Merge branch 'master' of github.com:MIT-SPARK/Kimera-Semantics

* 'master' of github.com:MIT-SPARK/Kimera-Semantics: Update README.md Fix misspelled .rviz file Fix comment Add how to run Euroc + K-VIO wo semantics
MIT-SPARK · Oct 27, 2020 · 7198e5a · 7198e5a
2 parents 8b09ce6 + aeb7639
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diff --git a/README.md b/README.md
@@ -103,6 +103,10 @@ source ~/catkin_ws/devel/setup.bash
 
 # 2. Usage
 
+First, install Kimera-Semantics, see [instructions above](https://github.com/MIT-SPARK/Kimera-VIO-ROS#1-installation).
+
+## In Simulation (with semantics)
+
   0. Download the [demo rosbag (click here to download)](https://drive.google.com/file/d/1SG8cfJ6JEfY2PGXcxDPAMYzCcGBEh4Qq/view?usp=sharing) and save it in: `./kimera_semantics_ros/rosbag/kimera_semantics_demo.bag`.
 
   1. As a general good practice, open a new terminal and run: `roscore`
@@ -124,6 +128,36 @@ source ~/catkin_ws/devel/setup.bash
 
   > Note 2: you might need to check/uncheck once the `Kimera Semantic 3D Mesh` left pane topic in rviz to visualize the mesh.
 
+## In Euroc dataset (without semantics)
+
+### With Kimera-VIO
+
+  0. Download a Euroc rosbag: for example [V1_01_easy](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_01_easy/V1_01_easy.bag)
+  1. Install [Kimera-VIO-ROS](https://github.com/MIT-SPARK/Kimera-VIO-ROS#1-installation).
+  2. Open a new terminal, run: `roscore`
+  3. In another terminal, launch Kimera-VIO-ROS:
+  ```bash
+  roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch run_stereo_dense:=true
+  ```
+   >  The flag `run_stereo_dense:=true` will do stereo dense reconstruction (using OpenCV's StereoBM algorithm).
+  
+  4. In another terminal, launch Kimera-Semantics:
+  ```bash
+  roslaunch kimera_semantics_ros kimera_semantics_euroc.launch 
+  ```
+  5. In yet another terminal, run the Euroc rosbag downloaded in step 0:
+  ```bash
+  rosbag play V1_01_easy.bag --clock
+  ```
+   > Note 1: Don't forget the `--clock` flag!
+   >
+   > Note 2: Kimera is so fast that you could also increase the rosbag rate by 3 `--rate 3` and still see a good performance (results depend on available compute power).
+
+  6. Finally, in another terminal, run Rviz for visualization:
+  ```bash
+  rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_semantics_euroc.rviz 
+  ```
+
   # 3. FAQ
 
   - Minkindr doesn't compile:

diff --git a/kimera_semantics_ros/rviz/kimera_semantics_euroc.rviz b/kimera_semantics_ros/rviz/kimera_semantics_euroc.rviz
@@ -0,0 +1,315 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 75
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 533
+  - 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: 0.75836432
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud Time Horizon
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_link:
+          Value: true
+        cam0:
+          Value: true
+        cam1:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          base_link:
+            cam0:
+              {}
+            cam1:
+              {}
+      Update Interval: 0
+      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; 255; 255
+      Color Transformer: RGB8
+      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: PointCloud Time Horizon
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.0199999996
+      Style: Spheres
+      Topic: /kimera_vio_ros/time_horizon_pointcloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /cam0/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Left Img
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /kimera_vio_ros/kimera_vio_ros_node/feature_tracks
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Debug Img
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: mesh_rviz_plugins/TexturedMesh
+      Enabled: true
+      Name: 3D Mesh Textured
+      Normal Size: 0.0500000007
+      Phong Shading: true
+      Point Size: 1
+      Polygon Mode: SOLID
+      PolygonMesh Topic: /kimera_vio_ros/mesh
+      Queue Size: 25
+      Scene Color Scale: 1
+      Shader Program: TEXTURE
+      Show Normals: false
+      Texture Transport Hint: raw
+      Texture topic: /kimera_vio_ros/kimera_vio_ros_node/feature_tracks
+      Value: true
+    - Angle Tolerance: 0.100000001
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.300000012
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.100000001
+      Shape:
+        Alpha: 1
+        Axes Length: 0.300000012
+        Axes Radius: 0.00999999978
+        Color: 255; 25; 0
+        Head Length: 0.300000012
+        Head Radius: 0.100000001
+        Shaft Length: 1
+        Shaft Radius: 0.0500000007
+        Value: Axes
+      Topic: /kimera_vio_ros/odometry
+      Unreliable: false
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /kimera_vio_ros/graph_nodes
+          Name: Nodes
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /kimera_vio_ros/loop_edges
+          Name: Loop Edges
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /kimera_vio_ros/rejected_loop_edges
+          Name: Rejected Edges
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /kimera_vio_ros/odometry_edges
+          Name: Odometry Edges
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 25; 255; 0
+          Enabled: false
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0299999993
+          Name: PGO Trajectory
+          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: /kimera_vio_ros/optimized_trajectory
+          Unreliable: false
+          Value: false
+      Enabled: true
+      Name: PoseGraph
+    - Class: voxblox_rviz_plugin/VoxbloxMesh
+      Enabled: true
+      Name: VoxbloxMesh
+      Topic: /kimera_semantics_node/mesh
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: world
+    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/ThirdPersonFollower
+      Distance: 22.5344334
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.217152834
+        Y: 0.697479725
+        Z: 4.14300621e-06
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.374797434
+      Target Frame: base_link
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 2.68367577
+    Saved:
+      - Class: rviz/ThirdPersonFollower
+        Distance: 6.81472015
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.0599999987
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.0500000007
+        Invert Z Axis: false
+        Name: ThirdPersonFollower
+        Near Clip Distance: 0.00999999978
+        Pitch: 0.495398402
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.04540014
+Window Geometry:
+  Debug Img:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 2082
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Left Img:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000002660000076dfc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002e000002ad000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000016004c006500660074002000430061006d0065007200610000000222000001490000000000000000fb00000010004c00650066007400200049006d006701000002e2000002310000001b00fffffffb000000120044006500620075006700200049006d0067010000051a000002810000001b00fffffffb0000000e003200440020004d00650073006800000004350000009f0000000000000000000000010000019000000569fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000569000000c000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007540000005cfc0100000002fb0000000800540069006d0065010000000000000754000003d500fffffffb0000000800540069006d00650100000000000004500000000000000000000004e70000076d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1876
+  X: 1964
+  Y: 49
diff --git a/kimera_semantics_ros/src/rosbag_data_provider.cpp b/kimera_semantics_ros/src/rosbag_data_provider.cpp
@@ -200,4 +200,4 @@ void RosbagDataProvider::publishInputs(const Timestamp& timestamp_kf) {
   }
 }
 
-}  // namespace VIO
+}  // namespace kimera