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* updated registration timeout * updated gl duration * updated brisk params * added vl runtime to msg * fixed loc nodelet read params bug * Release 0.19.1 * don't publish haz cam in sim by default * added scaling when changing threshold ratios for teblid * added rounding when casting interest point dynamic thresholds * updated teblid default thres * added toomany/toofew ratios as params * adding adjusting num similar images * fixed loc header * remove else for adjust num similar * visual landmarks adding field bmr rule * updated loc min success rate config * set valid to true * localizer parameter in test changed * fixing release spaces and # * fixed recording toomany and toofew ratios during mapping * avoid adjusting thresholds if success history size is 0 --------- Co-authored-by: Ryan Soussan <ryan.soussan@gmail.com>
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communications/ff_msgs/bmr/2023_07_01_VisualLandmarks_add_field.bmr
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,205 @@ | ||
| class update_ff_msgs_VisualLandmarks_bc9fc09f69d7758225ed41ee26f6375e(MessageUpdateRule): | ||
| old_type = "ff_msgs/VisualLandmarks" | ||
| old_full_text = """ | ||
| # Copyright (c) 2017, United States Government, as represented by the | ||
| # Administrator of the National Aeronautics and Space Administration. | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| # (the "License"); you may not use this file except in compliance with the | ||
| # License. You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations | ||
| # under the License. | ||
| # | ||
| # The observation from a camera image, of image coordinates | ||
| # and associated 3D coordinates. Used for sparse mapping and AR tags. | ||
|
|
||
| Header header # header with timestamp | ||
| uint32 camera_id # image ID, associated with registration pulse | ||
| geometry_msgs/Pose pose # estimated camera pose from features | ||
| ff_msgs/VisualLandmark[] landmarks # list of all landmarks | ||
|
|
||
| ================================================================================ | ||
| MSG: std_msgs/Header | ||
| # Standard metadata for higher-level stamped data types. | ||
| # This is generally used to communicate timestamped data | ||
| # in a particular coordinate frame. | ||
| # | ||
| # sequence ID: consecutively increasing ID | ||
| uint32 seq | ||
| #Two-integer timestamp that is expressed as: | ||
| # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') | ||
| # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') | ||
| # time-handling sugar is provided by the client library | ||
| time stamp | ||
| #Frame this data is associated with | ||
| string frame_id | ||
|
|
||
| ================================================================================ | ||
| MSG: geometry_msgs/Pose | ||
| # A representation of pose in free space, composed of position and orientation. | ||
| Point position | ||
| Quaternion orientation | ||
|
|
||
| ================================================================================ | ||
| MSG: geometry_msgs/Point | ||
| # This contains the position of a point in free space | ||
| float64 x | ||
| float64 y | ||
| float64 z | ||
|
|
||
| ================================================================================ | ||
| MSG: geometry_msgs/Quaternion | ||
| # This represents an orientation in free space in quaternion form. | ||
|
|
||
| float64 x | ||
| float64 y | ||
| float64 z | ||
| float64 w | ||
|
|
||
| ================================================================================ | ||
| MSG: ff_msgs/VisualLandmark | ||
| # Copyright (c) 2017, United States Government, as represented by the | ||
| # Administrator of the National Aeronautics and Space Administration. | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| # (the "License"); you may not use this file except in compliance with the | ||
| # License. You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations | ||
| # under the License. | ||
| # | ||
| # A single observation of a feature, with an image coordinate | ||
| # and known 3D coordinate | ||
|
|
||
| float32 x # known 3D position x | ||
| float32 y # known 3D position y | ||
| float32 z # known 3D position z | ||
| float32 u # feature image coordinate x | ||
| float32 v # feature image coordinate y | ||
| """ | ||
|
|
||
| new_type = "ff_msgs/VisualLandmarks" | ||
| new_full_text = """ | ||
| # Copyright (c) 2017, United States Government, as represented by the | ||
| # Administrator of the National Aeronautics and Space Administration. | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| # (the "License"); you may not use this file except in compliance with the | ||
| # License. You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations | ||
| # under the License. | ||
| # | ||
| # The observation from a camera image, of image coordinates | ||
| # and associated 3D coordinates. Used for sparse mapping and AR tags. | ||
|
|
||
| Header header # header with timestamp | ||
| uint32 camera_id # image ID, associated with registration pulse | ||
| geometry_msgs/Pose pose # estimated camera pose from features | ||
| ff_msgs/VisualLandmark[] landmarks # list of all landmarks | ||
| float32 runtime # Time it took to calculate the pose and matching landmarks | ||
|
|
||
| ================================================================================ | ||
| MSG: std_msgs/Header | ||
| # Standard metadata for higher-level stamped data types. | ||
| # This is generally used to communicate timestamped data | ||
| # in a particular coordinate frame. | ||
| # | ||
| # sequence ID: consecutively increasing ID | ||
| uint32 seq | ||
| #Two-integer timestamp that is expressed as: | ||
| # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') | ||
| # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') | ||
| # time-handling sugar is provided by the client library | ||
| time stamp | ||
| #Frame this data is associated with | ||
| string frame_id | ||
|
|
||
| ================================================================================ | ||
| MSG: geometry_msgs/Pose | ||
| # A representation of pose in free space, composed of position and orientation. | ||
| Point position | ||
| Quaternion orientation | ||
|
|
||
| ================================================================================ | ||
| MSG: geometry_msgs/Point | ||
| # This contains the position of a point in free space | ||
| float64 x | ||
| float64 y | ||
| float64 z | ||
|
|
||
| ================================================================================ | ||
| MSG: geometry_msgs/Quaternion | ||
| # This represents an orientation in free space in quaternion form. | ||
|
|
||
| float64 x | ||
| float64 y | ||
| float64 z | ||
| float64 w | ||
|
|
||
| ================================================================================ | ||
| MSG: ff_msgs/VisualLandmark | ||
| # Copyright (c) 2017, United States Government, as represented by the | ||
| # Administrator of the National Aeronautics and Space Administration. | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| # (the "License"); you may not use this file except in compliance with the | ||
| # License. You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations | ||
| # under the License. | ||
| # | ||
| # A single observation of a feature, with an image coordinate | ||
| # and known 3D coordinate | ||
|
|
||
| float32 x # known 3D position x | ||
| float32 y # known 3D position y | ||
| float32 z # known 3D position z | ||
| float32 u # feature image coordinate x | ||
| float32 v # feature image coordinate y | ||
| """ | ||
|
|
||
| order = 0 | ||
| migrated_types = [ | ||
| ("Header","Header"), | ||
| ("geometry_msgs/Pose","geometry_msgs/Pose"), | ||
| ("VisualLandmark","VisualLandmark"),] | ||
|
|
||
| valid = True | ||
|
|
||
| def update(self, old_msg, new_msg): | ||
| self.migrate(old_msg.header, new_msg.header) | ||
| new_msg.camera_id = old_msg.camera_id | ||
| self.migrate(old_msg.pose, new_msg.pose) | ||
| self.migrate_array(old_msg.landmarks, new_msg.landmarks, "ff_msgs/VisualLandmark") | ||
| #No matching field name in old message | ||
| new_msg.runtime = 0. |
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