fixed vector size mismatch between matched and status vectors

2022-08-22 11:28:34 +03:00
commit 1b13777c36
177 changed files with 25221 additions and 0 deletions
--- a/config/master_config.yaml
+++ b/config/master_config.yaml
@@ -0,0 +1,28 @@
+%YAML:1.0
+
+
+# general parameters
+imu: 1 # if zero we do full 6 dof, otherwise if 1 then 4 dof optimization
+output_path: "~/output/" # where to save final trajectory
+
+
+# loop closure saving parameters
+load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
+pose_graph_save_path: "~/output/pose_graph/" # save and load path
+save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0
+
+
+# loop closure parameters
+recall_ignore_recent_ct: 40 # how many frames we should skip that are recent (avoid matching to recent frames)
+min_score: 0.030 # min score from dbow to try to loop closure with (0.015 default)
+pnp_inflation: 10.0 # amount to inflate pnp ransac sigma by (10.0 default)
+
+max_theta_diff: 170.0 # max orientation diff between keyframe and query frame (degrees)
+max_pos_diff: 1.5 # max position diff between keyframe and query frame (meters)
+min_loop_feat_num: 35 # minimum number of features needed to be matched between the keyframe and query frame
+
+# keyframing parameters
+skip_dist: 0.02 # meters, distance between keyframes
+skip_cnt: 0 # num, skip every n frames (typically don't need unless high framerate)
+
+
--- a/config/vins_rviz_config.rviz
+++ b/config/vins_rviz_config.rviz
@@ -0,0 +1,513 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /LoopGroup1
+        - /LoopGroup1/loopLink1/Namespaces1
+        - /VIOGroup1
+      Splitter Ratio: 0.465115994
+    Tree Height: 242
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: track_image
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 359
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        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/TF
+      Enabled: true
+      Frame Timeout: 999
+      Frames:
+        All Enabled: true
+        cam0:
+          Value: true
+        global:
+          Value: true
+        imu:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        global:
+          imu:
+            cam0:
+              {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Axes
+      Enabled: false
+      Length: 0.5
+      Name: Axes
+      Radius: 0.0500000007
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /loop_fusion_node/pose_graph
+          Name: loopLink
+          Namespaces:
+            CameraPoseVisualization: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/MarkerArray
+          Enabled: false
+          Marker Topic: /loop_fusion_node/camera_pose_visual
+          Name: loopCamera
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Alpha: 1
+          Axes Length: 0.200000003
+          Axes Radius: 0.0199999996
+          Class: rviz/PoseWithCovariance
+          Color: 255; 25; 0
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.300000012
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: false
+          Enabled: true
+          Head Length: 0.300000012
+          Head Radius: 0.100000001
+          Name: PoseWithCovariance
+          Shaft Length: 1
+          Shaft Radius: 0.0500000007
+          Shape: Axes
+          Topic: /ov_secondary/poseimu
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 204; 0; 0
+          Enabled: true
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0399999991
+          Name: loopPath 1
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
+          Topic: /loop_fusion_node/path_1
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 255; 170; 0
+          Enabled: true
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0399999991
+          Name: loopPath 2
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
+          Topic: /loop_fusion_node/path_2
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 170; 0; 255
+          Enabled: true
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0399999991
+          Name: loopPath 3
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
+          Topic: /loop_fusion_node/path_3
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: -0.00362956035
+            Min Value: -0.155465692
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud
+          Color: 255; 255; 255
+          Color Transformer: FlatColor
+          Decay Time: 10
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: PointCloud
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 2
+          Size (m): 0.00999999978
+          Style: Points
+          Topic: /loop_fusion/margin_cloud_loop_rect
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - 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: 0; 255; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: PointCloud
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 4
+          Size (m): 0.00999999978
+          Style: Points
+          Topic: /loop_fusion/point_cloud_loop_rect
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: /ov_secondary/match_image
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: loop_match_Image
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: LoopGroup
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 25; 255; 0
+          Enabled: true
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0299999993
+          Name: VIOPath
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
+          Topic: /ov_msckf/pathimu
+          Unreliable: false
+          Value: true
+        - Class: rviz/MarkerArray
+          Enabled: false
+          Marker Topic: /vins_estimator/camera_pose_visual
+          Name: CameraMarker
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Alpha: 1
+          Axes Length: 0.200000003
+          Axes Radius: 0.0199999996
+          Class: rviz/PoseWithCovariance
+          Color: 255; 25; 0
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.300000012
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: false
+          Enabled: false
+          Head Length: 0.300000012
+          Head Radius: 0.100000001
+          Name: PoseWithCovariance
+          Shaft Length: 1
+          Shaft Radius: 0.0500000007
+          Shape: Axes
+          Topic: /ov_msckf/poseimu
+          Unreliable: false
+          Value: false
+        - 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: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: PointCloud
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 2
+          Size (m): 0.00999999978
+          Style: Points
+          Topic: /vins_estimator/point_cloud
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - 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; 255
+          Color Transformer: Intensity
+          Decay Time: 1
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: PointCloud2
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.00999999978
+          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/PointCloud
+          Color: 0; 255; 0
+          Color Transformer: FlatColor
+          Decay Time: 100
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: HistoryPointCloud
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 1
+          Size (m): 0.00999999978
+          Style: Points
+          Topic: /vins_estimator/margin_cloud
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: /ov_msckf/trackhist
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: track_image
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: VIOGroup
+  Enabled: true
+  Global Options:
+    Background Color: 0; 0; 0
+    Default Light: true
+    Fixed Frame: global
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - 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: 19.7382278
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        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: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.855398118
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.890398085
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1855
+  X: 65
+  Y: 24
+  loop_match_Image:
+    collapsed: false
+  track_image:
+    collapsed: false