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cache our fast propagate values so we don't reintegrate #321

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merged 7 commits into from
Apr 15, 2023
Merged

cache our fast propagate values so we don't reintegrate #321

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4097e14
cache our fast propagate values so we don't reintegrate
goldbattle Mar 15, 2023
e49277b
properly invalidate the prop cache (fixes zvupt publishing)
goldbattle Mar 15, 2023
ea4dd7b
update scripts
goldbattle Apr 15, 2023
5d9fbee
Merge branch 'master' into fast_propagate
goldbattle Apr 15, 2023
70b0ae3
fix #323 pointcloud size
goldbattle Apr 15, 2023
caf7f4c
script updates
goldbattle Apr 15, 2023
b397178
fix #317 gram schmidt if g_inI is e1
goldbattle Apr 15, 2023
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28 changes: 27 additions & 1 deletion config/rpng_sim/kalibr_imucam_chain.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,4 +25,30 @@ cam1:
distortion_model: radtan
intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv
resolution: [752, 480]
rostopic: /cam1/image_raw
rostopic: /cam1/image_raw
cam2:
T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
- [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975]
- [0.999557249008, 0.0149672133247, 0.025715529948, 0.124676986768]
- [-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [1]
camera_model: pinhole
distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
distortion_model: radtan
intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv
resolution: [752, 480]
rostopic: /cam2/image_raw
cam3:
T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
- [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556]
- [0.999598781151, 0.0130119051815, 0.0251588363115, 0.2253689425024]
- [-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0]
camera_model: pinhole
distortion_coeffs: [-0.28368365,0.07451284,-0.00010473,-3.55590700e-05]
distortion_model: radtan
intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv
resolution: [752, 480]
rostopic: /cam3/image_raw
8 changes: 4 additions & 4 deletions ov_init/src/utils/helper.h
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Expand Up @@ -137,16 +137,15 @@ class InitializerHelper {
*/
static void gram_schmidt(const Eigen::Vector3d &gravity_inI, Eigen::Matrix3d &R_GtoI) {

// Now gram schmidt to find rot for grav
// https://en.wikipedia.org/wiki/Gram%E2%80%93Schmidt_process
// Get z axis, which alines with -g (z_in_G=0,0,1)
// This will find an orthogonal vector to gravity which is our local z-axis
// We need to ensure we normalize after each one such that we obtain unit vectors
Eigen::Vector3d z_axis = gravity_inI / gravity_inI.norm();
Eigen::Vector3d x_axis, y_axis;
Eigen::Vector3d e_1(1.0, 0.0, 0.0);
Eigen::Vector3d e_2(0.0, 1.0, 0.0);
double inner1 = e_1.dot(z_axis) / z_axis.norm();
double inner2 = e_2.dot(z_axis) / z_axis.norm();
if (fabs(inner1) >= fabs(inner2)) {
if (fabs(inner1) < fabs(inner2)) {
x_axis = z_axis.cross(e_1);
x_axis = x_axis / x_axis.norm();
y_axis = z_axis.cross(x_axis);
Expand All @@ -159,6 +158,7 @@ class InitializerHelper {
}

// Original method
// https://en.wikipedia.org/wiki/Gram%E2%80%93Schmidt_process
// x_axis = e_1 - z_axis * z_axis.transpose() * e_1;
// x_axis = x_axis / x_axis.norm();
// y_axis = ov_core::skew_x(z_axis) * x_axis;
Expand Down
8 changes: 8 additions & 0 deletions ov_msckf/launch/simulation.launch
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Expand Up @@ -17,6 +17,10 @@
<arg name="num_slam" default="50" />
<arg name="num_pts" default="100" />
<arg name="max_cameras" default="2" />
<arg name="use_stereo" default="true" />

<arg name="feat_dist_min" default="5.0" />
<arg name="feat_dist_max" default="7.0" />

<arg name="freq_cam" default="10" />
<arg name="freq_imu" default="400" />
Expand Down Expand Up @@ -57,6 +61,9 @@
<param name="sim_freq_imu" type="int" value="$(arg freq_imu)" />
<param name="sim_do_perturbation" type="bool" value="$(arg sim_do_perturbation)" />

<param name="sim_min_feature_gen_dist" type="double" value="$(arg feat_dist_min)" />
<param name="sim_max_feature_gen_dist" type="double" value="$(arg feat_dist_max)" />

<param name="save_total_state" type="bool" value="$(arg dosave_state)" />
<param name="filepath_est" type="str" value="$(arg path_state_est)" />
<param name="filepath_std" type="str" value="$(arg path_state_std)" />
Expand All @@ -77,6 +84,7 @@
<param name="calib_cam_timeoffset" type="bool" value="$(arg sim_do_calibration)" />
<param name="max_clones" type="int" value="$(arg num_clones)" />
<param name="max_slam" type="int" value="$(arg num_slam)" />
<param name="use_stereo" type="bool" value="$(arg use_stereo)" />
<param name="max_cameras" type="int" value="$(arg max_cameras)" />
<param name="feat_rep_msckf" type="str" value="$(arg feat_rep)" />
<param name="feat_rep_slam" type="str" value="$(arg feat_rep)" />
Expand Down
21 changes: 15 additions & 6 deletions ov_msckf/scripts/run_ros_eth.sh
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Expand Up @@ -46,19 +46,19 @@ bagstarttimes=(
"5" # 18
)


# location to save log files into
save_path1="/home/patrick/github/pubs_data/pgeneva/2022_openvins_test/exp_euroc/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2022_openvins_test/exp_euroc/timings"
bag_path="/media/patrick/RPNG FLASH 3/euroc_mav/"
ov_ver="2.6.2"

save_path1="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_euroc/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_euroc/timings"
bag_path="/home/patrick/datasets/euroc_mav/"
ov_ver="2.6.3"


#=============================================================
#=============================================================
#=============================================================

big_start_time="$(date -u +%s)"

# Loop through all datasets
for i in "${!bagnames[@]}"; do
# Loop through all modes
Expand Down Expand Up @@ -118,3 +118,12 @@ done
done




# print out the time elapsed
big_end_time="$(date -u +%s)"
big_elapsed="$(($big_end_time-$big_start_time))"
echo "BASH: script took $big_elapsed seconds in total!!";



20 changes: 15 additions & 5 deletions ov_msckf/scripts/run_ros_kaist.sh
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Expand Up @@ -35,17 +35,18 @@ bagstarttimes=(
)

# location to save log files into
save_path1="/home/patrick/github/pubs_data/pgeneva/2022_openvins_test/exp_kaist/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2022_openvins_test/exp_kaist/timings"
bag_path="/media/patrick/RPNG FLASH 3/kaist/"
ov_ver="2.6.2"

save_path1="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_kaist/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_kaist/timings"
bag_path="/home/patrick/datasets/euroc_mav/"
ov_ver="2.6.3"


#=============================================================
#=============================================================
#=============================================================

big_start_time="$(date -u +%s)"

# Loop through all datasets
for i in "${!bagnames[@]}"; do
# Loop through all modes
Expand Down Expand Up @@ -105,3 +106,12 @@ done
done



# print out the time elapsed
big_end_time="$(date -u +%s)"
big_elapsed="$(($big_end_time-$big_start_time))"
echo "BASH: script took $big_elapsed seconds in total!!";




119 changes: 0 additions & 119 deletions ov_msckf/scripts/run_ros_kaistvio.sh
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This file was deleted.

18 changes: 13 additions & 5 deletions ov_msckf/scripts/run_ros_tumvi.sh
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Expand Up @@ -37,17 +37,18 @@ bagstarttimes=(
)

# location to save log files into
save_path1="/home/patrick/github/pubs_data/pgeneva/2022_openvins_test/exp_tum/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2022_openvins_test/exp_tum/timings"
bag_path="/media/patrick/RPNG FLASH 3/tum_vi/"
ov_ver="2.6.2"

save_path1="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_tumvi/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_tumvi/timings"
bag_path="/home/patrick/datasets/tum_vi/"
ov_ver="2.6.3"


#=============================================================
#=============================================================
#=============================================================

big_start_time="$(date -u +%s)"

# Loop through all datasets
for i in "${!bagnames[@]}"; do
# Loop through all modes
Expand Down Expand Up @@ -107,3 +108,10 @@ done
done



# print out the time elapsed
big_end_time="$(date -u +%s)"
big_elapsed="$(($big_end_time-$big_start_time))"
echo "BASH: script took $big_elapsed seconds in total!!";


18 changes: 13 additions & 5 deletions ov_msckf/scripts/run_ros_uzhfpv.sh
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Expand Up @@ -80,17 +80,18 @@ bagstarttimes=(
)

# location to save log files into
save_path1="/home/patrick/github/pubs_data/pgeneva/2022_openvins_test/exp_uzhfpv/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2022_openvins_test/exp_uzhfpv/timings"
bag_path="/media/patrick/RPNG FLASH 3/"
ov_ver="2.6.2"

save_path1="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_uzhfpv/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_uzhfpv/timings"
bag_path="/home/patrick/datasets/euroc_mav/"
ov_ver="2.6.3"


#=============================================================
#=============================================================
#=============================================================

big_start_time="$(date -u +%s)"

# Loop through all datasets
for i in "${!bagnames[@]}"; do
# Loop through all modes
Expand Down Expand Up @@ -150,3 +151,10 @@ done
done



# print out the time elapsed
big_end_time="$(date -u +%s)"
big_elapsed="$(($big_end_time-$big_start_time))"
echo "BASH: script took $big_elapsed seconds in total!!";


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