Merge branch 'devel' of...

Merge branch 'devel' of ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git into devel

demos/camera_Dinesh_LAAS_params.yaml

-image_width: 640
-image_height: 480
-camera_name: mono
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [809.135074, 0.000000, 335.684471, 0.000000, 809.410030, 257.352121, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.416913, 0.264210, -0.000221, -0.000326, 0.000000]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [753.818405, 0.000000, 337.203047, 0.000000, 0.000000, 777.118492, 258.102663, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

demos/camera_Dinesh_LAAS_params_notangentrect.yaml

-image_width: 640
-image_height: 480
-camera_name: mono
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [809.135074, 0.000000, 335.684471, 0.000000, 809.410030, 257.352121, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.416913, 0.264210, 0, 0, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [753.818405, 0.000000, 337.203047, 0.000000, 0.000000, 777.118492, 258.102663, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

demos/camera_logitech_c300_640_480.yaml

-image_width: 640
-image_height: 480
-#camera_name: narrow_stereo
-camera_name: camera
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [711.687376, 0.000000, 323.306816, 0.000000, 710.933260, 232.005822, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [0.067204, -0.141639, 0, 0, 0]
-#  data: [0.067204, -0.141639, 0.004462, -0.000636, 0.000000]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [718.941772, 0.000000, 323.016804, 0.000000, 0.000000, 717.174622, 233.475721, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

demos/camera_params.yaml

-image_width: 640
-image_height: 480
-camera_name: narrow_stereo
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [872.791604, 0, 407.599166, 0, 883.154343, 270.343971, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.284384, -0.030014, -0.01554, -0.003363, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [826.19989, 0, 413.746093, 0, 0, 863.790649, 267.937027, 0, 0, 0, 1, 0]
\ No newline at end of file

demos/camera_params_1280x960_ideal.yaml

-image_width: 1280
-image_height: 960
-camera_name: canonical
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [640, 0, 640, 0, 640, 480, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [0, 0, 0, 0, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [640, 0, 640, 0, 0, 640, 480, 0, 0, 0, 1, 0]
\ No newline at end of file

demos/camera_params_canonical.yaml

-image_width: 2
-image_height: 2
-camera_name: canonical
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [0, 0, 0, 0, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0]
\ No newline at end of file

demos/camera_params_ueye.yaml

-image_width: 640
-image_height: 480
-camera_name: camera
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [392.796383, 0, 350.175772, 0, 392.779002, 255.209917, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.3, 0.096, 0, 0, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [313.834106, 0, 361.199457, 0, 0, 349.145264, 258.654166, 0, 0, 0, 1, 0]

demos/camera_params_ueye_radial_dist.yaml

-image_width: 640
-image_height: 480
-camera_name: narrow_stereo
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [402.860630, 0.000000, 350.628016, 0.000000, 403.220300, 269.746108, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.276945, 0.095681, 0.000000, 0.000000, -0.013371]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [323.792358, 0.000000, 363.187868, 0.000000, 0.000000, 357.040344, 276.369440, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

demos/camera_params_ueye_sim.yaml

-image_width: 640
-image_height: 480
-camera_name: camera
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [320, 0, 320, 0, 320, 240, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [0, 0, 0, 0, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [320, 0, 320, 0, 0, 320, 240, 0, 0, 0, 1, 0]

demos/camera_params_vga_ideal.yaml

-image_width: 640
-image_height: 480
-camera_name: canonical
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [320, 0, 320, 0, 320, 240, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [0, 0, 0, 0, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [320, 0, 320, 0, 0, 320, 240, 0, 0, 0, 1, 0]
\ No newline at end of file

demos/map_apriltag_1.yaml

-map name: "Example of map of Apriltag landmarks"
-
-nlandmarks: 4          # This must match the number of landmarks in the list that follows. Otherwise it is an error.
-
-landmarks:
-
-  - id : 1                    # use same as tag id
-    type: "APRILTAG"          # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
-    tag id: 1
-    tag width: 0.1
-    position: [0, 0, 0]
-    orientation: [0, 0, 0]    # roll pitch yaw in degrees
-    position fixed: true
-    orientation fixed: true
-
-  - id : 3                    # use same as tag id
-    type: "APRILTAG"          # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
-    tag id: 3
-    tag width: 0.1
-    position: [1, 1, 0]
-    orientation: [0, 0, 0]    # roll pitch yaw in degrees
-    position fixed: true
-    orientation fixed: true
-
-  - id : 5                    # use same as tag id
-    type: "APRILTAG"          # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
-    tag id: 5
-    tag width: 0.1
-    position: [1, 0, 0]
-    orientation: [0, 0, 0]    # roll pitch yaw in degrees
-    position fixed: true
-    orientation fixed: true
-
-  - id : 2                    # use same as tag id
-    type: "APRILTAG"          # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
-    tag id: 2
-    tag width: 0.1
-    position: [0, 1, 0]
-    orientation: [0, 0, 0]    # roll pitch yaw in degrees
-    position fixed: true
-    orientation fixed: true
-

demos/map_polyline_example.yaml

-map name: "Example of map of Polyline2D landmarks"
-
-nlandmarks: 4          # This must match the number of landmarks in the list that follows. Otherwise it is an error.
-
-landmarks:
-
-  - id: 1
-    type: "POLYLINE 2D"   # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
-    position: [1, 1]
-    orientation: [1]
-    position fixed: true
-    orientation fixed: true
-    classification: 0
-    first_id: 0
-    first_defined: false
-    last_defined: false
-    points:
-        - [1, 1]
-        - [1, 2]
-        - [1, 3]
-
-  - id: 4
-    type: "POLYLINE 2D"   # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
-    position: [4, 4]
-    orientation: [4]
-    position fixed: true
-    orientation fixed: true
-    classification: 0
-    first_id: -2
-    first_defined: false
-    last_defined: true
-    points:
-        - [4, 1]
-        - [4, 2]
-        - [4, 3]
-        - [4, 4]
-
-        
-  - id: 6
-    type: "POLYLINE 2D"   # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
-    position: [6, 6]
-    orientation: [6]
-    position fixed: true
-    orientation fixed: true
-    classification: 0
-    first_id: 0
-    first_defined: true
-    last_defined: false
-    points:
-        - [6, 1]
-        - [6, 2]
-        
-  - id: 7
-    type: "AHP"
-    position: [1, 2, 3, 4]
-    descriptor: [1, 0, 1, 0, 1, 1, 0, 0]
-        
\ No newline at end of file

demos/processor_image_feature.yaml

-processor type: "IMAGE ORB"
-processor name: "ORB feature tracker"
-
-vision_utils:
-    YAML file params: processor_image_vision_utils.yaml
-
-algorithm:
-    maximum new features: 40
-    minimum features for new keyframe: 40
-    minimum response for new features: 80 #0.0005
-    time tolerance: 0.01
-    distance: 20
-    
-noise:
-    pixel noise std: 1 # pixels
-    
-draw: # Used to control drawing options
-    primary draw: true
-    secondary draw: true
-    detection roi: true
-    tracking roi: false
-    

demos/processor_image_vision_utils.yaml

-sensor:
-  type: "USB_CAM"
-
-detector:
-  type: "ORB"         
-  nfeatures: 100
-  scale factor: 1.2
-  nlevels: 8
-  edge threshold: 8   # 16
-  first level: 0 
-  WTA_K: 2            # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
-  score type: 1       #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
-  patch size: 15      # 31
-
-descriptor:
-  type: "ORB"         
-  nfeatures: 100
-  scale factor: 1.2
-  nlevels: 8
-  edge threshold: 8   # 16
-  first level: 0 
-  WTA_K: 2            # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
-  score type: 1       #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
-  patch size: 15      # 31
-
-matcher:
-  type: "FLANNBASED"
-  match type: 1     #  Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
-  roi:
-    width: 20
-    height: 20
-  min normalized score: 0.85 
-    
-algorithm:
-  type: "ACTIVESEARCH"   
-  draw results: false
-  grid horiz cells: 12
-  grid vert cells: 8
-  separation: 10
-  min features to track: 5
-  max new features: 40
-  min response new features: 80
\ No newline at end of file

demos/processor_imu.yaml

-processor type: "IMU"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu"        # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025         # Time tolerance for joining KFs
-keyframe vote:
-    max time span:      2.0   # seconds
-    max buffer length:  20000    # motion deltas
-    dist traveled:      2.0   # meters
-    angle turned:       0.2   # radians (1 rad approx 57 deg, approx 60 deg)
-    voting_active:      false
-    
\ No newline at end of file

demos/processor_imu_no_vote.yaml

-processor type: "IMU"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu"        # This is ignored. The name provided to the SensorFactory prevails
-time tolerance: 0.0025         # Time tolerance for joining KFs
-unmeasured perturbation std: 0.00001
-keyframe vote:
-    max time span:      999999.0   # seconds
-    max buffer length:  999999     # motion deltas
-    dist traveled:      999999.0   # meters
-    angle turned:       999999     # radians (1 rad approx 57 deg, approx 60 deg)
-    voting_active:      false
-    
\ No newline at end of file

demos/processor_imu_t1.yaml

-processor type: "IMU"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu"        # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025         # Time tolerance for joining KFs
-keyframe vote:
-    max time span:      0.9999   # seconds
-    max buffer length:  10000    # motion deltas
-    dist traveled:      10000   # meters
-    angle turned:       10000   # radians (1 rad approx 57 deg, approx 60 deg)
-    voting_active:      true
-    
\ No newline at end of file

demos/processor_imu_t6.yaml

-processor type: "IMU"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu"        # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025         # Time tolerance for joining KFs
-keyframe vote:
-    max time span:      5.9999   # seconds
-    max buffer length:  10000    # motion deltas
-    dist traveled:      10000   # meters
-    angle turned:       10000   # radians (1 rad approx 57 deg, approx 60 deg)
-    voting_active:      true
-    
\ No newline at end of file

demos/processor_odom_3D.yaml

-processor type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
-time tolerance:         0.01  # seconds
-keyframe vote:
-    max time span:      0.2   # seconds
-    max buffer length:  10    # motion deltas
-    dist traveled:      0.5   # meters
-    angle turned:       0.1   # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file

demos/processor_tracker_landmark_apriltag.yaml

-processor type: "TRACKER LANDMARK APRILTAG"
-processor name: "tracker landmark apriltag example"
-
-detector parameters: 
-    quad_decimate:  1.5      # doing quad detection at lower resolution to speed things up (see end of file)
-    quad_sigma:     0.8	     # gaussian blur good for noisy images, may be recommended with quad_decimate. Kernel size adapted (see end of this file) 
-    nthreads:       8       # how many thread during tag detection (does not change much?)
-    debug:          false    # write some debugging images
-    refine_edges:   true    # better edge detection if quad_decimate > 1 (quite inexpensive, almost no diff)
-    ippe_min_ratio:     3.0  	# quite arbitrary, always > 1 (to deactive, set at 0 for example)
-    ippe_max_rep_error: 2.0     # to deactivate, set at something big (100)
-
-tag widths:                    
-    0: 0.055
-    1: 0.055
-    2: 0.055
-    3: 0.055
-
-tag parameters:
-    tag_family:           "tag36h11" 
-    # tag_black_border:     1
-    tag_width_default:    0.165   # used if tag width not specified
-
-    
-noise:
-    std_xy :          0.1 # m 
-    std_z :           0.1 # m 
-    std_rpy_degrees : 5   # degrees
-    std_pix:          20    # pixel error
-    
-vote:
-    voting active:              true
-    min_time_vote:              0 # s
-    max_time_vote:              0 # s
-    min_features_for_keyframe:  12
-    max_features_diff:          17
-    nb_vote_for_every_first:    50
-    enough_info_necessary:      true   # create kf if enough information to uniquely determine the KF position (necessary for apriltag_only slam)
-
-reestimate_last_frame: true   # for a better prior on the new keyframe: use only if no motion processor
-add_3D_cstr: true             # add 3D constraints between the KF so that they do not jump when using apriltag only
-
-
-# Annexes:
-### Quad decimate: the higher, the lower the resolution
-# Does nothing if <= 1.0
-# Only values taken into account:
-# 1.5, 2, 3, 4
-# 1.5 -> ~*2 speed up
-
-# Higher values use a "bad" code according to commentaries in the library, smaller do nothing
-### Gaussian blur table:
-# max sigma          kernel size
-# 0.499              1  (disabled)
-# 0.999              3
-# 1.499              5
-# 1.999              7