ILLIXR Versions Save

Release Notes

• The biggest change is the complete rewriting of the build system. It now runs via CMake, making plugin management and dependency checking much more streamlined.
• ILLIXR added a new graphics pipeline using the Vulkan API, implemented in the new plugins vkdemo, timewarp_vk, dislpay_vk, and nativer_renderer. For details, see PR https://github.com/ILLIXR/ILLIXR/pull/396 by @shg8 .
• ILLIXR has updated integration to support Monado's out-of-process compositor, which now allows users to run more OpenXR apps (Unreal Engine, Vulkan-based apps, etc) with direct mode.
• There are numerous updates to plugins as well as a few new ones (see details below)
• OpenVINS is now the default SLAM plugin.
• Kimera-VIO is no longer available for use with ILLIXR

What's Changed

• The offload_vio plugins were updated to a TCP implementation with separate IMU and Camera types; and the H264 codec was added by @qinjunj in https://github.com/ILLIXR/ILLIXR/pull/409 and https://github.com/ILLIXR/ILLIXR/pull/363
• The timewarp_gl plugin was modified to render into two textures/framebuffers and a Vulkan-OpenGL interop was introduced by @Jebbly in https://github.com/ILLIXR/ILLIXR/pull/404
• A new openni plugin was written by @hungdche in https://github.com/ILLIXR/ILLIXR/pull/370
• A new fauxpose plugin was written by @wsherman64 in https://github.com/ILLIXR/ILLIXR/pull/389
• A shaking issue with the zed plugin was fixed by @qinjunj in https://github.com/ILLIXR/ILLIXR/pull/394
• The logging infrastructure was overhauled to use spdlog by @mvanmoer in https://github.com/ILLIXR/ILLIXR/pull/391
• The documentation was overhauled to make it more clear and descriptive as well as provide an interactive tool to select plugins and get their dependencies and customized build commands by @hungdche and @astro-friedel in https://github.com/ILLIXR/ILLIXR/pull/361 and https://github.com/ILLIXR/ILLIXR/pull/384
• The ILLIXR codebase was converted to a more modular build system (CMake) by @astro-friedel in https://github.com/ILLIXR/ILLIXR/pull/384

Issues

The following issues have been addressed and closed by this release

https://github.com/ILLIXR/ILLIXR/issues/42 Evaluate Ninja/CMake/Bazel for plugin build system https://github.com/ILLIXR/ILLIXR/issues/44 Add human-readable logging infrastructure https://github.com/ILLIXR/ILLIXR/issues/50 Separate IMU/camera Switchboard topics https://github.com/ILLIXR/ILLIXR/issues/181 Fix plugin documentation https://github.com/ILLIXR/ILLIXR/issues/188 Separate out Qemu setup from main setup https://github.com/ILLIXR/ILLIXR/issues/205 Switch languages for the runner's config's schema https://github.com/ILLIXR/ILLIXR/issues/213 Preserve partial progress in our Makefile https://github.com/ILLIXR/ILLIXR/issues/231 Refactor configurations to reduce redundancy https://github.com/ILLIXR/ILLIXR/issues/313 Add libgtsam.so symlink in gtsam install script https://github.com/ILLIXR/ILLIXR/issues/358 Update Documentations https://github.com/ILLIXR/ILLIXR/issues/360 Memory leak in offline_imu_cam plugin https://github.com/ILLIXR/ILLIXR/issues/367 Installation issue on Ubuntu 22.04 https://github.com/ILLIXR/ILLIXR/issues/398 Required GPU specifications https://github.com/ILLIXR/ILLIXR/issues/399 Reduce dependency on OpenCV https://github.com/ILLIXR/ILLIXR/issues/400 Header/include cleanup is needed

Full Changelog: https://github.com/ILLIXR/ILLIXR/compare/v3.1.0...v3.2.0

Release Notes

• Added a new core runtime service called RelativeClock to standardize timestamping and duration calculation in the system
• Added a set of new plugins under offload_vio/ that enable the offloading of VIO from the device to a remote server
• Added a new plugin record_imu_cam that enables data collection with a real camera for later offline use
• Bug fixes to realsense

What's Changed

• Add IMU and Cam Recorder by @hungdche in https://github.com/ILLIXR/ILLIXR/pull/327
• Add Offloading VIO Plugins to ILLIXR by @JeffreyZh4ng in https://github.com/ILLIXR/ILLIXR/pull/331
• Fix RealSense plugin by @mhuzai in https://github.com/ILLIXR/ILLIXR/pull/337
• Standardize time in ILLIXR by @charmoniumQ in https://github.com/ILLIXR/ILLIXR/pull/250

Full Changelog: https://github.com/ILLIXR/ILLIXR/compare/v3.0.0...v3.1.0

Release Notes

• Bug fixes to install script, pose_lookup, and dynamic_lib
• Documentation updates
• New documentation for using Switchboard standalone

While this is technically a patch, we are bumping the version to 3.0.0 because Switchboard had an API change in v2.1.11 and we forgot to bump up the major version then.

What's Changed

• Don't use sudo by @charmoniumQ in https://github.com/ILLIXR/ILLIXR/pull/322
• Revert boost install script by @mhuzai in https://github.com/ILLIXR/ILLIXR/pull/323
• Fix docs by @charmoniumQ in https://github.com/ILLIXR/ILLIXR/pull/319
• Fixed pose_lookup and dynamic_lib by @e3m3 in https://github.com/ILLIXR/ILLIXR/pull/304
• Added documentation for using Switchboard and Phonebook externally by @charmoniumQ in https://github.com/ILLIXR/ILLIXR/pull/320
• Fix and add documentation by @mhuzai in https://github.com/ILLIXR/ILLIXR/pull/330

Full Changelog: https://github.com/ILLIXR/ILLIXR/compare/v2.1.11...v3.0.0

Updated plugins

• realsense:
  • Expanded supported cameras to include D4XX and T26X.
• qemu:
  • Updated script to pull and run Ubuntu 18.04.6.
• timewarp_gl:
  • Fixed memory leak by moving the destructor to ‘xlib_gl_extended_window’.
  • Added option to disable timewarping without disabling the plugin.
  • Suppressed per frame prints.
• ground_truth_slam:
  • Promoted instance-member to local variable.
• gtsam_integrator:
  • Fixed to dump all sqlite files once ILLIXR shuts down.
• gldemo:
  • Suppressed per frame prints.

New plugins

• depthai:
  • Added support for DepthAI and OAK-D cameras.
• offload_data:
  • Added support to synchronously collect rendered images and poses on-the-fly.

Build and CI infrastructure

• Updated dependency install scripts
  • Fixed gtsam,and opengv install script.
  • Enabled libboost in deps.sh.
  • Updated dependencies for Ubuntu 21.
  • Updated build and dependency installation script with DepthAI.
  • Canonicalized install script structure (fetch -> build -> install).
• Added Eigen install script.
• Added package dependencies install support for IntelRealSense for Ubuntu 18 LTS.
• Fixed libgtsam symlink.
• Fixed ZED compilation.
• Fixed compilation with OpenVINS.
• Migrated to tag-based checkouts for out-of-repo plugins.
• Other minor modifications.

Documentation and guidelines

• README.md
  • Fixed internal links.
  • Other minor modifications.
• Documentation
  • Fixed a number of outdated information, broken links,typos, and unclear descriptions.
  • Fixed documentation figures and topic descriptions.
  • Fixed description of OpenXR Spaces for Monado Integration.
  • Updated contributing guidelines with step-by-step instructions.
  • Updated instructions on writing customized plugins.
  • Added explicit definitions for adding cmd and environment variables.
  • Removed unused code and documentation.
• License
  • Addressed missing licence information for GTSAM, Kimera-VIO and moodycamel::ConqurrentQueue.

Improved runtime

• Added errno checking.
• Added verbose errors flag.
• Added additional debugging info/support.
• Added a lock-based queue for the debugging process.
• Added KIMERA_ROOT to default monado config.
• Added git tags for mondao_integration launch configuration.
• Added stoplight to synchronize thread starts/stops.
• Added explicit definitions for adding cmd and environment variables.
• Enabled non-ILLIXR specific files to be potentially reused.
• Cleared errno in XOpenDisplay.
• Updated ILLIXR runtime for new Monado integration.
• Changed Switchboard to use ref-counting to patch memory leak.
• Changed the tqdm bar to show units (bytes/kbytes/…).
• Fixed ‘clean’ configuration (clean.yaml).
• Fixed ‘headless’ configuration command argument.
• Fixed the issue that running ILLIXR on dbg mode cannot exit cleanly.
• Fixed GL performance warning to be no longer fatal.
• Inlined global helper function.

• Updated plugins
  • New: pose_prediction, pose_lookup, kimera-vio, realsense, gtsam_integrator, audio decoding
  • Removed (Git) submodules
  • Fixed ground truth for plugins
  • Fixed OpenVins Motion-to-Photon
  • New global camera shutter
  • New object and interpupilary distance (IPD) rendering
  • Improved hologram performance
  • Using Euroc dataset
• New build and CI infrastructure
  • Fixed GTSAM build
  • Fixed Kimera-VIO build
  • New parallel building for Runner
  • New source (Git) and dataset fetching for Runner
  • New headless support (xvfb)
  • New virtualization support (qemu)
  • New CI workflows for master branch and pull requests
  • Updated dependency installations for Docker
  • Updated configurations (e.g., native-lookup, ci)
  • Fixed Monado integration
  • New instrumented OpenCV
• New documentation and guidelines
  • New plugins documentation
  • New Runner documentation
  • New contributing guidelines
• Improved runtime
  • New Switchboard API
  • Updated synchronization for readers and writers
  • New threaded plugins
  • New timing instrumentation
  • New logging infrastructure (SQLite support)

• Added support for ZED Mini
• Improved build system
• Streamlined Monado integration
• Added logging interface (implementation pending)
• Improved core runtime (switchboard, phonebook, and sleeping mechanism)
• Updated documentation

Tweaked documentation.

v1 of ILLIXR contains only standalone components. See the v2 release for the runtime and component integration.

• Added runtime framework (spindle, switchboard, phonebook, logger)
• Added OpenXR support
• Integrated components into runtime framework
• Enabled end-to-end system
• Added docs

Initial release of ILLIXR with SLAM, scene reconstruction, audio recording and playback, lens distortion correction, chromatic aberration correction, timewarp, and computational holography.