diff --git a/Doxyfile b/Doxyfile index b0f79fb4c..f47105fcc 100644 --- a/Doxyfile +++ b/Doxyfile @@ -228,7 +228,23 @@ TAB_SIZE = 4 # "Side Effects:". You can put \n's in the value part of an alias to insert # newlines. -ALIASES = +## Add nice shorthand for code comments +## https://mcss.mosra.cz/documentation/doxygen/#code-highlighting +ALIASES += \ + "cb{1}=@code{\1}" \ + "ce=@endcode" \ + "cpp=@code{.cpp}" \ + "cmake=@code{.cmake}" \ + "m_div{1}=@xmlonly@endxmlonly" \ + "m_enddiv=@xmlonly@endxmlonly" \ + "m_span{1}=@xmlonly@endxmlonly" \ + "m_endspan=@xmlonly@endxmlonly" \ + "m_class{1}=@xmlonly@endxmlonly" \ + "m_footernavigation=@xmlonly@endxmlonly" \ + "m_examplenavigation{2}=@xmlonly@endxmlonly" \ + "m_keywords{1}=@xmlonly@endxmlonly" \ + "m_keyword{3}=@xmlonly@endxmlonly" \ + "m_enum_values_as_keywords=@xmlonly@endxmlonly" # This tag can be used to specify a number of word-keyword mappings (TCL only). # A mapping has the form "name=value". For example adding "class=itcl::class" @@ -416,13 +432,13 @@ LOOKUP_CACHE_SIZE = 0 # normally produced when WARNINGS is set to YES. # The default value is: NO. -EXTRACT_ALL = YES +EXTRACT_ALL = NO # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will # be included in the documentation. # The default value is: NO. -EXTRACT_PRIVATE = YES +EXTRACT_PRIVATE = NO # If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal # scope will be included in the documentation. @@ -604,19 +620,19 @@ STRICT_PROTO_MATCHING = NO # list. This list is created by putting \todo commands in the documentation. # The default value is: YES. -GENERATE_TODOLIST = YES +GENERATE_TODOLIST = NO # The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test # list. This list is created by putting \test commands in the documentation. # The default value is: YES. -GENERATE_TESTLIST = YES +GENERATE_TESTLIST = NO # The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug # list. This list is created by putting \bug commands in the documentation. # The default value is: YES. -GENERATE_BUGLIST = YES +GENERATE_BUGLIST = NO # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) # the deprecated list. This list is created by putting \deprecated commands in @@ -647,14 +663,14 @@ MAX_INITIALIZER_LINES = 30 # list will mention the files that were used to generate the documentation. # The default value is: YES. -SHOW_USED_FILES = YES +SHOW_USED_FILES = NO # Set the SHOW_FILES tag to NO to disable the generation of the Files page. This # will remove the Files entry from the Quick Index and from the Folder Tree View # (if specified). # The default value is: YES. -SHOW_FILES = YES +SHOW_FILES = NO # Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces # page. This will remove the Namespaces entry from the Quick Index and from the @@ -811,7 +827,7 @@ RECURSIVE = YES # Note that relative paths are relative to the directory from which doxygen is # run. -EXCLUDE = ov_core/src/utils/CLI11.hpp +EXCLUDE = # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or # directories that are symbolic links (a Unix file system feature) are excluded @@ -827,7 +843,7 @@ EXCLUDE_SYMLINKS = NO # Note that the wildcards are matched against the file with absolute path, so to # exclude all test directories for example use the pattern */test/* -EXCLUDE_PATTERNS = +EXCLUDE_PATTERNS = */doxygen_generated/* */catkin_generated/* */cmake-build-debug/* */plot/* .github .idea # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names # (namespaces, classes, functions, etc.) that should be excluded from the @@ -864,7 +880,8 @@ EXAMPLE_RECURSIVE = NO # that contain images that are to be included in the documentation (see the # \image command). -IMAGE_PATH = docs/ \ +IMAGE_PATH = ./ \ + docs/ \ docs/img/ \ docs/youtube/ @@ -1630,7 +1647,7 @@ COMPACT_LATEX = NO # The default value is: a4. # This tag requires that the tag GENERATE_LATEX is set to YES. -PAPER_TYPE = a4 +PAPER_TYPE = letter # The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names # that should be included in the LaTeX output. The package can be specified just @@ -1642,7 +1659,7 @@ PAPER_TYPE = a4 # If left blank no extra packages will be included. # This tag requires that the tag GENERATE_LATEX is set to YES. -EXTRA_PACKAGES = {amsmath,amssymb,stmaryrd,xcolor} +EXTRA_PACKAGES = amsmath,amssymb,stmaryrd,xcolor # The LATEX_HEADER tag can be used to specify a personal LaTeX header for the # generated LaTeX document. The header should contain everything until the first @@ -2171,7 +2188,7 @@ DOT_FONTPATH = # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. -CLASS_GRAPH = YES +CLASS_GRAPH = NO # If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a # graph for each documented class showing the direct and indirect implementation @@ -2180,14 +2197,14 @@ CLASS_GRAPH = YES # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. -COLLABORATION_GRAPH = YES +COLLABORATION_GRAPH = NO # If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for # groups, showing the direct groups dependencies. # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. -GROUP_GRAPHS = YES +GROUP_GRAPHS = NO # If the UML_LOOK tag is set to YES, doxygen will generate inheritance and # collaboration diagrams in a style similar to the OMG's Unified Modeling @@ -2225,7 +2242,7 @@ TEMPLATE_RELATIONS = NO # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. -INCLUDE_GRAPH = YES +INCLUDE_GRAPH = NO # If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are # set to YES then doxygen will generate a graph for each documented file showing @@ -2234,7 +2251,7 @@ INCLUDE_GRAPH = YES # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. -INCLUDED_BY_GRAPH = YES +INCLUDED_BY_GRAPH = NO # If the CALL_GRAPH tag is set to YES then doxygen will generate a call # dependency graph for every global function or class method. @@ -2265,7 +2282,7 @@ CALLER_GRAPH = NO # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. -GRAPHICAL_HIERARCHY = YES +GRAPHICAL_HIERARCHY = NO # If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the # dependencies a directory has on other directories in a graphical way. The @@ -2274,7 +2291,7 @@ GRAPHICAL_HIERARCHY = YES # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. -DIRECTORY_GRAPH = YES +DIRECTORY_GRAPH = NO # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. For an explanation of the image formats see the section diff --git a/Doxyfile-mcss b/Doxyfile-mcss index da1db0c85..21d67ef93 100644 --- a/Doxyfile-mcss +++ b/Doxyfile-mcss @@ -9,29 +9,10 @@ HTML_EXTRA_STYLESHEET = \ docs/css/custom.css - ## No need to expose to-do list or bug list in public docs. GENERATE_TODOLIST = NO GENERATE_BUGLIST = NO -## Add nice shorthand for code comments -## https://mcss.mosra.cz/documentation/doxygen/#code-highlighting -ALIASES += \ - "cb{1}=@code{\1}" \ - "ce=@endcode" \ - "cpp=@code{.cpp}" \ - "cmake=@code{.cmake}" \ - "m_div{1}=@xmlonly@endxmlonly" \ - "m_enddiv=@xmlonly@endxmlonly" \ - "m_span{1}=@xmlonly@endxmlonly" \ - "m_endspan=@xmlonly@endxmlonly" \ - "m_class{1}=@xmlonly@endxmlonly" \ - "m_footernavigation=@xmlonly@endxmlonly" \ - "m_examplenavigation{2}=@xmlonly@endxmlonly" \ - "m_keywords{1}=@xmlonly@endxmlonly" \ - "m_keyword{3}=@xmlonly@endxmlonly" \ - "m_enum_values_as_keywords=@xmlonly@endxmlonly" - ##! M_THEME_COLOR = #2f73a3 ##! M_FAVICON = docs/img/favicon-light.png diff --git a/ReadMe.md b/ReadMe.md index bf45671c3..3ed2949fa 100644 --- a/ReadMe.md +++ b/ReadMe.md @@ -115,14 +115,30 @@ details on what the system supports. ## Demo Videos -[![](docs/youtube/KCX51GvYGss.jpg)](http://www.youtube.com/watch?v=KCX51GvYGss "OpenVINS - EuRoC MAV Vicon Rooms Flyby") -[![](docs/youtube/Lc7VQHngSuQ.jpg)](http://www.youtube.com/watch?v=Lc7VQHngSuQ "OpenVINS - TUM VI Datasets Flyby") -[![](docs/youtube/vaia7iPaRW8.jpg)](http://www.youtube.com/watch?v=vaia7iPaRW8 "OpenVINS - UZH-FPV Drone Racing Dataset Flyby") -[![](docs/youtube/MCzTF9ye2zw.jpg)](http://www.youtube.com/watch?v=MCzTF9ye2zw "OpenVINS - KAIST Urban 39 Dataset Demonstration") - -[![](docs/youtube/187AXuuGNNw.jpg)](http://www.youtube.com/watch?v=187AXuuGNNw "OpenVINS - EuRoC MAV Vicon Rooms Demonstration") -[![](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 diff --git a/docs/dev-docs.dox b/docs/dev-docs.dox index 88614af1b..cee9ad98a 100644 --- a/docs/dev-docs.dox +++ b/docs/dev-docs.dox @@ -4,6 +4,24 @@ @page dev-docs Documentation Guide +@section developers-pdfmanual Building the Latex PDF Reference Manual + +1. You will need to install doxygen and texlive with all packages + - `sudo apt-get update` + - `sudo apt-get install doxygen texlive-full` + - You will likely need new version of [doxygen](https://stackoverflow.com/a/50986638/7718197) 1.9.4 to fix ghostscript errors +2. Go into the project folder and generate latex files + - `cd open_vins/` + - `doxygen` + - This should run, and will stop if there are any latex errors + - On my Ubuntu 20.04 this installs version "2019.20200218" +3. Generate a PDF from the latex files + - `cd doxgen_generated/latex/` + - `make` + - File should be called `refman.pdf` + + + @section developers-addpage Adding a Website Page 1. Add a `doc/pagename.dox` file, copy up-to-date license header. @@ -17,7 +35,6 @@ @section latex Math / Latex Equations - - More details on how to format your documentation can be found here: - http://www.doxygen.nl/manual/formulas.html - https://mcss.mosra.cz/css/components/#math @@ -77,16 +94,5 @@ - Use the command line utility `iperender` to convert into a svg - `iperender -svg -transparent file.ipe file.svg` -@section developers-pdfmanual Building the PDF Reference Manual -1. You will need to install doxygen and texlive - - `sudo apt-get update` - - `sudo apt-get install doxygen texlive-full` -2. Go into the project folder and generate - - `cd PATHTO/open_vins` - - `doxygen` -3. Go into the generated latex folder and build - - `cd open_vins/doxgen_generated/latex` - - `make` -4. Open the PDF file `/open_vins/doxgen_generated/latex/refman.pdf` to view documentation */ \ No newline at end of file diff --git a/ov_core/src/cpi/CpiBase.h b/ov_core/src/cpi/CpiBase.h index 0dc6c60bb..a18ffab5a 100644 --- a/ov_core/src/cpi/CpiBase.h +++ b/ov_core/src/cpi/CpiBase.h @@ -29,10 +29,6 @@ #include "utils/quat_ops.h" #include -/** - * @namespace ov_core - * @brief Core algorithms for Open VINS - */ namespace ov_core { /** diff --git a/ov_core/src/dummy.cpp b/ov_core/src/dummy.cpp index 32ca7eaa7..df23dd05b 100644 --- a/ov_core/src/dummy.cpp +++ b/ov_core/src/dummy.cpp @@ -21,6 +21,7 @@ /** * @namespace ov_core + * @brief Core algorithms for OpenVINS * * This has the core algorithms that all projects within the OpenVINS ecosystem leverage. * The purpose is to allow for the reuse of code that could be shared between different localization systems (i.e. msckf-based, batch-based, @@ -44,6 +45,7 @@ namespace ov_core {} /** * @namespace ov_type + * @brief Dynamic type system types * * Types leveraged by the EKF system for covariance management. * These types store where they are in the covariance along with their current estimate. diff --git a/ov_eval/src/dummy.cpp b/ov_eval/src/dummy.cpp index d325bb8b8..ce7a2eae1 100644 --- a/ov_eval/src/dummy.cpp +++ b/ov_eval/src/dummy.cpp @@ -21,6 +21,7 @@ /** * @namespace ov_eval + * @brief Evaluation and recording utilities * * This project contains the key evaluation and research scripts for localization methods. * These come from the necessity of trying to quantify the accuracy of the estimated trajectory while diff --git a/ov_init/src/dummy.cpp b/ov_init/src/dummy.cpp index bc181886d..101e0111a 100644 --- a/ov_init/src/dummy.cpp +++ b/ov_init/src/dummy.cpp @@ -21,6 +21,7 @@ /** * @namespace ov_init + * @brief State initialization code * * Right now this contains static initialization code for a visual-inertial system. * It will wait for the platform to stationary, and then initialize its orientation in the gravity frame. diff --git a/ov_msckf/src/dummy.cpp b/ov_msckf/src/dummy.cpp index 60eb052b5..11a71a595 100644 --- a/ov_msckf/src/dummy.cpp +++ b/ov_msckf/src/dummy.cpp @@ -21,6 +21,7 @@ /** * @namespace ov_msckf + * @brief Extended Kalman Filter estimator * * This is an implementation of a [Multi-State Constraint Kalman Filter (MSCKF)](https://ieeexplore.ieee.org/document/4209642) @cite * Mourikis2007ICRA which leverages inertial and visual feature information. We want to stress that this is **not** a "vanilla"