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Merge pull request #264 from rpng/develop_v2.6.2
Develop v2.6.2
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‎ReadMe.md

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@@ -21,7 +21,7 @@ details on what the system supports.
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## News / Events
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* **July 14, 2022** - Improved feature extraction logic for >100hz tracking, some bug fixes and updated scripts. See v2.6.1 [PR#259](https://github.com/rpng/open_vins/pull/259).
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* **July 14, 2022** - Improved feature extraction logic for >100hz tracking, some bug fixes and updated scripts. See v2.6.1 [PR#259](https://github.com/rpng/open_vins/pull/259) and v2.6.2 [PR#264](https://github.com/rpng/open_vins/pull/264).
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* **March 14, 2022** - Initial dynamic initialization open sourcing, asynchronous subscription to inertial readings and publishing of odometry, support for lower frequency feature tracking. See v2.6 [PR#232](https://github.com/rpng/open_vins/pull/232) for details.
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* **December 13, 2021** - New YAML configuration system, ROS2 support, Docker images, robust static initialization based on disparity, internal logging system to reduce verbosity, image transport publishers, dynamic number of features support, and other small fixes. See
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v2.5 [PR#209](https://github.com/rpng/open_vins/pull/209) for details.

‎config/euroc_mav/estimator_config.yaml

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@@ -86,7 +86,7 @@ min_px_dist: 10 # distance between features (features near each other provide le
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knn_ratio: 0.70 # descriptor knn threshold for the top two descriptor matches
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track_frequency: 21.0 # frequency we will perform feature tracking at (in frames per second / hertz)
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downsample_cameras: false # will downsample image in half if true
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multi_threading: true # if should enable opencv multi threading
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system

‎config/kaist/estimator_config.yaml

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knn_ratio: 0.65
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track_frequency: 31.0
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downsample_cameras: false
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multi_threading: true
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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fi_min_dist: 0.25

‎config/kaist_vio/estimator_config.yaml

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knn_ratio: 0.70
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track_frequency: 31.0
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downsample_cameras: false # will downsample image in half if true
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multi_threading: true # if should enable opencv multi threading
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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fi_max_dist: 10.0

‎config/kaist_vio/pgeneva_ros_kaistvio.launch.old

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‎config/rpng_aruco/estimator_config.yaml

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knn_ratio: 0.85
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track_frequency: 21.0
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downsample_cameras: false
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multi_threading: true
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system

‎config/rpng_ironsides/estimator_config.yaml

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knn_ratio: 0.65
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track_frequency: 31.0
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downsample_cameras: false
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multi_threading: true
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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fi_min_dist: 1.0

‎config/rpng_sim/estimator_config.yaml

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knn_ratio: 0.70
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track_frequency: 21.0
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downsample_cameras: false
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multi_threading: false
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system

‎config/tum_vi/estimator_config.yaml

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@@ -84,7 +84,7 @@ min_px_dist: 15
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knn_ratio: 0.65
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track_frequency: 21.0
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downsample_cameras: false
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multi_threading: true
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system

‎config/uzhfpv_indoor/estimator_config.yaml

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knn_ratio: 0.70
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track_frequency: 31.0
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downsample_cameras: false
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multi_threading: true
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system

‎config/uzhfpv_indoor_45/estimator_config.yaml

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knn_ratio: 0.70
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track_frequency: 31.0
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downsample_cameras: false
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multi_threading: true
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system

‎config/uzhfpv_outdoor/estimator_config.yaml

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knn_ratio: 0.70
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track_frequency: 31.0
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downsample_cameras: false
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multi_threading: true
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system

‎config/uzhfpv_outdoor_45/estimator_config.yaml

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knn_ratio: 0.70
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track_frequency: 31.0
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downsample_cameras: false
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multi_threading: true
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num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system

‎docs/eval-timing.dox

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@subsection eval-ov-timing-hist Script "timing_histogram"
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Generates a histogram plot of *binned* execution times for a specific class.
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This allows for inspection of the distribution of times as compared to just the mean of it.
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The file should be comma separated format, with the first column being the timing, and the last column being the total time.
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The middle columns should describe how much each component takes (whose names are extracted from the header of the csv file).
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@code{.shell-session}
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rosrun ov_eval timing_histogram <file_times.txt> <num_bins>
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rosrun ov_eval timing_histogram timing_mono_ethV101.txt 75
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@endcode
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@image html eval/timing_hist.png width=90%
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@subsection eval-ov-timing-compare Script "timing_comparison"
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[TIME]: loading data for timing_mono
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[TIME]: loaded 2817 timestamps from file (7 categories)!!
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mean_time = 0.0037 | std = 0.0011 | 99th = 0.0063 | max = 0.0254 (tracking)
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mean_time = 0.0004 | std = 0.0001 | 99th = 0.0006 | max = 0.0014 ( propagation)
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mean_time = 0.0004 | std = 0.0001 | 99th = 0.0006 | max = 0.0014 (propagation)
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mean_time = 0.0032 | std = 0.0022 | 99th = 0.0083 | max = 0.0309 (msckf update)
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mean_time = 0.0034 | std = 0.0013 | 99th = 0.0063 | max = 0.0099 (slam update)
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mean_time = 0.0012 | std = 0.0017 | 99th = 0.0052 | max = 0.0141 (slam delayed)
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[TIME]: loading data for timing_stereo
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[TIME]: loaded 2817 timestamps from file (7 categories)!!
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mean_time = 0.0077 | std = 0.0020 | 99th = 0.0124 | max = 0.0219 (tracking)
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mean_time = 0.0004 | std = 0.0001 | 99th = 0.0007 | max = 0.0023 ( propagation)
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mean_time = 0.0004 | std = 0.0001 | 99th = 0.0007 | max = 0.0023 (propagation)
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mean_time = 0.0081 | std = 0.0047 | 99th = 0.0189 | max = 0.0900 (msckf update)
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mean_time = 0.0063 | std = 0.0023 | 99th = 0.0117 | max = 0.0151 (slam update)
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mean_time = 0.0020 | std = 0.0026 | 99th = 0.0079 | max = 0.0205 (slam delayed)

‎docs/img/eval/timing_hist.png

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‎ov_core/cmake/ROS1.cmake

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${Boost_LIBRARIES}
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${OpenCV_LIBRARIES}
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${catkin_LIBRARIES}
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)
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)
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##################################################
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# Make the core library
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src/feat/FeatureDatabase.cpp
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src/feat/FeatureInitializer.cpp
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src/utils/print.cpp
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)
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)
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file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
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add_library(ov_core_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
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target_link_libraries(ov_core_lib ${thirdparty_libraries})
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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)
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install(DIRECTORY src/
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DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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##################################################
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# Make binary files!
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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endif ()
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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)
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‎ov_core/cmake/ROS2.cmake

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# Make the core library
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src/feat/FeatureDatabase.cpp
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src/utils/print.cpp
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)
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file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
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ament_target_dependencies(ov_core_lib rclcpp cv_bridge)
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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PUBLIC_HEADER DESTINATION include
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install(DIRECTORY src/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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ament_export_include_directories(include)
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ament_export_libraries(ov_core_lib)
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