hmgoforth/bpvo

BPVO

Dependencies

• bitplanes

Compiling

./build_vo_solver_video_test.sh

Running

./vo_solver_video_test config/config_cust.cfg path/to/telemetry.csv path/to/imagery/directory/ intrinsics.csv start_frame end_frame

Examples:

./vo_solver_video_test config/config_cust.cfg ~/Documents/2018_11_13_13_38_02_AERO5_imagery/2018_11_13_13_38_02_AERO5_imagery_telem.csv  ~/Documents/2018_11_13_13_38_02_AERO5_imagery/ intrinsics.csv 1964 1980

./vo_solver_video_test config/config_cust.cfg ~/Documents/2018_11_13_13_38_02_AERO5_imagery/2018_11_13_13_38_02_AERO5_imagery_telem.csv  ~/Documents/2018_11_13_13_38_02_AERO5_imagery/ intrinsics.csv 1922 1942

./vo_solver_video_test config/config_cust.cfg ~/Documents/2018_11_13_13_38_02_AERO5_imagery/2018_11_13_13_38_02_AERO5_imagery_telem.csv  ~/Documents/2018_11_13_13_38_02_AERO5_imagery/ intrinsics.csv 2032 2045

./vo_solver_video_test config/config_cust.cfg ~/Documents/DroneAgentImageryLog_AERO3_2018_10_21_14_37_12/DroneAgentImageryLog_AERO3_2018_10_21_14_37_12_telem.csv  ~/Documents/DroneAgentImageryLog_AERO3_2018_10_21_14_37_12/ intrinsics.csv 236 255

Output

Should bring up window with frames being pasted in (like videos I sent earlier). Press any key to keep adding frames.

BPVO Usage

Instantiating:

BPVO bpvo(config_file, K, max_ang_from_down, max_frame_before_tracker_refresh);

config_file: config_cust.cfg

K: intrinsics (read from intrinsics.csv)

max_ang_from_down: as we've previously defined (I use 25 degrees in vo_solver_video_test)

max_frame_before_tracker_refresh: if there is this many corrupted/bad frames in a row, then BPVO will have to 'reset' tracking because there is now no overlap between the next frame and the last good frame. BPVO.solver will return the telemetry input as refined pose for the next frame, and then continue tracking. (I found that 6 works okay for this number)

Solver:

BPVO.solver(curr_pose, curr_img)

curr_pose: length 6 array of [roll deg, pitch deg, yaw deg, east meters, north meters, up meters] as defined in all telemetry csv files.

curr_img: current 1080p RGB frame

returns: tuple of refined pose (length 6 array of same format as curr_pose) and int flag. Flag values: refined pose is good (0), max angle from down exceeded, don't use refined pose (1), corrupted/bad frame, don't use refined pose (2).