initial commit

config/kaist/estimator_config.yaml

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+%YAML:1.0 # need to specify the file type at the top!
+
+verbosity: "DEBUG" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
+
+use_fej: true # if we should use first-estimate Jacobians (enable for good consistency)
+use_imuavg: true # for our 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
+max_cameras: 2
+
+calib_cam_extrinsics: false
+calib_cam_intrinsics: true
+calib_cam_timeoffset: true
+
+max_clones: 12
+max_slam: 50
+max_slam_in_update: 25
+max_msckf_in_update: 50
+dt_slam_delay: 1
+
+#gravity_mag: 9.79858
+gravity_mag: 9.81
+
+feat_rep_msckf: "ANCHORED_MSCKF_INVERSE_DEPTH"
+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: 1 # set to 0 for only disp-based
+zupt_max_velocity: 0.1
+zupt_noise_multiplier: 5
+zupt_max_disparity: 0.4 # set to 0 for only imu-based
+zupt_only_at_beginning: false
+
+# ==================================================================
+# ==================================================================
+
+init_window_time: 2.0
+init_imu_thresh: 0.5 #0.5
+init_max_disparity: 1.5
+init_max_features: 25
+
+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: 0.0 # traj is mostly straight line motion
+
+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-20 # traj is mostly straight line motion
+
+init_dyn_bias_g: [0.0, 0.0, 0.0]
+init_dyn_bias_a: [0.0, 0.0, 0.0]
+
+
+# ==================================================================
+# ==================================================================
+
+record_timing_information: false
+record_timing_filepath: "/tmp/traj_timing.txt"
+
+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: 50
+grid_x: 20
+grid_y: 15
+min_px_dist: 30
+knn_ratio: 0.65
+track_frequency: 21.0
+downsample_cameras: false
+multi_threading: true
+histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
+
+fi_max_dist: 500
+fi_max_baseline: 800
+fi_max_cond_number: 20000
+fi_triangulate_1d: false
+
+# 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/kaist/kalibr_imu_chain.yaml

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+%YAML:1.0 # need to specify the file type at the top!
+
+
+# MTI-100 series converted from data sheet, guess on bias random walk
+# https://www.xsens.com/hubfs/Downloads/usermanual/MTi_usermanual.pdf
+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-03  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
+  accelerometer_random_walk: 3.0000e-03   # [ 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 )
+  # <param name="gyroscope_noise_density"      type="double"   value="1.7453e-04" /> <!-- 1.7453e-04 -->
+  # <param name="gyroscope_random_walk"        type="double"   value="1.0000e-05" />
+  # <param name="accelerometer_noise_density"  type="double"   value="5.8860e-03" /> <!-- 5.8860e-04 -->
+  # <param name="accelerometer_random_walk"    type="double"   value="1.0000e-04" />
+  model: calibrated
+  rostopic: /imu/data_raw
+  time_offset: 0.0
+  update_rate: 500.0

config/kaist/kalibr_imucam_chain.yaml

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+%YAML:1.0 # need to specify the file type at the top!
+
+cam0:
+  T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
+    - [-0.00413,-0.01966,0.99980,1.73944]
+    - [-0.99993,-0.01095,-0.00435,0.27803]
+    - [0.01103,-0.99975,-0.01962,-0.08785]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [1]
+  camera_model: pinhole
+  distortion_coeffs: [-5.6143027800000002e-02,1.3952563200000001e-01,-1.2155906999999999e-03,-9.7281389999999998e-04]
+  distortion_model: radtan
+  intrinsics: [8.1690378992770002e+02,8.1156803828490001e+02,6.0850726281690004e+02,2.6347599764440002e+02]
+  resolution: [1280, 560]
+  rostopic: /stereo/left/image_raw
+cam1:
+  T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
+    - [-0.00768,-0.01509,0.99986,1.73376]
+    - [-0.99988,-0.01305,-0.00788,-0.19706]
+    - [0.01317,-0.99980,-0.01499,-0.08271]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0]
+  camera_model: pinhole
+  distortion_coeffs: [-5.4921981799999998e-02,1.4243657430000001e-01,7.5412299999999996e-05,-6.7560530000000001e-04]
+  distortion_model: radtan
+  intrinsics: [8.1378205539589999e+02,8.0852165574269998e+02,6.1386419539320002e+02,2.4941049348650000e+02]
+  resolution: [1280, 560]
+  rostopic: /stereo/right/image_raw