visual odometry demo, inspired from apriltag demo, not tested

README.md

 # wolf_demo_visual_odometry
 
-
-
-## Getting started
-
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-## Add your files
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-
-```
-cd existing_repo
-git remote add origin https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_visual_odometry.git
-git branch -M main
-git push -uf origin main
-```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_visual_odometry/-/settings/integrations)
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-***
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+Check [WOLF documentation web](http://www.iri.upc.edu/wolf) (section WOLF Demos) for more information.

launch/demo_visual_odometry.launch

+<!-- -->
+<launch>
+    <!--USER ARGS-->
+    <arg name="rviz" default="true" />
+    <arg name="speed" default="1" />
+    <arg name="sec" default="0" />
+    <arg name="sim_time" default="true" />
+
+    <arg name="profiling" default="false" />
+    <arg name="gdb" default="false" />
+    <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
+    <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
+    <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
+
+    <!--VISUALIZATION-->
+    <group if="$(arg rviz)">
+        <node name="rviz"
+             pkg="rviz"
+             type="rviz"
+             args="-d $(find wolf_demo_visual_odometry)/rviz/online.rviz" />
+    </group>
+
+    <!--WOLF-->
+    <node type="wolf_ros_node"
+          name="wolf_ros_node"
+          pkg="wolf_ros_node"
+          output="screen"
+          required="true"
+          launch-prefix="$(arg launch_pref)">
+        <param name="~yaml_file_path" value="$(find wolf_demo_visual_odometry)/yaml/demo_visual_odometry_euroc.yaml" />
+    </node>
+</launch>

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>wolf_demo_visual_odometry</name>
+  <version>0.0.0</version>
+  <description>The wolf_demo_visual_odometry package</description>
+
+  <maintainer email="mfourmy@gmail.com">mfourmy</maintainer>
+
+  <license>BSD2</license>
+
+  <build_depend>wolf_ros_vision</build_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

rviz/online.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+        - /Factors1/Namespaces1
+        - /Landmarks1/Namespaces1
+        - /Trajectory1/Namespaces1
+      Splitter Ratio: 0.5
+    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: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Input image
+Preferences:
+  PromptSaveOnExit: true
+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: 0.029999999329447746
+        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/Axes
+      Enabled: true
+      Length: 0.1
+      Name: Axes
+      Radius: 0.01
+      Show Trail: true
+      Reference Frame: base_footprint
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: true
+        map:
+          Value: false
+        odom:
+          Value: false
+      Marker Alpha: 1
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /wolf_apriltag_vio/marker_array
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 1
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /wolf_ros_node/graph_factors
+      Name: Factors
+      Namespaces:
+        factors_APRILTAG PROC: true
+        factors_IMU PROC: true
+        factors_text_APRILTAG PROC: false
+        factors_text_IMU PROC: false
+        factors_text_unnamed_processor: false
+        factors_unnamed_processor: true
+      Queue Size: 1
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /wolf_ros_node/graph_landmarks
+      Name: Landmarks
+      Namespaces:
+        landmarks: true
+        landmarks_text: true
+      Queue Size: 1
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /wolf_ros_node/graph_trajectory
+      Name: Trajectory
+      Namespaces:
+        frames: true
+        frames_text: false
+      Queue Size: 1
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera_simu/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Input image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /image_debug
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: AprilTag Detections
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: visualization_marker
+      Name: Ground truth
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  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: 2.5275864601135254
+      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: 0.22070589661598206
+        Y: -0.007580682635307312
+        Z: -0.5612056255340576
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7147972583770752
+      Target Frame: <Fixed Frame>
+      Yaw: 5.045364856719971
+    Saved: ~
+Window Geometry:
+  AprilTag Detections:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 998
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Input image:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1267
+  X: 653
+  Y: 27

yaml/camera_euroc_mav0.yaml

+width: 752
+height: 480
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [458, 0.000000, 367.215, 
+         0.000000, 457.296, 248.375, 
+         0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.28340811, 0.07395907, 0.000000, 0.000000, 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: [458, 0.000000, 367.215, 0.000000, 
+         0.000000, 457.296, 248.375, 0.000000, 
+         0.000000, 0.000000, 1.000000, 0.000000]

yaml/demo_visual_odometry_euroc.yaml

+config:
+
+  debug:
+    profiling: true
+    profiling_file: "~/wolf_demo_visual_odometry_profiling.txt"
+    print_problem: false
+    print_depth: 2            # only if print_problem
+    print_state: false         # only if print_problem
+    print_constr_by: false     # only if print_problem
+    print_metric: false        # only if print_problem
+    print_state_blocks: false  # only if print_problem
+    print_period: 1           # only if print_problem
+
+  problem:
+    node_rate: 100
+    follow: "tree_manager.yaml"
+    frame_structure: "POV"
+    dimension: 3
+    prior:
+      mode: "factor"
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]  # x,y,z,w
+        V: [0,0,0]
+      $sigma:
+       P: [0.00001, 0.00001, 0.00001]
+       O: [0.01, 0.01, 0.01]
+       V: [0.1, 0.1, 0.1]
+      time_tolerance: 0.01
+
+  solver:
+    follow: "solver.yaml"
+
+  sensors:
+    -
+      type: "SensorCamera"
+      name: "CAMERA"
+      plugin: "vision"
+      extrinsic:
+        pose: [0,0,0,  0,0,0,1]
+      follow: "camera_euroc_mav0.yaml"
+
+  processors:
+    -
+      type: "ProcessorVisualOdometry"
+      name: "APRILTAG PROC"
+      sensor_name: "CAMERA"
+      plugin: "apriltag"
+      follow: "processor_visual_odometry.yaml"
+
+  ROS subscriber:
+    -
+      package: "wolf_ros_vision"
+      type: "SubscriberCamera"
+      topic: "/TODO"
+      sensor_name: "CAMERA"
+
+  ROS publisher:
+    -
+      type: "PublisherGraph"
+      topic: "graph"
+      package: "wolf_ros_node"
+      period: 0.1
+      viz_scale: 0.3
+      text_scale: 0.3
+      landmark_text_z_offset: 0.3
+      landmark_length: 0.5
+      frame_width: 0.01
+      frame_length: 0.1
+      frame_vel_scale: 1.0
+    -
+      type: "PublisherTf"
+      topic: " "
+      package: "wolf_ros_node"
+      period: 0.1
+      map_frame_id: "map"
+      odom_frame_id: "odom"
+      base_frame_id: "base_footprint"
+      publish_odom_tf: true
+
+    -
+      type: "PublisherVisionDebug"
+      topic: "/debug_image"
+      package: "wolf_ros_vision"
+      period: 0.1

yaml/processor_visual_odometry.yaml

+algorithm:
+    time tolerance: 0.005
+    voting_active: true
+    
+klt_params:
+    tracker_width: 21
+    tracker_height: 21
+    nlevels_pyramids: 3
+    klt_max_err: 0.2
\ No newline at end of file

yaml/solver.yaml

+minimizer: "LEVENBERG_MARQUARDT"
+interrupt_on_problem_change: false
+min_num_iterations: 4
+max_num_iterations: 20
+function_tolerance: 1e-7
+gradient_tolerance: 1e-9
+use_nonmonotonic_steps: false
+period: 0.3                     # note: this must be smaller (i.e. faster) than the KF period in processor_tracker_landmark_apriltag.yaml
+n_threads: 2
+compute_cov: false
+verbose: 0
\ No newline at end of file

yaml/tree_manager_full_history.yaml

+tree_manager:
+  type: none

yaml/tree_manager_sliding.yaml

+tree_manager:
+  type: TreeManagerSlidingWindow
+  n_fix_first_frames: 1
+  n_frames: 15
+  viral_remove_empty_parent: true
+#  type: "none"
\ No newline at end of file