rpng · goldbattle · Aug 1, 2022 · Jul 25, 2022 · Jul 25, 2022 · Jul 26, 2022
diff --git a/ReadMe.md b/ReadMe.md
@@ -21,7 +21,7 @@ details on what the system supports.
 
 ## News / Events
 
-* **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).
+* **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).
 * **March 14, 2022** - Initial dynamic initialization open sourcing, asynchronous subscription to inertial readings and publishing of odometry, support for lower frequency feature tracking. See v2.6 [PR#232](https://github.com/rpng/open_vins/pull/232) for details.
 * **December 13, 2021** - New YAML configuration system, ROS2 support, Docker images, robust static initialization based on disparity, internal logging system to reduce verbosity, image transport publishers, dynamic number of features support, and other small fixes. See
   v2.5 [PR#209](https://github.com/rpng/open_vins/pull/209) for details.

diff --git a/config/euroc_mav/estimator_config.yaml b/config/euroc_mav/estimator_config.yaml
@@ -86,7 +86,7 @@ min_px_dist: 10 # distance between features (features near each other provide le
 knn_ratio: 0.70 # descriptor knn threshold for the top two descriptor matches
 track_frequency: 21.0 # frequency we will perform feature tracking at (in frames per second / hertz)
 downsample_cameras: false # will downsample image in half if true
-multi_threading: true # if should enable opencv multi threading
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 # aruco tag tracker for the system

diff --git a/config/kaist/estimator_config.yaml b/config/kaist/estimator_config.yaml
@@ -85,7 +85,7 @@ min_px_dist: 20
 knn_ratio: 0.65
 track_frequency: 31.0
 downsample_cameras: false
-multi_threading: true
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 fi_min_dist: 0.25

diff --git a/config/kaist_vio/estimator_config.yaml b/config/kaist_vio/estimator_config.yaml
@@ -86,7 +86,7 @@ min_px_dist: 15
 knn_ratio: 0.70
 track_frequency: 31.0
 downsample_cameras: false # will downsample image in half if true
-multi_threading: true # if should enable opencv multi threading
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 fi_max_dist: 10.0

diff --git a/config/kaist_vio/pgeneva_ros_kaistvio.launch.old b/config/kaist_vio/pgeneva_ros_kaistvio.launch.old
diff --git a/config/rpng_aruco/estimator_config.yaml b/config/rpng_aruco/estimator_config.yaml
@@ -84,7 +84,7 @@ min_px_dist: 20
 knn_ratio: 0.85
 track_frequency: 21.0
 downsample_cameras: false
-multi_threading: true
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 # aruco tag tracker for the system

diff --git a/config/rpng_ironsides/estimator_config.yaml b/config/rpng_ironsides/estimator_config.yaml
@@ -84,7 +84,7 @@ min_px_dist: 15
 knn_ratio: 0.65
 track_frequency: 31.0
 downsample_cameras: false
-multi_threading: true
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 fi_min_dist: 1.0

diff --git a/config/rpng_sim/estimator_config.yaml b/config/rpng_sim/estimator_config.yaml
@@ -84,7 +84,7 @@ min_px_dist: 15
 knn_ratio: 0.70
 track_frequency: 21.0
 downsample_cameras: false
-multi_threading: false
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 # aruco tag tracker for the system

diff --git a/config/tum_vi/estimator_config.yaml b/config/tum_vi/estimator_config.yaml
@@ -84,7 +84,7 @@ min_px_dist: 15
 knn_ratio: 0.65
 track_frequency: 21.0
 downsample_cameras: false
-multi_threading: true
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 # aruco tag tracker for the system

diff --git a/config/uzhfpv_indoor/estimator_config.yaml b/config/uzhfpv_indoor/estimator_config.yaml
@@ -84,7 +84,7 @@ min_px_dist: 15
 knn_ratio: 0.70
 track_frequency: 31.0
 downsample_cameras: false
-multi_threading: true
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 # aruco tag tracker for the system

diff --git a/config/uzhfpv_indoor_45/estimator_config.yaml b/config/uzhfpv_indoor_45/estimator_config.yaml
@@ -84,7 +84,7 @@ min_px_dist: 15
 knn_ratio: 0.70
 track_frequency: 31.0
 downsample_cameras: false
-multi_threading: true
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 # aruco tag tracker for the system

diff --git a/config/uzhfpv_outdoor/estimator_config.yaml b/config/uzhfpv_outdoor/estimator_config.yaml
@@ -84,7 +84,7 @@ min_px_dist: 15
 knn_ratio: 0.70
 track_frequency: 31.0
 downsample_cameras: false
-multi_threading: true
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 # aruco tag tracker for the system

diff --git a/config/uzhfpv_outdoor_45/estimator_config.yaml b/config/uzhfpv_outdoor_45/estimator_config.yaml
@@ -84,7 +84,7 @@ min_px_dist: 15
 knn_ratio: 0.70
 track_frequency: 31.0
 downsample_cameras: false
-multi_threading: true
+num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
 # aruco tag tracker for the system

diff --git a/docs/eval-timing.dox b/docs/eval-timing.dox
@@ -74,6 +74,21 @@ mean_time = 0.0128 | std = 0.0035 | 99th = 0.0208  | max = 0.0403 (total)
 
 
 
+@subsection eval-ov-timing-hist Script "timing_histogram"
+Generates a histogram plot of *binned* execution times for a specific class.
+This allows for inspection of the distribution of times as compared to just the mean of it.
+The file should be comma separated format, with the first column being the timing, and the last column being the total time.
+The middle columns should describe how much each component takes (whose names are extracted from the header of the csv file).
+
+@code{.shell-session}
+rosrun ov_eval timing_histogram <file_times.txt> <num_bins>
+rosrun ov_eval timing_histogram timing_mono_ethV101.txt 75
+@endcode
+
+
+@image html eval/timing_hist.png width=90%
+
+
 
 
 @subsection eval-ov-timing-compare Script "timing_comparison"
@@ -94,7 +109,7 @@ Example output:
 [TIME]: loading data for timing_mono
 [TIME]: loaded 2817 timestamps from file (7 categories)!!
 mean_time = 0.0037 | std = 0.0011 | 99th = 0.0063  | max = 0.0254 (tracking)
-mean_time = 0.0004 | std = 0.0001 | 99th = 0.0006  | max = 0.0014 ( propagation)
+mean_time = 0.0004 | std = 0.0001 | 99th = 0.0006  | max = 0.0014 (propagation)
 mean_time = 0.0032 | std = 0.0022 | 99th = 0.0083  | max = 0.0309 (msckf update)
 mean_time = 0.0034 | std = 0.0013 | 99th = 0.0063  | max = 0.0099 (slam update)
 mean_time = 0.0012 | std = 0.0017 | 99th = 0.0052  | max = 0.0141 (slam delayed)
@@ -105,7 +120,7 @@ mean_time = 0.0128 | std = 0.0035 | 99th = 0.0208  | max = 0.0403 (total)
 [TIME]: loading data for timing_stereo
 [TIME]: loaded 2817 timestamps from file (7 categories)!!
 mean_time = 0.0077 | std = 0.0020 | 99th = 0.0124  | max = 0.0219 (tracking)
-mean_time = 0.0004 | std = 0.0001 | 99th = 0.0007  | max = 0.0023 ( propagation)
+mean_time = 0.0004 | std = 0.0001 | 99th = 0.0007  | max = 0.0023 (propagation)
 mean_time = 0.0081 | std = 0.0047 | 99th = 0.0189  | max = 0.0900 (msckf update)
 mean_time = 0.0063 | std = 0.0023 | 99th = 0.0117  | max = 0.0151 (slam update)
 mean_time = 0.0020 | std = 0.0026 | 99th = 0.0079  | max = 0.0205 (slam delayed)

diff --git a/docs/img/eval/timing_hist.png b/docs/img/eval/timing_hist.png
diff --git a/ov_core/cmake/ROS1.cmake b/ov_core/cmake/ROS1.cmake
@@ -34,7 +34,7 @@ list(APPEND thirdparty_libraries
         ${Boost_LIBRARIES}
         ${OpenCV_LIBRARIES}
         ${catkin_LIBRARIES}
-        )
+)
 
 ##################################################
 # Make the core library
@@ -55,7 +55,7 @@ list(APPEND LIBRARY_SOURCES
         src/feat/FeatureDatabase.cpp
         src/feat/FeatureInitializer.cpp
         src/utils/print.cpp
-        )
+)
 file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
 add_library(ov_core_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
 target_link_libraries(ov_core_lib ${thirdparty_libraries})
@@ -64,11 +64,11 @@ install(TARGETS ov_core_lib
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        )
+)
 install(DIRECTORY src/
         DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
         FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-        )
+)
 
 ##################################################
 # Make binary files!
@@ -82,7 +82,7 @@ if (catkin_FOUND AND ENABLE_ROS)
             ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
             LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
             RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-            )
+    )
 
 endif ()
 
@@ -92,7 +92,7 @@ install(TARGETS test_webcam
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        )
+)
 
 
 
diff --git a/ov_core/cmake/ROS2.cmake b/ov_core/cmake/ROS2.cmake
@@ -23,7 +23,7 @@ include_directories(
 list(APPEND thirdparty_libraries
         ${Boost_LIBRARIES}
         ${OpenCV_LIBRARIES}
-        )
+)
 
 ##################################################
 # Make the core library
@@ -44,7 +44,7 @@ list(APPEND LIBRARY_SOURCES
         src/feat/FeatureDatabase.cpp
         src/feat/FeatureInitializer.cpp
         src/utils/print.cpp
-        )
+)
 file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
 add_library(ov_core_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
 ament_target_dependencies(ov_core_lib rclcpp cv_bridge)
@@ -54,11 +54,11 @@ install(TARGETS ov_core_lib
         LIBRARY DESTINATION lib
         RUNTIME DESTINATION bin
         PUBLIC_HEADER DESTINATION include
-        )
+)
 install(DIRECTORY src/
         DESTINATION include
         FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-        )
+)
 ament_export_include_directories(include)
 ament_export_libraries(ov_core_lib)