diff --git a/rviz/online.rviz b/rviz/online.rviz
index 923927be396936fabe9355432f98d1ef317d9398..df43917a6e316002f67846a92d4e5d5069118671 100644
--- a/rviz/online.rviz
+++ b/rviz/online.rviz
@@ -10,7 +10,7 @@ Panels:
- /Trajectory1/Namespaces1
- /image_raw1
Splitter Ratio: 0.5
- Tree Height: 196
+ Tree Height: 140
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -148,6 +148,18 @@ Visualization Manager:
Transport Hint: raw
Unreliable: false
Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /debug_image_preprocessor
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -202,7 +214,9 @@ Window Geometry:
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000002f900000340fc0200000011fb000000100044006900730070006c006100790073010000003d00000101000000c900fffffffb000000120069006d006100670065005f007200610077000000010c000000af0000001600fffffffb0000000a006400650062007500670100000144000002390000001600fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000220000000480000000000000000fb0000000c00430061006d00650072006100000001c8000000a00000000000000000fb000000140044006500740065006300740069006f006e0073010000027a000000f10000000000000000fb000000160049006e00700075007400200069006d0061006700650000000179000001000000000000000000fb000000260041007000720069006c00540061006700200044006500740065006300740069006f006e00730000000209000001740000000000000000fb0000000a0049006d006100670065010000025a000001230000000000000000fb0000000a0049006d006100670065010000022b000001520000000000000000000000010000016c00000607fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004000000607000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000058fc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004810000034000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Image:
+ collapsed: false
+ QMainWindow State: 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
Selection:
collapsed: false
Time:
@@ -211,8 +225,8 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1920
- X: 0
+ Width: 1848
+ X: 72
Y: 27
debug:
collapsed: false
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index 900d36cafa65fe1d84d7623722de4c699e5c9a33..53641b90a8899fa6f98f0f1f5ff858f64d29df73 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -11,7 +11,7 @@ config:
print_period: 1 # only if print_problem
problem:
- node_rate: 100
+ node_rate: 20
follow: "tree_manager_sliding.yaml"
frame_structure: "PO"
dimension: 3
@@ -57,7 +57,7 @@ config:
type: "PublisherGraph"
topic: "graph"
package: "wolf_ros_node"
- period: 0.1
+ period: 0.2
viz_scale: 0.3
text_scale: 0.1
landmark_text_z_offset: 0.3
@@ -82,6 +82,29 @@ config:
topic: "/debug_image"
topic_preprocessor: "/debug_image_preprocessor"
package: "wolf_ros_vision"
- period: 0.1
- follow: "publisher_vision_debug.yaml"
+ period: 0.05
+ tracks:
+ show_id: false
+ size_id: 0.75
+ thickness: 1.5
+ color: "CYAN"
+ min_lum: 100
+ max_lum: 450
+ feature_last:
+ thickness: -1
+ size_pix: 2
+ color: "RED"
+ feature_kfs:
+ thickness: 0.1
+ size_pix: 2
+ tracks_preprocess:
+ show: true
+ show_on_diff_topic: false
+ thickness: 1.5
+ color: "GREEN"
+ landmarks:
+ show_id: false
+ size_id: 0.75
+ size_pix: 5
+ color: "GREY"
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 46c9eac9f5eb8dc0bb0f1175ce039d80fccf3d1d..53a337d1f925360d6d1e0789b89ef01f1cb9629b 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -4,13 +4,13 @@ keyframe_vote:
voting_active: true
# Trigger a new keyframe creation as well as detection of new keypoints in last frame
# when the track number goes below min_features_for_keyframe in incoming
- min_features_for_keyframe: 50
+ min_features_for_keyframe: 25
#Â Use a robust cost function
apply_loss_function: true
# Select the best new Keypoints when performing detection
-max_new_features: 100
+max_new_features: 10
####################################
# ProcessorVisualOdometry parameters
@@ -18,7 +18,7 @@ max_new_features: 100
fast_params:
# Threshold on the keypoint pixel intensity (in uchar [0-255])
# the higher, the more selective the detector is
- threshold_fast: 20
+ threshold_fast: 10
# Avoids getting multiple keypoints at the same place
non_max_suppresion: true
# number of cells used by the active search grid data structure
@@ -37,7 +37,7 @@ klt_params:
klt_max_err: 0.3
# Keep the number of tracks below
-max_nb_tracks: 100
+max_nb_tracks: 50
# standard deviation of the pixel reprojection factor
std_pix: 1
diff --git a/yaml/publisher_vision_debug.yaml b/yaml/publisher_vision_debug.yaml
index cfb1ba553344af10081926266fc9bd1b4ed9e6ee..5c06e418c9146577ef2f5f1feedeee2286481c21 100644
--- a/yaml/publisher_vision_debug.yaml
+++ b/yaml/publisher_vision_debug.yaml
@@ -2,20 +2,21 @@ tracks:
show_id: true
size_id: 0.5
thickness: 1.5
- color: "CYAN"
- min_lum: 100
- max_lum: 450
- feature_last:
- thickness: -1
- size_pix: 2
- color: "RED"
- feature_kfs:
- thickness: 0.1
- size_pix: 1
-
-tracks_preprocess:
- show: false
- show_on_diff_topic: false
+ min_max_on_alive_tracks: false
+ color: "CYAN" # color of the tracks and feature_kfs
+ min_lum: 100 # above 0
+ max_lum: 450 # below 510
+ feature_last: # features of the last frame
+ thickness: -1 # -1 -> filled circle
+ size_pix: 2
+ color: "RED"
+ feature_kfs: # features of the previous keyframes
+ thickness: 0.1
+ size_pix: 1
+
+tracks_preprocess:
+ show: false # tracks from the preprocess are visible or not
+ show_on_diff_topic: false # tracks from the preprocess are visible in the same image as the others tracks or not
thickness: 1.5
color: "CYAN"
diff --git a/yaml/solver.yaml b/yaml/solver.yaml
index 546f3cea3ef2ecdc0b120dd80ba4e9ace1a6ec78..cb1353ca434be8b6e75d36ca1be2238a4ab8afa5 100644
--- a/yaml/solver.yaml
+++ b/yaml/solver.yaml
@@ -5,7 +5,7 @@ max_num_iterations: 20
function_tolerance: 1e-7
gradient_tolerance: 1e-9
use_nonmonotonic_steps: false
-period: 0.5
+period: 0.2
n_threads: 8
compute_cov: false
verbose: 0
\ No newline at end of file