Notion.md

• 1. Steps to reproduce the results
  • 1.1. Need docker?
    • 1.1.1. Download the docker image by
    • 1.1.2. Run the docker
  • 1.2. ROS
    • 1.2.1. coloradar
    • 1.2.2. reproduce the groundtruth
    • 1.2.3. demo
    • 1.2.4. rqt_graph
• 2. Code interpretation
  • 2.1. what is frame
• 3. inherit from vins-mono
  • 3.1. reducevector
  • 3.2.
• 4. Sensor Charactoristic/Front end
  • 4.1. Radar
    • 4.1.1. /radar_frame
  • 4.2. what is row_step
  • 4.3.
  • 4.4. IMU
• 5. Back end/Optimization
• 6. Output Data Extraction
  • 6.1. map
    • 6.1.1. /sub_map_frame
    • 6.1.2. /tracking_frame
      • 6.1.2.1. Is /tracking_frame the overlap of the current frame with sub_map?
      • 6.1.2.2. Is radarFeatureFactor.pointRelation contains each point from the current frame, where the point without match turns out to be zeros-match?
  • 6.2. Pose
    • 6.2.1. /estimated_pose (world to inertial frame)
    • 6.2.2. rio
• 7. Issue
  • 7.1. ERROR: Unable to start XML-RPC server, port 11311 is already in use (just occasionally occurs)
  • 7.2. z error is very large
  • 7.3. Bug
    • 7.3.1. the rio msg is strange, always being jumping
    • 7.3.2. the header timestamp of radar_frame is wrong
    • 7.3.3. the rviz is dark
• 8. Xu Yang questions

1. Steps to reproduce the results

1.1. Need docker?

1.1.1. Download the docker image by

bash docker.sh -b

(then, it start download the file and build

function build() {
    docker build \
    -t rio \
    -f $SCRIPT_DIR/Dockerfile \
    $SCRIPT_DIR/..
}

)

1.1.2. Run the docker

bash docker.sh -r

This starts the Docker container and attaches your terminal to it. Once the container starts successfully, the terminal will switch to being inside the Docker container.

(mapping the current folder to docker

function run() {
    docker run -it --rm \
    --network host \
    --privileged \
    -v /dev:/dev \
    -v $SCRIPT_DIR/../:/ws/src \
    -e DISPLAY=$DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    rio \
    /bin/bash
}

)

1.2. ROS

bash 1

roscore &
rviz -d rio/config/RIO.rviz

bash 2

python3 /ws/src/docker/run.py -a -n rio -c /ws/src/rio/config/ars548.yaml -d /ws/src/dataset/exp/Sequence_1.bag -r 1 -p 1

1.2.1. coloradar

python3 /ws/src/docker/run.py -a -n rio -c /ws/src/rio/config/coloradar.yaml -d dataset/coloradar_trim/colo_trim_outdoors_run_0_modified_gt2.bag -r 1 -p 1

python3 /ws/src/docker/run.py -a -n rio -c /ws/src/rio/config/coloradar.yaml -d dataset/coloradar_trim/colo_trim_outdoors_run_0_modified_gt2.bag -r 1 -p 1

python3 /ws/src/docker/run.py -a -n rio -c /ws/src/rio/config/coloradar.yaml -d dataset/coloradar_trim/classroom3.bag -r 1 -p 1

python3 /ws/src/docker/run.py -a -n rio -c /ws/src/rio/config/coloradar.yaml -d dataset/coloradar_trim/classroom3_modified_gt_horizontal.bag -r 1 -p 1

1.2.2. reproduce the groundtruth

evo_ape bag ./rio_output_seq3_2025-02-09-13-43-21_0.2toend.bag /estimated_pose /lidar_ground_truth -va --plot_mode xy --plot --t_max_diff 0.05

1.2.3. demo

1.2.4. rqt_graph

2. Code interpretation

2.1. what is frame

  frame = scan2scanTracker.trackPoints(frameRadarData, timeStamp);

  radarData.data.emplace_back(frame);

3. inherit from vins-mono

3.1. reducevector

3.2.

4. Sensor Charactoristic/Front end

4.1. Radar

4.1.1. /radar_frame

angle seems to be [-60, 60]x[-20, 20]

4.2. what is row_step

it is how many points there are in a single frame.

4.3.

4.4. IMU

5. Back end/Optimization

6. Output Data Extraction

6.1. map

6.1.1. /sub_map_frame

6.1.2. /tracking_frame

6.1.2.1. Is /tracking_frame the overlap of the current frame with sub_map?

Yes

6.1.2.2. Is radarFeatureFactor.pointRelation contains each point from the current frame, where the point without match turns out to be zeros-match?

Likely

6.2. Pose

6.2.1. /estimated_pose (world to inertial frame)

6.2.2. rio

seems to be groundtruth, the same name as node name

7. Issue

7.1. ERROR: Unable to start XML-RPC server, port 11311 is already in use (just occasionally occurs)

roscore -p 11312

export ROS_MASTER_URI=http://localhost:11312

7.2. z error is very large

7.3. Bug

7.3.1. the rio msg is strange, always being jumping

7.3.2. the header timestamp of radar_frame is wrong

now it is zero, not very good. also the frame is world, which is not appropriate for visualization.

7.3.3. the rviz is dark

we can adjust window size in the rviz file, makeing it smaller.

sometimes retry many times can help alleviate the problem.

other times waiting and retrying are okay.

8. Xu Yang questions