Adding intermediate tf node to the launch files for visualizing the c…

…ameras easily in rviz. Also adding a template rviz settings file in the launch folder. Finally, forcing a map dump to a file if MapMakerBase.cc throws the pClosestKF assertion.
ganechean · Apr 10, 2014 · 0d2de51 · 0d2de51
1 parent c614752
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diff --git a/launch/mcptam.launch b/launch/mcptam.launch
@@ -25,5 +25,7 @@
   <param name="mm_init_cov_thresh" type="double" value="1.0" />
 </node>
 
+<node pkg="tf" type="static_transform_publisher" name="world_tf" args="0 0 0 -0.5 0.5 -0.5 0.5 world vision_world 100" />
+
 </launch>
 
diff --git a/launch/mcptam.rviz b/launch/mcptam.rviz
@@ -0,0 +1,180 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Tracker Pose1
+        - /Tracker Pose1/Status1
+        - /Tracker Pose1/Frames1
+      Splitter Ratio: 0.580537
+    Tree Height: 565
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.550186
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Map Points
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /mcptam/map_mkfs_array
+      Name: Map Frames
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        camera1:
+          Value: false
+        camera2:
+          Value: false
+        vision_pose:
+          Value: true
+        vision_world:
+          Value: true
+        world:
+          Value: false
+      Marker Scale: 1
+      Name: Tracker Pose
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          vision_world:
+            camera1:
+              {}
+            camera2:
+              {}
+            vision_pose:
+              {}
+      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: Map Points
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /mcptam/map_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    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
+    - Class: rviz_plugin_tutorials/PlantFlag
+      Flags: ~
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 3.74663
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.705202
+      Target Frame: vision_world
+      Value: Orbit (rviz)
+      Yaw: 3.7272
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 45
+  Y: 60
diff --git a/launch/mcptam_client.launch b/launch/mcptam_client.launch
@@ -31,5 +31,7 @@
 
 </node>
 
+<node pkg="tf" type="static_transform_publisher" name="world_tf" args="0 0 0 -0.5 0.5 -0.5 0.5 world vision_world 100" />
+
 </launch>
 
diff --git a/launch/mcptam_server.launch b/launch/mcptam_server.launch
@@ -18,5 +18,7 @@
     <param name="kf_distance_mean_diff_fraction" type="double" value="0.5" /> 
   </node>
 
+<node pkg="tf" type="static_transform_publisher" name="world_tf" args="0 0 0 -0.5 0.5 -0.5 0.5 world vision_world 100" />
+
 </launch>
 
diff --git a/launch/pose_calibrator.launch b/launch/pose_calibrator.launch
@@ -21,5 +21,7 @@
 
 </node>
 
+<node pkg="tf" type="static_transform_publisher" name="world_tf" args="0 0 0 -0.5 0.5 -0.5 0.5 world vision_world 100" />
+
 </launch>
 
diff --git a/src/MapMakerBase.cc b/src/MapMakerBase.cc
@@ -138,6 +138,13 @@ KeyFrame* MapMakerBase::ClosestKeyFrame(KeyFrame &kf, KeyFrameRegion region, boo
       }
     }
   }
+
+  if( pClosestKF == NULL )
+  {
+    // Dump the cameras and map data
+    DumpToFile("fail_map.dat");
+  }
+
   ROS_ASSERT(pClosestKF != NULL);
   return pClosestKF;
 }
Original file line number	Diff line number	Diff line change
Expand Up		@@ -31,5 +31,7 @@

		</node>

		<node pkg="tf" type="static_transform_publisher" name="world_tf" args="0 0 0 -0.5 0.5 -0.5 0.5 world vision_world 100" />

		</launch>
Original file line number	Diff line number	Diff line change
Expand Up		@@ -21,5 +21,7 @@

		</node>

		<node pkg="tf" type="static_transform_publisher" name="world_tf" args="0 0 0 -0.5 0.5 -0.5 0.5 world vision_world 100" />

		</launch>