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"
+
+
+