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Map builder

Frontend and backend server code for creating visual positioning maps with the Hierarchical Localization framework. The input data can come from StrayScanner RGBD recordings.

This component is part of OpenVPS: Open Visual Positioning Service.

Authors: Denes Bisztray (@bisztray), Andor Kovacs (@KovacsA22), Gabor Soros (@soeroesg)

Local setup

Note that a docker compose file is provided in the main repository. Local setup is only required if you want to modify the code.

Hierarchical-Localization

Clone Hierarchical-Localization next to the mapbuilder code. Use a specific commit version below.

cd mapbuilder/..
git clone https://github.com/cvg/Hierarchical-Localization.git
cd Hierarchical-Localization
git checkout abb252080282e31147db6291206ca102c43353f7
git submodule update --init --recursive

Python virtual environment

cd Backend
python3 -m venv .venv
. .venv/bin/activate
pip install --no-cache-dir --verbose \
    numpy \
    pyyaml \
    ruamel.yaml \
    matplotlib \
    opencv-python \
    opencv-contrib-python \
    transforms3d

Install HLOC

pip install -e ../../Hierarchical-Localization

Authentication

We use FusionAuth for authentication to protect the maps. Download and run FusionAuth locally in Docker. See the main OpenVPS documentation for configuring FusionAuth.

Backend Setup

The code was developed and tested with NodeJS 22.

Adapt your backend port in service.ts.

Install the dependencies:

cd Backend
npm install

Create an environment file Backend/.env similar to:

uploadsDir=/home/username/data/uploads
scriptsDir=/home/username/dev/openvps/mapbuilder/scripts_mapping
hlocDir=/home/username/dev/openvps/Hierarchical-Localization
shell=bash

AUTH_FUSIONAUTH_ID=
AUTH_FUSIONAUTH_SECRET=
AUTH_FUSIONAUTH_ISSUER=
AUTH_SECRET=

DEFAULT_LONGITUDE=
DEFAULT_LATITUDE=
DEFAULT_HEIGHT=

MAPLOCALIZER_URL=

Run the server:

cd Backend
. .venv/bin/activate
npx tsx src/index.ts

Frontend Setup

Adapt your frontend port and backend IP and port in vite.config.ts:

server: {
    port: 8047,
    proxy: {
      ...
    }
  }

Then install the dependencies

cd Frontend
npm install

And run the server:

cd Frontend
npm run dev -- --host

Third-party libraries

The backend relies on the Hierarchical Localization framework for building point cloud maps.

The Frontend uses shadcn-svelte component library The files under Frontend/src/lib are from shadcn-svelte. Shadcn-svelte components are added as needed, see instructions Example commmand to add the button component npx shadcn-svelte@latest add button

Do not add any of our own files under Frontend/src/lib. This way we can delete and recreate this directory as needed, not impacting our codes.

Icons are from Phosphor Icons (regular version). Change <svg> tag attributes to width="24" height="24" fill="currentColor" after importing a new one.