -// CLI11: Version 1.9.0 -// Originally designed by Henry Schreiner -// https://github.com/CLIUtils/CLI11 -// -// This is a standalone header file generated by MakeSingleHeader.py in CLI11/scripts -// from: v1.9.0 -// -// From LICENSE: -// -// CLI11 1.8 Copyright (c) 2017-2019 University of Cincinnati, developed by Henry -// Schreiner under NSF AWARD 1414736. All rights reserved. -// -// Redistribution and use in source and binary forms of CLI11, with or without -// modification, are permitted provided that the following conditions are met: -// -// 1. Redistributions of source code must retain the above copyright notice, this -// list of conditions and the following disclaimer. -// 2. Redistributions in binary form must reproduce the above copyright notice, -// this list of conditions and the following disclaimer in the documentation -// and/or other materials provided with the distribution. -// 3. Neither the name of the copyright holder nor the names of its contributors -// may be used to endorse or promote products derived from this software without -// specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR -// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON -// ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -// Standard combined includes: - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// Verbatim copy from CLI/Version.hpp: - -#define CLI11_VERSION_MAJOR 1 -#define CLI11_VERSION_MINOR 9 -#define CLI11_VERSION_PATCH 0 -#define CLI11_VERSION "1.9.0" - -// Verbatim copy from CLI/Macros.hpp: - -// The following version macro is very similar to the one in PyBind11 -#if !(defined(_MSC_VER) && __cplusplus == 199711L) && !defined(__INTEL_COMPILER) -#if __cplusplus >= 201402L -#define CLI11_CPP14 -#if __cplusplus >= 201703L -#define CLI11_CPP17 -#if __cplusplus > 201703L -#define CLI11_CPP20 -#endif -#endif -#endif -#elif defined(_MSC_VER) && __cplusplus == 199711L -// MSVC sets _MSVC_LANG rather than __cplusplus (supposedly until the standard is fully implemented) -// Unless you use the /Zc:__cplusplus flag on Visual Studio 2017 15.7 Preview 3 or newer -#if _MSVC_LANG >= 201402L -#define CLI11_CPP14 -#if _MSVC_LANG > 201402L && _MSC_VER >= 1910 -#define CLI11_CPP17 -#if __MSVC_LANG > 201703L && _MSC_VER >= 1910 -#define CLI11_CPP20 -#endif -#endif -#endif -#endif - -#if defined(CLI11_CPP14) -#define CLI11_DEPRECATED(reason) [[deprecated(reason)]] -#elif defined(_MSC_VER) -#define CLI11_DEPRECATED(reason) __declspec(deprecated(reason)) -#else -#define CLI11_DEPRECATED(reason) __attribute__((deprecated(reason))) -#endif - -// Verbatim copy from CLI/Validators.hpp: - -// C standard library -// Only needed for existence checking -#if defined CLI11_CPP17 && defined __has_include && !defined CLI11_HAS_FILESYSTEM -#if __has_include() -// Filesystem cannot be used if targeting macOS < 10.15 -#if defined __MAC_OS_X_VERSION_MIN_REQUIRED && __MAC_OS_X_VERSION_MIN_REQUIRED < 101500 -#define CLI11_HAS_FILESYSTEM 0 -#else -#include -#if defined __cpp_lib_filesystem && __cpp_lib_filesystem >= 201703 -#define CLI11_HAS_FILESYSTEM 1 -#else -#define CLI11_HAS_FILESYSTEM 0 -#endif -#endif -#endif -#endif - -#if defined CLI11_HAS_FILESYSTEM && CLI11_HAS_FILESYSTEM > 0 -#include // NOLINT(build/include) -#else -#include -#include -#endif - -// From CLI/Version.hpp: - -// From CLI/Macros.hpp: - -// From CLI/StringTools.hpp: - -namespace CLI { - -/// Include the items in this namespace to get free conversion of enums to/from streams. -/// (This is available inside CLI as well, so CLI11 will use this without a using statement). -namespace enums { - -/// output streaming for enumerations -template ::value>::type> -std::ostream &operator<<(std::ostream &in, const T &item) { - // make sure this is out of the detail namespace otherwise it won't be found when needed - return in << static_cast::type>(item); -} - -} // namespace enums - -/// Export to CLI namespace -using enums::operator<<; - -namespace detail { -/// a constant defining an expected max vector size defined to be a big number that could be multiplied by 4 and not -/// produce overflow for some expected uses -constexpr int expected_max_vector_size{1 << 29}; -// Based on http://stackoverflow.com/questions/236129/split-a-string-in-c -/// Split a string by a delim -inline std::vector split(const std::string &s, char delim) { - std::vector elems; - // Check to see if empty string, give consistent result - if (s.empty()) - elems.emplace_back(); - else { - std::stringstream ss; - ss.str(s); - std::string item; - while (std::getline(ss, item, delim)) { - elems.push_back(item); - } - } - return elems; -} - -/// Simple function to join a string -template std::string join(const T &v, std::string delim = ",") { - std::ostringstream s; - auto beg = std::begin(v); - auto end = std::end(v); - if (beg != end) - s << *beg++; - while (beg != end) { - s << delim << *beg++; - } - return s.str(); -} - -/// Simple function to join a string from processed elements -template ::value>::type> -std::string join(const T &v, Callable func, std::string delim = ",") { - std::ostringstream s; - auto beg = std::begin(v); - auto end = std::end(v); - if (beg != end) - s << func(*beg++); - while (beg != end) { - s << delim << func(*beg++); - } - return s.str(); -} - -/// Join a string in reverse order -template std::string rjoin(const T &v, std::string delim = ",") { - std::ostringstream s; - for (std::size_t start = 0; start < v.size(); start++) { - if (start > 0) - s << delim; - s << v[v.size() - start - 1]; - } - return s.str(); -} - -// Based roughly on http://stackoverflow.com/questions/25829143/c-trim-whitespace-from-a-string - -/// Trim whitespace from left of string -inline std::string <rim(std::string &str) { - auto it = std::find_if(str.begin(), str.end(), [](char ch) { return !std::isspace(ch, std::locale()); }); - str.erase(str.begin(), it); - return str; -} - -/// Trim anything from left of string -inline std::string <rim(std::string &str, const std::string &filter) { - auto it = std::find_if(str.begin(), str.end(), [&filter](char ch) { return filter.find(ch) == std::string::npos; }); - str.erase(str.begin(), it); - return str; -} - -/// Trim whitespace from right of string -inline std::string &rtrim(std::string &str) { - auto it = std::find_if(str.rbegin(), str.rend(), [](char ch) { return !std::isspace(ch, std::locale()); }); - str.erase(it.base(), str.end()); - return str; -} - -/// Trim anything from right of string -inline std::string &rtrim(std::string &str, const std::string &filter) { - auto it = std::find_if(str.rbegin(), str.rend(), [&filter](char ch) { return filter.find(ch) == std::string::npos; }); - str.erase(it.base(), str.end()); - return str; -} - -/// Trim whitespace from string -inline std::string &trim(std::string &str) { return ltrim(rtrim(str)); } - -/// Trim anything from string -inline std::string &trim(std::string &str, const std::string filter) { return ltrim(rtrim(str, filter), filter); } - -/// Make a copy of the string and then trim it -inline std::string trim_copy(const std::string &str) { - std::string s = str; - return trim(s); -} - -/// remove quotes at the front and back of a string either '"' or '\'' -inline std::string &remove_quotes(std::string &str) { - if (str.length() > 1 && (str.front() == '"' || str.front() == '\'')) { - if (str.front() == str.back()) { - str.pop_back(); - str.erase(str.begin(), str.begin() + 1); - } - } - return str; -} - -/// Make a copy of the string and then trim it, any filter string can be used (any char in string is filtered) -inline std::string trim_copy(const std::string &str, const std::string &filter) { - std::string s = str; - return trim(s, filter); -} -/// Print a two part "help" string -inline std::ostream &format_help(std::ostream &out, std::string name, std::string description, std::size_t wid) { - name = " " + name; - out << std::setw(static_cast(wid)) << std::left << name; - if (!description.empty()) { - if (name.length() >= wid) - out << "\n" << std::setw(static_cast(wid)) << ""; - for (const char c : description) { - out.put(c); - if (c == '\n') { - out << std::setw(static_cast(wid)) << ""; - } - } - } - out << "\n"; - return out; -} - -/// Verify the first character of an option -template bool valid_first_char(T c) { return std::isalnum(c, std::locale()) || c == '_' || c == '?' || c == '@'; } - -/// Verify following characters of an option -template bool valid_later_char(T c) { return valid_first_char(c) || c == '.' || c == '-'; } - -/// Verify an option name -inline bool valid_name_string(const std::string &str) { - if (str.empty() || !valid_first_char(str[0])) - return false; - for (auto c : str.substr(1)) - if (!valid_later_char(c)) - return false; - return true; -} - -/// Verify that str consists of letters only -inline bool isalpha(const std::string &str) { - return std::all_of(str.begin(), str.end(), [](char c) { return std::isalpha(c, std::locale()); }); -} - -/// Return a lower case version of a string -inline std::string to_lower(std::string str) { - std::transform(std::begin(str), std::end(str), std::begin(str), - [](const std::string::value_type &x) { return std::tolower(x, std::locale()); }); - return str; -} - -/// remove underscores from a string -inline std::string remove_underscore(std::string str) { - str.erase(std::remove(std::begin(str), std::end(str), '_'), std::end(str)); - return str; -} - -/// Find and replace a substring with another substring -inline std::string find_and_replace(std::string str, std::string from, std::string to) { - - std::size_t start_pos = 0; - - while ((start_pos = str.find(from, start_pos)) != std::string::npos) { - str.replace(start_pos, from.length(), to); - start_pos += to.length(); - } - - return str; -} - -/// check if the flag definitions has possible false flags -inline bool has_default_flag_values(const std::string &flags) { return (flags.find_first_of("{!") != std::string::npos); } - -inline void remove_default_flag_values(std::string &flags) { - auto loc = flags.find_first_of('{'); - while (loc != std::string::npos) { - auto finish = flags.find_first_of("},", loc + 1); - if ((finish != std::string::npos) && (flags[finish] == '}')) { - flags.erase(flags.begin() + static_cast(loc), flags.begin() + static_cast(finish) + 1); - } - loc = flags.find_first_of('{', loc + 1); - } - flags.erase(std::remove(flags.begin(), flags.end(), '!'), flags.end()); -} - -/// Check if a string is a member of a list of strings and optionally ignore case or ignore underscores -inline std::ptrdiff_t find_member(std::string name, const std::vector names, bool ignore_case = false, - bool ignore_underscore = false) { - auto it = std::end(names); - if (ignore_case) { - if (ignore_underscore) { - name = detail::to_lower(detail::remove_underscore(name)); - it = std::find_if(std::begin(names), std::end(names), - [&name](std::string local_name) { return detail::to_lower(detail::remove_underscore(local_name)) == name; }); - } else { - name = detail::to_lower(name); - it = std::find_if(std::begin(names), std::end(names), - [&name](std::string local_name) { return detail::to_lower(local_name) == name; }); - } - - } else if (ignore_underscore) { - name = detail::remove_underscore(name); - it = std::find_if(std::begin(names), std::end(names), - [&name](std::string local_name) { return detail::remove_underscore(local_name) == name; }); - } else - it = std::find(std::begin(names), std::end(names), name); - - return (it != std::end(names)) ? (it - std::begin(names)) : (-1); -} - -/// Find a trigger string and call a modify callable function that takes the current string and starting position of the -/// trigger and returns the position in the string to search for the next trigger string -template inline std::string find_and_modify(std::string str, std::string trigger, Callable modify) { - std::size_t start_pos = 0; - while ((start_pos = str.find(trigger, start_pos)) != std::string::npos) { - start_pos = modify(str, start_pos); - } - return str; -} - -/// Split a string '"one two" "three"' into 'one two', 'three' -/// Quote characters can be ` ' or " -inline std::vector split_up(std::string str, char delimiter = '\0') { - - const std::string delims("\'\"`"); - auto find_ws = [delimiter](char ch) { return (delimiter == '\0') ? (std::isspace(ch, std::locale()) != 0) : (ch == delimiter); }; - trim(str); - - std::vector output; - bool embeddedQuote = false; - char keyChar = ' '; - while (!str.empty()) { - if (delims.find_first_of(str[0]) != std::string::npos) { - keyChar = str[0]; - auto end = str.find_first_of(keyChar, 1); - while ((end != std::string::npos) && (str[end - 1] == '\\')) { // deal with escaped quotes - end = str.find_first_of(keyChar, end + 1); - embeddedQuote = true; - } - if (end != std::string::npos) { - output.push_back(str.substr(1, end - 1)); - str = str.substr(end + 1); - } else { - output.push_back(str.substr(1)); - str = ""; - } - } else { - auto it = std::find_if(std::begin(str), std::end(str), find_ws); - if (it != std::end(str)) { - std::string value = std::string(str.begin(), it); - output.push_back(value); - str = std::string(it + 1, str.end()); - } else { - output.push_back(str); - str = ""; - } - } - // transform any embedded quotes into the regular character - if (embeddedQuote) { - output.back() = find_and_replace(output.back(), std::string("\\") + keyChar, std::string(1, keyChar)); - embeddedQuote = false; - } - trim(str); - } - return output; -} - -/// Add a leader to the beginning of all new lines (nothing is added -/// at the start of the first line). `"; "` would be for ini files -/// -/// Can't use Regex, or this would be a subs. -inline std::string fix_newlines(const std::string &leader, std::string input) { - std::string::size_type n = 0; - while (n != std::string::npos && n < input.size()) { - n = input.find('\n', n); - if (n != std::string::npos) { - input = input.substr(0, n + 1) + leader + input.substr(n + 1); - n += leader.size(); - } - } - return input; -} - -/// This function detects an equal or colon followed by an escaped quote after an argument -/// then modifies the string to replace the equality with a space. This is needed -/// to allow the split up function to work properly and is intended to be used with the find_and_modify function -/// the return value is the offset+1 which is required by the find_and_modify function. -inline std::size_t escape_detect(std::string &str, std::size_t offset) { - auto next = str[offset + 1]; - if ((next == '\"') || (next == '\'') || (next == '`')) { - auto astart = str.find_last_of("-/ \"\'`", offset - 1); - if (astart != std::string::npos) { - if (str[astart] == ((str[offset] == '=') ? '-' : '/')) - str[offset] = ' '; // interpret this as a space so the split_up works properly - } - } - return offset + 1; -} - -/// Add quotes if the string contains spaces -inline std::string &add_quotes_if_needed(std::string &str) { - if ((str.front() != '"' && str.front() != '\'') || str.front() != str.back()) { - char quote = str.find('"') < str.find('\'') ? '\'' : '"'; - if (str.find(' ') != std::string::npos) { - str.insert(0, 1, quote); - str.append(1, quote); - } - } - return str; -} - -} // namespace detail - -} // namespace CLI - -// From CLI/Error.hpp: - -namespace CLI { - -// Use one of these on all error classes. -// These are temporary and are undef'd at the end of this file. -#define CLI11_ERROR_DEF(parent, name) \ -protected: \ - name(std::string ename, std::string msg, int exit_code) : parent(std::move(ename), std::move(msg), exit_code) {} \ - name(std::string ename, std::string msg, ExitCodes exit_code) : parent(std::move(ename), std::move(msg), exit_code) {} \ - \ -public: \ - name(std::string msg, ExitCodes exit_code) : parent(#name, std::move(msg), exit_code) {} \ - name(std::string msg, int exit_code) : parent(#name, std::move(msg), exit_code) {} - -// This is added after the one above if a class is used directly and builds its own message -#define CLI11_ERROR_SIMPLE(name) \ - explicit name(std::string msg) : name(#name, msg, ExitCodes::name) {} - -/// These codes are part of every error in CLI. They can be obtained from e using e.exit_code or as a quick shortcut, -/// int values from e.get_error_code(). -enum class ExitCodes { - Success = 0, - IncorrectConstruction = 100, - BadNameString, - OptionAlreadyAdded, - FileError, - ConversionError, - ValidationError, - RequiredError, - RequiresError, - ExcludesError, - ExtrasError, - ConfigError, - InvalidError, - HorribleError, - OptionNotFound, - ArgumentMismatch, - BaseClass = 127 -}; - -// Error definitions - -/// @defgroup error_group Errors -/// @brief Errors thrown by CLI11 -/// -/// These are the errors that can be thrown. Some of them, like CLI::Success, are not really errors. -/// @{ - -/// All errors derive from this one -class Error : public std::runtime_error { - int actual_exit_code; - std::string error_name{"Error"}; - -public: - int get_exit_code() const { return actual_exit_code; } - - std::string get_name() const { return error_name; } - - Error(std::string name, std::string msg, int exit_code = static_cast(ExitCodes::BaseClass)) - : runtime_error(msg), actual_exit_code(exit_code), error_name(std::move(name)) {} - - Error(std::string name, std::string msg, ExitCodes exit_code) : Error(name, msg, static_cast(exit_code)) {} -}; - -// Note: Using Error::Error constructors does not work on GCC 4.7 - -/// Construction errors (not in parsing) -class ConstructionError : public Error { - CLI11_ERROR_DEF(Error, ConstructionError) -}; - -/// Thrown when an option is set to conflicting values (non-vector and multi args, for example) -class IncorrectConstruction : public ConstructionError { - CLI11_ERROR_DEF(ConstructionError, IncorrectConstruction) - CLI11_ERROR_SIMPLE(IncorrectConstruction) - static IncorrectConstruction PositionalFlag(std::string name) { return IncorrectConstruction(name + ": Flags cannot be positional"); } - static IncorrectConstruction Set0Opt(std::string name) { - return IncorrectConstruction(name + ": Cannot set 0 expected, use a flag instead"); - } - static IncorrectConstruction SetFlag(std::string name) { - return IncorrectConstruction(name + ": Cannot set an expected number for flags"); - } - static IncorrectConstruction ChangeNotVector(std::string name) { - return IncorrectConstruction(name + ": You can only change the expected arguments for vectors"); - } - static IncorrectConstruction AfterMultiOpt(std::string name) { - return IncorrectConstruction(name + ": You can't change expected arguments after you've changed the multi option policy!"); - } - static IncorrectConstruction MissingOption(std::string name) { return IncorrectConstruction("Option " + name + " is not defined"); } - static IncorrectConstruction MultiOptionPolicy(std::string name) { - return IncorrectConstruction(name + ": multi_option_policy only works for flags and exact value options"); - } -}; - -/// Thrown on construction of a bad name -class BadNameString : public ConstructionError { - CLI11_ERROR_DEF(ConstructionError, BadNameString) - CLI11_ERROR_SIMPLE(BadNameString) - static BadNameString OneCharName(std::string name) { return BadNameString("Invalid one char name: " + name); } - static BadNameString BadLongName(std::string name) { return BadNameString("Bad long name: " + name); } - static BadNameString DashesOnly(std::string name) { return BadNameString("Must have a name, not just dashes: " + name); } - static BadNameString MultiPositionalNames(std::string name) { return BadNameString("Only one positional name allowed, remove: " + name); } -}; - -/// Thrown when an option already exists -class OptionAlreadyAdded : public ConstructionError { - CLI11_ERROR_DEF(ConstructionError, OptionAlreadyAdded) - explicit OptionAlreadyAdded(std::string name) : OptionAlreadyAdded(name + " is already added", ExitCodes::OptionAlreadyAdded) {} - static OptionAlreadyAdded Requires(std::string name, std::string other) { - return OptionAlreadyAdded(name + " requires " + other, ExitCodes::OptionAlreadyAdded); - } - static OptionAlreadyAdded Excludes(std::string name, std::string other) { - return OptionAlreadyAdded(name + " excludes " + other, ExitCodes::OptionAlreadyAdded); - } -}; - -// Parsing errors - -/// Anything that can error in Parse -class ParseError : public Error { - CLI11_ERROR_DEF(Error, ParseError) -}; - -// Not really "errors" - -/// This is a successful completion on parsing, supposed to exit -class Success : public ParseError { - CLI11_ERROR_DEF(ParseError, Success) - Success() : Success("Successfully completed, should be caught and quit", ExitCodes::Success) {} -}; - -/// -h or --help on command line -class CallForHelp : public ParseError { - CLI11_ERROR_DEF(ParseError, CallForHelp) - CallForHelp() : CallForHelp("This should be caught in your main function, see examples", ExitCodes::Success) {} -}; - -/// Usually something like --help-all on command line -class CallForAllHelp : public ParseError { - CLI11_ERROR_DEF(ParseError, CallForAllHelp) - CallForAllHelp() : CallForAllHelp("This should be caught in your main function, see examples", ExitCodes::Success) {} -}; - -/// Does not output a diagnostic in CLI11_PARSE, but allows to return from main() with a specific error code. -class RuntimeError : public ParseError { - CLI11_ERROR_DEF(ParseError, RuntimeError) - explicit RuntimeError(int exit_code = 1) : RuntimeError("Runtime error", exit_code) {} -}; - -/// Thrown when parsing an INI file and it is missing -class FileError : public ParseError { - CLI11_ERROR_DEF(ParseError, FileError) - CLI11_ERROR_SIMPLE(FileError) - static FileError Missing(std::string name) { return FileError(name + " was not readable (missing?)"); } -}; - -/// Thrown when conversion call back fails, such as when an int fails to coerce to a string -class ConversionError : public ParseError { - CLI11_ERROR_DEF(ParseError, ConversionError) - CLI11_ERROR_SIMPLE(ConversionError) - ConversionError(std::string member, std::string name) : ConversionError("The value " + member + " is not an allowed value for " + name) {} - ConversionError(std::string name, std::vector results) - : ConversionError("Could not convert: " + name + " = " + detail::join(results)) {} - static ConversionError TooManyInputsFlag(std::string name) { return ConversionError(name + ": too many inputs for a flag"); } - static ConversionError TrueFalse(std::string name) { return ConversionError(name + ": Should be true/false or a number"); } -}; - -/// Thrown when validation of results fails -class ValidationError : public ParseError { - CLI11_ERROR_DEF(ParseError, ValidationError) - CLI11_ERROR_SIMPLE(ValidationError) - explicit ValidationError(std::string name, std::string msg) : ValidationError(name + ": " + msg) {} -}; - -/// Thrown when a required option is missing -class RequiredError : public ParseError { - CLI11_ERROR_DEF(ParseError, RequiredError) - explicit RequiredError(std::string name) : RequiredError(name + " is required", ExitCodes::RequiredError) {} - static RequiredError Subcommand(std::size_t min_subcom) { - if (min_subcom == 1) { - return RequiredError("A subcommand"); - } - return RequiredError("Requires at least " + std::to_string(min_subcom) + " subcommands", ExitCodes::RequiredError); - } - static RequiredError Option(std::size_t min_option, std::size_t max_option, std::size_t used, const std::string &option_list) { - if ((min_option == 1) && (max_option == 1) && (used == 0)) - return RequiredError("Exactly 1 option from [" + option_list + "]"); - if ((min_option == 1) && (max_option == 1) && (used > 1)) { - return RequiredError("Exactly 1 option from [" + option_list + "] is required and " + std::to_string(used) + " were given", - ExitCodes::RequiredError); - } - if ((min_option == 1) && (used == 0)) - return RequiredError("At least 1 option from [" + option_list + "]"); - if (used < min_option) { - return RequiredError("Requires at least " + std::to_string(min_option) + " options used and only " + std::to_string(used) + - "were given from [" + option_list + "]", - ExitCodes::RequiredError); - } - if (max_option == 1) - return RequiredError("Requires at most 1 options be given from [" + option_list + "]", ExitCodes::RequiredError); - - return RequiredError("Requires at most " + std::to_string(max_option) + " options be used and " + std::to_string(used) + - "were given from [" + option_list + "]", - ExitCodes::RequiredError); - } -}; - -/// Thrown when the wrong number of arguments has been received -class ArgumentMismatch : public ParseError { - CLI11_ERROR_DEF(ParseError, ArgumentMismatch) - CLI11_ERROR_SIMPLE(ArgumentMismatch) - ArgumentMismatch(std::string name, int expected, std::size_t recieved) - : ArgumentMismatch( - expected > 0 - ? ("Expected exactly " + std::to_string(expected) + " arguments to " + name + ", got " + std::to_string(recieved)) - : ("Expected at least " + std::to_string(-expected) + " arguments to " + name + ", got " + std::to_string(recieved)), - ExitCodes::ArgumentMismatch) {} - - static ArgumentMismatch AtLeast(std::string name, int num, std::size_t received) { - return ArgumentMismatch(name + ": At least " + std::to_string(num) + " required but received " + std::to_string(received)); - } - static ArgumentMismatch AtMost(std::string name, int num, std::size_t received) { - return ArgumentMismatch(name + ": At Most " + std::to_string(num) + " required but received " + std::to_string(received)); - } - static ArgumentMismatch TypedAtLeast(std::string name, int num, std::string type) { - return ArgumentMismatch(name + ": " + std::to_string(num) + " required " + type + " missing"); - } - static ArgumentMismatch FlagOverride(std::string name) { return ArgumentMismatch(name + " was given a disallowed flag override"); } -}; - -/// Thrown when a requires option is missing -class RequiresError : public ParseError { - CLI11_ERROR_DEF(ParseError, RequiresError) - RequiresError(std::string curname, std::string subname) : RequiresError(curname + " requires " + subname, ExitCodes::RequiresError) {} -}; - -/// Thrown when an excludes option is present -class ExcludesError : public ParseError { - CLI11_ERROR_DEF(ParseError, ExcludesError) - ExcludesError(std::string curname, std::string subname) : ExcludesError(curname + " excludes " + subname, ExitCodes::ExcludesError) {} -}; - -/// Thrown when too many positionals or options are found -class ExtrasError : public ParseError { - CLI11_ERROR_DEF(ParseError, ExtrasError) - explicit ExtrasError(std::vector args) - : ExtrasError((args.size() > 1 ? "The following arguments were not expected: " : "The following argument was not expected: ") + - detail::rjoin(args, " "), - ExitCodes::ExtrasError) {} - ExtrasError(const std::string &name, std::vector args) - : ExtrasError(name, - (args.size() > 1 ? "The following arguments were not expected: " : "The following argument was not expected: ") + - detail::rjoin(args, " "), - ExitCodes::ExtrasError) {} -}; - -/// Thrown when extra values are found in an INI file -class ConfigError : public ParseError { - CLI11_ERROR_DEF(ParseError, ConfigError) - CLI11_ERROR_SIMPLE(ConfigError) - static ConfigError Extras(std::string item) { return ConfigError("INI was not able to parse " + item); } - static ConfigError NotConfigurable(std::string item) { - return ConfigError(item + ": This option is not allowed in a configuration file"); - } -}; - -/// Thrown when validation fails before parsing -class InvalidError : public ParseError { - CLI11_ERROR_DEF(ParseError, InvalidError) - explicit InvalidError(std::string name) - : InvalidError(name + ": Too many positional arguments with unlimited expected args", ExitCodes::InvalidError) {} -}; - -/// This is just a safety check to verify selection and parsing match - you should not ever see it -/// Strings are directly added to this error, but again, it should never be seen. -class HorribleError : public ParseError { - CLI11_ERROR_DEF(ParseError, HorribleError) - CLI11_ERROR_SIMPLE(HorribleError) -}; - -// After parsing - -/// Thrown when counting a non-existent option -class OptionNotFound : public Error { - CLI11_ERROR_DEF(Error, OptionNotFound) - explicit OptionNotFound(std::string name) : OptionNotFound(name + " not found", ExitCodes::OptionNotFound) {} -}; - -#undef CLI11_ERROR_DEF -#undef CLI11_ERROR_SIMPLE - -/// @} - -} // namespace CLI - -// From CLI/TypeTools.hpp: - -namespace CLI { - -// Type tools - -// Utilities for type enabling -namespace detail { -// Based generally on https://rmf.io/cxx11/almost-static-if -/// Simple empty scoped class -enum class enabler {}; - -/// An instance to use in EnableIf -constexpr enabler dummy = {}; -} // namespace detail - -/// A copy of enable_if_t from C++14, compatible with C++11. -/// -/// We could check to see if C++14 is being used, but it does not hurt to redefine this -/// (even Google does this: https://github.com/google/skia/blob/master/include/private/SkTLogic.h) -/// It is not in the std namespace anyway, so no harm done. -template using enable_if_t = typename std::enable_if::type; - -/// A copy of std::void_t from C++17 (helper for C++11 and C++14) -template struct make_void { using type = void; }; - -/// A copy of std::void_t from C++17 - same reasoning as enable_if_t, it does not hurt to redefine -template using void_t = typename make_void::type; - -/// A copy of std::conditional_t from C++14 - same reasoning as enable_if_t, it does not hurt to redefine -template using conditional_t = typename std::conditional::type; - -/// Check to see if something is a vector (fail check by default) -template struct is_vector : std::false_type {}; - -/// Check to see if something is a vector (true if actually a vector) -template struct is_vector> : std::true_type {}; - -/// Check to see if something is a vector (true if actually a const vector) -template struct is_vector> : std::true_type {}; - -/// Check to see if something is bool (fail check by default) -template struct is_bool : std::false_type {}; - -/// Check to see if something is bool (true if actually a bool) -template <> struct is_bool : std::true_type {}; - -/// Check to see if something is a shared pointer -template struct is_shared_ptr : std::false_type {}; - -/// Check to see if something is a shared pointer (True if really a shared pointer) -template struct is_shared_ptr> : std::true_type {}; - -/// Check to see if something is a shared pointer (True if really a shared pointer) -template struct is_shared_ptr> : std::true_type {}; - -/// Check to see if something is copyable pointer -template struct is_copyable_ptr { static bool const value = is_shared_ptr::value || std::is_pointer::value; }; - -/// This can be specialized to override the type deduction for IsMember. -template struct IsMemberType { using type = T; }; - -/// The main custom type needed here is const char * should be a string. -template <> struct IsMemberType { using type = std::string; }; - -namespace detail { - -// These are utilities for IsMember and other transforming objects - -/// Handy helper to access the element_type generically. This is not part of is_copyable_ptr because it requires that -/// pointer_traits be valid. - -/// not a pointer -template struct element_type { using type = T; }; - -template struct element_type::value>::type> { - using type = typename std::pointer_traits::element_type; -}; - -/// Combination of the element type and value type - remove pointer (including smart pointers) and get the value_type of -/// the container -template struct element_value_type { using type = typename element_type::type::value_type; }; - -/// Adaptor for set-like structure: This just wraps a normal container in a few utilities that do almost nothing. -template struct pair_adaptor : std::false_type { - using value_type = typename T::value_type; - using first_type = typename std::remove_const::type; - using second_type = typename std::remove_const::type; - - /// Get the first value (really just the underlying value) - template static auto first(Q &&pair_value) -> decltype(std::forward(pair_value)) { return std::forward(pair_value); } - /// Get the second value (really just the underlying value) - template static auto second(Q &&pair_value) -> decltype(std::forward(pair_value)) { return std::forward(pair_value); } -}; - -/// Adaptor for map-like structure (true version, must have key_type and mapped_type). -/// This wraps a mapped container in a few utilities access it in a general way. -template -struct pair_adaptor, void>> - : std::true_type { - using value_type = typename T::value_type; - using first_type = typename std::remove_const::type; - using second_type = typename std::remove_const::type; - - /// Get the first value (really just the underlying value) - template static auto first(Q &&pair_value) -> decltype(std::get<0>(std::forward(pair_value))) { - return std::get<0>(std::forward(pair_value)); - } - /// Get the second value (really just the underlying value) - template static auto second(Q &&pair_value) -> decltype(std::get<1>(std::forward(pair_value))) { - return std::get<1>(std::forward(pair_value)); - } -}; - -// Warning is suppressed due to "bug" in gcc<5.0 and gcc 7.0 with c++17 enabled that generates a Wnarrowing warning -// in the unevaluated context even if the function that was using this wasn't used. The standard says narrowing in -// brace initialization shouldn't be allowed but for backwards compatibility gcc allows it in some contexts. It is a -// little fuzzy what happens in template constructs and I think that was something GCC took a little while to work out. -// But regardless some versions of gcc generate a warning when they shouldn't from the following code so that should be -// suppressed -#ifdef __GNUC__ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wnarrowing" -#endif -// check for constructibility from a specific type and copy assignable used in the parse detection -template class is_direct_constructible { - template - static auto test(int, std::true_type) -> decltype( -// NVCC warns about narrowing conversions here -#ifdef __CUDACC__ -#pragma diag_suppress 2361 -#endif - TT { std::declval() } -#ifdef __CUDACC__ -#pragma diag_default 2361 -#endif - , - std::is_move_assignable()); - - template static auto test(int, std::false_type) -> std::false_type; - - template static auto test(...) -> std::false_type; - -public: - static constexpr bool value = decltype(test(0, typename std::is_constructible::type()))::value; -}; -#ifdef __GNUC__ -#pragma GCC diagnostic pop -#endif - -// Check for output streamability -// Based on https://stackoverflow.com/questions/22758291/how-can-i-detect-if-a-type-can-be-streamed-to-an-stdostream - -template class is_ostreamable { - template static auto test(int) -> decltype(std::declval() << std::declval(), std::true_type()); - - template static auto test(...) -> std::false_type; - -public: - static constexpr bool value = decltype(test(0))::value; -}; - -/// Check for input streamability -template class is_istreamable { - template static auto test(int) -> decltype(std::declval() >> std::declval(), std::true_type()); - - template static auto test(...) -> std::false_type; - -public: - static constexpr bool value = decltype(test(0))::value; -}; - -/// Templated operation to get a value from a stream -template ::value, detail::enabler> = detail::dummy> -bool from_stream(const std::string &istring, T &obj) { - std::istringstream is; - is.str(istring); - is >> obj; - return !is.fail() && !is.rdbuf()->in_avail(); -} - -template ::value, detail::enabler> = detail::dummy> -bool from_stream(const std::string & /*istring*/, T & /*obj*/) { - return false; -} - -// Check for tuple like types, as in classes with a tuple_size type trait -template class is_tuple_like { - template - // static auto test(int) - // -> decltype(std::conditional<(std::tuple_size::value > 0), std::true_type, std::false_type>::type()); - static auto test(int) -> decltype(std::tuple_size::value, std::true_type{}); - template static auto test(...) -> std::false_type; - -public: - static constexpr bool value = decltype(test(0))::value; -}; - -/// Convert an object to a string (directly forward if this can become a string) -template ::value, detail::enabler> = detail::dummy> -auto to_string(T &&value) -> decltype(std::forward(value)) { - return std::forward(value); -} - -/// Convert an object to a string (streaming must be supported for that type) -template ::value && is_ostreamable::value, detail::enabler> = detail::dummy> -std::string to_string(T &&value) { - std::stringstream stream; - stream << value; - return stream.str(); -} - -/// If conversion is not supported, return an empty string (streaming is not supported for that type) -template ::value && !is_ostreamable::value && - !is_vector::type>::type>::value, - detail::enabler> = detail::dummy> -std::string to_string(T &&) { - return std::string{}; -} - -/// convert a vector to a string -template ::value && !is_ostreamable::value && - is_vector::type>::type>::value, - detail::enabler> = detail::dummy> -std::string to_string(T &&variable) { - std::vector defaults; - defaults.reserve(variable.size()); - auto cval = variable.begin(); - auto end = variable.end(); - while (cval != end) { - defaults.emplace_back(CLI::detail::to_string(*cval)); - ++cval; - } - return std::string("[" + detail::join(defaults) + "]"); -} - -/// special template overload -template ::value, detail::enabler> = detail::dummy> -auto checked_to_string(T &&value) -> decltype(to_string(std::forward(value))) { - return to_string(std::forward(value)); -} - -/// special template overload -template ::value, detail::enabler> = detail::dummy> -std::string checked_to_string(T &&) { - return std::string{}; -} -/// get a string as a convertible value for arithmetic types -template ::value, detail::enabler> = detail::dummy> std::string value_string(const T &value) { - return std::to_string(value); -} -/// get a string as a convertible value for enumerations -template ::value, detail::enabler> = detail::dummy> std::string value_string(const T &value) { - return std::to_string(static_cast::type>(value)); -} -/// for other types just use the regular to_string function -template ::value && !std::is_arithmetic::value, detail::enabler> = detail::dummy> -auto value_string(const T &value) -> decltype(to_string(value)) { - return to_string(value); -} - -/// This will only trigger for actual void type -template struct type_count { static const int value{0}; }; - -/// Set of overloads to get the type size of an object -template struct type_count::value>::type> { - static constexpr int value{std::tuple_size::value}; -}; -/// Type size for regular object types that do not look like a tuple -template -struct type_count::value && !is_tuple_like::value && !std::is_void::value>::type> { - static constexpr int value{1}; -}; - -/// Type size of types that look like a vector -template struct type_count::value>::type> { - static constexpr int value{is_vector::value ? expected_max_vector_size - : type_count::value}; -}; - -/// This will only trigger for actual void type -template struct expected_count { static const int value{0}; }; - -/// For most types the number of expected items is 1 -template struct expected_count::value && !std::is_void::value>::type> { - static constexpr int value{1}; -}; -/// number of expected items in a vector -template struct expected_count::value>::type> { - static constexpr int value{expected_max_vector_size}; -}; - -// Enumeration of the different supported categorizations of objects -enum class object_category : int { - integral_value = 2, - unsigned_integral = 4, - enumeration = 6, - boolean_value = 8, - floating_point = 10, - number_constructible = 12, - double_constructible = 14, - integer_constructible = 16, - vector_value = 30, - tuple_value = 35, - // string assignable or greater used in a condition so anything string like must come last - string_assignable = 50, - string_constructible = 60, - other = 200, - -}; - -/// some type that is not otherwise recognized -template struct classify_object { static constexpr object_category value{object_category::other}; }; - -/// Set of overloads to classify an object according to type -template -struct classify_object::value && std::is_signed::value && !is_bool::value && - !std::is_enum::value>::type> { - static constexpr object_category value{object_category::integral_value}; -}; - -/// Unsigned integers -template -struct classify_object::value && std::is_unsigned::value && !is_bool::value>::type> { - static constexpr object_category value{object_category::unsigned_integral}; -}; - -/// Boolean values -template struct classify_object::value>::type> { - static constexpr object_category value{object_category::boolean_value}; -}; - -/// Floats -template struct classify_object::value>::type> { - static constexpr object_category value{object_category::floating_point}; -}; - -/// String and similar direct assignment -template -struct classify_object::value && !std::is_integral::value && - std::is_assignable::value && !is_vector::value>::type> { - static constexpr object_category value{object_category::string_assignable}; -}; - -/// String and similar constructible and copy assignment -template -struct classify_object::value && !std::is_integral::value && - !std::is_assignable::value && - std::is_constructible::value && !is_vector::value>::type> { - static constexpr object_category value{object_category::string_constructible}; -}; - -/// Enumerations -template struct classify_object::value>::type> { - static constexpr object_category value{object_category::enumeration}; -}; - -/// Handy helper to contain a bunch of checks that rule out many common types (integers, string like, floating point, -/// vectors, and enumerations -template struct uncommon_type { - using type = - typename std::conditional::value && !std::is_integral::value && - !std::is_assignable::value && !std::is_constructible::value && - !is_vector::value && !std::is_enum::value, - std::true_type, std::false_type>::type; - static constexpr bool value = type::value; -}; - -/// Assignable from double or int -template -struct classify_object::value && type_count::value == 1 && - is_direct_constructible::value && is_direct_constructible::value>::type> { - static constexpr object_category value{object_category::number_constructible}; -}; - -/// Assignable from int -template -struct classify_object< - T, typename std::enable_if::value && type_count::value == 1 && !is_direct_constructible::value && - is_direct_constructible::value>::type> { - static constexpr object_category value{object_category::integer_constructible}; -}; - -/// Assignable from double -template -struct classify_object< - T, typename std::enable_if::value && type_count::value == 1 && is_direct_constructible::value && - !is_direct_constructible::value>::type> { - static constexpr object_category value{object_category::double_constructible}; -}; - -/// Tuple type -template -struct classify_object< - T, typename std::enable_if<(type_count::value >= 2 && !is_vector::value) || - (is_tuple_like::value && uncommon_type::value && !is_direct_constructible::value && - !is_direct_constructible::value)>::type> { - static constexpr object_category value{object_category::tuple_value}; -}; - -/// Vector type -template struct classify_object::value>::type> { - static constexpr object_category value{object_category::vector_value}; -}; - -// Type name print - -/// Was going to be based on -/// http://stackoverflow.com/questions/1055452/c-get-name-of-type-in-template -/// But this is cleaner and works better in this case - -template ::value == object_category::integral_value || - classify_object::value == object_category::integer_constructible, - detail::enabler> = detail::dummy> -constexpr const char *type_name() { - return "INT"; -} - -template ::value == object_category::unsigned_integral, detail::enabler> = detail::dummy> -constexpr const char *type_name() { - return "UINT"; -} - -template ::value == object_category::floating_point || - classify_object::value == object_category::number_constructible || - classify_object::value == object_category::double_constructible, - detail::enabler> = detail::dummy> -constexpr const char *type_name() { - return "FLOAT"; -} - -/// Print name for enumeration types -template ::value == object_category::enumeration, detail::enabler> = detail::dummy> -constexpr const char *type_name() { - return "ENUM"; -} - -/// Print name for enumeration types -template ::value == object_category::boolean_value, detail::enabler> = detail::dummy> -constexpr const char *type_name() { - return "BOOLEAN"; -} - -/// Print for all other types -template ::value >= object_category::string_assignable, detail::enabler> = detail::dummy> -constexpr const char *type_name() { - return "TEXT"; -} - -/// Print name for single element tuple types -template ::value == object_category::tuple_value && type_count::value == 1, detail::enabler> = - detail::dummy> -inline std::string type_name() { - return type_name::type>(); -} - -/// Empty string if the index > tuple size -template inline typename std::enable_if::value, std::string>::type tuple_name() { - return std::string{}; -} - -/// Recursively generate the tuple type name -template inline typename std::enable_if < I::value, std::string>::type tuple_name() { - std::string str = std::string(type_name::type>()) + ',' + tuple_name(); - if (str.back() == ',') - str.pop_back(); - return str; -} - -/// Print type name for tuples with 2 or more elements -template ::value == object_category::tuple_value && type_count::value >= 2, detail::enabler> = - detail::dummy> -std::string type_name() { - auto tname = std::string(1, '[') + tuple_name(); - tname.push_back(']'); - return tname; -} - -/// This one should not be used normally, since vector types print the internal type -template ::value == object_category::vector_value, detail::enabler> = detail::dummy> -inline std::string type_name() { - return type_name(); -} - -// Lexical cast - -/// Convert a flag into an integer value typically binary flags -inline int64_t to_flag_value(std::string val) { - static const std::string trueString("true"); - static const std::string falseString("false"); - if (val == trueString) { - return 1; - } - if (val == falseString) { - return -1; - } - val = detail::to_lower(val); - int64_t ret; - if (val.size() == 1) { - if (val[0] >= '1' && val[0] <= '9') { - return (static_cast(val[0]) - '0'); - } - switch (val[0]) { - case '0': - case 'f': - case 'n': - case '-': - ret = -1; - break; - case 't': - case 'y': - case '+': - ret = 1; - break; - default: - throw std::invalid_argument("unrecognized character"); - } - return ret; - } - if (val == trueString || val == "on" || val == "yes" || val == "enable") { - ret = 1; - } else if (val == falseString || val == "off" || val == "no" || val == "disable") { - ret = -1; - } else { - ret = std::stoll(val); - } - return ret; -} - -/// Signed integers -template ::value == object_category::integral_value, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - try { - std::size_t n = 0; - std::int64_t output_ll = std::stoll(input, &n, 0); - output = static_cast(output_ll); - return n == input.size() && static_cast(output) == output_ll; - } catch (const std::invalid_argument &) { - return false; - } catch (const std::out_of_range &) { - return false; - } -} - -/// Unsigned integers -template ::value == object_category::unsigned_integral, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - if (!input.empty() && input.front() == '-') - return false; // std::stoull happily converts negative values to junk without any errors. - - try { - std::size_t n = 0; - std::uint64_t output_ll = std::stoull(input, &n, 0); - output = static_cast(output_ll); - return n == input.size() && static_cast(output) == output_ll; - } catch (const std::invalid_argument &) { - return false; - } catch (const std::out_of_range &) { - return false; - } -} - -/// Boolean values -template ::value == object_category::boolean_value, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - try { - auto out = to_flag_value(input); - output = (out > 0); - return true; - } catch (const std::invalid_argument &) { - return false; - } catch (const std::out_of_range &) { - // if the number is out of the range of a 64 bit value then it is still a number and for this purpose is still - // valid all we care about the sign - output = (input[0] != '-'); - return true; - } -} - -/// Floats -template ::value == object_category::floating_point, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - try { - std::size_t n = 0; - output = static_cast(std::stold(input, &n)); - return n == input.size(); - } catch (const std::invalid_argument &) { - return false; - } catch (const std::out_of_range &) { - return false; - } -} - -/// String and similar direct assignment -template ::value == object_category::string_assignable, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - output = input; - return true; -} - -/// String and similar constructible and copy assignment -template ::value == object_category::string_constructible, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - output = T(input); - return true; -} - -/// Enumerations -template ::value == object_category::enumeration, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - typename std::underlying_type::type val; - bool retval = detail::lexical_cast(input, val); - if (!retval) { - return false; - } - output = static_cast(val); - return true; -} - -/// Assignable from double or int -template ::value == object_category::number_constructible, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - int val; - if (lexical_cast(input, val)) { - output = T(val); - return true; - } else { - double dval; - if (lexical_cast(input, dval)) { - output = T{dval}; - return true; - } - } - return from_stream(input, output); -} - -/// Assignable from int -template ::value == object_category::integer_constructible, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - int val; - if (lexical_cast(input, val)) { - output = T(val); - return true; - } - return from_stream(input, output); -} - -/// Assignable from double -template ::value == object_category::double_constructible, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - double val; - if (lexical_cast(input, val)) { - output = T{val}; - return true; - } - return from_stream(input, output); -} - -/// Non-string parsable by a stream -template ::value == object_category::other, detail::enabler> = detail::dummy> -bool lexical_cast(const std::string &input, T &output) { - static_assert(is_istreamable::value, - "option object type must have a lexical cast overload or streaming input operator(>>) defined, if it " - "is convertible from another type use the add_option(...) with XC being the known type"); - return from_stream(input, output); -} - -/// Assign a value through lexical cast operations -template ::value && (classify_object::value == object_category::string_assignable || - classify_object::value == object_category::string_constructible), - detail::enabler> = detail::dummy> -bool lexical_assign(const std::string &input, T &output) { - return lexical_cast(input, output); -} - -/// Assign a value through lexical cast operations -template ::value && classify_object::value != object_category::string_assignable && - classify_object::value != object_category::string_constructible, - detail::enabler> = detail::dummy> -bool lexical_assign(const std::string &input, T &output) { - if (input.empty()) { - output = T{}; - return true; - } - return lexical_cast(input, output); -} - -/// Assign a value converted from a string in lexical cast to the output value directly -template ::value && std::is_assignable::value, detail::enabler> = detail::dummy> -bool lexical_assign(const std::string &input, T &output) { - XC val{}; - bool parse_result = (!input.empty()) ? lexical_cast(input, val) : true; - if (parse_result) { - output = val; - } - return parse_result; -} - -/// Assign a value from a lexical cast through constructing a value and move assigning it -template ::value && !std::is_assignable::value && std::is_move_assignable::value, - detail::enabler> = detail::dummy> -bool lexical_assign(const std::string &input, T &output) { - XC val{}; - bool parse_result = input.empty() ? true : lexical_cast(input, val); - if (parse_result) { - output = T(val); // use () form of constructor to allow some implicit conversions - } - return parse_result; -} -/// Lexical conversion if there is only one element -template ::value && !is_tuple_like::value && !is_vector::value && !is_vector::value, - detail::enabler> = detail::dummy> -bool lexical_conversion(const std::vector &strings, T &output) { - return lexical_assign(strings[0], output); -} - -/// Lexical conversion if there is only one element but the conversion type is for two call a two element constructor -template ::value == 1 && type_count::value == 2, detail::enabler> = detail::dummy> -bool lexical_conversion(const std::vector &strings, T &output) { - typename std::tuple_element<0, XC>::type v1; - typename std::tuple_element<1, XC>::type v2; - bool retval = lexical_assign(strings[0], v1); - if (strings.size() > 1) { - retval = retval && lexical_assign(strings[1], v2); - } - if (retval) { - output = T{v1, v2}; - } - return retval; -} - -/// Lexical conversion of a vector types -template ::value == expected_max_vector_size && expected_count::value == expected_max_vector_size && - type_count::value == 1, - detail::enabler> = detail::dummy> -bool lexical_conversion(const std::vector &strings, T &output) { - output.clear(); - output.reserve(strings.size()); - for (const auto &elem : strings) { - - output.emplace_back(); - bool retval = lexical_assign(elem, output.back()); - if (!retval) { - return false; - } - } - return (!output.empty()); -} - -/// Lexical conversion of a vector types with type size of two -template ::value == expected_max_vector_size && expected_count::value == expected_max_vector_size && - type_count::value == 2, - detail::enabler> = detail::dummy> -bool lexical_conversion(const std::vector &strings, T &output) { - output.clear(); - for (std::size_t ii = 0; ii < strings.size(); ii += 2) { - - typename std::tuple_element<0, typename XC::value_type>::type v1; - typename std::tuple_element<1, typename XC::value_type>::type v2; - bool retval = lexical_assign(strings[ii], v1); - if (strings.size() > ii + 1) { - retval = retval && lexical_assign(strings[ii + 1], v2); - } - if (retval) { - output.emplace_back(v1, v2); - } else { - return false; - } - } - return (!output.empty()); -} - -/// Conversion to a vector type using a particular single type as the conversion type -template < - class T, class XC, - enable_if_t<(expected_count::value == expected_max_vector_size) && (expected_count::value == 1) && (type_count::value == 1), - detail::enabler> = detail::dummy> -bool lexical_conversion(const std::vector &strings, T &output) { - bool retval = true; - output.clear(); - output.reserve(strings.size()); - for (const auto &elem : strings) { - - output.emplace_back(); - retval = retval && lexical_assign(elem, output.back()); - } - return (!output.empty()) && retval; -} -// This one is last since it can call other lexical_conversion functions -/// Lexical conversion if there is only one element but the conversion type is a vector -template ::value && !is_vector::value && is_vector::value, detail::enabler> = detail::dummy> -bool lexical_conversion(const std::vector &strings, T &output) { - - if (strings.size() > 1 || (!strings.empty() && !(strings.front().empty()))) { - XC val; - auto retval = lexical_conversion(strings, val); - output = T{val}; - return retval; - } - output = T{}; - return true; -} - -/// function template for converting tuples if the static Index is greater than the tuple size -template -inline typename std::enable_if= type_count::value, bool>::type tuple_conversion(const std::vector &, T &) { - return true; -} -/// Tuple conversion operation -template - inline typename std::enable_if < - I::value, bool>::type tuple_conversion(const std::vector &strings, T &output) { - bool retval = true; - if (strings.size() > I) { - retval = - retval && lexical_assign::type, - typename std::conditional::value, typename std::tuple_element::type, XC>::type>( - strings[I], std::get(output)); - } - retval = retval && tuple_conversion(strings, output); - return retval; -} - -/// Conversion for tuples -template ::value, detail::enabler> = detail::dummy> -bool lexical_conversion(const std::vector &strings, T &output) { - static_assert(!is_tuple_like::value || type_count::value == type_count::value, - "if the conversion type is defined as a tuple it must be the same size as the type you are converting to"); - return tuple_conversion(strings, output); -} - -/// Lexical conversion of a vector types with type_size >2 -template ::value == expected_max_vector_size && expected_count::value == expected_max_vector_size && - (type_count::value > 2), - detail::enabler> = detail::dummy> -bool lexical_conversion(const std::vector &strings, T &output) { - bool retval = true; - output.clear(); - std::vector temp; - std::size_t ii = 0; - std::size_t icount = 0; - std::size_t xcm = type_count::value; - while (ii < strings.size()) { - temp.push_back(strings[ii]); - ++ii; - ++icount; - if (icount == xcm || temp.back().empty()) { - if (static_cast(xcm) == expected_max_vector_size) { - temp.pop_back(); - } - output.emplace_back(); - retval = retval && lexical_conversion(temp, output.back()); - temp.clear(); - if (!retval) { - return false; - } - icount = 0; - } - } - return retval; -} -/// Sum a vector of flag representations -/// The flag vector produces a series of strings in a vector, simple true is represented by a "1", simple false is -/// by -/// "-1" an if numbers are passed by some fashion they are captured as well so the function just checks for the most -/// common true and false strings then uses stoll to convert the rest for summing -template ::value && std::is_unsigned::value, detail::enabler> = detail::dummy> -void sum_flag_vector(const std::vector &flags, T &output) { - int64_t count{0}; - for (auto &flag : flags) { - count += detail::to_flag_value(flag); - } - output = (count > 0) ? static_cast(count) : T{0}; -} - -/// Sum a vector of flag representations -/// The flag vector produces a series of strings in a vector, simple true is represented by a "1", simple false is -/// by -/// "-1" an if numbers are passed by some fashion they are captured as well so the function just checks for the most -/// common true and false strings then uses stoll to convert the rest for summing -template ::value && std::is_signed::value, detail::enabler> = detail::dummy> -void sum_flag_vector(const std::vector &flags, T &output) { - int64_t count{0}; - for (auto &flag : flags) { - count += detail::to_flag_value(flag); - } - output = static_cast(count); -} - -} // namespace detail -} // namespace CLI - -// From CLI/Split.hpp: - -namespace CLI { -namespace detail { - -// Returns false if not a short option. Otherwise, sets opt name and rest and returns true -inline bool split_short(const std::string ¤t, std::string &name, std::string &rest) { - if (current.size() > 1 && current[0] == '-' && valid_first_char(current[1])) { - name = current.substr(1, 1); - rest = current.substr(2); - return true; - } - return false; -} - -// Returns false if not a long option. Otherwise, sets opt name and other side of = and returns true -inline bool split_long(const std::string ¤t, std::string &name, std::string &value) { - if (current.size() > 2 && current.substr(0, 2) == "--" && valid_first_char(current[2])) { - auto loc = current.find_first_of('='); - if (loc != std::string::npos) { - name = current.substr(2, loc - 2); - value = current.substr(loc + 1); - } else { - name = current.substr(2); - value = ""; - } - return true; - } - return false; -} - -// Returns false if not a windows style option. Otherwise, sets opt name and value and returns true -inline bool split_windows_style(const std::string ¤t, std::string &name, std::string &value) { - if (current.size() > 1 && current[0] == '/' && valid_first_char(current[1])) { - auto loc = current.find_first_of(':'); - if (loc != std::string::npos) { - name = current.substr(1, loc - 1); - value = current.substr(loc + 1); - } else { - name = current.substr(1); - value = ""; - } - return true; - } - return false; -} - -// Splits a string into multiple long and short names -inline std::vector split_names(std::string current) { - std::vector output; - std::size_t val; - while ((val = current.find(",")) != std::string::npos) { - output.push_back(trim_copy(current.substr(0, val))); - current = current.substr(val + 1); - } - output.push_back(trim_copy(current)); - return output; -} - -/// extract default flag values either {def} or starting with a ! -inline std::vector> get_default_flag_values(const std::string &str) { - std::vector flags = split_names(str); - flags.erase(std::remove_if(flags.begin(), flags.end(), - [](const std::string &name) { - return ((name.empty()) || - (!(((name.find_first_of('{') != std::string::npos) && (name.back() == '}')) || (name[0] == '!')))); - }), - flags.end()); - std::vector> output; - output.reserve(flags.size()); - for (auto &flag : flags) { - auto def_start = flag.find_first_of('{'); - std::string defval = "false"; - if ((def_start != std::string::npos) && (flag.back() == '}')) { - defval = flag.substr(def_start + 1); - defval.pop_back(); - flag.erase(def_start, std::string::npos); - } - flag.erase(0, flag.find_first_not_of("-!")); - output.emplace_back(flag, defval); - } - return output; -} - -/// Get a vector of short names, one of long names, and a single name -inline std::tuple, std::vector, std::string> get_names(const std::vector &input) { - - std::vector short_names; - std::vector long_names; - std::string pos_name; - - for (std::string name : input) { - if (name.length() == 0) { - continue; - } - if (name.length() > 1 && name[0] == '-' && name[1] != '-') { - if (name.length() == 2 && valid_first_char(name[1])) - short_names.emplace_back(1, name[1]); - else - throw BadNameString::OneCharName(name); - } else if (name.length() > 2 && name.substr(0, 2) == "--") { - name = name.substr(2); - if (valid_name_string(name)) - long_names.push_back(name); - else - throw BadNameString::BadLongName(name); - } else if (name == "-" || name == "--") { - throw BadNameString::DashesOnly(name); - } else { - if (pos_name.length() > 0) - throw BadNameString::MultiPositionalNames(name); - pos_name = name; - } - } - - return std::tuple, std::vector, std::string>(short_names, long_names, pos_name); -} - -} // namespace detail -} // namespace CLI - -// From CLI/ConfigFwd.hpp: - -namespace CLI { - -class App; - -/// Holds values to load into Options -struct ConfigItem { - /// This is the list of parents - std::vector parents{}; - - /// This is the name - std::string name{}; - - /// Listing of inputs - std::vector inputs{}; - - /// The list of parents and name joined by "." - std::string fullname() const { - std::vector tmp = parents; - tmp.emplace_back(name); - return detail::join(tmp, "."); - } -}; - -/// This class provides a converter for configuration files. -class Config { -protected: - std::vector items{}; - -public: - /// Convert an app into a configuration - virtual std::string to_config(const App *, bool, bool, std::string) const = 0; - - /// Convert a configuration into an app - virtual std::vector from_config(std::istream &) const = 0; - - /// Get a flag value - virtual std::string to_flag(const ConfigItem &item) const { - if (item.inputs.size() == 1) { - return item.inputs.at(0); - } - throw ConversionError::TooManyInputsFlag(item.fullname()); - } - - /// Parse a config file, throw an error (ParseError:ConfigParseError or FileError) on failure - std::vector from_file(const std::string &name) { - std::ifstream input{name}; - if (!input.good()) - throw FileError::Missing(name); - - return from_config(input); - } - - /// Virtual destructor - virtual ~Config() = default; -}; - -/// This converter works with INI/TOML files; to write proper TOML files use ConfigTOML -class ConfigBase : public Config { -protected: - /// the character used for comments - char commentChar = ';'; - /// the character used to start an array '\0' is a default to not use - char arrayStart = '\0'; - /// the character used to end an array '\0' is a default to not use - char arrayEnd = '\0'; - /// the character used to separate elements in an array - char arraySeparator = ' '; - /// the character used separate the name from the value - char valueDelimiter = '='; - -public: - std::string to_config(const App * /*app*/, bool default_also, bool write_description, std::string prefix) const override; - - std::vector from_config(std::istream &input) const override; - /// Specify the configuration for comment characters - ConfigBase *comment(char cchar) { - commentChar = cchar; - return this; - } - /// Specify the start and end characters for an array - ConfigBase *arrayBounds(char aStart, char aEnd) { - arrayStart = aStart; - arrayEnd = aEnd; - return this; - } - /// Specify the delimiter character for an array - ConfigBase *arrayDelimiter(char aSep) { - arraySeparator = aSep; - return this; - } - /// Specify the delimiter between a name and value - ConfigBase *valueSeparator(char vSep) { - valueDelimiter = vSep; - return this; - } -}; - -/// the default Config is the INI file format -using ConfigINI = ConfigBase; - -/// ConfigTOML generates a TOML compliant output -class ConfigTOML : public ConfigINI { - -public: - ConfigTOML() { - commentChar = '#'; - arrayStart = '['; - arrayEnd = ']'; - arraySeparator = ','; - valueDelimiter = '='; - } -}; -} // namespace CLI - -// From CLI/Validators.hpp: - -namespace CLI { - -class Option; - -/// @defgroup validator_group Validators - -/// @brief Some validators that are provided -/// -/// These are simple `std::string(const std::string&)` validators that are useful. They return -/// a string if the validation fails. A custom struct is provided, as well, with the same user -/// semantics, but with the ability to provide a new type name. -/// @{ - -/// -class Validator { -protected: - /// This is the description function, if empty the description_ will be used - std::function desc_function_{[]() { return std::string{}; }}; - - /// This is the base function that is to be called. - /// Returns a string error message if validation fails. - std::function func_{[](std::string &) { return std::string{}; }}; - /// The name for search purposes of the Validator - std::string name_{}; - /// A Validator will only apply to an indexed value (-1 is all elements) - int application_index_ = -1; - /// Enable for Validator to allow it to be disabled if need be - bool active_{true}; - /// specify that a validator should not modify the input - bool non_modifying_{false}; - -public: - Validator() = default; - /// Construct a Validator with just the description string - explicit Validator(std::string validator_desc) : desc_function_([validator_desc]() { return validator_desc; }) {} - /// Construct Validator from basic information - Validator(std::function op, std::string validator_desc, std::string validator_name = "") - : desc_function_([validator_desc]() { return validator_desc; }), func_(std::move(op)), name_(std::move(validator_name)) {} - /// Set the Validator operation function - Validator &operation(std::function op) { - func_ = std::move(op); - return *this; - } - /// This is the required operator for a Validator - provided to help - /// users (CLI11 uses the member `func` directly) - std::string operator()(std::string &str) const { - std::string retstring; - if (active_) { - if (non_modifying_) { - std::string value = str; - retstring = func_(value); - } else { - retstring = func_(str); - } - } - return retstring; - }; - - /// This is the required operator for a Validator - provided to help - /// users (CLI11 uses the member `func` directly) - std::string operator()(const std::string &str) const { - std::string value = str; - return (active_) ? func_(value) : std::string{}; - }; - - /// Specify the type string - Validator &description(std::string validator_desc) { - desc_function_ = [validator_desc]() { return validator_desc; }; - return *this; - } - /// Specify the type string - Validator description(std::string validator_desc) const { - Validator newval(*this); - newval.desc_function_ = [validator_desc]() { return validator_desc; }; - return newval; - } - /// Generate type description information for the Validator - std::string get_description() const { - if (active_) { - return desc_function_(); - } - return std::string{}; - } - /// Specify the type string - Validator &name(std::string validator_name) { - name_ = std::move(validator_name); - return *this; - } - /// Specify the type string - Validator name(std::string validator_name) const { - Validator newval(*this); - newval.name_ = std::move(validator_name); - return newval; - } - /// Get the name of the Validator - const std::string &get_name() const { return name_; } - /// Specify whether the Validator is active or not - Validator &active(bool active_val = true) { - active_ = active_val; - return *this; - } - /// Specify whether the Validator is active or not - Validator active(bool active_val = true) const { - Validator newval(*this); - newval.active_ = active_val; - return newval; - } - - /// Specify whether the Validator can be modifying or not - Validator &non_modifying(bool no_modify = true) { - non_modifying_ = no_modify; - return *this; - } - /// Specify the application index of a validator - Validator &application_index(int app_index) { - application_index_ = app_index; - return *this; - }; - /// Specify the application index of a validator - Validator application_index(int app_index) const { - Validator newval(*this); - newval.application_index_ = app_index; - return newval; - }; - /// Get the current value of the application index - int get_application_index() const { return application_index_; } - /// Get a boolean if the validator is active - bool get_active() const { return active_; } - - /// Get a boolean if the validator is allowed to modify the input returns true if it can modify the input - bool get_modifying() const { return !non_modifying_; } - - /// Combining validators is a new validator. Type comes from left validator if function, otherwise only set if the - /// same. - Validator operator&(const Validator &other) const { - Validator newval; - - newval._merge_description(*this, other, " AND "); - - // Give references (will make a copy in lambda function) - const std::function &f1 = func_; - const std::function &f2 = other.func_; - - newval.func_ = [f1, f2](std::string &input) { - std::string s1 = f1(input); - std::string s2 = f2(input); - if (!s1.empty() && !s2.empty()) - return std::string("(") + s1 + ") AND (" + s2 + ")"; - else - return s1 + s2; - }; - - newval.active_ = (active_ & other.active_); - newval.application_index_ = application_index_; - return newval; - } - - /// Combining validators is a new validator. Type comes from left validator if function, otherwise only set if the - /// same. - Validator operator|(const Validator &other) const { - Validator newval; - - newval._merge_description(*this, other, " OR "); - - // Give references (will make a copy in lambda function) - const std::function &f1 = func_; - const std::function &f2 = other.func_; - - newval.func_ = [f1, f2](std::string &input) { - std::string s1 = f1(input); - std::string s2 = f2(input); - if (s1.empty() || s2.empty()) - return std::string(); - - return std::string("(") + s1 + ") OR (" + s2 + ")"; - }; - newval.active_ = (active_ & other.active_); - newval.application_index_ = application_index_; - return newval; - } - - /// Create a validator that fails when a given validator succeeds - Validator operator!() const { - Validator newval; - const std::function &dfunc1 = desc_function_; - newval.desc_function_ = [dfunc1]() { - auto str = dfunc1(); - return (!str.empty()) ? std::string("NOT ") + str : std::string{}; - }; - // Give references (will make a copy in lambda function) - const std::function &f1 = func_; - - newval.func_ = [f1, dfunc1](std::string &test) -> std::string { - std::string s1 = f1(test); - if (s1.empty()) { - return std::string("check ") + dfunc1() + " succeeded improperly"; - } - return std::string{}; - }; - newval.active_ = active_; - newval.application_index_ = application_index_; - return newval; - } - -private: - void _merge_description(const Validator &val1, const Validator &val2, const std::string &merger) { - - const std::function &dfunc1 = val1.desc_function_; - const std::function &dfunc2 = val2.desc_function_; - - desc_function_ = [=]() { - std::string f1 = dfunc1(); - std::string f2 = dfunc2(); - if ((f1.empty()) || (f2.empty())) { - return f1 + f2; - } - return std::string(1, '(') + f1 + ')' + merger + '(' + f2 + ')'; - }; - } -}; // namespace CLI - -/// Class wrapping some of the accessors of Validator -class CustomValidator : public Validator { -public: -}; -// The implementation of the built in validators is using the Validator class; -// the user is only expected to use the const (static) versions (since there's no setup). -// Therefore, this is in detail. -namespace detail { - -/// CLI enumeration of different file types -enum class path_type { nonexistant, file, directory }; - -#if defined CLI11_HAS_FILESYSTEM && CLI11_HAS_FILESYSTEM > 0 -/// get the type of the path from a file name -inline path_type check_path(const char *file) noexcept { - std::error_code ec; - auto stat = std::filesystem::status(file, ec); - if (ec) { - return path_type::nonexistant; - } - switch (stat.type()) { - case std::filesystem::file_type::none: - case std::filesystem::file_type::not_found: - return path_type::nonexistant; - case std::filesystem::file_type::directory: - return path_type::directory; - case std::filesystem::file_type::symlink: - case std::filesystem::file_type::block: - case std::filesystem::file_type::character: - case std::filesystem::file_type::fifo: - case std::filesystem::file_type::socket: - case std::filesystem::file_type::regular: - case std::filesystem::file_type::unknown: - default: - return path_type::file; - } -} -#else -/// get the type of the path from a file name -inline path_type check_path(const char *file) noexcept { -#if defined(_MSC_VER) - struct __stat64 buffer; - if (_stat64(file, &buffer) == 0) { - return ((buffer.st_mode & S_IFDIR) != 0) ? path_type::directory : path_type::file; - } -#else - struct stat buffer; - if (stat(file, &buffer) == 0) { - return ((buffer.st_mode & S_IFDIR) != 0) ? path_type::directory : path_type::file; - } -#endif - return path_type::nonexistant; -} -#endif -/// Check for an existing file (returns error message if check fails) -class ExistingFileValidator : public Validator { -public: - ExistingFileValidator() : Validator("FILE") { - func_ = [](std::string &filename) { - auto path_result = check_path(filename.c_str()); - if (path_result == path_type::nonexistant) { - return "File does not exist: " + filename; - } - if (path_result == path_type::directory) { - return "File is actually a directory: " + filename; - } - return std::string(); - }; - } -}; - -/// Check for an existing directory (returns error message if check fails) -class ExistingDirectoryValidator : public Validator { -public: - ExistingDirectoryValidator() : Validator("DIR") { - func_ = [](std::string &filename) { - auto path_result = check_path(filename.c_str()); - if (path_result == path_type::nonexistant) { - return "Directory does not exist: " + filename; - } - if (path_result == path_type::file) { - return "Directory is actually a file: " + filename; - } - return std::string(); - }; - } -}; - -/// Check for an existing path -class ExistingPathValidator : public Validator { -public: - ExistingPathValidator() : Validator("PATH(existing)") { - func_ = [](std::string &filename) { - auto path_result = check_path(filename.c_str()); - if (path_result == path_type::nonexistant) { - return "Path does not exist: " + filename; - } - return std::string(); - }; - } -}; - -/// Check for an non-existing path -class NonexistentPathValidator : public Validator { -public: - NonexistentPathValidator() : Validator("PATH(non-existing)") { - func_ = [](std::string &filename) { - auto path_result = check_path(filename.c_str()); - if (path_result != path_type::nonexistant) { - return "Path already exists: " + filename; - } - return std::string(); - }; - } -}; - -/// Validate the given string is a legal ipv4 address -class IPV4Validator : public Validator { -public: - IPV4Validator() : Validator("IPV4") { - func_ = [](std::string &ip_addr) { - auto result = CLI::detail::split(ip_addr, '.'); - if (result.size() != 4) { - return std::string("Invalid IPV4 address must have four parts (") + ip_addr + ')'; - } - int num; - for (const auto &var : result) { - bool retval = detail::lexical_cast(var, num); - if (!retval) { - return std::string("Failed parsing number (") + var + ')'; - } - if (num < 0 || num > 255) { - return std::string("Each IP number must be between 0 and 255 ") + var; - } - } - return std::string(); - }; - } -}; - -/// Validate the argument is a number and greater than 0 -class PositiveNumber : public Validator { -public: - PositiveNumber() : Validator("POSITIVE") { - func_ = [](std::string &number_str) { - double number; - if (!detail::lexical_cast(number_str, number)) { - return std::string("Failed parsing number: (") + number_str + ')'; - } - if (number <= 0) { - return std::string("Number less or equal to 0: (") + number_str + ')'; - } - return std::string(); - }; - } -}; -/// Validate the argument is a number and greater than or equal to 0 -class NonNegativeNumber : public Validator { -public: - NonNegativeNumber() : Validator("NONNEGATIVE") { - func_ = [](std::string &number_str) { - double number; - if (!detail::lexical_cast(number_str, number)) { - return std::string("Failed parsing number: (") + number_str + ')'; - } - if (number < 0) { - return std::string("Number less than 0: (") + number_str + ')'; - } - return std::string(); - }; - } -}; - -/// Validate the argument is a number -class Number : public Validator { -public: - Number() : Validator("NUMBER") { - func_ = [](std::string &number_str) { - double number; - if (!detail::lexical_cast(number_str, number)) { - return std::string("Failed parsing as a number (") + number_str + ')'; - } - return std::string(); - }; - } -}; - -} // namespace detail - -// Static is not needed here, because global const implies static. - -/// Check for existing file (returns error message if check fails) -const detail::ExistingFileValidator ExistingFile; - -/// Check for an existing directory (returns error message if check fails) -const detail::ExistingDirectoryValidator ExistingDirectory; - -/// Check for an existing path -const detail::ExistingPathValidator ExistingPath; - -/// Check for an non-existing path -const detail::NonexistentPathValidator NonexistentPath; - -/// Check for an IP4 address -const detail::IPV4Validator ValidIPV4; - -/// Check for a positive number -const detail::PositiveNumber PositiveNumber; - -/// Check for a non-negative number -const detail::NonNegativeNumber NonNegativeNumber; - -/// Check for a number -const detail::Number Number; - -/// Produce a range (factory). Min and max are inclusive. -class Range : public Validator { -public: - /// This produces a range with min and max inclusive. - /// - /// Note that the constructor is templated, but the struct is not, so C++17 is not - /// needed to provide nice syntax for Range(a,b). - template Range(T min, T max) { - std::stringstream out; - out << detail::type_name() << " in [" << min << " - " << max << "]"; - description(out.str()); - - func_ = [min, max](std::string &input) { - T val; - bool converted = detail::lexical_cast(input, val); - if ((!converted) || (val < min || val > max)) - return std::string("Value ") + input + " not in range " + std::to_string(min) + " to " + std::to_string(max); - - return std::string(); - }; - } - - /// Range of one value is 0 to value - template explicit Range(T max) : Range(static_cast(0), max) {} -}; - -/// Produce a bounded range (factory). Min and max are inclusive. -class Bound : public Validator { -public: - /// This bounds a value with min and max inclusive. - /// - /// Note that the constructor is templated, but the struct is not, so C++17 is not - /// needed to provide nice syntax for Range(a,b). - template Bound(T min, T max) { - std::stringstream out; - out << detail::type_name() << " bounded to [" << min << " - " << max << "]"; - description(out.str()); - - func_ = [min, max](std::string &input) { - T val; - bool converted = detail::lexical_cast(input, val); - if (!converted) { - return std::string("Value ") + input + " could not be converted"; - } - if (val < min) - input = detail::to_string(min); - else if (val > max) - input = detail::to_string(max); - - return std::string{}; - }; - } - - /// Range of one value is 0 to value - template explicit Bound(T max) : Bound(static_cast(0), max) {} -}; - -namespace detail { -template ::type>::value, detail::enabler> = detail::dummy> -auto smart_deref(T value) -> decltype(*value) { - return *value; -} - -template ::type>::value, detail::enabler> = detail::dummy> -typename std::remove_reference::type &smart_deref(T &value) { - return value; -} -/// Generate a string representation of a set -template std::string generate_set(const T &set) { - using element_t = typename detail::element_type::type; - using iteration_type_t = typename detail::pair_adaptor::value_type; // the type of the object pair - std::string out(1, '{'); - out.append(detail::join( - detail::smart_deref(set), [](const iteration_type_t &v) { return detail::pair_adaptor::first(v); }, ",")); - out.push_back('}'); - return out; -} - -/// Generate a string representation of a map -template std::string generate_map(const T &map, bool key_only = false) { - using element_t = typename detail::element_type::type; - using iteration_type_t = typename detail::pair_adaptor::value_type; // the type of the object pair - std::string out(1, '{'); - out.append(detail::join( - detail::smart_deref(map), - [key_only](const iteration_type_t &v) { - std::string res{detail::to_string(detail::pair_adaptor::first(v))}; - - if (!key_only) { - res.append("->"); - res += detail::to_string(detail::pair_adaptor::second(v)); - } - return res; - }, - ",")); - out.push_back('}'); - return out; -} - -template struct has_find { - template static auto test(int) -> decltype(std::declval().find(std::declval()), std::true_type()); - template static auto test(...) -> decltype(std::false_type()); - - static const auto value = decltype(test(0))::value; - using type = std::integral_constant; -}; - -/// A search function -template ::value, detail::enabler> = detail::dummy> -auto search(const T &set, const V &val) -> std::pair { - using element_t = typename detail::element_type::type; - auto &setref = detail::smart_deref(set); - auto it = std::find_if(std::begin(setref), std::end(setref), - [&val](decltype(*std::begin(setref)) v) { return (detail::pair_adaptor::first(v) == val); }); - return {(it != std::end(setref)), it}; -} - -/// A search function that uses the built in find function -template ::value, detail::enabler> = detail::dummy> -auto search(const T &set, const V &val) -> std::pair { - auto &setref = detail::smart_deref(set); - auto it = setref.find(val); - return {(it != std::end(setref)), it}; -} - -/// A search function with a filter function -template -auto search(const T &set, const V &val, const std::function &filter_function) - -> std::pair { - using element_t = typename detail::element_type::type; - // do the potentially faster first search - auto res = search(set, val); - if ((res.first) || (!(filter_function))) { - return res; - } - // if we haven't found it do the longer linear search with all the element translations - auto &setref = detail::smart_deref(set); - auto it = std::find_if(std::begin(setref), std::end(setref), [&](decltype(*std::begin(setref)) v) { - V a{detail::pair_adaptor::first(v)}; - a = filter_function(a); - return (a == val); - }); - return {(it != std::end(setref)), it}; -} - -// the following suggestion was made by Nikita Ofitserov(@himikof) -// done in templates to prevent compiler warnings on negation of unsigned numbers - -/// Do a check for overflow on signed numbers -template inline typename std::enable_if::value, T>::type overflowCheck(const T &a, const T &b) { - if ((a > 0) == (b > 0)) { - return ((std::numeric_limits::max)() / (std::abs)(a) < (std::abs)(b)); - } else { - return ((std::numeric_limits::min)() / (std::abs)(a) > -(std::abs)(b)); - } -} -/// Do a check for overflow on unsigned numbers -template inline typename std::enable_if::value, T>::type overflowCheck(const T &a, const T &b) { - return ((std::numeric_limits::max)() / a < b); -} - -/// Performs a *= b; if it doesn't cause integer overflow. Returns false otherwise. -template typename std::enable_if::value, bool>::type checked_multiply(T &a, T b) { - if (a == 0 || b == 0 || a == 1 || b == 1) { - a *= b; - return true; - } - if (a == (std::numeric_limits::min)() || b == (std::numeric_limits::min)()) { - return false; - } - if (overflowCheck(a, b)) { - return false; - } - a *= b; - return true; -} - -/// Performs a *= b; if it doesn't equal infinity. Returns false otherwise. -template typename std::enable_if::value, bool>::type checked_multiply(T &a, T b) { - T c = a * b; - if (std::isinf(c) && !std::isinf(a) && !std::isinf(b)) { - return false; - } - a = c; - return true; -} - -} // namespace detail -/// Verify items are in a set -class IsMember : public Validator { -public: - using filter_fn_t = std::function; - - /// This allows in-place construction using an initializer list - template - IsMember(std::initializer_list values, Args &&... args) : IsMember(std::vector(values), std::forward(args)...) {} - - /// This checks to see if an item is in a set (empty function) - template explicit IsMember(T &&set) : IsMember(std::forward(set), nullptr) {} - - /// This checks to see if an item is in a set: pointer or copy version. You can pass in a function that will filter - /// both sides of the comparison before computing the comparison. - template explicit IsMember(T set, F filter_function) { - - // Get the type of the contained item - requires a container have ::value_type - // if the type does not have first_type and second_type, these are both value_type - using element_t = typename detail::element_type::type; // Removes (smart) pointers if needed - using item_t = typename detail::pair_adaptor::first_type; // Is value_type if not a map - - using local_item_t = typename IsMemberType::type; // This will convert bad types to good ones - // (const char * to std::string) - - // Make a local copy of the filter function, using a std::function if not one already - std::function filter_fn = filter_function; - - // This is the type name for help, it will take the current version of the set contents - desc_function_ = [set]() { return detail::generate_set(detail::smart_deref(set)); }; - - // This is the function that validates - // It stores a copy of the set pointer-like, so shared_ptr will stay alive - func_ = [set, filter_fn](std::string &input) { - local_item_t b; - if (!detail::lexical_cast(input, b)) { - throw ValidationError(input); // name is added later - } - if (filter_fn) { - b = filter_fn(b); - } - auto res = detail::search(set, b, filter_fn); - if (res.first) { - // Make sure the version in the input string is identical to the one in the set - if (filter_fn) { - input = detail::value_string(detail::pair_adaptor::first(*(res.second))); - } - - // Return empty error string (success) - return std::string{}; - } - - // If you reach this point, the result was not found - std::string out(" not in "); - out += detail::generate_set(detail::smart_deref(set)); - return out; - }; - } - - /// You can pass in as many filter functions as you like, they nest (string only currently) - template - IsMember(T &&set, filter_fn_t filter_fn_1, filter_fn_t filter_fn_2, Args &&... other) - : IsMember( - std::forward(set), [filter_fn_1, filter_fn_2](std::string a) { return filter_fn_2(filter_fn_1(a)); }, other...) {} -}; - -/// definition of the default transformation object -template using TransformPairs = std::vector>; - -/// Translate named items to other or a value set -class Transformer : public Validator { -public: - using filter_fn_t = std::function; - - /// This allows in-place construction - template - Transformer(std::initializer_list> values, Args &&... args) - : Transformer(TransformPairs(values), std::forward(args)...) {} - - /// direct map of std::string to std::string - template explicit Transformer(T &&mapping) : Transformer(std::forward(mapping), nullptr) {} - - /// This checks to see if an item is in a set: pointer or copy version. You can pass in a function that will filter - /// both sides of the comparison before computing the comparison. - template explicit Transformer(T mapping, F filter_function) { - - static_assert(detail::pair_adaptor::type>::value, "mapping must produce value pairs"); - // Get the type of the contained item - requires a container have ::value_type - // if the type does not have first_type and second_type, these are both value_type - using element_t = typename detail::element_type::type; // Removes (smart) pointers if needed - using item_t = typename detail::pair_adaptor::first_type; // Is value_type if not a map - using local_item_t = typename IsMemberType::type; // This will convert bad types to good ones - // (const char * to std::string) - - // Make a local copy of the filter function, using a std::function if not one already - std::function filter_fn = filter_function; - - // This is the type name for help, it will take the current version of the set contents - desc_function_ = [mapping]() { return detail::generate_map(detail::smart_deref(mapping)); }; - - func_ = [mapping, filter_fn](std::string &input) { - local_item_t b; - if (!detail::lexical_cast(input, b)) { - return std::string(); - // there is no possible way we can match anything in the mapping if we can't convert so just return - } - if (filter_fn) { - b = filter_fn(b); - } - auto res = detail::search(mapping, b, filter_fn); - if (res.first) { - input = detail::value_string(detail::pair_adaptor::second(*res.second)); - } - return std::string{}; - }; - } - - /// You can pass in as many filter functions as you like, they nest - template - Transformer(T &&mapping, filter_fn_t filter_fn_1, filter_fn_t filter_fn_2, Args &&... other) - : Transformer( - std::forward(mapping), [filter_fn_1, filter_fn_2](std::string a) { return filter_fn_2(filter_fn_1(a)); }, other...) {} -}; - -/// translate named items to other or a value set -class CheckedTransformer : public Validator { -public: - using filter_fn_t = std::function; - - /// This allows in-place construction - template - CheckedTransformer(std::initializer_list> values, Args &&... args) - : CheckedTransformer(TransformPairs(values), std::forward(args)...) {} - - /// direct map of std::string to std::string - template explicit CheckedTransformer(T mapping) : CheckedTransformer(std::move(mapping), nullptr) {} - - /// This checks to see if an item is in a set: pointer or copy version. You can pass in a function that will filter - /// both sides of the comparison before computing the comparison. - template explicit CheckedTransformer(T mapping, F filter_function) { - - static_assert(detail::pair_adaptor::type>::value, "mapping must produce value pairs"); - // Get the type of the contained item - requires a container have ::value_type - // if the type does not have first_type and second_type, these are both value_type - using element_t = typename detail::element_type::type; // Removes (smart) pointers if needed - using item_t = typename detail::pair_adaptor::first_type; // Is value_type if not a map - using local_item_t = typename IsMemberType::type; // This will convert bad types to good ones - // (const char * to std::string) - using iteration_type_t = typename detail::pair_adaptor::value_type; // the type of the object pair // - // the type of the object pair - - // Make a local copy of the filter function, using a std::function if not one already - std::function filter_fn = filter_function; - - auto tfunc = [mapping]() { - std::string out("value in "); - out += detail::generate_map(detail::smart_deref(mapping)) + " OR {"; - out += detail::join( - detail::smart_deref(mapping), - [](const iteration_type_t &v) { return detail::to_string(detail::pair_adaptor::second(v)); }, ","); - out.push_back('}'); - return out; - }; - - desc_function_ = tfunc; - - func_ = [mapping, tfunc, filter_fn](std::string &input) { - local_item_t b; - bool converted = detail::lexical_cast(input, b); - if (converted) { - if (filter_fn) { - b = filter_fn(b); - } - auto res = detail::search(mapping, b, filter_fn); - if (res.first) { - input = detail::value_string(detail::pair_adaptor::second(*res.second)); - return std::string{}; - } - } - for (const auto &v : detail::smart_deref(mapping)) { - auto output_string = detail::value_string(detail::pair_adaptor::second(v)); - if (output_string == input) { - return std::string(); - } - } - - return "Check " + input + " " + tfunc() + " FAILED"; - }; - } - - /// You can pass in as many filter functions as you like, they nest - template - CheckedTransformer(T &&mapping, filter_fn_t filter_fn_1, filter_fn_t filter_fn_2, Args &&... other) - : CheckedTransformer( - std::forward(mapping), [filter_fn_1, filter_fn_2](std::string a) { return filter_fn_2(filter_fn_1(a)); }, other...) {} -}; - -/// Helper function to allow ignore_case to be passed to IsMember or Transform -inline std::string ignore_case(std::string item) { return detail::to_lower(item); } - -/// Helper function to allow ignore_underscore to be passed to IsMember or Transform -inline std::string ignore_underscore(std::string item) { return detail::remove_underscore(item); } - -/// Helper function to allow checks to ignore spaces to be passed to IsMember or Transform -inline std::string ignore_space(std::string item) { - item.erase(std::remove(std::begin(item), std::end(item), ' '), std::end(item)); - item.erase(std::remove(std::begin(item), std::end(item), '\t'), std::end(item)); - return item; -} - -/// Multiply a number by a factor using given mapping. -/// Can be used to write transforms for SIZE or DURATION inputs. -/// -/// Example: -/// With mapping = `{"b"->1, "kb"->1024, "mb"->1024*1024}` -/// one can recognize inputs like "100", "12kb", "100 MB", -/// that will be automatically transformed to 100, 14448, 104857600. -/// -/// Output number type matches the type in the provided mapping. -/// Therefore, if it is required to interpret real inputs like "0.42 s", -/// the mapping should be of a type or . -class AsNumberWithUnit : public Validator { -public: - /// Adjust AsNumberWithUnit behavior. - /// CASE_SENSITIVE/CASE_INSENSITIVE controls how units are matched. - /// UNIT_OPTIONAL/UNIT_REQUIRED throws ValidationError - /// if UNIT_REQUIRED is set and unit literal is not found. - enum Options { - CASE_SENSITIVE = 0, - CASE_INSENSITIVE = 1, - UNIT_OPTIONAL = 0, - UNIT_REQUIRED = 2, - DEFAULT = CASE_INSENSITIVE | UNIT_OPTIONAL - }; - - template - explicit AsNumberWithUnit(std::map mapping, Options opts = DEFAULT, const std::string &unit_name = "UNIT") { - description(generate_description(unit_name, opts)); - validate_mapping(mapping, opts); - - // transform function - func_ = [mapping, opts](std::string &input) -> std::string { - Number num; - - detail::rtrim(input); - if (input.empty()) { - throw ValidationError("Input is empty"); - } - - // Find split position between number and prefix - auto unit_begin = input.end(); - while (unit_begin > input.begin() && std::isalpha(*(unit_begin - 1), std::locale())) { - --unit_begin; - } - - std::string unit{unit_begin, input.end()}; - input.resize(static_cast(std::distance(input.begin(), unit_begin))); - detail::trim(input); - - if (opts & UNIT_REQUIRED && unit.empty()) { - throw ValidationError("Missing mandatory unit"); - } - if (opts & CASE_INSENSITIVE) { - unit = detail::to_lower(unit); - } - - bool converted = detail::lexical_cast(input, num); - if (!converted) { - throw ValidationError(std::string("Value ") + input + " could not be converted to " + detail::type_name()); - } - - if (unit.empty()) { - // No need to modify input if no unit passed - return {}; - } - - // find corresponding factor - auto it = mapping.find(unit); - if (it == mapping.end()) { - throw ValidationError(unit + - " unit not recognized. " - "Allowed values: " + - detail::generate_map(mapping, true)); - } - - // perform safe multiplication - bool ok = detail::checked_multiply(num, it->second); - if (!ok) { - throw ValidationError(detail::to_string(num) + " multiplied by " + unit + - " factor would cause number overflow. Use smaller value."); - } - input = detail::to_string(num); - - return {}; - }; - } - -private: - /// Check that mapping contains valid units. - /// Update mapping for CASE_INSENSITIVE mode. - template static void validate_mapping(std::map &mapping, Options opts) { - for (auto &kv : mapping) { - if (kv.first.empty()) { - throw ValidationError("Unit must not be empty."); - } - if (!detail::isalpha(kv.first)) { - throw ValidationError("Unit must contain only letters."); - } - } - - // make all units lowercase if CASE_INSENSITIVE - if (opts & CASE_INSENSITIVE) { - std::map lower_mapping; - for (auto &kv : mapping) { - auto s = detail::to_lower(kv.first); - if (lower_mapping.count(s)) { - throw ValidationError(std::string("Several matching lowercase unit representations are found: ") + s); - } - lower_mapping[detail::to_lower(kv.first)] = kv.second; - } - mapping = std::move(lower_mapping); - } - } - - /// Generate description like this: NUMBER [UNIT] - template static std::string generate_description(const std::string &name, Options opts) { - std::stringstream out; - out << detail::type_name() << ' '; - if (opts & UNIT_REQUIRED) { - out << name; - } else { - out << '[' << name << ']'; - } - return out.str(); - } -}; - -/// Converts a human-readable size string (with unit literal) to uin64_t size. -/// Example: -/// "100" => 100 -/// "1 b" => 100 -/// "10Kb" => 10240 // you can configure this to be interpreted as kilobyte (*1000) or kibibyte (*1024) -/// "10 KB" => 10240 -/// "10 kb" => 10240 -/// "10 kib" => 10240 // *i, *ib are always interpreted as *bibyte (*1024) -/// "10kb" => 10240 -/// "2 MB" => 2097152 -/// "2 EiB" => 2^61 // Units up to exibyte are supported -class AsSizeValue : public AsNumberWithUnit { -public: - using result_t = uint64_t; - - /// If kb_is_1000 is true, - /// interpret 'kb', 'k' as 1000 and 'kib', 'ki' as 1024 - /// (same applies to higher order units as well). - /// Otherwise, interpret all literals as factors of 1024. - /// The first option is formally correct, but - /// the second interpretation is more wide-spread - /// (see https://en.wikipedia.org/wiki/Binary_prefix). - explicit AsSizeValue(bool kb_is_1000) : AsNumberWithUnit(get_mapping(kb_is_1000)) { - if (kb_is_1000) { - description("SIZE [b, kb(=1000b), kib(=1024b), ...]"); - } else { - description("SIZE [b, kb(=1024b), ...]"); - } - } - -private: - /// Get mapping - static std::map init_mapping(bool kb_is_1000) { - std::map m; - result_t k_factor = kb_is_1000 ? 1000 : 1024; - result_t ki_factor = 1024; - result_t k = 1; - result_t ki = 1; - m["b"] = 1; - for (std::string p : {"k", "m", "g", "t", "p", "e"}) { - k *= k_factor; - ki *= ki_factor; - m[p] = k; - m[p + "b"] = k; - m[p + "i"] = ki; - m[p + "ib"] = ki; - } - return m; - } - - /// Cache calculated mapping - static std::map get_mapping(bool kb_is_1000) { - if (kb_is_1000) { - static auto m = init_mapping(true); - return m; - } else { - static auto m = init_mapping(false); - return m; - } - } -}; - -namespace detail { -/// Split a string into a program name and command line arguments -/// the string is assumed to contain a file name followed by other arguments -/// the return value contains is a pair with the first argument containing the program name and the second -/// everything else. -inline std::pair split_program_name(std::string commandline) { - // try to determine the programName - std::pair vals; - trim(commandline); - auto esp = commandline.find_first_of(' ', 1); - while (detail::check_path(commandline.substr(0, esp).c_str()) != path_type::file) { - esp = commandline.find_first_of(' ', esp + 1); - if (esp == std::string::npos) { - // if we have reached the end and haven't found a valid file just assume the first argument is the - // program name - esp = commandline.find_first_of(' ', 1); - break; - } - } - vals.first = commandline.substr(0, esp); - rtrim(vals.first); - // strip the program name - vals.second = (esp != std::string::npos) ? commandline.substr(esp + 1) : std::string{}; - ltrim(vals.second); - return vals; -} - -} // namespace detail -/// @} - -} // namespace CLI - -// From CLI/FormatterFwd.hpp: - -namespace CLI { - -class Option; -class App; - -/// This enum signifies the type of help requested -/// -/// This is passed in by App; all user classes must accept this as -/// the second argument. - -enum class AppFormatMode { - Normal, //< The normal, detailed help - All, //< A fully expanded help - Sub, //< Used when printed as part of expanded subcommand -}; - -/// This is the minimum requirements to run a formatter. -/// -/// A user can subclass this is if they do not care at all -/// about the structure in CLI::Formatter. -class FormatterBase { -protected: - /// @name Options - ///@{ - - /// The width of the first column - std::size_t column_width_{30}; - - /// @brief The required help printout labels (user changeable) - /// Values are Needs, Excludes, etc. - std::map labels_{}; - - ///@} - /// @name Basic - ///@{ - -public: - FormatterBase() = default; - FormatterBase(const FormatterBase &) = default; - FormatterBase(FormatterBase &&) = default; - - /// Adding a destructor in this form to work around bug in GCC 4.7 - virtual ~FormatterBase() noexcept {} // NOLINT(modernize-use-equals-default) - - /// This is the key method that puts together help - virtual std::string make_help(const App *, std::string, AppFormatMode) const = 0; - - ///@} - /// @name Setters - ///@{ - - /// Set the "REQUIRED" label - void label(std::string key, std::string val) { labels_[key] = val; } - - /// Set the column width - void column_width(std::size_t val) { column_width_ = val; } - - ///@} - /// @name Getters - ///@{ - - /// Get the current value of a name (REQUIRED, etc.) - std::string get_label(std::string key) const { - if (labels_.find(key) == labels_.end()) - return key; - else - return labels_.at(key); - } - - /// Get the current column width - std::size_t get_column_width() const { return column_width_; } - - ///@} -}; - -/// This is a specialty override for lambda functions -class FormatterLambda final : public FormatterBase { - using funct_t = std::function; - - /// The lambda to hold and run - funct_t lambda_; - -public: - /// Create a FormatterLambda with a lambda function - explicit FormatterLambda(funct_t funct) : lambda_(std::move(funct)) {} - - /// Adding a destructor (mostly to make GCC 4.7 happy) - ~FormatterLambda() noexcept override {} // NOLINT(modernize-use-equals-default) - - /// This will simply call the lambda function - std::string make_help(const App *app, std::string name, AppFormatMode mode) const override { return lambda_(app, name, mode); } -}; - -/// This is the default Formatter for CLI11. It pretty prints help output, and is broken into quite a few -/// overridable methods, to be highly customizable with minimal effort. -class Formatter : public FormatterBase { -public: - Formatter() = default; - Formatter(const Formatter &) = default; - Formatter(Formatter &&) = default; - - /// @name Overridables - ///@{ - - /// This prints out a group of options with title - /// - virtual std::string make_group(std::string group, bool is_positional, std::vector opts) const; - - /// This prints out just the positionals "group" - virtual std::string make_positionals(const App *app) const; - - /// This prints out all the groups of options - std::string make_groups(const App *app, AppFormatMode mode) const; - - /// This prints out all the subcommands - virtual std::string make_subcommands(const App *app, AppFormatMode mode) const; - - /// This prints out a subcommand - virtual std::string make_subcommand(const App *sub) const; - - /// This prints out a subcommand in help-all - virtual std::string make_expanded(const App *sub) const; - - /// This prints out all the groups of options - virtual std::string make_footer(const App *app) const; - - /// This displays the description line - virtual std::string make_description(const App *app) const; - - /// This displays the usage line - virtual std::string make_usage(const App *app, std::string name) const; - - /// This puts everything together - std::string make_help(const App * /*app*/, std::string, AppFormatMode) const override; - - ///@} - /// @name Options - ///@{ - - /// This prints out an option help line, either positional or optional form - virtual std::string make_option(const Option *opt, bool is_positional) const { - std::stringstream out; - detail::format_help(out, make_option_name(opt, is_positional) + make_option_opts(opt), make_option_desc(opt), column_width_); - return out.str(); - } - - /// @brief This is the name part of an option, Default: left column - virtual std::string make_option_name(const Option *, bool) const; - - /// @brief This is the options part of the name, Default: combined into left column - virtual std::string make_option_opts(const Option *) const; - - /// @brief This is the description. Default: Right column, on new line if left column too large - virtual std::string make_option_desc(const Option *) const; - - /// @brief This is used to print the name on the USAGE line - virtual std::string make_option_usage(const Option *opt) const; - - ///@} -}; - -} // namespace CLI - -// From CLI/Option.hpp: - -namespace CLI { - -using results_t = std::vector; -/// callback function definition -using callback_t = std::function; - -class Option; -class App; - -using Option_p = std::unique_ptr