initial commit
This commit is contained in:
365
ov_msckf/launch/display.rviz
Normal file
365
ov_msckf/launch/display.rviz
Normal file
@@ -0,0 +1,365 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 0
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Camera1
|
||||
- /Camera1/Status1
|
||||
Splitter Ratio: 0.6011396050453186
|
||||
Tree Height: 345
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 112; 112; 115
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 80
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /ov_msckf/trackhist
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image Tracks
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: compressed
|
||||
Unreliable: false
|
||||
Value: true
|
||||
Camera Info Topic: /ov_msckf/camera_info
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /ov_msckf/loop_depth_colored
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Current Depths
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: compressed
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Camera Info Topic: /ov_msckf/camera_info
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 0; 255; 0
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Billboards
|
||||
Line Width: 0.009999999776482582
|
||||
Name: Path VIO
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Queue Size: 10
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /ov_msckf/pathimu
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 0; 255; 255
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Billboards
|
||||
Line Width: 0.029999999329447746
|
||||
Name: Path GT
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Queue Size: 10
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /ov_msckf/pathgt
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 0.800000011920929
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 252; 175; 62
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: MSCKF Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 8
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_msckf
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 0; 0
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: SLAM Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 8
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_slam
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 117; 80; 123
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: ARUCO Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 15
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_aruco
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: ACTIVE Features
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/loop_feats
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 127
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: SIM Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_sim
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rviz/Camera
|
||||
Camera Info Topic: /ov_msckf/camera_info
|
||||
Enabled: true
|
||||
Image Rendering: background and overlay
|
||||
Image Topic: /ov_msckf/trackhist
|
||||
Name: Camera
|
||||
Overlay Alpha: 0.5
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Unreliable: false
|
||||
Value: true
|
||||
Visibility:
|
||||
ACTIVE Features: true
|
||||
ARUCO Points: true
|
||||
Current Depths: true
|
||||
Grid: true
|
||||
Image Tracks: true
|
||||
MSCKF Points: true
|
||||
Path GT: true
|
||||
Path VIO: true
|
||||
SIM Points: true
|
||||
SLAM Points: true
|
||||
TF: true
|
||||
Value: true
|
||||
Zoom Factor: 1
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 44; 44; 44
|
||||
Default Light: true
|
||||
Fixed Frame: global
|
||||
Frame Rate: 60
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 12.363367080688477
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: false
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.8953980803489685
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 0.8253981471061707
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Camera:
|
||||
collapsed: false
|
||||
Current Depths:
|
||||
collapsed: false
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1016
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
Image Tracks:
|
||||
collapsed: false
|
||||
QMainWindow State: 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
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1920
|
||||
X: 0
|
||||
Y: 27
|
||||
329
ov_msckf/launch/display_driving.rviz
Normal file
329
ov_msckf/launch/display_driving.rviz
Normal file
@@ -0,0 +1,329 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 0
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded: ~
|
||||
Splitter Ratio: 0.6000000238418579
|
||||
Tree Height: 467
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 10
|
||||
Class: rviz/Grid
|
||||
Color: 112; 112; 115
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 500
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 999
|
||||
Frames:
|
||||
All Enabled: true
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 50
|
||||
Name: TF
|
||||
Show Arrows: false
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /ov_msckf/trackhist
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 0; 255; 0
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Billboards
|
||||
Line Width: 1
|
||||
Name: Path VIO
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Queue Size: 10
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /ov_msckf/pathimu
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 0; 255; 255
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Billboards
|
||||
Line Width: 1
|
||||
Name: Path GT
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Queue Size: 10
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /ov_msckf/pathgt
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 0.4000000059604645
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 252; 175; 62
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 5
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: MSCKF Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 2
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_msckf
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 0; 0
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: SLAM Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 5
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_slam
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 170; 0
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: ARUCO Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 15
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_aruco
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 127
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: SIM Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_sim
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: Intensity
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: Active Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/loop_feats
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 44; 44; 44
|
||||
Default Light: true
|
||||
Fixed Frame: global
|
||||
Frame Rate: 60
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Angle: 0
|
||||
Class: rviz/TopDownOrtho
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Scale: 2.45080828666687
|
||||
Target Frame: imu
|
||||
X: 0
|
||||
Y: 0
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 972
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 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
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1707
|
||||
X: 2243
|
||||
Y: 1301
|
||||
353
ov_msckf/launch/display_ros2.rviz
Normal file
353
ov_msckf/launch/display_ros2.rviz
Normal file
@@ -0,0 +1,353 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 0
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded: ~
|
||||
Splitter Ratio: 0.4882352948188782
|
||||
Tree Height: 272
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 120
|
||||
Frames:
|
||||
All Enabled: true
|
||||
cam0:
|
||||
Value: true
|
||||
global:
|
||||
Value: true
|
||||
imu:
|
||||
Value: true
|
||||
truth:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: false
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
global:
|
||||
imu:
|
||||
cam0:
|
||||
{}
|
||||
truth:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image Tracks
|
||||
Normalize Range: true
|
||||
Queue Size: 10
|
||||
Topic: /ov_msckf/trackhist
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: false
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Current Depths
|
||||
Normalize Range: true
|
||||
Queue Size: 10
|
||||
Topic: /ov_msckf/loop_depth_colored
|
||||
Unreliable: false
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz_default_plugins/Path
|
||||
Color: 25; 255; 0
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Billboards
|
||||
Line Width: 0.009999999776482582
|
||||
Name: Path VIO
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /ov_msckf/pathimu
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz_default_plugins/Path
|
||||
Color: 0; 255; 255
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Billboards
|
||||
Line Width: 0.009999999776482582
|
||||
Name: Path GT
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /ov_msckf/pathgt
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 0.800000011920929
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 252; 175; 62
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MSCKF Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 8
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_msckf
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 0; 0
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: SLAM Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 8
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_slam
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 117; 80; 123
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: ARUCO Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 15
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_aruco
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: ACTIVE Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/loop_feats
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 127
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: SIM Points
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /ov_msckf/points_sim
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: global
|
||||
Frame Rate: 60
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 10
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: false
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.9453980326652527
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.7853981852531433
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Current Depths:
|
||||
collapsed: false
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 690
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
Image Tracks:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000258fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000180049006d00610067006500200054007200610063006b00730100000190000001050000002800fffffffb0000000a0049006d00610067006501000001c60000011c0000000000000000fb0000001c00430075007200720065006e0074002000440065007000740068007300000001eb000000b50000002800ffffff000000010000010f00000218fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000218000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000039b0000025800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1291
|
||||
X: 2051
|
||||
Y: 110
|
||||
69
ov_msckf/launch/serial.launch
Normal file
69
ov_msckf/launch/serial.launch
Normal file
@@ -0,0 +1,69 @@
|
||||
<launch>
|
||||
|
||||
<!-- what config we are going to run (should match folder name) -->
|
||||
<arg name="verbosity" default="INFO" /> <!-- ALL, DEBUG, INFO, WARNING, ERROR, SILENT -->
|
||||
<arg name="config" default="euroc_mav" /> <!-- euroc_mav, tum_vi, rpng_aruco -->
|
||||
<arg name="config_path" default="$(find ov_msckf)/../config/$(arg config)/estimator_config.yaml" />
|
||||
|
||||
<!-- mono or stereo and what ros bag to play -->
|
||||
<arg name="max_cameras" default="2" />
|
||||
<arg name="use_stereo" default="true" />
|
||||
<arg name="bag_start" default="0" /> <!-- v1-2: 0, mh1: 40, mh2: 35, mh3: 17.5, mh4-5: 15 -->
|
||||
<arg name="dataset" default="V1_02_medium" /> <!-- V1_01_easy, V1_02_medium, V2_02_medium -->
|
||||
<arg name="bag" default="/media/patrick/RPNG FLASH 3/$(arg config)/$(arg dataset).bag" />
|
||||
<!-- <arg name="bag" default="/datasets/$(arg config)/$(arg dataset).bag" />-->
|
||||
|
||||
<!-- saving trajectory path and timing information -->
|
||||
<arg name="dosave" default="false" />
|
||||
<arg name="dotime" default="false" />
|
||||
<arg name="path_est" default="/tmp/traj_estimate.txt" />
|
||||
<arg name="path_time" default="/tmp/traj_timing.txt" />
|
||||
|
||||
<!-- if we should viz the groundtruth -->
|
||||
<arg name="dolivetraj" default="false" />
|
||||
<arg name="path_gt" default="$(find ov_data)/$(arg config)/$(arg dataset).txt" />
|
||||
|
||||
|
||||
<!-- MASTER NODE! -->
|
||||
<!-- <node name="ros1_serial_msckf" pkg="ov_msckf" type="ros1_serial_msckf" output="screen" clear_params="true" required="true" launch-prefix="gdb -ex run --args">-->
|
||||
<node name="ros1_serial_msckf" pkg="ov_msckf" type="ros1_serial_msckf" output="screen" clear_params="true" required="true">
|
||||
|
||||
<!-- bag parameters -->
|
||||
<param name="path_bag" type="str" value="$(arg bag)" />
|
||||
<param name="bag_start" type="double" value="$(arg bag_start)" />
|
||||
<param name="bag_durr" type="int" value="-1" />
|
||||
|
||||
<!-- master configuration object -->
|
||||
<param name="verbosity" type="str" value="$(arg verbosity)" />
|
||||
<param name="config_path" type="str" value="$(arg config_path)" />
|
||||
<param name="multi_threading" type="bool" value="false" />
|
||||
|
||||
<!-- world/filter parameters -->
|
||||
<param name="use_stereo" type="bool" value="$(arg use_stereo)" />
|
||||
<param name="max_cameras" type="int" value="$(arg max_cameras)" />
|
||||
|
||||
<!-- timing statistics recording -->
|
||||
<param name="record_timing_information" type="bool" value="$(arg dotime)" />
|
||||
<param name="record_timing_filepath" type="str" value="$(arg path_time)" />
|
||||
|
||||
</node>
|
||||
|
||||
<!-- record the trajectory if enabled -->
|
||||
<group if="$(arg dosave)">
|
||||
<node name="recorder_estimate" pkg="ov_eval" type="pose_to_file" output="screen" required="true">
|
||||
<param name="topic" type="str" value="/ov_msckf/poseimu" />
|
||||
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
|
||||
<param name="output" type="str" value="$(arg path_est)" />
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<!-- path viz of aligned gt -->
|
||||
<group if="$(arg dolivetraj)">
|
||||
<node name="live_align_trajectory" pkg="ov_eval" type="live_align_trajectory" output="log" clear_params="true">
|
||||
<param name="alignment_type" type="str" value="posyaw" />
|
||||
<param name="path_gt" type="str" value="$(arg path_gt)" />
|
||||
</node>
|
||||
</group>
|
||||
|
||||
|
||||
</launch>
|
||||
106
ov_msckf/launch/simulation.launch
Normal file
106
ov_msckf/launch/simulation.launch
Normal file
@@ -0,0 +1,106 @@
|
||||
<launch>
|
||||
|
||||
|
||||
<!-- ================================================================ -->
|
||||
<!-- ================================================================ -->
|
||||
|
||||
<!-- what config we are going to run (should match folder name) -->
|
||||
<arg name="verbosity" default="INFO" /> <!-- ALL, DEBUG, INFO, WARNING, ERROR, SILENT -->
|
||||
<arg name="config" default="rpng_sim" />
|
||||
<arg name="config_path" default="$(find ov_msckf)/../config/$(arg config)/estimator_config.yaml" />
|
||||
|
||||
<!-- simulation parameters we can vary with our scripts -->
|
||||
<arg name="seed" default="3" />
|
||||
<arg name="fej" default="true" />
|
||||
<arg name="feat_rep" default="GLOBAL_3D" />
|
||||
<arg name="num_clones" default="11" />
|
||||
<arg name="num_slam" default="50" />
|
||||
<arg name="num_pts" default="100" />
|
||||
<arg name="max_cameras" default="2" />
|
||||
|
||||
<arg name="freq_cam" default="10" />
|
||||
<arg name="freq_imu" default="400" />
|
||||
|
||||
<arg name="dataset" default="udel_gore.txt" /> <!-- udel_gore, udel_gore_zupt, tum_corridor1_512_16_okvis, udel_arl -->
|
||||
|
||||
<!-- if we should perturb the initial state values (i.e. calibration) -->
|
||||
<arg name="sim_do_perturbation" default="true" />
|
||||
<arg name="sim_do_calibration" default="true" />
|
||||
|
||||
<!-- saving trajectory paths -->
|
||||
<arg name="dosave_pose" default="false" />
|
||||
<arg name="path_est" default="$(find ov_eval)/data/sim/traj_estimate.txt" />
|
||||
<arg name="path_gt" default="$(find ov_eval)/data/sim/traj_groundtruth.txt" />
|
||||
<arg name="dosave_state" default="false" />
|
||||
<arg name="path_state_est" default="$(find ov_eval)/data/sim/state_estimate.txt" />
|
||||
<arg name="path_state_std" default="$(find ov_eval)/data/sim/state_deviation.txt" />
|
||||
<arg name="path_state_gt" default="$(find ov_eval)/data/sim/state_groundtruth.txt" />
|
||||
|
||||
|
||||
<!-- ================================================================ -->
|
||||
<!-- ================================================================ -->
|
||||
|
||||
|
||||
<!-- MASTER NODE! -->
|
||||
<node name="run_simulation" pkg="ov_msckf" type="run_simulation" output="screen" clear_params="true" required="true">
|
||||
<!-- <node name="run_simulation" pkg="ov_msckf" type="run_simulation" output="screen" clear_params="true" required="true" launch-prefix="gdb -ex run --args">-->
|
||||
|
||||
<!-- =============================================== -->
|
||||
<!-- SIMULATION PARAMETERS -->
|
||||
<!-- =============================================== -->
|
||||
|
||||
<param name="sim_traj_path" type="str" value="$(find ov_data)/sim/$(arg dataset)" />
|
||||
<param name="sim_seed_state_init" type="int" value="0" />
|
||||
<param name="sim_seed_measurements" type="int" value="$(arg seed)" />
|
||||
<param name="sim_seed_preturb" type="int" value="$(arg seed)" />
|
||||
<param name="sim_freq_cam" type="int" value="$(arg freq_cam)" />
|
||||
<param name="sim_freq_imu" type="int" value="$(arg freq_imu)" />
|
||||
<param name="sim_do_perturbation" type="bool" value="$(arg sim_do_perturbation)" />
|
||||
|
||||
<param name="save_total_state" type="bool" value="$(arg dosave_state)" />
|
||||
<param name="filepath_est" type="str" value="$(arg path_state_est)" />
|
||||
<param name="filepath_std" type="str" value="$(arg path_state_std)" />
|
||||
<param name="filepath_gt" type="str" value="$(arg path_state_gt)" />
|
||||
|
||||
<!-- =============================================== -->
|
||||
<!-- =============================================== -->
|
||||
|
||||
<!-- master configuration object -->
|
||||
<param name="verbosity" type="str" value="$(arg verbosity)" />
|
||||
<param name="config_path" type="str" value="$(arg config_path)" />
|
||||
<param name="multi_threading" type="bool" value="false" />
|
||||
|
||||
<!-- world/filter parameters -->
|
||||
<param name="use_fej" type="bool" value="$(arg fej)" />
|
||||
<param name="calib_cam_extrinsics" type="bool" value="$(arg sim_do_calibration)" />
|
||||
<param name="calib_cam_intrinsics" type="bool" value="$(arg sim_do_calibration)" />
|
||||
<param name="calib_cam_timeoffset" type="bool" value="$(arg sim_do_calibration)" />
|
||||
<param name="max_clones" type="int" value="$(arg num_clones)" />
|
||||
<param name="max_slam" type="int" value="$(arg num_slam)" />
|
||||
<param name="max_cameras" type="int" value="$(arg max_cameras)" />
|
||||
<param name="feat_rep_msckf" type="str" value="$(arg feat_rep)" />
|
||||
<param name="feat_rep_slam" type="str" value="$(arg feat_rep)" />
|
||||
<param name="feat_rep_aruco" type="str" value="$(arg feat_rep)" />
|
||||
|
||||
<!-- tracker/extractor properties -->
|
||||
<param name="num_pts" type="int" value="$(arg num_pts)" />
|
||||
|
||||
</node>
|
||||
|
||||
|
||||
<!-- record the trajectory if enabled -->
|
||||
<group if="$(arg dosave_pose)">
|
||||
<node name="recorder_estimate" pkg="ov_eval" type="pose_to_file" output="screen">
|
||||
<param name="topic" type="str" value="/ov_msckf/poseimu" />
|
||||
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
|
||||
<param name="output" type="str" value="$(arg path_est)" />
|
||||
</node>
|
||||
<node name="recorder_groundtruth" pkg="ov_eval" type="pose_to_file" output="screen">
|
||||
<param name="topic" type="str" value="/ov_msckf/posegt" />
|
||||
<param name="topic_type" type="str" value="PoseStamped" />
|
||||
<param name="output" type="str" value="$(arg path_gt)" />
|
||||
</node>
|
||||
</group>
|
||||
|
||||
|
||||
</launch>
|
||||
70
ov_msckf/launch/subscribe.launch
Normal file
70
ov_msckf/launch/subscribe.launch
Normal file
@@ -0,0 +1,70 @@
|
||||
<launch>
|
||||
|
||||
<!-- what config we are going to run (should match folder name) -->
|
||||
<arg name="verbosity" default="INFO" /> <!-- ALL, DEBUG, INFO, WARNING, ERROR, SILENT -->
|
||||
<arg name="config" default="uzh-fpv" /> <!-- euroc_mav, tum_vi, rpng_aruco -->
|
||||
<arg name="config_path" default="$(find ov_msckf)/../config/$(arg config)/estimator_config.yaml" />
|
||||
|
||||
<!-- mono or stereo and what ros bag to play -->
|
||||
<arg name="max_cameras" default="2" />
|
||||
<arg name="use_stereo" default="true" />
|
||||
<arg name="bag_start" default="0" /> <!-- v1-2: 0, mh1: 40, mh2: 35, mh3: 17.5, mh4-5: 15 -->
|
||||
<arg name="dataset" default="indoor_forward_3_snapdragon_with_gt" /> <!-- V1_01_easy, V1_02_medium, V2_02_medium -->
|
||||
<arg name="dobag" default="false" /> <!-- if we should play back the bag -->
|
||||
<!-- <arg name="bag" default="/media/patrick/RPNG\ FLASH\ 3/$(arg config)/$(arg dataset).bag" /> -->
|
||||
<arg name="bag" default="/home/pi/work_drivecast/datasets/$(arg config)/$(arg dataset).bag" />
|
||||
<!-- <arg name="bag" default="/datasets/$(arg config)/$(arg dataset).bag" />-->
|
||||
|
||||
<!-- saving trajectory path and timing information -->
|
||||
<arg name="dosave" default="false" />
|
||||
<arg name="dotime" default="false" />
|
||||
<arg name="path_est" default="/tmp/traj_estimate.txt" />
|
||||
<arg name="path_time" default="/tmp/traj_timing.txt" />
|
||||
|
||||
<!-- if we should viz the groundtruth -->
|
||||
<arg name="dolivetraj" default="false" />
|
||||
<arg name="path_gt" default="$(find ov_data)/$(arg config)/$(arg dataset).txt" />
|
||||
|
||||
|
||||
<!-- MASTER NODE! -->
|
||||
<!-- <node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true" launch-prefix="gdb -ex run --args">-->
|
||||
<node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true">
|
||||
|
||||
<!-- master configuration object -->
|
||||
<param name="verbosity" type="string" value="$(arg verbosity)" />
|
||||
<param name="config_path" type="string" value="$(arg config_path)" />
|
||||
|
||||
<!-- world/filter parameters -->
|
||||
<param name="use_stereo" type="bool" value="$(arg use_stereo)" />
|
||||
<param name="max_cameras" type="int" value="$(arg max_cameras)" />
|
||||
|
||||
<!-- timing statistics recording -->
|
||||
<param name="record_timing_information" type="bool" value="$(arg dotime)" />
|
||||
<param name="record_timing_filepath" type="string" value="$(arg path_time)" />
|
||||
|
||||
</node>
|
||||
|
||||
<!-- play the dataset -->
|
||||
<group if="$(arg dobag)">
|
||||
<node pkg="rosbag" type="play" name="rosbag" args="-d 1 -s $(arg bag_start) $(arg bag)" required="true"/>
|
||||
</group>
|
||||
|
||||
<!-- record the trajectory if enabled -->
|
||||
<group if="$(arg dosave)">
|
||||
<node name="recorder_estimate" pkg="ov_eval" type="pose_to_file" output="screen" required="true">
|
||||
<param name="topic" type="str" value="/ov_msckf/poseimu" />
|
||||
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
|
||||
<param name="output" type="str" value="$(arg path_est)" />
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<!-- path viz of aligned gt -->
|
||||
<group if="$(arg dolivetraj)">
|
||||
<node name="live_align_trajectory" pkg="ov_eval" type="live_align_trajectory" output="log" clear_params="true">
|
||||
<param name="alignment_type" type="str" value="posyaw" />
|
||||
<param name="path_gt" type="str" value="$(arg path_gt)" />
|
||||
</node>
|
||||
</group>
|
||||
|
||||
|
||||
</launch>
|
||||
114
ov_msckf/launch/subscribe.launch.py
Normal file
114
ov_msckf/launch/subscribe.launch.py
Normal file
@@ -0,0 +1,114 @@
|
||||
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="ov_enable", default_value="true", description="enable OpenVINS node"
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rviz_enable", default_value="true", description="enable rviz node"
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="config",
|
||||
default_value="euroc_mav",
|
||||
description="euroc_mav, tum_vi, rpng_aruco...",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="config_path",
|
||||
default_value="",
|
||||
description="path to estimator_config.yaml. If not given, determined based on provided 'config' above",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="verbosity",
|
||||
default_value="INFO",
|
||||
description="ALL, DEBUG, INFO, WARNING, ERROR, SILENT",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="use_stereo",
|
||||
default_value="true",
|
||||
description="if we have more than 1 camera, if we should try to track stereo constraints between pairs",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="max_cameras",
|
||||
default_value="2",
|
||||
description="how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="save_total_state",
|
||||
default_value="false",
|
||||
description="record the total state with calibration and features to a txt file",
|
||||
)
|
||||
]
|
||||
|
||||
def launch_setup(context):
|
||||
config_path = LaunchConfiguration("config_path").perform(context)
|
||||
if not config_path:
|
||||
configs_dir = os.path.join(get_package_share_directory("ov_msckf"), "config")
|
||||
available_configs = os.listdir(configs_dir)
|
||||
config = LaunchConfiguration("config").perform(context)
|
||||
if config in available_configs:
|
||||
config_path = os.path.join(
|
||||
get_package_share_directory("ov_msckf"),
|
||||
"config",config,"estimator_config.yaml"
|
||||
)
|
||||
else:
|
||||
return [
|
||||
LogInfo(
|
||||
msg="ERROR: unknown config: '{}' - Available configs are: {} - not starting OpenVINS".format(
|
||||
config, ", ".join(available_configs)
|
||||
)
|
||||
)
|
||||
]
|
||||
else:
|
||||
if not os.path.isfile(config_path):
|
||||
return [
|
||||
LogInfo(
|
||||
msg="ERROR: config_path file: '{}' - does not exist. - not starting OpenVINS".format(
|
||||
config_path)
|
||||
)
|
||||
]
|
||||
node1 = Node(
|
||||
package="ov_msckf",
|
||||
executable="run_subscribe_msckf",
|
||||
condition=IfCondition(LaunchConfiguration("ov_enable")),
|
||||
namespace=LaunchConfiguration("namespace"),
|
||||
output='screen',
|
||||
parameters=[
|
||||
{"verbosity": LaunchConfiguration("verbosity")},
|
||||
{"use_stereo": LaunchConfiguration("use_stereo")},
|
||||
{"max_cameras": LaunchConfiguration("max_cameras")},
|
||||
{"save_total_state": LaunchConfiguration("save_total_state")},
|
||||
{"config_path": config_path},
|
||||
],
|
||||
)
|
||||
|
||||
node2 = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
condition=IfCondition(LaunchConfiguration("rviz_enable")),
|
||||
arguments=[
|
||||
"-d"
|
||||
+ os.path.join(
|
||||
get_package_share_directory("ov_msckf"), "launch", "display_ros2.rviz"
|
||||
),
|
||||
"--ros-args",
|
||||
"--log-level",
|
||||
"warn",
|
||||
],
|
||||
)
|
||||
|
||||
return [node1, node2]
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
opfunc = OpaqueFunction(function=launch_setup)
|
||||
ld = LaunchDescription(launch_args)
|
||||
ld.add_action(opfunc)
|
||||
return ld
|
||||
Reference in New Issue
Block a user