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Commit 84fe21db authored by Mederic Fourmy's avatar Mederic Fourmy
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Trying things, lighter display

parent 7115aab6
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...@@ -5,10 +5,13 @@ Panels: ...@@ -5,10 +5,13 @@ Panels:
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /TF1/Frames1 - /TF1/Frames1
- /Factors1
- /Factors1/Status1
- /Factors1/Namespaces1
- /Landmarks1/Namespaces1 - /Landmarks1/Namespaces1
- /Trajectory1/Namespaces1 - /Trajectory1/Namespaces1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 163 Tree Height: 280
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
...@@ -101,8 +104,8 @@ Visualization Manager: ...@@ -101,8 +104,8 @@ Visualization Manager:
Namespaces: Namespaces:
factors_VISUALODOMETRY PROC: true factors_VISUALODOMETRY PROC: true
factors_text_VISUALODOMETRY PROC: false factors_text_VISUALODOMETRY PROC: false
factors_text_unnamed_processor: false factors_text_unnamed_processor: true
factors_unnamed_processor: false factors_unnamed_processor: true
Queue Size: 1 Queue Size: 1
Value: true Value: true
- Class: rviz/MarkerArray - Class: rviz/MarkerArray
...@@ -195,7 +198,7 @@ Visualization Manager: ...@@ -195,7 +198,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 5.2895660400390625 Distance: 3.074009656906128
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
...@@ -203,17 +206,17 @@ Visualization Manager: ...@@ -203,17 +206,17 @@ Visualization Manager:
Value: false Value: false
Field of View: 0.7853981852531433 Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: -0.3021344244480133 X: 0.6342065930366516
Y: 0.7495512366294861 Y: 0.34021610021591187
Z: 0.46015024185180664 Z: 0.2876497805118561
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.7147972583770752 Pitch: 0.05979748070240021
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Yaw: 5.045364856719971 Yaw: 4.310366153717041
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
...@@ -223,7 +226,7 @@ Window Geometry: ...@@ -223,7 +226,7 @@ Window Geometry:
Hide Right Dock: false Hide Right Dock: false
Image: Image:
collapsed: false collapsed: false
QMainWindow State: 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 QMainWindow State: 000000ff00000000fd00000004000000000000021d00000340fc0200000012fb000000100044006900730070006c006100790073010000003d00000155000000c900fffffffb0000000a0064006500620075006701000001980000017c0000001600fffffffb0000000a0049006d006100670065010000031a000000630000001600fffffffb000000120069006d006100670065005f007200610077000000010c000000af0000001600fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000220000000480000000000000000fb0000000c00430061006d00650072006100000001c8000000a00000000000000000fb000000140044006500740065006300740069006f006e0073010000027a000000f10000000000000000fb000000160049006e00700075007400200069006d0061006700650000000179000001000000000000000000fb000000260041007000720069006c00540061006700200044006500740065006300740069006f006e00730000000209000001740000000000000000fb0000000a0049006d006100670065010000025a000001230000000000000000fb0000000a0049006d006100670065010000022b000001520000000000000000000000010000016c00000607fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004000000607000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000058fc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000055d0000034000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
......
...@@ -3,12 +3,12 @@ config: ...@@ -3,12 +3,12 @@ config:
debug: debug:
profiling: true profiling: true
profiling_file: "~/wolf_demo_visual_odometry_profiling.txt" profiling_file: "~/wolf_demo_visual_odometry_profiling.txt"
print_problem: false print_problem: true
print_depth: 3 # only if print_problem print_depth: 3 # only if print_problem
print_constr_by: false # only if print_problem print_constr_by: true # only if print_problem
print_metric: false # only if print_problem print_metric: true # only if print_problem
print_state_blocks: false # only if print_problem print_state_blocks: false # only if print_problem
print_period: 1 # only if print_problem print_period: 5 # only if print_problem
problem: problem:
node_rate: 20 node_rate: 20
...@@ -23,7 +23,7 @@ config: ...@@ -23,7 +23,7 @@ config:
O: [0,0,0,1] O: [0,0,0,1]
# O: [0, 0.20791169, 0, 0.9781476] # x,y,z,w # O: [0, 0.20791169, 0, 0.9781476] # x,y,z,w
$sigma: $sigma:
P: [0.00001, 0.00001, 0.00001] P: [0.0001, 0.0001, 0.0001]
O: [0.01, 0.01, 0.01] O: [0.01, 0.01, 0.01]
time_tolerance: 0.01 time_tolerance: 0.01
...@@ -71,7 +71,7 @@ config: ...@@ -71,7 +71,7 @@ config:
frame_length: 0.1 frame_length: 0.1
frame_vel_scale: 1.0 frame_vel_scale: 1.0
factors_width: 0.01 factors_width: 0.01
factor_lmk_color: [0, 1, 1, 0.005] factor_lmk_color: [0, 1, 1, 0.004]
- -
type: "PublisherTf" type: "PublisherTf"
......
...@@ -7,13 +7,13 @@ keyframe_vote: ...@@ -7,13 +7,13 @@ keyframe_vote:
voting_active: true voting_active: true
# Trigger a new keyframe creation as well as detection of new keypoints in last frame # 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 # when the track number goes below min_features_for_keyframe in incoming
min_features_for_keyframe: 30 min_features_for_keyframe: 20
# Use a robust cost function # Use a robust cost function
apply_loss_function: false apply_loss_function: false
# Select the best new Keypoints when performing detection # Select the best new Keypoints when performing detection
max_new_features: 10 max_new_features: 40
#################################### ####################################
# ProcessorVisualOdometry parameters # ProcessorVisualOdometry parameters
...@@ -55,8 +55,8 @@ klt: ...@@ -55,8 +55,8 @@ klt:
# Tesselation grid # Tesselation grid
grid: grid:
# number of cells used by the active search grid data structure # number of cells used by the active search grid data structure
nbr_cells_h: 8 # horizontal nbr_cells_h: 10 # horizontal
nbr_cells_v: 8 # vertical nbr_cells_v: 10 # vertical
# minimum margin of the region of interest from the edges of the image # minimum margin of the region of interest from the edges of the image
margin: 10 margin: 10
# reduce the size of each region of interest by n pixels to prevent keypoints from being too close # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
...@@ -67,7 +67,7 @@ ransac: ...@@ -67,7 +67,7 @@ ransac:
prob: 0.999 prob: 0.999
# maximum distance from a point to an epipolar line in pixels, beyond which the point # maximum distance from a point to an epipolar line in pixels, beyond which the point
# is considered an outlier and is not used for computing the final fundamental matrix # is considered an outlier and is not used for computing the final fundamental matrix
thresh: 1 thresh: 0.4
#----------------------------------- #-----------------------------------
......
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