Split Localizer into GraphVIO and GraphLocalizer #724
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bcoltin
approved these changes
Jun 7, 2024
astrobee/launch/robot/MLP.launch
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| @@ -111,16 +109,6 @@ | |||
| <arg name="debug" value="$(arg debug)" /> | |||
| <arg name="default" value="true" /> | |||
| </include> | |||
| <include file="$(find ff_util)/launch/ff_nodelet.launch"> | |||
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Oh I think you commented on a commit change, this is there in the final pr (I think I had accidentally removed it at some point)
| } | ||
| cv::Mat intrinsics; | ||
| cv::eigen2cv(params_.cam_intrinsics, intrinsics); | ||
| // TODO(rsoussan): Pass iterations limit if OpenCV version upgraded |
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did you mean to opencv 4? (we did upgrade)
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No, I actually meant opencv 4.xx, I'll look it up and revise the comment. It's not high priority because I don't actually use that outlier rejection in practice (it didn't help the results).
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Adds new graph_localizer and graph_vio packages that separately perform VIO and map-based localization. Added new packages to support graph-based optimization (optimizers, graph_optimizer, sliding_window_graph_optimizer, nodes, node_adders, factor_adders) and generalize concepts to avoid code duplication. Added extensive unit test coverage of these packages. Also provided ROS wrapper packages (ros_graph_localizer, ros_graph_vio, ros_pose_extrapolator) for live and offline ussage. Renamed graph_bag to offline_replay and updated it to support split localization architecture.
See https://github.com/rsoussan/astrobee/blob/split_localizer/localization/doc/astroloc_library_quickstart.pdf for a quickstart guide with an example simple localizer and documentation on the code structure. Further documentation exists in each package readme and header files for the code.