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mobile_robotics
wolf_projects
wolf_ros
demos
wolf_demo_visual_odometry
Commits
84fe21db
Commit
84fe21db
authored
3 years ago
by
Mederic Fourmy
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Trying things, lighter display
parent
7115aab6
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Changes
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3 changed files
rviz/online.rviz
+13
-10
13 additions, 10 deletions
rviz/online.rviz
yaml/demo_visual_odometry_euroc.yaml
+6
-6
6 additions, 6 deletions
yaml/demo_visual_odometry_euroc.yaml
yaml/processor_visual_odometry.yaml
+5
-5
5 additions, 5 deletions
yaml/processor_visual_odometry.yaml
with
24 additions
and
21 deletions
rviz/online.rviz
+
13
−
10
View file @
84fe21db
...
@@ -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:
fals
e
factors_text_unnamed_processor:
tru
e
factors_unnamed_processor:
fals
e
factors_unnamed_processor:
tru
e
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:
5.04536485671997
1
Yaw:
4.31036615371704
1
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: 000000ff00000000fd0000000400000000000002
f9
00000340fc0200000012fb000000100044006900730070006c006100790073010000003d00000
0e0
000000c900fffffffb0000000a004
9
006
d
006
1
00
6
7006
5
01000001
23
00000
053
0000001600fffffffb000000
12006
9006d0061006700650
05f007200610077000000010c
000000
af
0000001600fffffffb000000
0a
006
4
006500
62
007
5
00670
1
000001
7
c00000
201
0000001600fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000220000000480000000000000000fb0000000c00430061006d00650072006100000001c8000000a00000000000000000fb000000140044006500740065006300740069006f006e0073010000027a000000f10000000000000000fb000000160049006e00700075007400200069006d0061006700650000000179000001000000000000000000fb000000260041007000720069006c00540061006700200044006500740065006300740069006f006e00730000000209000001740000000000000000fb0000000a0049006d006100670065010000025a000001230000000000000000fb0000000a0049006d006100670065010000022b000001520000000000000000000000010000016c00000607fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004000000607000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000058fc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000
481
0000034000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000002
1d
00000340fc0200000012fb000000100044006900730070006c006100790073010000003d00000
155
000000c900fffffffb0000000a00
6
4006
5
006
2
007
5
006
7
01000001
98
00000
17c
0000001600fffffffb000000
0a004
9006d0061006700650
10000031a
000000
63
0000001600fffffffb000000
120069006d0061
006
7
006500
5f
007
2
006
1007
70
0
000001
0
c00000
0af
0000001600fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000220000000480000000000000000fb0000000c00430061006d00650072006100000001c8000000a00000000000000000fb000000140044006500740065006300740069006f006e0073010000027a000000f10000000000000000fb000000160049006e00700075007400200069006d0061006700650000000179000001000000000000000000fb000000260041007000720069006c00540061006700200044006500740065006300740069006f006e00730000000209000001740000000000000000fb0000000a0049006d006100670065010000025a000001230000000000000000fb0000000a0049006d006100670065010000022b000001520000000000000000000000010000016c00000607fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004000000607000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000058fc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000
55d
0000034000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
Selection:
collapsed: false
collapsed: false
Time:
Time:
...
...
This diff is collapsed.
Click to expand it.
yaml/demo_visual_odometry_euroc.yaml
+
6
−
6
View file @
84fe21db
...
@@ -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
:
fals
e
print_problem
:
tru
e
print_depth
:
3
# only if print_problem
print_depth
:
3
# only if print_problem
print_constr_by
:
fals
e
# only if print_problem
print_constr_by
:
tru
e
# only if print_problem
print_metric
:
fals
e
# only if print_problem
print_metric
:
tru
e
# 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
:
[
0.000
0
1
,
0.
0
0001
,
0.
0
0001
]
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
,
0.00
5
]
factor_lmk_color
:
[
0
,
1
,
1
,
0.00
4
]
-
-
type
:
"
PublisherTf"
type
:
"
PublisherTf"
...
...
This diff is collapsed.
Click to expand it.
yaml/processor_visual_odometry.yaml
+
5
−
5
View file @
84fe21db
...
@@ -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
:
3
0
min_features_for_keyframe
:
2
0
# 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
:
1
0
max_new_features
:
4
0
####################################
####################################
# 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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