Release 0.19.1

RELEASE.md

@@ -1,5 +1,9 @@
 # Releases
 
+##Release 0.19.1
+
+  * Updated Map Matching with TEBLID and CLAHE
+
 ## Release 0.19.0
 
   * New split localizer

astrobee.doxyfile

@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.19.0
+PROJECT_NUMBER         = 0.19.1
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

astrobee/CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.19.0)
+set(ASTROBEE_VERSION 0.19.1)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)

astrobee/config/localization.config

@@ -29,11 +29,11 @@ brisk_num_ransac_iterations = 100
 brisk_early_break_landmarks = 100
 brisk_histogram_equalization = 1
 brisk_check_essential_matrix = false
-brisk_essential_ransac_iterations = 2000
+brisk_essential_ransac_iterations = 0
 brisk_add_similar_images = false
 brisk_add_best_previous_image = false
 brisk_hamming_distance = 90
-brisk_goodness_ratio = 0.8
+brisk_goodness_ratio = 10000
 brisk_use_clahe = false 
 brisk_num_extra_localization_db_images = 0
 -- Detection Params
@@ -42,14 +42,16 @@ brisk_default_threshold = 90.0
 brisk_max_threshold = 110.0
 brisk_min_features = 200 
 brisk_max_features = 800
+brisk_too_many_ratio = 1.25 
+brisk_too_few_ratio = 0.8
 brisk_detection_retries = 1
 -- Localizer Threshold Params
 brisk_success_history_size = 10
 brisk_min_success_rate = 0
 brisk_max_success_rate = 1
-brisk_adjust_hamming_distance = false
-brisk_min_hamming_distance = 90
-brisk_max_hamming_distance = 90
+brisk_adjust_num_similar = false
+brisk_min_num_similar = 20
+brisk_max_num_similar = 20
 
 -- TEBLID512
 teblid512_num_similar = 20
@@ -69,19 +71,21 @@ teblid512_num_extra_localization_db_images = 0
 
 -- Detection Params
 teblid512_min_threshold = 20.0
-teblid512_default_threshold = 60.0
+teblid512_default_threshold = 72.0
 teblid512_max_threshold = 110.0
 teblid512_min_features = 1000
 teblid512_max_features = 3000
+teblid512_too_many_ratio = 1.05 
+teblid512_too_few_ratio = 0.95
 teblid512_detection_retries = 1
 
 -- Localizer Threshold Params
 teblid512_success_history_size = 10
-teblid512_min_success_rate = 0.3
+teblid512_min_success_rate = 0.5
 teblid512_max_success_rate = 0.9
-teblid512_adjust_hamming_distance = false
-teblid512_min_hamming_distance = 85
-teblid512_max_hamming_distance = 85
+teblid512_adjust_num_similar = true 
+teblid512_min_num_similar = 15
+teblid512_max_num_similar = 20
 
 -- TEBLID256
 teblid256_num_similar = 20
@@ -101,16 +105,18 @@ teblid256_num_extra_localization_db_images = 0
 
 -- Detection Params
 teblid256_min_threshold = 20.0
-teblid256_default_threshold = 60.0
+teblid256_default_threshold = 72.0
 teblid256_max_threshold = 110.0
 teblid256_min_features = 1000
 teblid256_max_features = 3000
+teblid256_too_many_ratio = 1.05 
+teblid256_too_few_ratio = 0.95
 teblid256_detection_retries = 1
 
 -- Localizer Threshold Params
 teblid256_success_history_size = 10
-teblid256_min_success_rate = 0.3
+teblid256_min_success_rate = 0.5
 teblid256_max_success_rate = 0.9
-teblid256_adjust_hamming_distance = false
-teblid256_min_hamming_distance = 85
-teblid256_max_hamming_distance = 85
+teblid256_adjust_num_similar = true 
+teblid256_min_num_similar = 15
+teblid256_max_num_similar = 20

astrobee/config/localization/graph_localizer.config

@@ -61,7 +61,7 @@ gl_na_pose_starting_prior_translation_stddev = 0.02
 gl_na_pose_starting_prior_quaternion_stddev = 0.01
 gl_na_pose_huber_k = world_huber_k 
 gl_na_pose_add_priors = true 
-gl_na_pose_ideal_duration = 4 
+gl_na_pose_ideal_duration = 15 
 gl_na_pose_min_num_states = 3 
 gl_na_pose_max_num_states = 5
 gl_na_pose_model_huber_k = world_huber_k

astrobee/config/localization/localization_manager.config

@@ -108,7 +108,7 @@ pipelines = {
   { id = "ml", name = "Sparse map", ekf_input = 0,
     needs_filter = true, optical_flow = true, timeout = 1.0, max_confidence = 0,
     enable_topic = "loc/ml/enable", enable_timeout = 20.0,
-    reg_topic = "loc/ml/registration", reg_timeout = 3.0,
+    reg_topic = "loc/ml/registration", reg_timeout = 30.0,
     feat_topic = "loc/ml/features", feat_timeout = 600.0, feat_threshold = 3    },
   -- AR Tags
   { id = "ar", name = "AR Tags", ekf_input = 1,

astrobee/config/simulation/simulation.config

@@ -30,5 +30,5 @@ disable_cameras_on_speedup = true;
 
 nav_cam_rate   = 0.0;
 dock_cam_rate  = 0.0;
-perch_cam_rate = 5.0;
-haz_cam_rate   = 5.0;
+perch_cam_rate = 0.0;
+haz_cam_rate   = 0.0;

communications/ff_msgs/bmr/2023_07_01_VisualLandmarks_add_field.bmr

@@ -0,0 +1,205 @@
+class update_ff_msgs_VisualLandmarks_bc9fc09f69d7758225ed41ee26f6375e(MessageUpdateRule):
+	old_type = "ff_msgs/VisualLandmarks"
+	old_full_text = """
+# Copyright (c) 2017, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+# 
+# All rights reserved.
+# 
+# The Astrobee platform is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+# 
+#     http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+# The observation from a camera image, of image coordinates
+# and associated 3D coordinates. Used for sparse mapping and AR tags.
+
+Header header # header with timestamp
+uint32 camera_id # image ID, associated with registration pulse
+geometry_msgs/Pose pose # estimated camera pose from features
+ff_msgs/VisualLandmark[] landmarks # list of all landmarks
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of position and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: ff_msgs/VisualLandmark
+# Copyright (c) 2017, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+# 
+# All rights reserved.
+# 
+# The Astrobee platform is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+# 
+#     http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+# A single observation of a feature, with an image coordinate
+# and known 3D coordinate
+
+float32 x # known 3D position x
+float32 y # known 3D position y
+float32 z # known 3D position z
+float32 u # feature image coordinate x
+float32 v # feature image coordinate y
+"""
+
+	new_type = "ff_msgs/VisualLandmarks"
+	new_full_text = """
+# Copyright (c) 2017, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+# 
+# All rights reserved.
+# 
+# The Astrobee platform is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+# 
+#     http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+# The observation from a camera image, of image coordinates
+# and associated 3D coordinates. Used for sparse mapping and AR tags.
+
+Header header # header with timestamp
+uint32 camera_id # image ID, associated with registration pulse
+geometry_msgs/Pose pose # estimated camera pose from features
+ff_msgs/VisualLandmark[] landmarks # list of all landmarks
+float32 runtime # Time it took to calculate the pose and matching landmarks
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of position and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: ff_msgs/VisualLandmark
+# Copyright (c) 2017, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+# 
+# All rights reserved.
+# 
+# The Astrobee platform is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+# 
+#     http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+# A single observation of a feature, with an image coordinate
+# and known 3D coordinate
+
+float32 x # known 3D position x
+float32 y # known 3D position y
+float32 z # known 3D position z
+float32 u # feature image coordinate x
+float32 v # feature image coordinate y
+"""
+
+	order = 0
+	migrated_types = [
+		("Header","Header"),
+		("geometry_msgs/Pose","geometry_msgs/Pose"),
+		("VisualLandmark","VisualLandmark"),]
+
+	valid = True
+
+	def update(self, old_msg, new_msg):
+		self.migrate(old_msg.header, new_msg.header)
+		new_msg.camera_id = old_msg.camera_id
+		self.migrate(old_msg.pose, new_msg.pose)
+		self.migrate_array(old_msg.landmarks, new_msg.landmarks, "ff_msgs/VisualLandmark")
+		#No matching field name in old message
+		new_msg.runtime = 0.

communications/ff_msgs/msg/VisualLandmarks.msg

@@ -22,3 +22,4 @@ Header header # header with timestamp
 uint32 camera_id # image ID, associated with registration pulse
 geometry_msgs/Pose pose # estimated camera pose from features
 ff_msgs/VisualLandmark[] landmarks # list of all landmarks
+float32 runtime # Time it took to calculate the pose and matching landmarks

debian/changelog

@@ -1,3 +1,9 @@
+astrobee (0.19.1) testing; urgency=medium
+
+  * Updated Map Matching with TEBLID and CLAHE
+
+ -- Astrobee Flight Software <astrobee-fsw@nx.arc.nasa.gov>  Sun, 30 Jun 2024 15:20:46 -0700
+
 astrobee (0.19.0) testing; urgency=medium
 
   * New split localizer