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First commit of the code

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Ke Sun
2018-01-08 14:41:37 -05:00
parent 37dd131d33
commit 700a3c625a
32 changed files with 5921 additions and 1 deletions
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319
rviz/rviz_euroc_config.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /TF1/Frames1
- /VIO1/Shape1
- /Ground Truth1
- /Ground Truth1/Shape1
Splitter Ratio: 0.5
Tree Height: 843
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: VIO Points
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.100000001
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: 1m Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 20
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.699999988
Cell Size: 5
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: 5m Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 4
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 1000
Frames:
All Enabled: false
odom:
Value: true
world:
Value: true
Marker Scale: 4
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
world:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: false
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 200
Name: VIO
Position Tolerance: 0
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.5
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /firefly_sbx/vio/odom
Unreliable: false
Value: false
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: false
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1
Name: Covariance
Position Tolerance: 0
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.200000003
Head Radius: 0.200000003
Shaft Length: 1
Shaft Radius: 0.100000001
Value: Arrow
Topic: /firefly_sbx/vio/odom
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 3
Min Value: -2
Value: false
Axis: Z
Channel Name: z
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 30
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 26.7646065
Min Color: 0; 0; 0
Min Intensity: -4.65562725
Name: VIO Points
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 1
Style: Points
Topic: /firefly_sbx/vio/feature_point_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /firefly_sbx/image_processor/debug_stereo_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Stereo Features
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 1
Name: Ground Truth
Position Tolerance: 0
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 0; 170; 255
Head Length: 0.200000003
Head Radius: 0.200000003
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /benchmark/odometry
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 170; 255; 0
Enabled: false
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Ground Truth Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /benchmark/path
Unreliable: false
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 15.6398182
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.80464071
Y: -1.53352785
Z: 0.741859734
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.55979633
Target Frame: odom
Value: Orbit (rviz)
Yaw: 6.27799845
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 1056
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001b3000003dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000003da000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a2000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000053d0000016dfc0100000004fb0000001e00530074006500720065006f002000460065006100740075007200650073030000000a000002dc0000038a0000013cfb0000001e00530074006500720065006f0020004600650061007400750072006500730100000000000005510000000000000000fb0000000800540069006d00650000000000000005560000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Stereo Features:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Y: 24

263
rviz/rviz_fla_config.rviz Normal file
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@ -0,0 +1,263 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /TF1/Frames1
- /VIO1/Shape1
- /VIO Points1
- /VIO Points1/Autocompute Value Bounds1
Splitter Ratio: 0.5
Tree Height: 808
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Stereo Features
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.100000001
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: 1m Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 700
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.699999988
Cell Size: 10
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: 10m Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 70
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 1000
Frames:
All Enabled: false
odom:
Value: true
vision:
Value: true
Marker Scale: 20
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
vision:
odom:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 400
Name: VIO
Position Tolerance: 0
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.300000012
Shaft Length: 3.5
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /fla/vio/odom
Unreliable: false
Value: true
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: false
Position:
Alpha: 0.5
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1
Name: Covariance
Position Tolerance: 0
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.100000001
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /fla/vio/odom
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -5
Value: false
Axis: Z
Channel Name: z
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 30
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 26.7646065
Min Color: 0; 0; 0
Min Intensity: -4.65562725
Name: VIO Points
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 3
Size (m): 1
Style: Points
Topic: /fla/vio/feature_point_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /fla/image_processor/debug_stereo_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Stereo Features
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: vision
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 98.0585938
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -26.1133022
Y: -6.50123549
Z: -17.9633904
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.19979477
Target Frame: odom
Value: Orbit (rviz)
Yaw: 4.71076918
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 1056
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001b3000003b7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000003b7000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a2000001fcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002b000001fc000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005b7000001cffc0100000004fb0000001e00530074006500720065006f002000460065006100740075007200650073030000000c000002400000043f000001d9fb0000001e00530074006500720065006f0020004600650061007400750072006500730100000000000005510000000000000000fb0000000800540069006d00650000000000000005560000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Stereo Features:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Y: 24