initial commit

config/euroc_mav/estimator_config.yaml

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+%YAML:1.0 # need to specify the file type at the top!
+
+verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
+
+use_fej: true # if first-estimate Jacobians should be used (enable for good consistency)
+use_imuavg: true # if using discrete integration, if we should average sequential IMU measurements to "smooth" it
+use_rk4int: true # if rk4 integration should be used (overrides imu averaging)
+
+use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints between pairs
+max_cameras: 2 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)
+
+calib_cam_extrinsics: true # if the transform between camera and IMU should be optimized R_ItoC, p_CinI
+calib_cam_intrinsics: true # if camera intrinsics should be optimized (focal, center, distortion)
+calib_cam_timeoffset: true # if timeoffset between camera and IMU should be optimized
+
+max_clones: 11 # how many clones in the sliding window
+max_slam: 50 # number of features in our state vector
+max_slam_in_update: 25 # update can be split into sequential updates of batches, how many in a batch
+max_msckf_in_update: 40 # how many MSCKF features to use in the update
+dt_slam_delay: 1 # delay before initializing (helps with stability from bad initialization...)
+
+gravity_mag: 9.81 # magnitude of gravity in this location
+
+feat_rep_msckf: "GLOBAL_3D"
+feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
+feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"
+
+# zero velocity update parameters we can use
+# we support either IMU-based or disparity detection.
+try_zupt: true
+zupt_chi2_multipler: 0 # set to 0 for only disp-based
+zupt_max_velocity: 0.1
+zupt_noise_multiplier: 50
+zupt_max_disparity: 1.5 # set to 0 for only imu-based
+zupt_only_at_beginning: true
+
+# ==================================================================
+# ==================================================================
+
+init_window_time: 2.0 # how many seconds to collect initialization information
+init_imu_thresh: 1.5 # threshold for variance of the accelerometer to detect a "jerk" in motion
+init_max_disparity: 1.5 # max disparity to consider the platform stationary (dependent on resolution)
+init_max_features: 25 # how many features to track during initialization (saves on computation)
+
+init_dyn_mle_opt_calib: false
+init_dyn_mle_max_iter: 50
+init_dyn_mle_max_time: 0.05
+init_dyn_mle_max_threads: 6
+init_dyn_num_pose: 6
+init_dyn_min_deg: 10.0
+
+init_dyn_inflation_ori: 10
+init_dyn_inflation_vel: 100
+init_dyn_inflation_bg: 10
+init_dyn_inflation_ba: 100
+init_dyn_min_rec_cond: 1e-12
+
+init_dyn_bias_g: [0.0, 0.0, 0.0]
+init_dyn_bias_a: [0.0, 0.0, 0.0]
+
+# ==================================================================
+# ==================================================================
+
+record_timing_information: false # if we want to record timing information of the method
+record_timing_filepath: "/tmp/traj_timing.txt" # https://docs.openvins.com/eval-timing.html#eval-ov-timing-flame
+
+# if we want to save the simulation state and its diagional covariance
+# use this with rosrun ov_eval error_simulation
+save_total_state: false
+filepath_est: "/tmp/ov_estimate.txt"
+filepath_std: "/tmp/ov_estimate_std.txt"
+filepath_gt: "/tmp/ov_groundtruth.txt"
+
+# ==================================================================
+# ==================================================================
+
+# our front-end feature tracking parameters
+# we have a KLT and descriptor based (KLT is better implemented...)
+use_klt: true
+num_pts: 200
+fast_threshold: 20
+grid_x: 20
+grid_y: 20
+min_px_dist: 15
+knn_ratio: 0.70
+track_frequency: 21.0
+downsample_cameras: false # will downsample image in half if true
+multi_threading: true # if should enable opencv multi threading
+histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
+
+# aruco tag tracker for the system
+# DICT_6X6_1000 from https://chev.me/arucogen/
+use_aruco: false
+num_aruco: 1024
+downsize_aruco: true
+
+# ==================================================================
+# ==================================================================
+
+# camera noises and chi-squared threshold multipliers
+up_msckf_sigma_px: 1
+up_msckf_chi2_multipler: 1
+up_slam_sigma_px: 1
+up_slam_chi2_multipler: 1
+up_aruco_sigma_px: 1
+up_aruco_chi2_multipler: 1
+
+# masks for our images
+use_mask: false
+
+# imu and camera spacial-temporal
+# imu config should also have the correct noise values
+relative_config_imu: "kalibr_imu_chain.yaml"
+relative_config_imucam: "kalibr_imucam_chain.yaml"
+
+
+
+

config/euroc_mav/kalibr_imu_chain.yaml

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+%YAML:1.0
+
+imu0:
+  T_i_b:
+    - [1.0, 0.0, 0.0, 0.0]
+    - [0.0, 1.0, 0.0, 0.0]
+    - [0.0, 0.0, 1.0, 0.0]
+    - [0.0, 0.0, 0.0, 1.0]
+  accelerometer_noise_density: 2.0000e-3  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
+  accelerometer_random_walk: 3.0000e-3    # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
+  gyroscope_noise_density: 1.6968e-04     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
+  gyroscope_random_walk: 1.9393e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
+  model: calibrated
+  rostopic: /imu0
+  time_offset: 0.0
+  update_rate: 200.0

config/euroc_mav/kalibr_imucam_chain.yaml

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+%YAML:1.0
+
+cam0:
+  T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
+    - [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975]
+    - [0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768]
+    - [-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [1]
+  camera_model: pinhole
+  distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
+  distortion_model: radtan
+  intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv
+  resolution: [752, 480]
+  rostopic: /cam0/image_raw
+cam1:
+  T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
+    - [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556]
+    - [0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024]
+    - [-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0]
+  camera_model: pinhole
+  distortion_coeffs: [-0.28368365,0.07451284,-0.00010473,-3.55590700e-05]
+  distortion_model: radtan
+  intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv
+  resolution: [752, 480]
+  rostopic: /cam1/image_raw