From 33ec748f3043fcbe24b6306861ffb5fb68a91543 Mon Sep 17 00:00:00 2001
From: Simon <klenk@in.tum.de>
Date: Fri, 21 May 2021 15:24:42 +0200
Subject: [PATCH] added parameters and launchfiles which (should be able to)
 reproduce the results from UltimateSLAM paper on EventCameraDataset.
 reproduced it for boxes_6dof qualitatively

---
 resources/icra18/cfg/boxes_6dof.conf          |  26 +++++
 resources/icra18/cfg/boxes_translation.conf   |  16 +++
 resources/icra18/cfg/dynamic_6dof.conf        |  12 ++
 resources/icra18/cfg/dynamic_translation.conf |  18 +++
 resources/icra18/cfg/hdr_boxes.conf           |  19 ++++
 resources/icra18/cfg/hdr_poster.conf          |  27 +++++
 resources/icra18/cfg/poster_6dof.conf         |  16 +++
 resources/icra18/cfg/poster_translation.conf  |  16 +++
 resources/icra18/cfg/shapes_6dof.conf         |  17 +++
 resources/icra18/cfg/shapes_translation.conf  |  15 +++
 resources/icra18/launch/IJRR.launch           |  37 ++++++
 resources/icra18/launch/icra18.launch         | 107 ++++++++++++++++++
 12 files changed, 326 insertions(+)
 create mode 100644 resources/icra18/cfg/boxes_6dof.conf
 create mode 100644 resources/icra18/cfg/boxes_translation.conf
 create mode 100644 resources/icra18/cfg/dynamic_6dof.conf
 create mode 100644 resources/icra18/cfg/dynamic_translation.conf
 create mode 100644 resources/icra18/cfg/hdr_boxes.conf
 create mode 100644 resources/icra18/cfg/hdr_poster.conf
 create mode 100644 resources/icra18/cfg/poster_6dof.conf
 create mode 100644 resources/icra18/cfg/poster_translation.conf
 create mode 100644 resources/icra18/cfg/shapes_6dof.conf
 create mode 100644 resources/icra18/cfg/shapes_translation.conf
 create mode 100644 resources/icra18/launch/IJRR.launch
 create mode 100644 resources/icra18/launch/icra18.launch

diff --git a/resources/icra18/cfg/boxes_6dof.conf b/resources/icra18/cfg/boxes_6dof.conf
new file mode 100644
index 0000000..cfcbdaf
--- /dev/null
+++ b/resources/icra18/cfg/boxes_6dof.conf
@@ -0,0 +1,26 @@
+##### Affects Events only 
+--data_use_time_interval=1
+--data_interval_between_event_packets= 21
+# number of events, it is the same as max_size_event_array
+--data_size_augmented_event_packets=20000 
+
+##### Affects Images only 
+--use_time_window_for_events=0
+--time_window_event_array_ms=80
+--max_size_event_array=20000
+--noise_event_rate=0
+
+# The ultimate max number of events taken
+--vio_frame_size=20000
+
+--vio_ceres_gyro_saturation=5.0
+--vio_ceres_accel_saturation=50
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
diff --git a/resources/icra18/cfg/boxes_translation.conf b/resources/icra18/cfg/boxes_translation.conf
new file mode 100644
index 0000000..7a61ee9
--- /dev/null
+++ b/resources/icra18/cfg/boxes_translation.conf
@@ -0,0 +1,16 @@
+--data_use_time_interval=1
+--data_interval_between_event_packets=20
+--vio_frame_size=20000
+
+--vio_ceres_gyro_saturation=5.0
+--vio_ceres_accel_saturation=50
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/cfg/dynamic_6dof.conf b/resources/icra18/cfg/dynamic_6dof.conf
new file mode 100644
index 0000000..984e0e4
--- /dev/null
+++ b/resources/icra18/cfg/dynamic_6dof.conf
@@ -0,0 +1,12 @@
+--data_interval_between_event_packets=33
+--vio_frame_size=20000
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/cfg/dynamic_translation.conf b/resources/icra18/cfg/dynamic_translation.conf
new file mode 100644
index 0000000..5d17860
--- /dev/null
+++ b/resources/icra18/cfg/dynamic_translation.conf
@@ -0,0 +1,18 @@
+--data_use_time_interval=1
+--data_interval_between_event_packets=10
+--vio_frame_size=20000
+
+#--vio_add_non_kf_to_backend=True
+
+--vio_ceres_gyro_saturation=5.
+--vio_ceres_accel_saturation=50
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/cfg/hdr_boxes.conf b/resources/icra18/cfg/hdr_boxes.conf
new file mode 100644
index 0000000..c1243f1
--- /dev/null
+++ b/resources/icra18/cfg/hdr_boxes.conf
@@ -0,0 +1,19 @@
+--data_use_time_interval=0
+--data_interval_between_event_packets=20000
+--vio_frame_size=20000
+
+--data_source_start_time_s=0.0
+
+--vio_ceres_gyro_saturation=4.
+--vio_ceres_accel_saturation=50
+
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/cfg/hdr_poster.conf b/resources/icra18/cfg/hdr_poster.conf
new file mode 100644
index 0000000..3e8e616
--- /dev/null
+++ b/resources/icra18/cfg/hdr_poster.conf
@@ -0,0 +1,27 @@
+##### Affects Events only 
+--data_use_time_interval=1
+--data_interval_between_event_packets=40
+# number of events, it is the same as max_size_event_array
+--data_size_augmented_event_packets=20000 
+
+##### Affects Images only 
+--use_time_window_for_events=0
+--time_window_event_array_ms=80
+--max_size_event_array=8000
+--noise_event_rate=0
+
+# The ultimate max number of events taken
+--vio_frame_size=8000
+
+--vio_ceres_gyro_saturation=5.0
+--vio_ceres_accel_saturation=50
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/cfg/poster_6dof.conf b/resources/icra18/cfg/poster_6dof.conf
new file mode 100644
index 0000000..308618c
--- /dev/null
+++ b/resources/icra18/cfg/poster_6dof.conf
@@ -0,0 +1,16 @@
+--data_use_time_interval=1
+--data_interval_between_event_packets=50
+--vio_frame_size=20000
+
+--vio_ceres_gyro_saturation=5.
+--vio_ceres_accel_saturation=50
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/cfg/poster_translation.conf b/resources/icra18/cfg/poster_translation.conf
new file mode 100644
index 0000000..8a7a8cf
--- /dev/null
+++ b/resources/icra18/cfg/poster_translation.conf
@@ -0,0 +1,16 @@
+--data_use_time_interval=1
+--data_interval_between_event_packets=50
+--vio_frame_size=10000
+
+--vio_ceres_gyro_saturation=5.
+--vio_ceres_accel_saturation=50
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/cfg/shapes_6dof.conf b/resources/icra18/cfg/shapes_6dof.conf
new file mode 100644
index 0000000..ee323a0
--- /dev/null
+++ b/resources/icra18/cfg/shapes_6dof.conf
@@ -0,0 +1,17 @@
+--data_use_time_interval=true
+--data_interval_between_event_packets=10
+--vio_frame_size=3000
+
+#--vio_add_every_nth_frame_to_backend=5
+--vio_ceres_gyro_saturation=4.
+--vio_ceres_accel_saturation=50
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/cfg/shapes_translation.conf b/resources/icra18/cfg/shapes_translation.conf
new file mode 100644
index 0000000..99ec19e
--- /dev/null
+++ b/resources/icra18/cfg/shapes_translation.conf
@@ -0,0 +1,15 @@
+--data_interval_between_event_packets=10
+--vio_frame_size=2000
+
+--vio_ceres_gyro_saturation=4.
+--vio_ceres_accel_saturation=50
+
+# IMU initial biases
+--vio_acc_bias_init_x=-0.105929704762
+--vio_acc_bias_init_y=-0.201462965021
+--vio_acc_bias_init_z=0.243191650461
+
+--vio_gyr_bias_init_x=0.0493720549273
+--vio_gyr_bias_init_y=0.0105211536791
+--vio_gyr_bias_init_z=0.00121173645159
+
diff --git a/resources/icra18/launch/IJRR.launch b/resources/icra18/launch/IJRR.launch
new file mode 100644
index 0000000..e93ee97
--- /dev/null
+++ b/resources/icra18/launch/IJRR.launch
@@ -0,0 +1,37 @@
+<launch>
+  <arg name="data_dir" default="/media/$(env USER)/Samsung_T3/DVS_dataset_IJRR" />
+  
+  <arg name="dataset_name" />
+  <arg name="camera_name" default="DAVIS-IJRR17" />
+  
+  <node name="ze_vio_ceres" pkg="ze_vio_ceres" type="ze_vio_ceres_node"
+        output="screen" required="true"
+        args="
+          --flagfile=$(find ze_vio_ceres)/cfg/vio_base.conf
+          --flagfile=$(find ze_vio_ceres)/cfg/vio_davis.conf
+          --flagfile=$(find 2017BMVC_ZEVIO)/cfg/$(arg dataset_name).conf
+          
+          --data_source=1
+          --bag_filename=$(arg data_dir)/$(arg dataset_name).bag
+          --calib_filename=$(find rpg_calib)/zurich_eye/$(arg camera_name).yaml
+          
+          --vio_trace_pose=True
+          --log_dir=$(find 2017BMVC_ZEVIO)/results/final/$(arg dataset_name)
+          
+          --vio_feature_tracker_patch_size_by8=2
+          --vio_ceres_iterations=1
+          
+          --acc_noise_density=.15
+  ">
+  </node>
+  
+  <node name="visualisation" pkg="rviz" type="rviz" output="screen" args="-d $(find ze_visualization)/rviz/ze.rviz" >
+    <remap from="image" to="/dvs/image_raw" />
+  </node>
+  
+ <node name="snakify" pkg="rpg_common_ros" type="snakify.py" output="screen" >
+   <param name="frame_id" value="body" />
+   <param name="length" value="300" />
+ </node>
+  
+</launch>
diff --git a/resources/icra18/launch/icra18.launch b/resources/icra18/launch/icra18.launch
new file mode 100644
index 0000000..81c498a
--- /dev/null
+++ b/resources/icra18/launch/icra18.launch
@@ -0,0 +1,107 @@
+<launch>
+  <arg name="data_dir" default="$(find ze_vio_ceres)../../data" />
+  <arg name="bag_filename"                      default="debug_davis_84010032" />
+  <arg name="camera_name"                       default="DAVIS-IJRR17_updated" />
+  <arg name="use_events"                        default="0" />
+  <arg name="use_events_and_images"             default="1" />
+  <arg name="verbosity"                         default="0" />
+  <arg name="rate_bag"                          default="0.1" />
+  <arg name="use_time_window"                   default="0" />
+
+  <param name="use_sim_time" value="1"/>
+
+  <!--
+  <node pkg="rosbag" type="play" name="player" required="True"
+    args="-r $(arg rate_bag)
+          -d 4.
+          -s 0.0
+          $(find ze_vio_ceres)../../data/$(arg bag_filename).bag -\-clock" />
+  -->
+
+  <arg unless="$(arg use_events_and_images)" name="vio_mode" default="images"/>
+  <arg if="$(arg use_events_and_images)"     name="vio_mode" default="events_and_images"/>
+
+  <node name="ze_vio_ceres" pkg="ze_vio_ceres" type="ze_vio_ceres_node"
+    output="screen" required="true"
+    args="
+
+    #######
+
+    --vio_delayed_nframe_processing=False
+    #--vio_ceres_block_frontend=True
+    #--vio_use_input_queue=False
+
+    --vio_use_5pt_ransac=False
+
+    --vio_viz_feature_tracks=True
+    --vio_viz_feature_tracks_colormap=0
+    --vio_viz_feature_tracks_length=0
+    --vio_viz_show_image=False
+
+    --vio_min_depth=0.05
+    #######
+
+    #######
+
+    --imp_detector_grid_size=32
+    # reduce the grid size, to see if it improves
+    # Features are not evenly distributed
+    # Average life expectancy?
+    --imp_detector_name=FAST
+    --imp_detector_border_margin=5
+    --imp_detector_threshold=50
+    --vio_descriptor_use_dummy=True
+
+    --vio_kfselect_numfts_lower_thresh=30
+    --vio_add_every_nth_frame_to_backend=1
+    --vio_feature_tracker_patch_size_by8=3,2
+    --imp_detector_max_features_per_frame=100
+
+    --data_size_augmented_event_packet=20000
+    #--data_use_time_interval=true
+    #--data_interval_between_event_packets=33
+    #--vio_use_integration_time=false
+    --vio_frame_size=20000
+
+    --noise_event_rate=10000
+
+    --vio_feature_tracker_termcrit_min_update_squared=0.1
+
+    --vio_viz_level=1
+    --vio_viz_skip_rate=2
+    
+    #######
+
+    --calib_filename=$(find ze_vio_ceres)/../../calibration/DAVIS-IJRR17.yaml
+    --timeshift_cam_imu=0.00266944159539
+    
+
+    ###### CUSTOMS #####
+
+    ###### NON-PERFORMANCE RELATED PARAMS ##########
+    --colorlogtostderr=1
+    --logtostderr=1
+    --alsologtostderr=1
+    --v=$(arg verbosity)
+
+    --vio_use_events=$(arg use_events)
+    --vio_use_events_and_images=$(arg use_events_and_images)
+
+    --data_source=1
+    --bag_filename=$(arg data_dir)/$(arg bag_filename).bag
+    --topic_cam0=/dvs/image_raw
+    --topic_dvs0=/dvs/events
+    --topic_imu0=/dvs/imu
+
+    --vio_trace_pose=False
+    ">
+  </node>
+
+  <node name="visualisation" pkg="rviz" type="rviz" output="screen" args="-d $(find ze_visualization)/rviz/ze.rviz"/>
+
+  <!--<node name="pos_vel_plot"-->
+    <!--pkg="rqt_plot"-->
+    <!--type="rqt_plot"-->
+    <!--args="/ze_vio/T_M_B/pose/position \-->
+          <!--/ze_vio/T_M_B/pose/orientation" />-->
+</launch>