pr fixes

rpng · May 11, 2023 · dc09c66 · dc09c66
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diff --git a/ReadMe.md b/ReadMe.md
@@ -21,7 +21,7 @@ details on what the system supports.
 
 ## News / Events
 
-
+* **May 11, 2023** - Inertial intrinsic support released as part of v2.7 along with a few bug fixes and improvements to stereo KLT tracking. Please check out the [release page](https://github.com/rpng/open_vins/releases/tag/v2.7) for details.
 * **April 15, 2023** - Minor update to v2.6.3 to support incremental feature triangulation of active features for downstream applications, faster zero-velocity update, small bug fixes, some example realsense configurations, and cached fast state prediction. Please check out the [release page](https://github.com/rpng/open_vins/releases/tag/v2.6.3) for details.
 * **April 3, 2023** - We have released a monocular plane-aided VINS, termed [ov_plane](https://github.com/rpng/ov_plane), which leverages the OpenVINS project. Both now support the released [Indoor AR Table](https://github.com/rpng/ar_table_dataset) dataset.
 * **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).

diff --git a/config/rpng_plane/estimator_config.yaml b/config/rpng_plane/estimator_config.yaml
@@ -3,9 +3,7 @@
 verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
 
 use_fej: true # if first-estimate Jacobians should be used (enable for good consistency)
-use_imuavg: true # if using discrete integration, if we should average sequential IMU measurements to "smooth" it
-use_rk4int: true # if rk4 integration should be used (overrides imu averaging)
-
+integration: "rk4" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
 use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints between pairs
 max_cameras: 1 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)
 

diff --git a/config/rs_d455/estimator_config.yaml b/config/rs_d455/estimator_config.yaml
@@ -3,9 +3,7 @@
 verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
 
 use_fej: true # if first-estimate Jacobians should be used (enable for good consistency)
-use_imuavg: true # if using discrete integration, if we should average sequential IMU measurements to "smooth" it
-use_rk4int: true # if rk4 integration should be used (overrides imu averaging)
-
+integration: "rk4" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
 use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints between pairs
 max_cameras: 1 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)
 

diff --git a/config/rs_t265/estimator_config.yaml b/config/rs_t265/estimator_config.yaml
@@ -3,9 +3,7 @@
 verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
 
 use_fej: true # if first-estimate Jacobians should be used (enable for good consistency)
-use_imuavg: true # if using discrete integration, if we should average sequential IMU measurements to "smooth" it
-use_rk4int: true # if rk4 integration should be used (overrides imu averaging)
-
+integration: "rk4" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
 use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints between pairs
 max_cameras: 2 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)
 

diff --git a/ov_core/src/utils/opencv_yaml_parse.h b/ov_core/src/utils/opencv_yaml_parse.h
@@ -43,7 +43,8 @@ namespace ov_core {
  * @brief Helper class to do OpenCV yaml parsing from both file and ROS.
  *
  * The logic is as follows:
- * - Given a path to the main config file we will load it into our [cv::FileStorage](https://docs.opencv.org/4.x/da/d56/classcv_1_1FileStorage.html) object.
+ * - Given a path to the main config file we will load it into our
+ * [cv::FileStorage](https://docs.opencv.org/4.x/da/d56/classcv_1_1FileStorage.html) object.
  * - From there the user can request for different parameters of different types from the config.
  * - If we have ROS, then we will also check to see if the user has overridden any config files via ROS.
  * - The ROS parameters always take priority over the ones in our config.

diff --git a/ov_core/src/utils/sensor_data.h b/ov_core/src/utils/sensor_data.h
@@ -26,8 +26,6 @@
 #include <opencv2/opencv.hpp>
 #include <vector>
 
-#include "utils/quat_ops.h"
-
 namespace ov_core {
 
 /**

diff --git a/ov_msckf/launch/serial.launch b/ov_msckf/launch/serial.launch
@@ -11,7 +11,7 @@
     <arg name="bag_start"   default="0" /> <!-- v1-2: 0, mh1: 40, mh2: 35, mh3: 17.5, mh4-5: 15 -->
     <arg name="dataset"     default="dataset-room1_512_16" /> <!-- V1_01_easy, V1_02_medium, V1_03_difficult, V2_02_medium, dataset-room1_512_16 -->
     <!-- <arg name="bag"         default="/media/patrick/RPNG FLASH 3/$(arg config)/$(arg dataset).bag" /> -->
-    <arg name="bag"         default="/home/rpng/datasets/$(arg config)/$(arg dataset).bag" />
+    <arg name="bag"         default="/home/patrick/datasets/$(arg config)/$(arg dataset).bag" />
     <!-- <arg name="bag"         default="/datasets/$(arg config)/$(arg dataset).bag" /> -->
 
     <!-- saving trajectory path and timing information -->

diff --git a/ov_msckf/scripts/run_ros_eth.sh b/ov_msckf/scripts/run_ros_eth.sh
@@ -23,11 +23,11 @@ bagnames=(
   "V2_01_easy"
   "V2_02_medium"
   "V2_03_difficult"
-  "MH_01_easy"
-  "MH_02_easy"
-  "MH_03_medium"
-  "MH_04_difficult"
-  "MH_05_difficult"
+#  "MH_01_easy"
+#  "MH_02_easy"
+#  "MH_03_medium"
+#  "MH_04_difficult"
+#  "MH_05_difficult"
 )
 
 # how far we should start into the dataset
@@ -49,8 +49,8 @@ bagstarttimes=(
 # location to save log files into
 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"
+bag_path="/media/patrick/Windows/datasets/euroc_mav/"
+ov_ver="2.7"
 
 
 #=============================================================

diff --git a/ov_msckf/scripts/run_ros_kaist.sh b/ov_msckf/scripts/run_ros_kaist.sh
@@ -18,7 +18,7 @@ modes=(
 # dataset locations
 bagnames=(
   "urban28"
-  "urban32"
+#  "urban32"
 #  "urban34" # too strong of sun...
   "urban38"
   "urban39"
@@ -37,8 +37,8 @@ bagstarttimes=(
 # location to save log files into
 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"
+bag_path="/media/patrick/Windows/datasets/kaist/"
+ov_ver="2.7"
 
 
 #=============================================================

diff --git a/ov_msckf/scripts/run_ros_tumvi.sh b/ov_msckf/scripts/run_ros_tumvi.sh
@@ -39,8 +39,8 @@ bagstarttimes=(
 # location to save log files into
 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"
+bag_path="/media/patrick/Windows/datasets/tum_vi/"
+ov_ver="2.7"
 
 
 #=============================================================

diff --git a/ov_msckf/scripts/run_sim_calib.sh b/ov_msckf/scripts/run_sim_calib.sh
@@ -10,10 +10,10 @@ source ${SCRIPT_DIR}/../../../../devel/setup.bash
 
 # datasets
 datasets=(
-    "udel_gore"
+#    "udel_gore"
 #    "udel_arl"
 #    "udel_gore_zupt"
-#    "tum_corridor1_512_16_okvis"
+    "tum_corridor1_512_16_okvis"
 )
 
 # If we want to calibrate parameters

diff --git a/ov_msckf/scripts/run_sim_cams.sh b/ov_msckf/scripts/run_sim_cams.sh
@@ -10,10 +10,10 @@ source ${SCRIPT_DIR}/../../../../devel/setup.bash
 
 # datasets
 datasets=(
-    "udel_gore"
+#    "udel_gore"
 #    "udel_arl"
 #    "udel_gore_zupt"
-#    "tum_corridor1_512_16_okvis"
+    "tum_corridor1_512_16_okvis"
 )
 
 # what modes to use

diff --git a/ov_msckf/scripts/run_sim_featrep.sh b/ov_msckf/scripts/run_sim_featrep.sh
@@ -10,10 +10,10 @@ source ${SCRIPT_DIR}/../../../../devel/setup.bash
 
 # datasets
 datasets=(
-    "udel_gore"
+#    "udel_gore"
 #    "udel_arl"
 #    "udel_gore_zupt"
-#    "tum_corridor1_512_16_okvis"
+    "tum_corridor1_512_16_okvis"
 )
 
 # estimator configurations