updates

rsoussan · Aug 18, 2024 · 51528c9 · 51528c9
1 parent 6b743b6
commit 51528c9
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Showing 5 changed files with 9 additions and 8 deletions.
diff --git a/astrobee/config/localization.config b/astrobee/config/localization.config
@@ -60,7 +60,7 @@ teblid512_ransac_inlier_tolerance = 3
 teblid512_num_ransac_iterations = 1000
 teblid512_early_break_landmarks = 100
 teblid512_histogram_equalization = 3
-teblid512_check_essential_matrix = false 
+teblid512_check_essential_matrix = true 
 teblid512_essential_ransac_iterations = 2000
 teblid512_add_similar_images = true 
 teblid512_add_best_previous_image = true

diff --git a/astrobee/config/localization/graph_vio.config b/astrobee/config/localization/graph_vio.config
@@ -31,7 +31,7 @@ gv_fa_vo_enabled = true
 gv_fa_vo_huber_k = world_huber_k 
 gv_fa_vo_max_num_factors = 13 
 gv_fa_vo_min_num_points_per_factor = 2 
-gv_fa_vo_max_num_points_per_factor = 6 
+gv_fa_vo_max_num_points_per_factor = 8 
 gv_fa_vo_min_avg_distance_from_mean = 0.075
 gv_fa_vo_robust = true 
 gv_fa_vo_rotation_only_fallback = true 

diff --git a/astrobee/config/worlds/iss.config b/astrobee/config/worlds/iss.config
@@ -60,8 +60,8 @@ world_accel_sigma = 0.0005
 world_accel_bias_sigma = 0.0005
 world_gyro_bias_sigma = 0.0000035
 world_integration_variance = 0.0001
-world_bias_acc_omega_int = 0.000001
--- world_bias_acc_omega_int = 0.00015
+-- world_bias_acc_omega_int = 0.000001
+world_bias_acc_omega_int = 0.00015
 -- change to 0.000001?
 
 --------------------------

diff --git a/tools/localization_analysis/scripts/bag_sweeper.py b/tools/localization_analysis/scripts/bag_sweeper.py
@@ -31,7 +31,6 @@
 import matplotlib
 
 matplotlib.use("pdf")
-import bag_sweep_results_plotter
 import matplotlib.pyplot as plt
 import pandas as pd
 from matplotlib.backends.backend_pdf import PdfPages

diff --git a/tools/localization_analysis/src/live_measurement_simulator.cc b/tools/localization_analysis/src/live_measurement_simulator.cc
@@ -118,6 +118,7 @@ bool LiveMeasurementSimulator::ProcessMessage() {
   if (*view_it_ == view_->end()) return false;
   const auto& msg = **view_it_;
   current_time_ = lc::TimeFromRosTime(msg.getTime());
+  const bool teblid =  true;
   /*if (string_ends_with(msg.getTopic(), TOPIC_MOBILITY_FLIGHT_MODE)) {
     const ff_msgs::FlightModeConstPtr flight_mode = msg.instantiate<ff_msgs::FlightMode>();
     flight_mode_buffer_.BufferMessage(*flight_mode);
@@ -147,16 +148,17 @@ bool LiveMeasurementSimulator::ProcessMessage() {
   } else if (params_.use_bag_image_feature_msgs && string_ends_with(msg.getTopic(), TOPIC_LOCALIZATION_OF_FEATURES)) {
     const ff_msgs::Feature2dArrayConstPtr of_features = msg.instantiate<ff_msgs::Feature2dArray>();
     of_buffer_.BufferMessage(*of_features);
-  } else if (false) {  // params_.use_bag_image_feature_msgs && string_ends_with(msg.getTopic(),
-                       // TOPIC_LOCALIZATION_ML_FEATURES)) {
+  } else if (!teblid && params_.use_bag_image_feature_msgs && string_ends_with(msg.getTopic(),
+                        TOPIC_LOCALIZATION_ML_FEATURES)) {
+    std::cout << "adding bag vl msg!" << std::endl;
     const ff_msgs::VisualLandmarksConstPtr vl_features = msg.instantiate<ff_msgs::VisualLandmarks>();
     vl_buffer_.BufferMessage(*vl_features);
   } else if (string_ends_with(msg.getTopic(), kImageTopic_)) {
     sensor_msgs::ImageConstPtr image_msg = msg.instantiate<sensor_msgs::Image>();
     if (params_.save_optical_flow_images) {
       img_buffer_.emplace(localization_common::TimeFromHeader(image_msg->header), image_msg);
     }
-    if (true) {  //! params_.use_bag_image_feature_msgs) {
+    if (teblid) {  //! params_.use_bag_image_feature_msgs) {
       // const ff_msgs::Feature2dArray of_features = GenerateOFFeatures(image_msg);
       // of_buffer_.BufferMessage(of_features);