From 17f76e73caa893448f2f561a3a96df8256973ff3 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Wed, 6 Apr 2022 17:56:29 +0200
Subject: [PATCH] visual odometry demo, inspired from apriltag demo, not tested
---
README.md | 91 +----------
launch/demo_visual_odometry.launch | 32 ++++
package.xml | 19 +++
rviz/online.rviz | 229 +++++++++++++++++++++++++++
yaml/camera_euroc_mav0.yaml | 24 +++
yaml/demo_visual_odometry_euroc.yaml | 85 ++++++++++
yaml/processor_visual_odometry.yaml | 9 ++
yaml/solver.yaml | 11 ++
yaml/tree_manager_full_history.yaml | 2 +
yaml/tree_manager_sliding.yaml | 6 +
10 files changed, 418 insertions(+), 90 deletions(-)
create mode 100644 launch/demo_visual_odometry.launch
create mode 100644 package.xml
create mode 100644 rviz/online.rviz
create mode 100644 yaml/camera_euroc_mav0.yaml
create mode 100644 yaml/demo_visual_odometry_euroc.yaml
create mode 100644 yaml/processor_visual_odometry.yaml
create mode 100644 yaml/solver.yaml
create mode 100644 yaml/tree_manager_full_history.yaml
create mode 100644 yaml/tree_manager_sliding.yaml
diff --git a/README.md b/README.md
index 2c68f19..1fc24a5 100644
--- a/README.md
+++ b/README.md
@@ -1,92 +1,3 @@
# wolf_demo_visual_odometry
-
-
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
-```
-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)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
+Check [WOLF documentation web](http://www.iri.upc.edu/wolf) (section WOLF Demos) for more information.
diff --git a/launch/demo_visual_odometry.launch b/launch/demo_visual_odometry.launch
new file mode 100644
index 0000000..2acef1e
--- /dev/null
+++ b/launch/demo_visual_odometry.launch
@@ -0,0 +1,32 @@
+<!-- -->
+<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>
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..5fa7091
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,19 @@
+<?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>
diff --git a/rviz/online.rviz b/rviz/online.rviz
new file mode 100644
index 0000000..d98ed5a
--- /dev/null
+++ b/rviz/online.rviz
@@ -0,0 +1,229 @@
+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
diff --git a/yaml/camera_euroc_mav0.yaml b/yaml/camera_euroc_mav0.yaml
new file mode 100644
index 0000000..c689897
--- /dev/null
+++ b/yaml/camera_euroc_mav0.yaml
@@ -0,0 +1,24 @@
+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]
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
new file mode 100644
index 0000000..1b47fa0
--- /dev/null
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -0,0 +1,85 @@
+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
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
new file mode 100644
index 0000000..40720c4
--- /dev/null
+++ b/yaml/processor_visual_odometry.yaml
@@ -0,0 +1,9 @@
+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
diff --git a/yaml/solver.yaml b/yaml/solver.yaml
new file mode 100644
index 0000000..f7d5455
--- /dev/null
+++ b/yaml/solver.yaml
@@ -0,0 +1,11 @@
+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
diff --git a/yaml/tree_manager_full_history.yaml b/yaml/tree_manager_full_history.yaml
new file mode 100644
index 0000000..6acd4dc
--- /dev/null
+++ b/yaml/tree_manager_full_history.yaml
@@ -0,0 +1,2 @@
+tree_manager:
+ type: none
diff --git a/yaml/tree_manager_sliding.yaml b/yaml/tree_manager_sliding.yaml
new file mode 100644
index 0000000..6ee8b76
--- /dev/null
+++ b/yaml/tree_manager_sliding.yaml
@@ -0,0 +1,6 @@
+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
--
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