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fixed vector size mismatch between matched and status vectors

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admin1
2022-08-22 11:28:34 +03:00
commit 1b13777c36
177 changed files with 25221 additions and 0 deletions
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34
loop_fusion/launch/posegraph.launch Normal file
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<launch>
<arg name="config_path" default="$(find loop_fusion)/../config/master_config.yaml" />
<node name="loop_fusion_node" pkg="loop_fusion" type="loop_fusion_node" output="screen" args="$(arg config_path)" required="true">
<!-- <node name="loop_fusion_node" pkg="loop_fusion" type="loop_fusion_node" output="screen" args="$(arg config_path)" required="true" launch-prefix="gdb -ex run &#45;&#45;args">-->
<!-- INPUT: keyframe poses / marginalized poses -->
<remap from="/cam0/image_raw" to="/stereo/left/image_raw"/>
<remap from="/vins_estimator/extrinsic" to="/ov_msckf/loop_extrinsic"/>
<remap from="/vins_estimator/keyframe_point" to="/ov_msckf/loop_feats"/>
<remap from="/vins_estimator/keyframe_pose" to="/ov_msckf/odomimu"/>
<remap from="/vins_estimator/intrinsics" to="/ov_msckf/loop_intrinsics"/>
<!-- INPUT: current system pose and points -->
<remap from="/vins_estimator/pose" to="/ov_msckf/poseimu"/>
<!--<remap from="/vins_estimator/odometry" to="invalid1"/>-->
<!--<remap from="/vins_estimator/margin_cloud" to="invalid2"/>-->
<!-- OUTPUT: visualization topics -->
<remap from="/loop_fusion_node/match_image" to="/ov_secondary/match_image"/>
<remap from="/loop_fusion_node/pose_rect" to="/ov_secondary/poseimu"/>
<remap from="/loop_fusion_node/odometry_rect" to="/ov_secondary/odomimu"/>
</node>
</launch>

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loop_fusion/launch/record_eth.launch Normal file
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<launch>
<!-- settings for txt gen -->
<arg name="run_number" default="00" />
<arg name="mode_type" default="mono" />
<!-- what dataset we are using -->
<arg name="max_cameras" default="1" />
<arg name="dataset" default="V1_01_easy" /> <!-- V1_01_easy, V1_02_medium, V1_03_difficult -->
<arg name="bag" default="/home/patrick/datasets/eth/$(arg dataset).bag" />
<!-- saving trajectory path -->
<arg name="path_est" default="$(find loop_fusion)/../data/algorithms/$(arg mode_type)_open_vins/$(arg dataset)/$(arg run_number)_estimate.txt" />
<arg name="path_opt" default="$(find loop_fusion)/../data/algorithms/$(arg mode_type)_pose_graph/$(arg dataset)/$(arg run_number)_estimate.txt" />
<!-- ======================================================================= -->
<!-- ======================================================================= -->
<!-- VIO: include the other launch file -->
<include file="$(find ov_msckf)/launch/pgeneva_ros_eth.launch">
<arg name="max_cameras" value="$(arg max_cameras)" />
<arg name="bag" value="$(arg bag)" />
</include>
<!-- GRAPH: include the other launch file -->
<include file="$(find loop_fusion)/launch/posegraph.launch" />
<!-- record vio estimate -->
<node name="recorder_estimate1" pkg="ov_eval" type="pose_to_file" output="screen">
<param name="topic" type="str" value="/ov_msckf/poseimu" />
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
<param name="output" type="str" value="$(arg path_est)" />
</node>
<!-- record loop closed pose -->
<node name="recorder_estimate2" pkg="ov_eval" type="pose_to_file" output="screen">
<param name="topic" type="str" value="/ov_secondary/poseimu" />
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
<param name="output" type="str" value="$(arg path_opt)" />
</node>
<!-- ======================================================================= -->
<!-- ======================================================================= -->
</launch>

52
loop_fusion/launch/record_tumvi.launch Normal file
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<launch>
<!-- settings for txt gen -->
<arg name="run_number" default="00" />
<arg name="mode_type" default="mono" />
<!-- what dataset we are using -->
<arg name="max_cameras" default="1" />
<arg name="dataset" default="dataset-room1_512_16" /> <!-- dataset-room1_512_16 -->
<arg name="bag" default="/home/patrick/datasets/tum/$(arg dataset).bag" />
<!-- saving trajectory path -->
<arg name="path_est" default="$(find loop_fusion)/../data/algorithms/$(arg mode_type)_open_vins/$(arg dataset)/$(arg run_number)_estimate.txt" />
<arg name="path_opt" default="$(find loop_fusion)/../data/algorithms/$(arg mode_type)_pose_graph/$(arg dataset)/$(arg run_number)_estimate.txt" />
<!-- ======================================================================= -->
<!-- ======================================================================= -->
<!-- VIO: include the other launch file -->
<include file="$(find ov_msckf)/launch/pgeneva_ros_tum.launch">
<arg name="max_cameras" value="$(arg max_cameras)" />
<arg name="bag" value="$(arg bag)" />
</include>
<!-- GRAPH: include the other launch file -->
<include file="$(find loop_fusion)/launch/posegraph.launch" />
<!-- record vio estimate -->
<node name="recorder_estimate1" pkg="ov_eval" type="pose_to_file" output="screen">
<param name="topic" type="str" value="/ov_msckf/poseimu" />
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
<param name="output" type="str" value="$(arg path_est)" />
</node>
<!-- record loop closed pose -->
<node name="recorder_estimate2" pkg="ov_eval" type="pose_to_file" output="screen">
<param name="topic" type="str" value="/ov_secondary/poseimu" />
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
<param name="output" type="str" value="$(arg path_opt)" />
</node>
<!-- ======================================================================= -->
<!-- ======================================================================= -->
</launch>