diff --git a/rviz/online.rviz b/rviz/online.rviz
index efd0bca9366bb3ffdb7c31776086fbd225aad5ed..1512577da9f6bdd894857701211f96ae736589fc 100644
--- a/rviz/online.rviz
+++ b/rviz/online.rviz
@@ -5,10 +5,13 @@ Panels:
Property Tree Widget:
Expanded:
- /TF1/Frames1
+ - /Factors1
+ - /Factors1/Status1
+ - /Factors1/Namespaces1
- /Landmarks1/Namespaces1
- /Trajectory1/Namespaces1
Splitter Ratio: 0.5
- Tree Height: 163
+ Tree Height: 280
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -101,8 +104,8 @@ Visualization Manager:
Namespaces:
factors_VISUALODOMETRY PROC: true
factors_text_VISUALODOMETRY PROC: false
- factors_text_unnamed_processor: false
- factors_unnamed_processor: false
+ factors_text_unnamed_processor: true
+ factors_unnamed_processor: true
Queue Size: 1
Value: true
- Class: rviz/MarkerArray
@@ -195,7 +198,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 5.2895660400390625
+ Distance: 3.074009656906128
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -203,17 +206,17 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
- X: -0.3021344244480133
- Y: 0.7495512366294861
- Z: 0.46015024185180664
+ X: 0.6342065930366516
+ Y: 0.34021610021591187
+ Z: 0.2876497805118561
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
+ Pitch: 0.05979748070240021
Target Frame: <Fixed Frame>
- Yaw: 5.045364856719971
+ Yaw: 4.310366153717041
Saved: ~
Window Geometry:
Displays:
@@ -223,7 +226,7 @@ Window Geometry:
Hide Right Dock: false
Image:
collapsed: false
- QMainWindow State: 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
+ QMainWindow State: 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
Selection:
collapsed: false
Time:
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index c711c25ed7327f3940cad1a9aa97145dad08f303..67a4b6a9d1669642ec5344cd7f29dfd69767a600 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -3,12 +3,12 @@ config:
debug:
profiling: true
profiling_file: "~/wolf_demo_visual_odometry_profiling.txt"
- print_problem: false
+ print_problem: true
print_depth: 3 # only if print_problem
- print_constr_by: false # only if print_problem
- print_metric: false # only if print_problem
+ print_constr_by: true # only if print_problem
+ print_metric: true # 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:
node_rate: 20
@@ -23,7 +23,7 @@ config:
O: [0,0,0,1]
# O: [0, 0.20791169, 0, 0.9781476] # x,y,z,w
$sigma:
- P: [0.00001, 0.00001, 0.00001]
+ P: [0.0001, 0.0001, 0.0001]
O: [0.01, 0.01, 0.01]
time_tolerance: 0.01
@@ -71,7 +71,7 @@ config:
frame_length: 0.1
frame_vel_scale: 1.0
factors_width: 0.01
- factor_lmk_color: [0, 1, 1, 0.005]
+ factor_lmk_color: [0, 1, 1, 0.004]
-
type: "PublisherTf"
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index e9ec633279933f452577de5d3917c5d43518de53..8fe26c1b51919d1d3b6bc85dca7d4f37be23f8a4 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -7,13 +7,13 @@ 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: 30
+ min_features_for_keyframe: 20
#Â Use a robust cost function
apply_loss_function: false
# Select the best new Keypoints when performing detection
-max_new_features: 10
+max_new_features: 40
####################################
# ProcessorVisualOdometry parameters
@@ -55,8 +55,8 @@ klt:
# Tesselation grid
grid:
# number of cells used by the active search grid data structure
- nbr_cells_h: 8 # horizontal
- nbr_cells_v: 8 # vertical
+ nbr_cells_h: 10 # horizontal
+ nbr_cells_v: 10 # vertical
# minimum margin of the region of interest from the edges of the image
margin: 10
# reduce the size of each region of interest by n pixels to prevent keypoints from being too close
@@ -67,7 +67,7 @@ ransac:
prob: 0.999
# 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
- thresh: 1
+ thresh: 0.4
#-----------------------------------