added rviz and readme

aau-cns · Jun 12, 2019 · c29b183 · c29b183
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diff --git a/ReadMe.md b/ReadMe.md
@@ -1,9 +1,68 @@
 
 
-## Open VINS
+# Open VINS
 
 
-This is the documentation site for the Open VINS project.
+Welcome to the Open VINS project!
+The Open VINS project houses some core computer vision code along with a state-of-the art filter-based visual-inertial estimator.
+The core filter is an [Extended Kalman filter](https://en.wikipedia.org/wiki/Extended_Kalman_filter) which fuses inertial information with sparse visual feature tracks.
+These visual feature tracks are fused leveraging the [Multi-State Constraint Kalman Filter (MSCKF)](https://ieeexplore.ieee.org/document/4209642) sliding window formulation which allows for 3D features to update the state estimate without directly estimating the feature states in the filter.
+Inspired by graph-based optimization systems, the included filter has modularity allowing for convenient covariance management with a proper type-based state system.
+Please take a look at the feature list below for full details on what the system supports.
 
 
+* Github project page - https://github.com/rpng/open_vins
+* Documentation - TBD
+* Publication reference - TBD
+
+
+
+
+## Project Features
+
+
+* Sliding window visual-inertial MSCKF
+* Modular covariance type system
+* Comprehensive documentation and derivations
+* Five different feature representations
+    1. Global XYZ
+    2. Global inverse depth
+    3. Anchored XYZ
+    4. Anchored inverse depth
+    5. Anchored MSCKF inverse depth
+* Calibration of sensor intrinsics and extrinsics
+    * Camera to IMU transform 
+    * Camera to IMU time offset
+    * Camera intrinsics
+* Environmental SLAM feature
+    * OpenCV ARUCO tag SLAM features
+    * Sparse feature SLAM features
+* Visual tracking support
+    * Monocular camera
+    * Stereo camera
+    * KLT or descriptor based
+* Static IMU initialization (sfm will be open sourced later)
+* Out of the box evaluation on EurocMav and TUM-VI datasets
+
+
+
+
+## Credit / Licensing
+
+This code was written by the [Robot Perception and Navigation](https://sites.udel.edu/robot/) at the University of Delaware.
+If you have any issues with the code please open an issue on our github page with relevant implementation details and references.
+For researchers that have leveraged this work, please cite the following:
+```bibtex
+@article{TBD,
+  author    = {},
+  title     = {},
+  journal   = {},
+  volume    = {},
+  year      = {2019},
+}
+```
+
+
+The codebase is licensed under the [GNU General Public License v3 (GPL-3)](https://www.gnu.org/licenses/gpl-3.0.html).
+
 
diff --git a/docs/getting-started.dox b/docs/getting-started.dox
@@ -12,7 +12,7 @@ Please feel free to open an issue if you find any missing or areas that could be
 
 @section highlevel High-level overview
 
-From a high level the system is build of a few features.
+From a high level the system is build on a few key algorithms.
 At the core we have the `ov_core` which contains a lot of standard computer vision algorithms and utilities that anybody can use.
 Specifically it stores the following large components:
 

diff --git a/ov_msckf/launch/display.rviz b/ov_msckf/launch/display.rviz
@@ -0,0 +1,291 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /ARUCO Points1
+      Splitter Ratio: 0.600000024
+    Tree Height: 420
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 112; 112; 115
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 80
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 60
+      Frames:
+        All Enabled: true
+        cam0:
+          Value: true
+        global:
+          Value: true
+        imu:
+          Value: true
+        truth:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        global:
+          imu:
+            cam0:
+              {}
+          truth:
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /ov_msckf/trackhist
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 0; 255; 0
+      Enabled: true
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Billboards
+      Line Width: 0.00999999978
+      Name: Path VIO
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /ov_msckf/pathimu
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 0; 255; 255
+      Enabled: true
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Billboards
+      Line Width: 0.00999999978
+      Name: Path GT
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /ov_msckf/pathgt
+      Unreliable: false
+      Value: true
+    - Alpha: 0.5
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: FlatColor
+      Decay Time: 10
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: MSCKF Points
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Points
+      Topic: /ov_msckf/points_msckf
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: SLAM Points
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 10
+      Size (m): 0.00999999978
+      Style: Points
+      Topic: /ov_msckf/points_slam
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 170; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: ARUCO Points
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 15
+      Size (m): 0.00999999978
+      Style: Points
+      Topic: /ov_msckf/points_aruco
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 44; 44; 44
+    Default Light: true
+    Fixed Frame: global
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 13.2469006
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.598126531
+        Y: -3.16722274
+        Z: 0.927125454
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.56979632
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.49040389
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000028700000402fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000001e5000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001eb000002170000001600fffffffb0000000a0049006d0061006700650100000136000001690000000000000000fb0000001a0054007200610063006b00200048006900730074006f0072007901000003ec000000160000000000000000fb0000000a0049006d00610067006501000001370000013e0000000000000000000000010000010f00000261fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000261000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f00000295fc0100000005fb0000000800430041004d003000000000000000020c0000000000000000fb0000000800430041004d00310000000000000002ef0000000000000000fb0000000800430041004d00320000000000000003850000000000000000fb0000000800430041004d003300000000000000073f0000000000000000fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005700000003efc0100000002fb0000000800540069006d00650000000000000005700000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004b20000040200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1855
+  X: 65
+  Y: 24