├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── rtabmap.ini └── rviz │ └── stereo.rviz ├── launch ├── zed.launch ├── zed_rtabmap.launch ├── zed_rtabmap_bag_playback.launch ├── zed_rtabmap_db_playback.launch └── zed_rtabmap_db_recorder.launch ├── media ├── loop_closure.gif ├── loop_closure.png ├── rectification.png ├── stereo_correspondences.jpg ├── temporal_correspondences.jpg ├── zed.jpg ├── zed_rtabmap.mp4.png ├── zed_rtabmap_rtabmapviz_screenshot.jpg └── zed_rviz_screenshot.jpg └── package.xml /.gitignore: -------------------------------------------------------------------------------- 1 | devel/ 2 | logs/ 3 | build/ 4 | bin/ 5 | lib/ 6 | msg_gen/ 7 | srv_gen/ 8 | msg/*Action.msg 9 | msg/*ActionFeedback.msg 10 | msg/*ActionGoal.msg 11 | msg/*ActionResult.msg 12 | msg/*Feedback.msg 13 | msg/*Goal.msg 14 | msg/*Result.msg 15 | msg/_*.py 16 | build_isolated/ 17 | devel_isolated/ 18 | 19 | # Generated by dynamic reconfigure 20 | *.cfgc 21 | /cfg/cpp/ 22 | /cfg/*.py 23 | 24 | # Ignore generated docs 25 | *.dox 26 | *.wikidoc 27 | 28 | # eclipse stuff 29 | .project 30 | .cproject 31 | 32 | # qcreator stuff 33 | CMakeLists.txt.user 34 | 35 | srv/_*.py 36 | *.pcd 37 | *.pyc 38 | qtcreator-* 39 | *.user 40 | 41 | /planning/cfg 42 | /planning/docs 43 | /planning/src 44 | 45 | *~ 46 | 47 | # Emacs 48 | .#* 49 | 50 | # Catkin custom files 51 | CATKIN_IGNORE 52 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(zed_visual_odometry) 3 | find_package(catkin REQUIRED) 4 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Visual Odometry with the ZED Stereo Camera 2 | This tutorial briefly describes the ZED Stereo Camera and the concept of Visual 3 | Odometry. It also provides a step-by-step guide for installing all required 4 | dependencies to get the camera and visual odometry up and running. Lastly, it 5 | offers a glimpse of 3D Mapping using the RTAB-Map visual SLAM algorithm. 6 | 7 | 8 | 9 | Contents 10 | -------- 11 | - [STEREOLABS ZED Stereo Camera](#1-stereolabs-visual-odometry) 12 | - [Visual Odometry and SLAM](#2-visual-odometry-and-slam) 13 | - [Installation](#3-installation) 14 | - [Runnning](#4-running) 15 | - [Recording and Playback](#5-recording-and-playback) 16 | 17 | ## 1. STEREOLABS ZED Stereo Camera 18 | ![zed.jpg](media/zed.jpg) 19 | The ZED Stereo Camera developed by [STEREOLABS](https://www.stereolabs.com/) is 20 | a camera system based on the concept of human stereovision. In addition to 21 | viewing RGB, stereovision also allows the perception of depth. Advanced computer 22 | vision and geometric techniques can use depth perception to accurately estimate 23 | the 6DoF pose (x,y,z,roll,pitch,yaw) of the camera and therefore also the pose 24 | of the system it is mounted on. At the same time, it provides high quality 3D 25 | point clouds, which can be used to build 3D metric maps of the environment. 26 | 27 | The camera can generate VGA (100Hz) to 2K (15Hz) stereo image streams. The 12cm 28 | baseline (distance between left and right camera) results in a 0.5-20m range of 29 | depth perception, about four times higher than the widespread Kinect Depth 30 | sensors. Furthermore, one of the most striking advantages of this stereo camera 31 | technology is that it can also be used outdoors, where IR interference from 32 | sunlight renders structured-light-type sensors like the Kinect inoperable. As a 33 | result, this system is ideal for robots or machines that operate indoors, 34 | outdoors or both. It can also be used for many different applications, ranging 35 | from pose estimation, mapping, autonomous navigation to object detection and 36 | tracking and many more. 37 | 38 | ## 2. Visual Odometry and SLAM 39 | Visual Odometry is the process of estimating the motion of a camera in real-time 40 | using successive images. There are many different camera setups/configurations 41 | that can be used for visual odometry, including monocular, stereo, 42 | omni-directional, and RGB-D cameras. The cheapest solution of course is 43 | monocular visual odometry. However, with this approach it is not possible to 44 | estimate scale. This can be solved by adding a camera, which results in a stereo 45 | camera setup. 46 | 47 | The following approach to stereo visual odometry consists of five steps. 48 | Firstly, the stereo image pair is rectified, which undistorts and projects the 49 | images onto a common plane. Feature detection extracts local features from the 50 | two images of the stereo pair. Then, Stereo Matching tries to find feature 51 | correspondences between the two image feature sets. Since the images are 52 | rectified, the search is done only on the same image row. Usually the search is 53 | further restricted to a range of pixels on the same line. There is also an 54 | extra step of feature matching, but this time between two successive frames 55 | in time. Finally, an algorithm such as RANSAC is used for every stereo pair to 56 | incrementally estimate the camera pose. This is done by using the features that 57 | were tracked in the previous step and by rejecting outlier feature matches. 58 | 59 | | Stereo Rectification | Stereo Feature Matches | Temporal Feature Matches | 60 | |:--------------------:|:----------------------:|:------------------------:| 61 | |rectification.png | stereo_correspondences.jpg|temporal_correspondences.jpg| 62 | Due to the incremental nature of this particular type of pose estimation, error 63 | accumulation is inevitable. The longer the system operates, the bigger the error 64 | accumulation will be. Therefore, we need to improve the visual odometry 65 | algorithm and find a way to counteract that drift and provide a more robust pose 66 | estimate. This can be done with loop closure detection. This technique offers a 67 | way to store a dictionary of visual features from visited areas in a 68 | bag-of-words approach. This dictionary is then used to detect matches between 69 | current frame feature sets and past ones. If a match is found, a transform is 70 | calculated and it is used to optimize the trajectory graph and to minimize the 71 | accumulated error. 72 | 73 | | Loop Closure Detection and Map Graph Optimization | 74 | |:-------------------------------------------------:| 75 | |loop_closure.gif loop_closure.png| 76 | 77 | Visual Odometry algorithms can be integrated into a 3D Visual SLAM system, which 78 | makes it possible to map an environment and localize objects in that environment 79 | at the same time. RTAB-Map is such a 3D Visual SLAM algorithm. It consists of a 80 | graph-based SLAM approach that uses external odometry as input, such as stereo 81 | visual odometry, and generates a trajectory graph with nodes and links 82 | corresponding to past camera poses and transforms between them respectively. 83 | Each node also contains a point cloud, which is used in the generation of the 3D 84 | metric map of the environment. Since RTAB-Map stores all the information in a 85 | highly efficient short-term and long-term memory approach, it allows for 86 | large-scale lengthy mapping sessions. Loop closure detection also enables the 87 | recognition of revisited areas and the refinement of its graph and subsequent 88 | map through graph optimization. 89 | 90 | 91 | ## 3. Installation 92 | The following instructions show you how to install all the dependencies and 93 | packages to start with the ZED Stereo Camera and Visual Odometry 94 | 95 | ### System Specifications and Libraries: 96 | - Dell XPS-15-9570 with Intel Core i7-8750H and NVidia GeForce GTX 1050 Ti 97 | - Ubuntu 18.04 with latest kernel (v4.20) 98 | - Latest stable and compatible NVidia Driver (v4.15 -> for kernel v4.20) 99 | - Latest stable and compatible CUDA (v10) 100 | - ZED SDK (v2.71) 101 | - ROS Melodic Morenia 102 | - ZED ROS Wrapper 103 | - RTAB-Map and RTAB-Map ROS wrapper 104 | 105 | Note: You can skip the kernel upgrade and the installation of the NVIDIA driver 106 | and CUDA if you already have installed versions and you don’t want to upgrade 107 | to the latest versions. However, in order to work with the ZED Stereo Camera, 108 | you need to install a version of the ZED SDK that is compatible with your CUDA. 109 | Search the website of STEREOLABS 110 | [website of STEREOLABS](https://www.stereolabs.com/developers/release/archives/) 111 | for a legacy version of the SDK. 112 | 113 | ### (Optional) Upgrade Ubuntu 18.04 Kernel 114 | Find your kernel version by running: 115 | ```bash 116 | $ uname -r 117 | ``` 118 | Install the Ubuntu Kernel Update Utility (UKUU) and run the tool to update your 119 | kernel: 120 | ```bash 121 | $ sudo add-apt-repository ppa:teejee2008/ppa 122 | $ sudo apt update 123 | $ sudo apt install ukuu 124 | $ ukuu-gtk 125 | ``` 126 | 127 | After the installation has been completed, reboot the computer and run the first 128 | command again to see if you have booted with the new kernel. 129 | 130 | ### Install the latest compatible NVidia Driver 131 | ```bash 132 | $ sudo apt-get purge *nvidia* # remove old version 133 | $ sudo add-apt-repository ppa:graphics-drivers 134 | $ sudo apt update 135 | $ sudo apt install nvidia-driver-415 # change 415 to whatever version is compatible with your graphics card 136 | $ sudo apt-mark hold nvidia-driver-415 # block nvidia driver updates 137 | ``` 138 | After the installation has been completed, reboot the computer and check whether 139 | the driver is active by running: 140 | ```bash 141 | $ nvidia-smi 142 | ``` 143 | 144 | ### Install CUDA 10 145 | - Complete the [Pre-Installation Actions](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#pre-installation-actions) 146 | - [Download Cuda Toolkit 10.0](https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&target_distro=Ubuntu&target_version=1804&target_type=runfilelocal) 147 | - [Disable the nouveu drivers](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#runfile-nouveau) 148 | - Reboot and go into console mode (Ctr-alt-F1 to F6) and run the following: 149 | ```bash 150 | $ sudo service lightdm stop 151 | $ sudo sh /path/to/NVIDIA-Linux--.run 152 | ``` 153 | Follow the command line prompts to install CUDA, but DO NOT ALLOW THE INSTALLER TO INSTALL ANOTHER NVIDIA DRIVER. 154 | - Reboot the system to reload the graphical interface 155 | - Add CUDA to the environment's PATH and LD_LIBRARY_PATH by adding the following commands to your .bashrc or .zshrc 156 | ```bash 157 | $ export PATH=$PATH:/usr/local/cuda-10.0/bin 158 | $ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda-10.0/lib64 # or /usr/local/cuda-10.0/lib for 32 bit systems 159 | ``` 160 | 161 | ### Install the ZED SDK 162 | With CUDA 10 installed, you can install the latest [ZED SDK](https://www.stereolabs.com/developers/release/). 163 | ```bash 164 | $ wget https://www.stereolabs.com/developers/downloads/ZED_SDK_Ubuntu18_v2.7.1.run 165 | $ chmod +x ZED_SDK_Ubuntu18_v2.7.1.run 166 | $ sh ZED_SDK_Ubuntu18_v2.7.1.run 167 | ``` 168 | Follow the instructions of the installer and when finished, test the 169 | installation by connecting the camera and by running the following command to 170 | open the ZED Explorer: 171 | ```bash 172 | $ /usr/local/zed/tools/ZED\ Explorer 173 | ``` 174 | 175 | ### Install ROS Melodic Morenia 176 | ```bash 177 | $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 178 | $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 179 | $ sudo apt update 180 | $ sudo apt install ros-melodic-desktop-full 181 | $ sudo rosdep init 182 | $ rosdep update 183 | $ sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential 184 | ``` 185 | Copy the following commands to your .bashrc or .zshrc 186 | ```bash 187 | $ source /opt/ros/melodic/setup.bash 188 | $ source ~/.bashrc 189 | or 190 | $source ~/.zshrc 191 | ``` 192 | 193 | ### Initialize your catkin workspace and build the ZED ros wrapper 194 | ```bash 195 | $ sudo apt install python-catkin-tools 196 | $ mkdir -p ~/catkin_ws/src 197 | $ git clone git@github.com:stereolabs/zed-ros-wrapper.git ~/catkin_ws/src/zed-ros-wrapper 198 | $ cd ~/catkin_ws 199 | $ rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -yr 200 | $ catkin build zed_wrapper 201 | $ source ~/.bashrc # or ~/.zshrc 202 | ``` 203 | 204 | ## 4. Running 205 | In order to launch the ZED node that outputs Left and Right camera RGB streams, 206 | Depth, and Odometry, simply run the following command. You should see the rviz 207 | visualization as displayed below. 208 | ```bash 209 | $ roslaunch zed_display_rviz display.launch 210 | ``` 211 | ![zed\_rviz\_screenshot.jpg](media/zed_rviz_screenshot.jpg) 212 | 213 | In order to get a taste of 3D mapping with the ZED Stereo Camera, install 214 | rtabmap and rtabmap_ros and run the corresponding launcher. You should see the 215 | rtabmapviz visualization as displayed below. 216 | ```bash 217 | $ sudo apt install ros-melodic-rtabmap ros-melodic-rtabmap-ros 218 | $ catkin build zed_rtabmap_example # contained on the zed_ros_wrapper repository 219 | $ source ~/.bashrc # or ~/.zshrc 220 | $ roslaunch zed_rtabmap_example zed_rtabmap.launch 221 | ``` 222 | ![zed\_rtabmap\_rtabmapviz.jpg](media/zed_rtabmap_rtabmapviz_screenshot.jpg) 223 | 224 | 225 | ## 5. Recording and Playback 226 | Assuming you have already installed RTAB-Map from the previous section, in this 227 | section you can learn how to record a session with ZED and playing it back for 228 | experimentation with different parameters of RTAB-Map. 229 | 230 | First of all, clone and build our repository with the required launchers as 231 | shown below: 232 | ```bash 233 | $ git clone git@github.com:Kapernikov/zed_visual_odometry.git 234 | $ catkin build zed_visual_odometry 235 | $ source ~/.bashrc # or ~/.zshrc 236 | ``` 237 | 238 | Then connect a ZED Stereo Camera on your computer and launch the recorder: 239 | ```bash 240 | $ roslaunch zed_visual_odometry zed_rtabmap_db_recorder.launch 241 | ``` 242 | Do your session with the camera and when you are done, simply close the recorder 243 | (ctrl+c). The database of the session you recorded will be stored in 244 | ~/.ros/output.db. You can now launch the playback node along with rtabmap by 245 | calling the corresponding launcher as follows: 246 | ```bash 247 | $ roslaunch zed_visual_odometry zed_rtabmap_db_playback.launch 248 | ``` 249 | If you are not satisfied with the results, play around with the parameters of 250 | the configuration file located inside our repository 251 | (zed_visual_odometry/config/rtabmap.ini) and rerun the playback launcher. 252 | 253 | [![session3b_zed_slanted_mid_forklift_infrabel_warehouse.mp4](media/zed_rtabmap.mp4.png)](https://drive.google.com/file/d/1eXQMy56tF8tgyQ_QwtJvkZ0kxY3IkN1m/preview) 254 | 255 | -------------------------------------------------------------------------------- /config/rtabmap.ini: -------------------------------------------------------------------------------- 1 | [CalibrationDialog] 2 | board_height = 6 3 | board_square_size = 0.033 4 | board_width = 8 5 | geometry = @ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\0\0\0\x5!\0\0\x3N\0\0\0\0\0\0\0\0\0\0\x5!\0\0\x3N\0\0\0\x1\0\0\0\0\n\0) 6 | max_scale = 1 7 | 8 | 9 | [Camera] 10 | Database\cameraIndex = -1 11 | Database\ignoreGoalDelay = true 12 | Database\ignoreGoals = true 13 | Database\ignoreOdometry = false 14 | Database\path = 15 | Database\startPos = 0 16 | Database\useDatabaseStamps = true 17 | DepthFromScan\depthFromScan = false 18 | DepthFromScan\depthFromScanFillBorders = false 19 | DepthFromScan\depthFromScanFillHoles = true 20 | DepthFromScan\depthFromScanHorizontal = false 21 | DepthFromScan\depthFromScanVertical = true 22 | Freenect2\bilateralFiltering = true 23 | Freenect2\edgeAwareFiltering = true 24 | Freenect2\format = 1 25 | Freenect2\maxDepth = 12 26 | Freenect2\minDepth = 0.3 27 | Freenect2\noiseFiltering = true 28 | Freenect2\pipeline = 29 | Images\bayerMode = 0 30 | Images\filenames_as_stamps = false 31 | Images\gt_format = 0 32 | Images\gt_path = 33 | Images\imu_local_transform = 0 0 1 0 -1 0 1 0 0 34 | Images\imu_path = 35 | Images\imu_rate = 0 36 | Images\max_pose_time_diff = 0.02 37 | Images\odom_format = 0 38 | Images\odom_path = 39 | Images\path = 40 | Images\path_scans = 41 | Images\scan_max_pts = 0 42 | Images\scan_transform = 0 0 0 0 0 0 43 | Images\stamps = 44 | Images\startPos = 0 45 | Images\sync_stamps = true 46 | K4W2\format = 1 47 | Openni\oniPath = 48 | Openni2\autoExposure = true 49 | Openni2\autoWhiteBalance = true 50 | Openni2\exposure = 0 51 | Openni2\gain = 100 52 | Openni2\hshift = 0 53 | Openni2\mirroring = false 54 | Openni2\oniPath = 55 | Openni2\stampsIdsUsed = false 56 | Openni2\vshift = 0 57 | RGBDImages\path_depth = 58 | RGBDImages\path_rgb = 59 | RGBDImages\scale = 1 60 | RGBDImages\start_index = 0 61 | RealSense\depthScaled = false 62 | RealSense\odom = false 63 | RealSense\presetDepth = 2 64 | RealSense\presetRGB = 0 65 | RealSense\rgbSource = 0 66 | RealSense2\emitter = true 67 | RealSense2\irdepth = false 68 | Scan\downsampleStep = 1 69 | Scan\fromDepth = false 70 | Scan\normalsK = 0 71 | Scan\normalsRadius = 0 72 | Scan\normalsUp = false 73 | Scan\rangeMax = 0 74 | Scan\rangeMin = 0 75 | Scan\voxelSize = 0 76 | StereoImages\path_left = 77 | StereoImages\path_right = 78 | StereoImages\rectify = false 79 | StereoImages\start_index = 0 80 | StereoVideo\device2 = -1 81 | StereoVideo\path = 82 | StereoVideo\path2 = 83 | StereoZed\confidence_thr = 100 84 | StereoZed\odom = false 85 | StereoZed\quality = 1 86 | StereoZed\resolution = 2 87 | StereoZed\self_calibration = true 88 | StereoZed\sensing_mode = 0 89 | StereoZed\svo_path = 90 | Video\path = 91 | calibrationName = 92 | device = 93 | imageDecimation = 1 94 | imgRate = 0 95 | localTransform = 0 0 1 -1 0 0 0 -1 0 96 | mirroring = false 97 | rgb\driver = 0 98 | rgb\rectify = false 99 | rgbd\bilateral = false 100 | rgbd\bilateral_sigma_r = 0.1 101 | rgbd\bilateral_sigma_s = 10 102 | rgbd\distortion_model = 103 | rgbd\driver = 1 104 | rgbd\rgbdColorOnly = false 105 | stereo\depthGenerated = false 106 | stereo\driver = 0 107 | stereo\exposureCompensation = false 108 | type = 0 109 | 110 | 111 | [Core] 112 | BRIEF\Bytes = 32 113 | BRISK\Octaves = 3 114 | BRISK\PatternScale = 1 115 | BRISK\Thresh = 30 116 | Bayes\FullPredictionUpdate = false 117 | Bayes\PredictionLC = 0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23 118 | Bayes\VirtualPlacePriorThr = 0.9 119 | DbSqlite3\CacheSize = 10000 120 | DbSqlite3\InMemory = false 121 | DbSqlite3\JournalMode = 3 122 | DbSqlite3\Synchronous = 0 123 | DbSqlite3\TempStore = 2 124 | FAST\Gpu = false 125 | FAST\GpuKeypointsRatio = 0.05 126 | FAST\GridCols = 0 127 | FAST\GridRows = 0 128 | FAST\MaxThreshold = 200 129 | FAST\MinThreshold = 7 130 | FAST\NonmaxSuppression = true 131 | FAST\Threshold = 20 132 | FREAK\NOctaves = 4 133 | FREAK\OrientationNormalized = true 134 | FREAK\PatternScale = 22 135 | FREAK\ScaleNormalized = true 136 | GFTT\BlockSize = 3 137 | GFTT\K = 0.04 138 | GFTT\MinDistance = 3 139 | GFTT\QualityLevel = 0.001 140 | GFTT\UseHarrisDetector = false 141 | GTSAM\Optimizer = 1 142 | Grid\3D = true 143 | Grid\CellSize = 0.05 144 | Grid\ClusterRadius = 0.1 145 | Grid\DepthDecimation = 4 146 | Grid\DepthRoiRatios = 0.0 0.0 0.0 0.0 147 | Grid\FlatObstacleDetected = true 148 | Grid\FootprintHeight = 0.0 149 | Grid\FootprintLength = 0.0 150 | Grid\FootprintWidth = 0.0 151 | Grid\FromDepth = true 152 | Grid\GroundIsObstacle = false 153 | Grid\MapFrameProjection = false 154 | Grid\MaxGroundAngle = 45 155 | Grid\MaxGroundHeight = 0.0 156 | Grid\MaxObstacleHeight = 0.0 157 | Grid\MinClusterSize = 10 158 | Grid\MinGroundHeight = 0 159 | Grid\NoiseFilteringMinNeighbors = 5 160 | Grid\NoiseFilteringRadius = 0.0 161 | Grid\NormalK = 20 162 | Grid\NormalsSegmentation = true 163 | Grid\PreVoxelFiltering = true 164 | Grid\RangeMax = 5 165 | Grid\RangeMin = 0.0 166 | Grid\RayTracing = false 167 | Grid\Scan2dUnknownSpaceFilled = false 168 | Grid\ScanDecimation = 1 169 | GridGlobal\Eroded = false 170 | GridGlobal\FootprintRadius = 0.0 171 | GridGlobal\FullUpdate = true 172 | GridGlobal\MaxNodes = 0 173 | GridGlobal\MinSize = 0.0 174 | GridGlobal\OccupancyThr = 0.5 175 | GridGlobal\ProbClampingMax = 0.971 176 | GridGlobal\ProbClampingMin = 0.1192 177 | GridGlobal\ProbHit = 0.7 178 | GridGlobal\ProbMiss = 0.4 179 | GridGlobal\UpdateError = 0.01 180 | Icp\CorrespondenceRatio = 0.1 181 | Icp\DownsamplingStep = 1 182 | Icp\Epsilon = 0 183 | Icp\Iterations = 30 184 | Icp\MaxCorrespondenceDistance = 0.05 185 | Icp\MaxRotation = 0.78 186 | Icp\MaxTranslation = 0.2 187 | Icp\PM = false 188 | Icp\PMConfig = 189 | Icp\PMMatcherEpsilon = 0.0 190 | Icp\PMMatcherKnn = 1 191 | Icp\PMOutlierRatio = 0.95 192 | Icp\PointToPlane = false 193 | Icp\PointToPlaneK = 5 194 | Icp\PointToPlaneMinComplexity = 0.02 195 | Icp\PointToPlaneRadius = 1 196 | Icp\VoxelSize = 0 197 | KAZE\Diffusivity = 1 198 | KAZE\Extended = false 199 | KAZE\NOctaveLayers = 4 200 | KAZE\NOctaves = 4 201 | KAZE\Threshold = 0.001 202 | KAZE\Upright = false 203 | Kp\BadSignRatio = 0.5 204 | Kp\DetectorStrategy = 6 205 | Kp\DictionaryPath = 206 | Kp\FlannRebalancingFactor = 2.0 207 | Kp\GridCols = 1 208 | Kp\GridRows = 1 209 | Kp\IncrementalDictionary = true 210 | Kp\IncrementalFlann = true 211 | Kp\MaxDepth = 0 212 | Kp\MaxFeatures = 500 213 | Kp\MinDepth = 0 214 | Kp\NNStrategy = 1 215 | Kp\NewWordsComparedTogether = true 216 | Kp\NndrRatio = 0.8 217 | Kp\Parallelized = true 218 | Kp\RoiRatios = 0.0 0.0 0.0 0.0 219 | Kp\SubPixEps = 0.02 220 | Kp\SubPixIterations = 0 221 | Kp\SubPixWinSize = 3 222 | Kp\TfIdfLikelihoodUsed = true 223 | Mem\BadSignaturesIgnored = false 224 | Mem\BinDataKept = true 225 | Mem\CompressionParallelized = true 226 | Mem\CovOffDiagIgnored = true 227 | Mem\DepthAsMask = true 228 | Mem\GenerateIds = true 229 | Mem\ImageKept = false 230 | Mem\ImagePostDecimation = 1 231 | Mem\ImagePreDecimation = 1 232 | Mem\IncrementalMemory = true 233 | Mem\InitWMWithAllNodes = false 234 | Mem\IntermediateNodeDataKept = false 235 | Mem\LaserScanDownsampleStepSize = 1 236 | Mem\LaserScanNormalK = 0 237 | Mem\LaserScanNormalRadius = 0.0 238 | Mem\LaserScanVoxelSize = 0.0 239 | Mem\MapLabelsAdded = true 240 | Mem\NotLinkedNodesKept = true 241 | Mem\RawDescriptorsKept = true 242 | Mem\RecentWmRatio = 0.2 243 | Mem\ReduceGraph = false 244 | Mem\RehearsalIdUpdatedToNewOne = false 245 | Mem\RehearsalSimilarity = 0.6 246 | Mem\RehearsalWeightIgnoredWhileMoving = false 247 | Mem\STMSize = 10 248 | Mem\SaveDepth16Format = false 249 | Mem\TransferSortingByWeightId = false 250 | Mem\UseOdomFeatures = false 251 | ORB\EdgeThreshold = 31 252 | ORB\FirstLevel = 0 253 | ORB\Gpu = false 254 | ORB\NLevels = 8 255 | ORB\PatchSize = 31 256 | ORB\ScaleFactor = 1.2 257 | ORB\ScoreType = 0 258 | ORB\WTA_K = 2 259 | Odom\AlignWithGround = false 260 | Odom\FillInfoData = true 261 | Odom\FilteringStrategy = 0 262 | Odom\GuessMotion = false 263 | Odom\GuessSmoothingDelay = 1.0 264 | Odom\Holonomic = true 265 | Odom\ImageBufferSize = 1 266 | Odom\ImageDecimation = 1 267 | Odom\KalmanMeasurementNoise = 0.01 268 | Odom\KalmanProcessNoise = 0.001 269 | Odom\KeyFrameThr = 0.3 270 | Odom\ParticleLambdaR = 100 271 | Odom\ParticleLambdaT = 100 272 | Odom\ParticleNoiseR = 0.002 273 | Odom\ParticleNoiseT = 0.002 274 | Odom\ParticleSize = 400 275 | Odom\ResetCountdown = 0 276 | Odom\ScanKeyFrameThr = 0.9 277 | Odom\Strategy = 1 278 | Odom\VisKeyFrameThr = 150 279 | OdomF2M\BundleAdjustment = 1 280 | OdomF2M\BundleAdjustmentMaxFrames = 10 281 | OdomF2M\MaxNewFeatures = 0 282 | OdomF2M\MaxSize = 2000 283 | OdomF2M\ScanMaxSize = 2000 284 | OdomF2M\ScanSubtractAngle = 45 285 | OdomF2M\ScanSubtractRadius = 0.05 286 | OdomFovis\BucketHeight = 80 287 | OdomFovis\BucketWidth = 80 288 | OdomFovis\CliqueInlierThreshold = 0.1 289 | OdomFovis\FastThreshold = 20 290 | OdomFovis\FastThresholdAdaptiveGain = 0.005 291 | OdomFovis\FeatureSearchWindow = 25 292 | OdomFovis\FeatureWindowSize = 9 293 | OdomFovis\InlierMaxReprojectionError = 1.5 294 | OdomFovis\MaxKeypointsPerBucket = 25 295 | OdomFovis\MaxMeanReprojectionError = 10.0 296 | OdomFovis\MaxPyramidLevel = 3 297 | OdomFovis\MinFeaturesForEstimate = 20 298 | OdomFovis\MinPyramidLevel = 0 299 | OdomFovis\StereoMaxDisparity = 128 300 | OdomFovis\StereoMaxDistEpipolarLine = 1.5 301 | OdomFovis\StereoMaxRefinementDisplacement = 1.0 302 | OdomFovis\StereoRequireMutualMatch = true 303 | OdomFovis\TargetPixelsPerFeature = 250 304 | OdomFovis\UpdateTargetFeaturesWithRefined = false 305 | OdomFovis\UseAdaptiveThreshold = true 306 | OdomFovis\UseBucketing = true 307 | OdomFovis\UseHomographyInitialization = true 308 | OdomFovis\UseImageNormalization = false 309 | OdomFovis\UseSubpixelRefinement = true 310 | OdomLOAM\AngVar = 0.01 311 | OdomLOAM\LinVar = 0.01 312 | OdomLOAM\LocalMapping = true 313 | OdomLOAM\ScanPeriod = 0.1 314 | OdomLOAM\Sensor = 2 315 | OdomMSCKF\FastThreshold = 10 316 | OdomMSCKF\GridCol = 5 317 | OdomMSCKF\GridMaxFeatureNum = 4 318 | OdomMSCKF\GridMinFeatureNum = 3 319 | OdomMSCKF\GridRow = 4 320 | OdomMSCKF\InitCovAccBias = 0.01 321 | OdomMSCKF\InitCovExRot = 0.00030462 322 | OdomMSCKF\InitCovExTrans = 2.5e-5 323 | OdomMSCKF\InitCovGyroBias = 0.01 324 | OdomMSCKF\InitCovVel = 0.25 325 | OdomMSCKF\MaxCamStateSize = 20 326 | OdomMSCKF\MaxIteration = 30 327 | OdomMSCKF\NoiseAcc = 0.05 328 | OdomMSCKF\NoiseAccBias = 0.01 329 | OdomMSCKF\NoiseFeature = 0.035 330 | OdomMSCKF\NoiseGyro = 0.005 331 | OdomMSCKF\NoiseGyroBias = 0.001 332 | OdomMSCKF\OptTranslationThreshold = 0 333 | OdomMSCKF\PatchSize = 15 334 | OdomMSCKF\PositionStdThreshold = 8 335 | OdomMSCKF\PyramidLevels = 3 336 | OdomMSCKF\RansacThreshold = 3 337 | OdomMSCKF\RotationThreshold = 0.2618 338 | OdomMSCKF\StereoThreshold = 5 339 | OdomMSCKF\TrackPrecision = 0.01 340 | OdomMSCKF\TrackingRateThreshold = 0.5 341 | OdomMSCKF\TranslationThreshold = 0.4 342 | OdomMono\InitMinFlow = 100 343 | OdomMono\InitMinTranslation = 0.1 344 | OdomMono\MaxVariance = 0.01 345 | OdomMono\MinTranslation = 0.02 346 | OdomOKVIS\ConfigPath = 347 | OdomORBSLAM2\Bf = 0.076 348 | OdomORBSLAM2\Fps = 0.0 349 | OdomORBSLAM2\MapSize = 3000 350 | OdomORBSLAM2\MaxFeatures = 1000 351 | OdomORBSLAM2\ThDepth = 40.0 352 | OdomORBSLAM2\VocPath = 353 | OdomViso2\BucketHeight = 50 354 | OdomViso2\BucketMaxFeatures = 2 355 | OdomViso2\BucketWidth = 50 356 | OdomViso2\InlierThreshold = 2.0 357 | OdomViso2\MatchBinsize = 50 358 | OdomViso2\MatchDispTolerance = 2 359 | OdomViso2\MatchHalfResolution = true 360 | OdomViso2\MatchMultiStage = true 361 | OdomViso2\MatchNmsN = 3 362 | OdomViso2\MatchNmsTau = 50 363 | OdomViso2\MatchOutlierDispTolerance = 5 364 | OdomViso2\MatchOutlierFlowTolerance = 5 365 | OdomViso2\MatchRadius = 200 366 | OdomViso2\MatchRefinement = 1 367 | OdomViso2\RansacIters = 200 368 | OdomViso2\Reweighting = true 369 | Optimizer\Epsilon = 1e-5 370 | Optimizer\Iterations = 20 371 | Optimizer\LandmarksIgnored = false 372 | Optimizer\PriorsIgnored = true 373 | Optimizer\Robust = false 374 | Optimizer\Strategy = 2 375 | Optimizer\VarianceIgnored = false 376 | RGBD\AngularSpeedUpdate = 0.0 377 | RGBD\AngularUpdate = 0.1 378 | RGBD\CreateOccupancyGrid = false 379 | RGBD\Enabled = true 380 | RGBD\GoalReachedRadius = 0.5 381 | RGBD\GoalsSavedInUserData = false 382 | RGBD\LinearSpeedUpdate = 0.0 383 | RGBD\LinearUpdate = 0.1 384 | RGBD\LocalBundleOnLoopClosure = false 385 | RGBD\LocalImmunizationRatio = 0.25 386 | RGBD\LocalRadius = 10 387 | RGBD\LoopClosureReextractFeatures = false 388 | RGBD\LoopCovLimited = false 389 | RGBD\MaxLocalRetrieved = 2 390 | RGBD\NeighborLinkRefining = false 391 | RGBD\NewMapOdomChangeDistance = 0 392 | RGBD\OptimizeFromGraphEnd = false 393 | RGBD\OptimizeMaxError = 3 394 | RGBD\PlanAngularVelocity = 0 395 | RGBD\PlanLinearVelocity = 0 396 | RGBD\PlanStuckIterations = 0 397 | RGBD\ProximityAngle = 45 398 | RGBD\ProximityBySpace = true 399 | RGBD\ProximityByTime = false 400 | RGBD\ProximityMaxGraphDepth = 50 401 | RGBD\ProximityMaxPaths = 3 402 | RGBD\ProximityPathFilteringRadius = 1 403 | RGBD\ProximityPathMaxNeighbors = 0 404 | RGBD\ProximityPathRawPosesUsed = true 405 | RGBD\SavedLocalizationIgnored = false 406 | RGBD\ScanMatchingIdsSavedInLinks = true 407 | Reg\Force3DoF = false 408 | Reg\RepeatOnce = true 409 | Reg\Strategy = 0 410 | Rtabmap\ComputeRMSE = true 411 | Rtabmap\CreateIntermediateNodes = false 412 | Rtabmap\DetectionRate = 4 413 | Rtabmap\ImageBufferSize = 1 414 | Rtabmap\ImagesAlreadyRectified = true 415 | Rtabmap\LoopGPS = true 416 | Rtabmap\LoopRatio = 0 417 | Rtabmap\LoopThr = 0.11 418 | Rtabmap\MaxRetrieved = 2 419 | Rtabmap\MemoryThr = 0 420 | Rtabmap\PublishLastSignature = true 421 | Rtabmap\PublishLikelihood = false 422 | Rtabmap\PublishPdf = false 423 | Rtabmap\PublishRAMUsage = false 424 | Rtabmap\PublishStats = true 425 | Rtabmap\RectifyOnlyFeatures = false 426 | Rtabmap\SaveWMState = false 427 | Rtabmap\StartNewMapOnGoodSignature = false 428 | Rtabmap\StartNewMapOnLoopClosure = false 429 | Rtabmap\StatisticLogged = false 430 | Rtabmap\StatisticLoggedHeaders = true 431 | Rtabmap\StatisticLogsBufferedInRAM = true 432 | Rtabmap\TimeThr = 0 433 | Rtabmap\WorkingDirectory = /home/gkouros/Documents/RTAB-Map 434 | SIFT\ContrastThreshold = 0.04 435 | SIFT\EdgeThreshold = 10 436 | SIFT\NFeatures = 0 437 | SIFT\NOctaveLayers = 3 438 | SIFT\Sigma = 1.6 439 | SURF\Extended = false 440 | SURF\GpuKeypointsRatio = 0.01 441 | SURF\GpuVersion = false 442 | SURF\HessianThreshold = 500 443 | SURF\OctaveLayers = 2 444 | SURF\Octaves = 4 445 | SURF\Upright = false 446 | Stereo\DenseStrategy = 0 447 | Stereo\Eps = 0.01 448 | Stereo\Iterations = 30 449 | Stereo\MaxDisparity = 128 450 | Stereo\MaxLevel = 5 451 | Stereo\MinDisparity = 0.5 452 | Stereo\OpticalFlow = true 453 | Stereo\SSD = true 454 | Stereo\WinHeight = 3 455 | Stereo\WinWidth = 15 456 | StereoBM\BlockSize = 15 457 | StereoBM\Disp12MaxDiff = -1 458 | StereoBM\MinDisparity = 0 459 | StereoBM\NumDisparities = 128 460 | StereoBM\PreFilterCap = 31 461 | StereoBM\PreFilterSize = 9 462 | StereoBM\SpeckleRange = 4 463 | StereoBM\SpeckleWindowSize = 100 464 | StereoBM\TextureThreshold = 10 465 | StereoBM\UniquenessRatio = 15 466 | StereoSGBM\BlockSize = 15 467 | StereoSGBM\Disp12MaxDiff = 1 468 | StereoSGBM\MinDisparity = 0 469 | StereoSGBM\Mode = 0 470 | StereoSGBM\NumDisparities = 128 471 | StereoSGBM\P1 = 2 472 | StereoSGBM\P2 = 5 473 | StereoSGBM\PreFilterCap = 31 474 | StereoSGBM\SpeckleRange = 4 475 | StereoSGBM\SpeckleWindowSize = 100 476 | StereoSGBM\UniquenessRatio = 20 477 | Version = 0.18.3 478 | VhEp\Enabled = false 479 | VhEp\MatchCountMin = 8 480 | VhEp\RansacParam1 = 3 481 | VhEp\RansacParam2 = 0.99 482 | Vis\BundleAdjustment = 1 483 | Vis\CorFlowEps = 0.01 484 | Vis\CorFlowIterations = 30 485 | Vis\CorFlowMaxLevel = 3 486 | Vis\CorFlowWinSize = 16 487 | Vis\CorGuessMatchToProjection = false 488 | Vis\CorGuessWinSize = 20 489 | Vis\CorNNDR = 0.6 490 | Vis\CorNNType = 1 491 | Vis\CorType = 0 492 | Vis\DepthAsMask = true 493 | Vis\EpipolarGeometryVar = 0.02 494 | Vis\EstimationType = 1 495 | Vis\FeatureType = 6 496 | Vis\ForwardEstOnly = true 497 | Vis\GridCols = 1 498 | Vis\GridRows = 1 499 | Vis\InlierDistance = 0.1 500 | Vis\Iterations = 300 501 | Vis\MaxDepth = 0 502 | Vis\MaxFeatures = 1000 503 | Vis\MinDepth = 0 504 | Vis\MinInliers = 20 505 | Vis\PnPFlags = 0 506 | Vis\PnPRefineIterations = 0 507 | Vis\PnPReprojError = 2 508 | Vis\RefineIterations = 5 509 | Vis\RoiRatios = 0.0 0.0 0.0 0.0 510 | Vis\SubPixEps = 0.02 511 | Vis\SubPixIterations = 0 512 | Vis\SubPixWinSize = 3 513 | g2o\Baseline = 0.075 514 | g2o\Optimizer = 0 515 | g2o\PixelVariance = 1 516 | g2o\RobustKernelDelta = 8 517 | g2o\Solver = 0 518 | 519 | 520 | [Gui] 521 | AboutDialog\geometry = @ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\0\0\0\x2\xf7\0\0\x2\xe1\0\0\0\0\0\0\0\0\0\0\x2\xf7\0\0\x2\xe1\0\0\0\x1\0\0\0\0\n\0) 522 | DepthCalibrationDialog\bin_depth = 2 523 | DepthCalibrationDialog\bin_height = 6 524 | DepthCalibrationDialog\bin_width = 8 525 | DepthCalibrationDialog\cone_radius = 0.02 526 | DepthCalibrationDialog\cone_stddev_thresh = 0.1 527 | DepthCalibrationDialog\decimation = 1 528 | DepthCalibrationDialog\geometry = @ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\0\0\0\x2\n\0\0\x3\f\0\0\0\0\0\0\0\0\0\0\x2\n\0\0\x3\f\0\0\0\x1\0\0\0\0\n\0) 529 | DepthCalibrationDialog\laser_scan = false 530 | DepthCalibrationDialog\max_depth = 3.5 531 | DepthCalibrationDialog\max_model_depth = 10 532 | DepthCalibrationDialog\min_depth = 0 533 | DepthCalibrationDialog\smoothing = 1 534 | DepthCalibrationDialog\voxel = 0.01 535 | ExportBundlerDialog\exportPoints = false 536 | ExportBundlerDialog\geometry = "@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\0\0\0\x2,\0\0\x1\xd1\0\0\0\0\0\0\0\0\0\0\x2,\0\0\x1\xd1\0\0\0\x1\0\0\0\0\n\0)" 537 | ExportBundlerDialog\laplacianThr = 0 538 | ExportBundlerDialog\maxAngularSpeed = 0 539 | ExportBundlerDialog\maxLinearSpeed = 0 540 | ExportBundlerDialog\sba_iterations = 20 541 | ExportBundlerDialog\sba_rematch_features = true 542 | ExportBundlerDialog\sba_type = 0 543 | ExportBundlerDialog\sba_variance = 1 544 | ExportCloudsDialog\assemble = true 545 | ExportCloudsDialog\assemble_voxel = 0.01 546 | ExportCloudsDialog\bilateral = false 547 | ExportCloudsDialog\bilateral_sigma_r = 0.1 548 | ExportCloudsDialog\bilateral_sigma_s = 10 549 | ExportCloudsDialog\binary = true 550 | ExportCloudsDialog\cputsdf_flattenRadius = 0.005 551 | ExportCloudsDialog\cputsdf_minWeight = 0 552 | ExportCloudsDialog\cputsdf_randomSplit = 1 553 | ExportCloudsDialog\cputsdf_resolution = 0.01 554 | ExportCloudsDialog\cputsdf_size = 12 555 | ExportCloudsDialog\cputsdf_truncNeg = 0.03 556 | ExportCloudsDialog\cputsdf_truncPos = 0.03 557 | ExportCloudsDialog\filtering = false 558 | ExportCloudsDialog\filtering_min_neighbors = 2 559 | ExportCloudsDialog\filtering_radius = 0.02 560 | ExportCloudsDialog\frame = 0 561 | ExportCloudsDialog\from_depth = true 562 | ExportCloudsDialog\gain = false 563 | ExportCloudsDialog\gain_beta = 10 564 | ExportCloudsDialog\gain_full = false 565 | ExportCloudsDialog\gain_overlap = 0 566 | ExportCloudsDialog\gain_radius = 0.02 567 | ExportCloudsDialog\gain_rgb = true 568 | ExportCloudsDialog\geometry = @ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\0\0\0\x3-\0\0\x2\xa7\0\0\0\0\0\0\0\0\0\0\x3-\0\0\x2\xa7\0\0\0\x1\0\0\0\0\n\0) 569 | ExportCloudsDialog\mesh = false 570 | ExportCloudsDialog\mesh_angle_tolerance = 15 571 | ExportCloudsDialog\mesh_clean = true 572 | ExportCloudsDialog\mesh_color_radius = 0.03 573 | ExportCloudsDialog\mesh_decimation_factor = 0 574 | ExportCloudsDialog\mesh_dense_strategy = 1 575 | ExportCloudsDialog\mesh_max_polygons = 0 576 | ExportCloudsDialog\mesh_min_cluster_size = 0 577 | ExportCloudsDialog\mesh_mu = 2.5 578 | ExportCloudsDialog\mesh_quad = false 579 | ExportCloudsDialog\mesh_radius = 0.2 580 | ExportCloudsDialog\mesh_texture = false 581 | ExportCloudsDialog\mesh_textureBlending = true 582 | ExportCloudsDialog\mesh_textureBlendingDecimation = 0 583 | ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh = 0 584 | ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow = 0 585 | ExportCloudsDialog\mesh_textureCameraFiltering = false 586 | ExportCloudsDialog\mesh_textureCameraFilteringAngle = 30 587 | ExportCloudsDialog\mesh_textureCameraFilteringLaplacian = 0 588 | ExportCloudsDialog\mesh_textureCameraFilteringRadius = 0 589 | ExportCloudsDialog\mesh_textureCameraFilteringVel = 0 590 | ExportCloudsDialog\mesh_textureCameraFilteringVelRad = 0 591 | ExportCloudsDialog\mesh_textureExposureFusion = false 592 | ExportCloudsDialog\mesh_textureFormat = 0 593 | ExportCloudsDialog\mesh_textureMaxAngle = 0 594 | ExportCloudsDialog\mesh_textureMaxCount = 1 595 | ExportCloudsDialog\mesh_textureMaxDepthError = 0 596 | ExportCloudsDialog\mesh_textureMaxDistance = 3 597 | ExportCloudsDialog\mesh_textureMinCluster = 50 598 | ExportCloudsDialog\mesh_textureRoiRatios = 0.0 0.0 0.0 0.0 599 | ExportCloudsDialog\mesh_textureSize = 5 600 | ExportCloudsDialog\mesh_triangle_size = 1 601 | ExportCloudsDialog\mls = false 602 | ExportCloudsDialog\mls_dilation_iterations = 1 603 | ExportCloudsDialog\mls_dilation_voxel_size = 0.005 604 | ExportCloudsDialog\mls_output_voxel_size = 0 605 | ExportCloudsDialog\mls_point_density = 10 606 | ExportCloudsDialog\mls_polygonial_order = 2 607 | ExportCloudsDialog\mls_radius = 0.04 608 | ExportCloudsDialog\mls_upsampling_method = 0 609 | ExportCloudsDialog\mls_upsampling_radius = 0.01 610 | ExportCloudsDialog\mls_upsampling_step = 0.005 611 | ExportCloudsDialog\normals_k = 20 612 | ExportCloudsDialog\normals_radius = 0 613 | ExportCloudsDialog\openchisel_carving_dist_m = 0.05 614 | ExportCloudsDialog\openchisel_chunk_size_x = 16 615 | ExportCloudsDialog\openchisel_chunk_size_y = 16 616 | ExportCloudsDialog\openchisel_chunk_size_z = 16 617 | ExportCloudsDialog\openchisel_far_plane_dist = 1.1 618 | ExportCloudsDialog\openchisel_integration_weight = 1 619 | ExportCloudsDialog\openchisel_merge_vertices = true 620 | ExportCloudsDialog\openchisel_near_plane_dist = 0.05 621 | ExportCloudsDialog\openchisel_truncation_constant = 0.001504 622 | ExportCloudsDialog\openchisel_truncation_linear = 0.00152 623 | ExportCloudsDialog\openchisel_truncation_quadratic = 0.0019 624 | ExportCloudsDialog\openchisel_truncation_scale = 10 625 | ExportCloudsDialog\openchisel_use_voxel_carving = false 626 | ExportCloudsDialog\pipeline = 1 627 | ExportCloudsDialog\poisson_depth = 0 628 | ExportCloudsDialog\poisson_iso = 8 629 | ExportCloudsDialog\poisson_manifold = true 630 | ExportCloudsDialog\poisson_minDepth = 5 631 | ExportCloudsDialog\poisson_outputPolygons = false 632 | ExportCloudsDialog\poisson_pointWeight = 4 633 | ExportCloudsDialog\poisson_samples = 1 634 | ExportCloudsDialog\poisson_scale = 1.1 635 | ExportCloudsDialog\poisson_solver = 8 636 | ExportCloudsDialog\regenerate = false 637 | ExportCloudsDialog\regenerate_decimation = 1 638 | ExportCloudsDialog\regenerate_distortion_model = 639 | ExportCloudsDialog\regenerate_fill_error = 2 640 | ExportCloudsDialog\regenerate_fill_size = 0 641 | ExportCloudsDialog\regenerate_max_depth = 4 642 | ExportCloudsDialog\regenerate_min_depth = 0 643 | ExportCloudsDialog\regenerate_roi = 0.0 0.0 0.0 0.0 644 | ExportCloudsDialog\subtract = false 645 | ExportCloudsDialog\subtract_min_neighbors = 5 646 | ExportCloudsDialog\subtract_point_angle = 0 647 | ExportCloudsDialog\subtract_point_radius = 0.01 648 | Figures\counts = 649 | Figures\curves = 650 | General\beep = false 651 | General\cloudCeilingHeight = 0 652 | General\cloudFiltering = false 653 | General\cloudFilteringAngle = 30 654 | General\cloudFilteringRadius = 0.1 655 | General\cloudFloorHeight = 0 656 | General\cloudNoiseMinNeighbors = 5 657 | General\cloudNoiseRadius = 0 658 | General\cloudVoxel = 0 659 | General\cloudsKept = true 660 | General\colorScheme0 = 0 661 | General\colorScheme1 = 0 662 | General\colorSchemeScan0 = 0 663 | General\colorSchemeScan1 = 0 664 | General\decimation0 = 4 665 | General\decimation1 = 4 666 | General\downsamplingScan0 = 1 667 | General\downsamplingScan1 = 1 668 | General\figure_cache = true 669 | General\figure_time = true 670 | General\gridMapOpacity = 0.75 671 | General\gridMapShown = false 672 | General\gtAlign = true 673 | General\imageHighestHypShown = false 674 | General\imageRejectedShown = true 675 | General\imagesKept = true 676 | General\localizationsGraphView = false 677 | General\loggerEventLevel = 3 678 | General\loggerLevel = 2 679 | General\loggerPauseLevel = 3 680 | General\loggerPrintThreadId = false 681 | General\loggerPrintTime = true 682 | General\loggerType = 1 683 | General\maxDepth0 = 0 684 | General\maxDepth1 = 0 685 | General\maxRange0 = 0 686 | General\maxRange1 = 0 687 | General\meshing = false 688 | General\meshing_angle = 15 689 | General\meshing_quad = true 690 | General\meshing_texture = false 691 | General\meshing_triangle_size = 2 692 | General\minDepth0 = 0 693 | General\minDepth1 = 0 694 | General\minRange0 = 0 695 | General\minRange1 = 0 696 | General\noFiltering = true 697 | General\nochangeGraphView = false 698 | General\normalKSearch = 10 699 | General\normalRadiusSearch = 0 700 | General\notifyNewGlobalPath = false 701 | General\octomap = false 702 | General\octomap_2dgrid = true 703 | General\octomap_3dmap = true 704 | General\octomap_depth = 16 705 | General\octomap_point_size = 5 706 | General\octomap_rendering_type = 0 707 | General\odomDisabled = false 708 | General\odomOnlyInliersShown = false 709 | General\odomQualityThr = 50 710 | General\odomRegistration = 3 711 | General\opacity0 = 1 712 | General\opacity1 = 0.75 713 | General\opacityScan0 = 1 714 | General\opacityScan1 = 0.5 715 | General\posteriorGraphView = true 716 | General\ptSize0 = 2 717 | General\ptSize1 = 2 718 | General\ptSizeFeatures0 = 3 719 | General\ptSizeFeatures1 = 3 720 | General\ptSizeScan0 = 2 721 | General\ptSizeScan1 = 2 722 | General\roiRatios0 = 0.0 0.0 0.0 0.0 723 | General\roiRatios1 = 0.0 0.0 0.0 0.0 724 | General\scanCeilingHeight = 0 725 | General\scanFloorHeight = 0 726 | General\scanNormalKSearch = 0 727 | General\scanNormalRadiusSearch = 0 728 | General\showClouds0 = true 729 | General\showClouds1 = false 730 | General\showFeatures0 = false 731 | General\showFeatures1 = true 732 | General\showFrustums0 = false 733 | General\showFrustums1 = false 734 | General\showGraphs = true 735 | General\showLabels = false 736 | General\showScans0 = true 737 | General\showScans1 = true 738 | General\subtractFiltering = false 739 | General\subtractFilteringAngle = 0 740 | General\subtractFilteringMinPts = 5 741 | General\subtractFilteringRadius = 0.02 742 | General\verticalLayoutUsed = true 743 | General\voxelSizeScan0 = 0 744 | General\voxelSizeScan1 = 0 745 | General\wordsGraphView = false 746 | MainWindow\geometry = @ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\0\0\0\x4\xff\0\0\x2\xcf\0\0\0\0\0\0\0\0\0\0\x4\xff\0\0\x2\xcf\0\0\0\x1\0\0\0\0\n\0) 747 | MainWindow\maximized = false 748 | MainWindow\state = "@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\0\0\0\0\0\xfc\x2\0\0\0\x3\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x2\0\0\0\0\0\0\0\x18\0\0\0\xc8\0\0\0\xd6\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0\0\xff\xff\xff\xff\0\0\0%\0\xff\xff\xff\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\x13\0\xff\xff\xff\0\0\0\x1\0\0\0\0\0\0\0\0\xfc\x2\0\0\0\x3\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\xdb\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf2\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0Y\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\x1+\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\x2\0\0\0\0\0\0\0\x18\0\0\0\xc8\0\0\0\x8a\0\0\0\0\0\0\0\0\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)" 749 | MainWindow\status_bar = false 750 | PostProcessingDialog\cluster_angle = 30 751 | PostProcessingDialog\cluster_radius = 1 752 | PostProcessingDialog\detect_more_lc = true 753 | PostProcessingDialog\geometry = @ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\0\0\0\x2'\0\0\x2x\0\0\0\0\0\0\0\0\0\0\x2'\0\0\x2x\0\0\0\x1\0\0\0\0\n\0) 754 | PostProcessingDialog\inter_session = true 755 | PostProcessingDialog\intra_session = true 756 | PostProcessingDialog\iterations = 5 757 | PostProcessingDialog\refine_lc = false 758 | PostProcessingDialog\refine_neigbors = false 759 | PostProcessingDialog\sba = false 760 | PostProcessingDialog\sba_iterations = 20 761 | PostProcessingDialog\sba_rematch_features = true 762 | PostProcessingDialog\sba_type = 1 763 | PostProcessingDialog\sba_variance = 1 764 | PreferencesDialog\geometry = @ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\0\0\0\x3\xcf\0\0\x3\x83\0\0\0\0\0\0\0\0\0\0\x3\xcf\0\0\x3\x83\0\0\0\x1\0\0\0\0\n\0) 765 | graphicsView_graphView\current_goal_color = @Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0) 766 | graphicsView_graphView\global_color = @Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) 767 | graphicsView_graphView\global_path_color = @Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0) 768 | graphicsView_graphView\global_path_visible = true 769 | graphicsView_graphView\gps_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0) 770 | graphicsView_graphView\gps_graph_visible = true 771 | graphicsView_graphView\graph_visible = true 772 | graphicsView_graphView\grid_visible = true 773 | graphicsView_graphView\gt_color = @Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0) 774 | graphicsView_graphView\gt_graph_visible = true 775 | graphicsView_graphView\inter_session_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0) 776 | graphicsView_graphView\intra_inter_session_colors_enabled = false 777 | graphicsView_graphView\intra_session_color = @Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) 778 | graphicsView_graphView\link_width = 0 779 | graphicsView_graphView\local_color = @Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) 780 | graphicsView_graphView\local_path_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) 781 | graphicsView_graphView\local_path_visible = true 782 | graphicsView_graphView\local_radius_visible = false 783 | graphicsView_graphView\loop_closure_outlier_thr = @Variant(\0\0\0\x87\0\0\0\0) 784 | graphicsView_graphView\max_link_length = @Variant(\0\0\0\x87<\xa3\xd7\n) 785 | graphicsView_graphView\neighbor_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) 786 | graphicsView_graphView\neighbor_merged_color = @Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0) 787 | graphicsView_graphView\node_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) 788 | graphicsView_graphView\node_radius = 0.009999999776482582 789 | graphicsView_graphView\orientation_ENU = false 790 | graphicsView_graphView\origin_visible = true 791 | graphicsView_graphView\referential_visible = true 792 | graphicsView_graphView\rejected_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) 793 | graphicsView_graphView\user_color = @Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) 794 | graphicsView_graphView\virtual_color = @Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) 795 | imageView_loopClosure\alpha = 50 796 | imageView_loopClosure\bg_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) 797 | imageView_loopClosure\colormap = 0 798 | imageView_loopClosure\depth_shown = false 799 | imageView_loopClosure\features_shown = true 800 | imageView_loopClosure\features_size = 0 801 | imageView_loopClosure\graphics_view = false 802 | imageView_loopClosure\graphics_view_scale = true 803 | imageView_loopClosure\graphics_view_scale_to_height = false 804 | imageView_loopClosure\image_shown = true 805 | imageView_loopClosure\lines_shown = true 806 | imageView_odometry\alpha = 200 807 | imageView_odometry\bg_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) 808 | imageView_odometry\colormap = 0 809 | imageView_odometry\depth_shown = false 810 | imageView_odometry\features_shown = true 811 | imageView_odometry\features_size = 0 812 | imageView_odometry\graphics_view = false 813 | imageView_odometry\graphics_view_scale = true 814 | imageView_odometry\graphics_view_scale_to_height = false 815 | imageView_odometry\image_shown = true 816 | imageView_odometry\lines_shown = true 817 | imageView_source\alpha = 50 818 | imageView_source\bg_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) 819 | imageView_source\colormap = 0 820 | imageView_source\depth_shown = false 821 | imageView_source\features_shown = true 822 | imageView_source\features_size = 0 823 | imageView_source\graphics_view = false 824 | imageView_source\graphics_view_scale = true 825 | imageView_source\graphics_view_scale_to_height = false 826 | imageView_source\image_shown = true 827 | imageView_source\lines_shown = true 828 | widget_cloudViewer\bg_color = @Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) 829 | widget_cloudViewer\camera_focal = @Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0) 830 | widget_cloudViewer\camera_free = false 831 | widget_cloudViewer\camera_lockZ = true 832 | widget_cloudViewer\camera_ortho = false 833 | widget_cloudViewer\camera_pose = @Variant(\0\0\0T\xbf\x80\0\0\0\0\0\0\0\0\0\0) 834 | widget_cloudViewer\camera_target_follow = true 835 | widget_cloudViewer\camera_target_locked = false 836 | widget_cloudViewer\camera_up = @Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0) 837 | widget_cloudViewer\frustum_color = @Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0) 838 | widget_cloudViewer\frustum_scale = @Variant(\0\0\0\x87?\0\0\0) 839 | widget_cloudViewer\frustum_shown = false 840 | widget_cloudViewer\grid = false 841 | widget_cloudViewer\grid_cell_count = 50 842 | widget_cloudViewer\grid_cell_size = 1 843 | widget_cloudViewer\normals = false 844 | widget_cloudViewer\normals_scale = 0.20000000298023224 845 | widget_cloudViewer\normals_step = 1 846 | widget_cloudViewer\rendering_rate = 5 847 | widget_cloudViewer\trajectory_shown = true 848 | widget_cloudViewer\trajectory_size = 100 849 | -------------------------------------------------------------------------------- /config/rviz/stereo.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 77 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Odometry1/Shape1 8 | Splitter Ratio: 0.5 9 | Tree Height: 175 10 | - Class: rviz/Selection 11 | Name: Selection 12 | - Class: rviz/Tool Properties 13 | Expanded: 14 | - /2D Pose Estimate1 15 | - /2D Nav Goal1 16 | - /Publish Point1 17 | Name: Tool Properties 18 | Splitter Ratio: 0.5886790156364441 19 | - Class: rviz/Views 20 | Expanded: 21 | - /Current View1 22 | Name: Views 23 | Splitter Ratio: 0.5 24 | - Class: rviz/Time 25 | Experimental: false 26 | Name: Time 27 | SyncMode: 0 28 | SyncSource: Left Camera Image 29 | Preferences: 30 | PromptSaveOnExit: true 31 | Visualization Manager: 32 | Class: "" 33 | Displays: 34 | - Alpha: 0.5 35 | Cell Size: 1 36 | Class: rviz/Grid 37 | Color: 160; 160; 164 38 | Enabled: true 39 | Line Style: 40 | Line Width: 0.029999999329447746 41 | Value: Lines 42 | Name: Grid 43 | Normal Cell Count: 0 44 | Offset: 45 | X: 0 46 | Y: 0 47 | Z: 0 48 | Plane: XY 49 | Plane Cell Count: 10 50 | Reference Frame: 51 | Value: true 52 | - Class: rviz/TF 53 | Enabled: true 54 | Frame Timeout: 15 55 | Frames: 56 | All Enabled: false 57 | map: 58 | Value: false 59 | odom: 60 | Value: false 61 | zed_camera_center: 62 | Value: true 63 | zed_left_camera_frame: 64 | Value: false 65 | zed_left_camera_optical_frame: 66 | Value: false 67 | zed_right_camera_frame: 68 | Value: false 69 | zed_right_camera_optical_frame: 70 | Value: false 71 | Marker Scale: 1 72 | Name: TF 73 | Show Arrows: true 74 | Show Axes: true 75 | Show Names: false 76 | Tree: 77 | map: 78 | odom: 79 | zed_camera_center: 80 | zed_left_camera_frame: 81 | zed_left_camera_optical_frame: 82 | {} 83 | zed_right_camera_frame: 84 | zed_right_camera_optical_frame: 85 | {} 86 | Update Interval: 0 87 | Value: true 88 | - Class: rviz/Image 89 | Enabled: true 90 | Image Topic: /left/image_raw_color 91 | Max Value: 1 92 | Median window: 5 93 | Min Value: 0 94 | Name: Left Camera Image 95 | Normalize Range: true 96 | Queue Size: 2 97 | Transport Hint: theora 98 | Unreliable: true 99 | Value: true 100 | - Class: rviz/Image 101 | Enabled: true 102 | Image Topic: /right/image_raw_color 103 | Max Value: 255 104 | Median window: 5 105 | Min Value: -255 106 | Name: Right Camera Image 107 | Normalize Range: true 108 | Queue Size: 2 109 | Transport Hint: theora 110 | Unreliable: true 111 | Value: true 112 | - Class: rviz/Image 113 | Enabled: true 114 | Image Topic: /depth/depth_registered 115 | Max Value: 1 116 | Median window: 5 117 | Min Value: 0 118 | Name: Depth Image 119 | Normalize Range: true 120 | Queue Size: 2 121 | Transport Hint: raw 122 | Unreliable: true 123 | Value: true 124 | - Alpha: 1 125 | Autocompute Intensity Bounds: true 126 | Autocompute Value Bounds: 127 | Max Value: 10 128 | Min Value: -10 129 | Value: true 130 | Axis: Z 131 | Channel Name: intensity 132 | Class: rviz/PointCloud2 133 | Color: 255; 255; 255 134 | Color Transformer: RGB8 135 | Decay Time: 0 136 | Enabled: true 137 | Invert Rainbow: false 138 | Max Color: 255; 255; 255 139 | Max Intensity: 4096 140 | Min Color: 0; 0; 0 141 | Min Intensity: 0 142 | Name: Dense Pointcloud 143 | Position Transformer: XYZ 144 | Queue Size: 10 145 | Selectable: true 146 | Size (Pixels): 3 147 | Size (m): 0.009999999776482582 148 | Style: Flat Squares 149 | Topic: point_cloud/cloud_registered 150 | Unreliable: true 151 | Use Fixed Frame: true 152 | Use rainbow: true 153 | Value: true 154 | - Angle Tolerance: 0.10000000149011612 155 | Class: rviz/Odometry 156 | Covariance: 157 | Orientation: 158 | Alpha: 0.5 159 | Color: 255; 255; 127 160 | Color Style: Unique 161 | Frame: Local 162 | Offset: 1 163 | Scale: 1 164 | Value: true 165 | Position: 166 | Alpha: 0.30000001192092896 167 | Color: 204; 51; 204 168 | Scale: 1 169 | Value: true 170 | Value: true 171 | Enabled: true 172 | Keep: 100 173 | Name: Odometry 174 | Position Tolerance: 0.10000000149011612 175 | Shape: 176 | Alpha: 1 177 | Axes Length: 1 178 | Axes Radius: 0.10000000149011612 179 | Color: 255; 25; 0 180 | Head Length: 0.10000000149011612 181 | Head Radius: 0.05000000074505806 182 | Shaft Length: 0.20000000298023224 183 | Shaft Radius: 0.019999999552965164 184 | Value: Arrow 185 | Topic: /odom 186 | Unreliable: false 187 | Value: true 188 | Enabled: true 189 | Global Options: 190 | Background Color: 48; 48; 48 191 | Default Light: true 192 | Fixed Frame: odom 193 | Frame Rate: 30 194 | Name: root 195 | Tools: 196 | - Class: rviz/Interact 197 | Hide Inactive Objects: true 198 | - Class: rviz/MoveCamera 199 | - Class: rviz/Select 200 | - Class: rviz/FocusCamera 201 | - Class: rviz/Measure 202 | - Class: rviz/SetInitialPose 203 | Topic: /initialpose 204 | - Class: rviz/SetGoal 205 | Topic: /move_base_simple/goal 206 | - Class: rviz/PublishPoint 207 | Single click: true 208 | Topic: /clicked_point 209 | Value: true 210 | Views: 211 | Current: 212 | Class: rviz/Orbit 213 | Distance: 6.767240524291992 214 | Enable Stereo Rendering: 215 | Stereo Eye Separation: 0.05999999865889549 216 | Stereo Focal Distance: 1 217 | Swap Stereo Eyes: false 218 | Value: false 219 | Focal Point: 220 | X: 0.39661484956741333 221 | Y: -0.7610353231430054 222 | Z: 0.07626735419034958 223 | Focal Shape Fixed Size: true 224 | Focal Shape Size: 0.05000000074505806 225 | Invert Z Axis: false 226 | Name: Current View 227 | Near Clip Distance: 0.009999999776482582 228 | Pitch: 0.47039759159088135 229 | Target Frame: 230 | Value: Orbit (rviz) 231 | Yaw: 2.2653985023498535 232 | Saved: ~ 233 | Window Geometry: 234 | Depth Image: 235 | collapsed: false 236 | Displays: 237 | collapsed: false 238 | Height: 1416 239 | Hide Left Dock: false 240 | Hide Right Dock: false 241 | Left Camera Image: 242 | collapsed: false 243 | QMainWindow State: 000000ff00000000fd0000000400000000000001fe00000500fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000139000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002400520069006700680074002000430061006d00650072006100200049006d00610067006501000001660000013e0000001600fffffffb00000022004c006500660074002000430061006d00650072006100200049006d00610067006501000002aa000001460000001600fffffffb0000000a0049006d00610067006501000003f3000001340000000000000000fb000000160044006500700074006800200049006d00610067006501000003f6000001310000001600ffffff000000010000010f00000500fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002700000500000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006e70000050000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 244 | Right Camera Image: 245 | collapsed: false 246 | Selection: 247 | collapsed: false 248 | Time: 249 | collapsed: false 250 | Tool Properties: 251 | collapsed: false 252 | Views: 253 | collapsed: false 254 | Width: 2560 255 | X: 0 256 | Y: 24 257 | -------------------------------------------------------------------------------- /launch/zed.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /launch/zed_rtabmap.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /launch/zed_rtabmap_bag_playback.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /launch/zed_rtabmap_db_playback.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /launch/zed_rtabmap_db_recorder.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 38 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /media/loop_closure.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/loop_closure.gif -------------------------------------------------------------------------------- /media/loop_closure.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/loop_closure.png -------------------------------------------------------------------------------- /media/rectification.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/rectification.png -------------------------------------------------------------------------------- /media/stereo_correspondences.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/stereo_correspondences.jpg -------------------------------------------------------------------------------- /media/temporal_correspondences.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/temporal_correspondences.jpg -------------------------------------------------------------------------------- /media/zed.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/zed.jpg -------------------------------------------------------------------------------- /media/zed_rtabmap.mp4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/zed_rtabmap.mp4.png -------------------------------------------------------------------------------- /media/zed_rtabmap_rtabmapviz_screenshot.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/zed_rtabmap_rtabmapviz_screenshot.jpg -------------------------------------------------------------------------------- /media/zed_rviz_screenshot.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kapernikov/zed_visual_odometry/39ccdefad95727de926e700ec68245e702551c9e/media/zed_rviz_screenshot.jpg -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | zed_visual_odometry 4 | 0.0.0 5 | The vo_launchers package 6 | George Kouros 7 | George Kouros 8 | Copyright (c) 2019 Kapernikov CVBA. All rights reserved. 9 | 10 | catkin 11 | rtabmap 12 | rtabmap_ros 13 | zed_wrapper 14 | 15 | 16 | 17 | 18 | --------------------------------------------------------------------------------