initial commit

config/rpng_ironsides/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 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: 9.80114
+
+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: 0.5
+zupt_noise_multiplier: 10
+zupt_max_disparity: 0.4 # set to 0 for only imu-based
+zupt_only_at_beginning: false
+
+# ==================================================================
+# ==================================================================
+
+#init_window_time: 1.0
+init_window_time: 2.0
+init_imu_thresh: 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: 20
+grid_x: 20
+grid_y: 20
+min_px_dist: 20
+knn_ratio: 0.65
+track_frequency: 21.0
+downsample_cameras: false
+multi_threading: true
+histogram_method: "CLAHE" # NONE, HISTOGRAM, CLAHE
+
+fi_max_dist: 150
+fi_max_baseline: 200
+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: 2
+up_msckf_chi2_multipler: 1
+up_slam_sigma_px: 2
+up_slam_chi2_multipler: 1
+up_aruco_sigma_px: 1
+up_aruco_chi2_multipler: 1
+
+# masks for our images
+use_mask: true
+mask0: "../../ov_data/masks/ironsides0.png" #relative to current file
+mask1: "../../ov_data/masks/ironsides1.png" #relative to current file
+
+# 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/rpng_ironsides/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: 0.0027052931930236323  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
+  accelerometer_random_walk: 1.3054568211204843e-04   # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
+  gyroscope_noise_density: 1.1186830841306218e-04     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
+  gyroscope_random_walk: 8.997530210630026e-07        # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
+  model: calibrated
+  rostopic: /imu0
+  time_offset: 0.0
+  update_rate: 200.0

config/rpng_ironsides/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
+    - [0.99992127, -0.0078594, 0.0097819, -0.05845078]
+    - [0.00784873, 0.99996856, 0.00112822, -0.00728728]
+    - [-0.00979046, -0.00105136, 0.99995152, 0.0623674]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [1]
+  camera_model: pinhole
+  distortion_coeffs: [-0.03149689493503132, 0.07696336480701078, -0.06608854732019281, 0.019667561645120218]
+  distortion_model: equidistant
+  intrinsics: [276.4850207717928, 278.0310503180516, 314.5836189313042, 240.16980920673427] #fu, fv, cu, cv
+  resolution: [640, 480]
+  rostopic: /cam0/image_raw
+  timeshift_cam_imu: 0.00621
+
+cam1:
+  T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
+    - [0.99995933, 0.00327998, 0.00840069, 0.00793529]
+    - [-0.00328309, 0.99999455, 0.000356, -0.00716413]
+    - [-0.00839948, -0.00038357, 0.99996465, 0.06245421]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0]
+  camera_model: pinhole
+  distortion_coeffs: [-0.02998039058251529, 0.07202819722706337, -0.06178718820631651, 0.017655045017816777]
+  distortion_model: equidistant
+  intrinsics: [277.960323846132, 279.4348778432714, 322.404194404853, 236.72685252691352] #fu, fv, cu, cv
+  resolution: [640, 480]
+  rostopic: /cam1/image_raw
+  timeshift_cam_imu: 0.00621