also ensure we use same gravity magnitude

rpng · Aug 16, 2023 · a915584 · a915584
1 parent e039ecb
commit a915584
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Showing 5 changed files with 27 additions and 18 deletions.
diff --git a/scripts/commands_eurocmav.yaml b/scripts/commands_eurocmav.yaml
@@ -1,22 +1,26 @@
 
 vi_map_folder_paths:
-  - /datasets/euroc_mav/maplab/V1_01_easy
-  - /datasets/euroc_mav/maplab/V1_02_medium
-  - /datasets/euroc_mav/maplab/V1_03_difficult
-  - /datasets/euroc_mav/maplab/V2_01_easy
-  - /datasets/euroc_mav/maplab/V2_02_medium
-  - /datasets/euroc_mav/maplab/V2_03_difficult
+  - /datasets/euroc_mav/maplab/raw_maps/V1_01_easy
+  - /datasets/euroc_mav/maplab/raw_maps/V1_02_medium
+  - /datasets/euroc_mav/maplab/raw_maps/V1_03_difficult
+  - /datasets/euroc_mav/maplab/raw_maps/V2_01_easy
+  - /datasets/euroc_mav/maplab/raw_maps/V2_02_medium
+  - /datasets/euroc_mav/maplab/raw_maps/V2_03_difficult
 commands:
   - load --map_folder=<CURRENT_VIMAP_FOLDER>
   - retriangulate_landmarks
   - v --vis_color_by_mission
   - optvi --ba_num_iterations=5 -ba_visualize_every_n_iterations=1
+  - remove_invalid_observations
+  - evaluate_landmark_quality
+  - remove_bad_landmarks
   - retriangulate_landmarks
   - loopclosure_all_missions
   - optvi --ba_num_iterations=5 -ba_visualize_every_n_iterations=1
   - retriangulate_landmarks
   - loopclosure_all_missions
-  - optvi --ba_num_iterations=30 -ba_visualize_every_n_iterations=5
+  - optvi --ba_num_iterations=30 -ba_visualize_every_n_iterations=1
+  - remove_invalid_observations
   - evaluate_landmark_quality
   - remove_bad_landmarks
   - save --map_folder=<CURRENT_VIMAP_FOLDER>_result

diff --git a/scripts/commands_rpngplane.yaml b/scripts/commands_rpngplane.yaml
@@ -1,24 +1,28 @@
 
 vi_map_folder_paths:
-  - /datasets/rpng_plane/maplab/table_01
-  - /datasets/rpng_plane/maplab/table_02
-  - /datasets/rpng_plane/maplab/table_03
-  - /datasets/rpng_plane/maplab/table_04
-  - /datasets/rpng_plane/maplab/table_05
-  - /datasets/rpng_plane/maplab/table_06
-  - /datasets/rpng_plane/maplab/table_07
-  - /datasets/rpng_plane/maplab/table_08
+  - /datasets/rpng_plane/maplab/raw_maps/table_01
+  - /datasets/rpng_plane/maplab/raw_maps/table_02
+  - /datasets/rpng_plane/maplab/raw_maps/table_03
+  - /datasets/rpng_plane/maplab/raw_maps/table_04
+  - /datasets/rpng_plane/maplab/raw_maps/table_05
+  - /datasets/rpng_plane/maplab/raw_maps/table_06
+  - /datasets/rpng_plane/maplab/raw_maps/table_07
+  - /datasets/rpng_plane/maplab/raw_maps/table_08
 commands:
   - load --map_folder=<CURRENT_VIMAP_FOLDER>
   - retriangulate_landmarks
   - v --vis_color_by_mission
   - optvi --ba_num_iterations=5 -ba_visualize_every_n_iterations=1
+  - remove_invalid_observations
+  - evaluate_landmark_quality
+  - remove_bad_landmarks
   - retriangulate_landmarks
   - loopclosure_all_missions
   - optvi --ba_num_iterations=5 -ba_visualize_every_n_iterations=1
   - retriangulate_landmarks
   - loopclosure_all_missions
-  - optvi --ba_num_iterations=30 -ba_visualize_every_n_iterations=5
+  - optvi --ba_num_iterations=30 -ba_visualize_every_n_iterations=1
+  - remove_invalid_observations
   - evaluate_landmark_quality
   - remove_bad_landmarks
   - save --map_folder=<CURRENT_VIMAP_FOLDER>_result

diff --git a/scripts/process_eurocmav.sh b/scripts/process_eurocmav.sh
@@ -36,6 +36,7 @@ roslaunch ov_maplab serial.launch \
   use_stereo:="true" \
   config:="euroc_mav" \
   dataset:="${bagnames[i]}" \
+  mapfolder:="/datasets/euroc_mav/maplab/raw_maps/${bagnames[i]}/" \
   dolivetraj:="true" &> /dev/null
 
 # print out the time elapsed
@@ -58,7 +59,6 @@ echo "BASH: full maplab opt took $elapsed seconds";
 
 # fix our permissions...
 sudo chmod -R 777 /datasets/euroc_mav/maplab/
-sudo chown -R patrick /datasets/euroc_mav/maplab/
 
 # print out the time elapsed
 big_end_time="$(date -u +%s)"

diff --git a/scripts/process_rpngplane.sh b/scripts/process_rpngplane.sh
@@ -38,6 +38,7 @@ roslaunch ov_maplab serial.launch \
   use_stereo:="true" \
   config:="rpng_plane" \
   dataset:="${bagnames[i]}" \
+  mapfolder:="/datasets/rpng_plane/maplab/raw_maps/${bagnames[i]}/" \
   dolivetraj:="true" &> /dev/null
 
 # print out the time elapsed
@@ -60,7 +61,6 @@ echo "BASH: full maplab opt took $elapsed seconds";
 
 # fix our permissions...
 sudo chmod -R 777 /datasets/rpng_plane/maplab/
-sudo chown -R patrick /datasets/rpng_plane/maplab/
 
 # print out the time elapsed
 big_end_time="$(date -u +%s)"

diff --git a/src/mapper/MapBuilder.cpp b/src/mapper/MapBuilder.cpp
@@ -84,6 +84,7 @@ MapBuilder::MapBuilder(std::shared_ptr<ros::NodeHandle> nh, std::shared_ptr<VioM
   aslam::SensorId imu_sensor_id = aslam::createRandomId<aslam::SensorId>();
   vi_map::Imu::UniquePtr imu_sensor = aligned_unique<vi_map::Imu>(imu_sensor_id, static_cast<std::string>(kImuHardwareId));
   imu_sensor->setImuSigmas(imu_sigmas);
+  imu_sensor->setGravityMagnitude(_params.gravity_mag);
 
   // Create our camera object
   std::string cam_label = "ncameras";