initial commit

config/tum_vi/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: true
+calib_cam_intrinsics: true
+calib_cam_timeoffset: true
+
+max_clones: 11
+max_slam: 50
+max_slam_in_update: 25
+max_msckf_in_update: 40
+dt_slam_delay: 2
+
+gravity_mag: 9.80766
+
+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: false
+zupt_chi2_multipler: 0 # set to 0 for only disp-based
+zupt_max_velocity: 0.1
+zupt_noise_multiplier: 50
+zupt_max_disparity: 2.0 # set to 0 for only imu-based
+zupt_only_at_beginning: true
+
+# ==================================================================
+# ==================================================================
+
+init_window_time: 2.0
+init_imu_thresh: 0.45 # room1-5:0.45, room6:0.25
+init_max_disparity: 5.0
+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: 20.0
+
+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-20
+
+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: 150
+fast_threshold: 20
+grid_x: 20
+grid_y: 20
+min_px_dist: 15
+knn_ratio: 0.65
+track_frequency: 21.0
+downsample_cameras: false
+multi_threading: true
+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: true
+mask0: "../../ov_data/masks/tumvi0.png" #relative to current file
+mask1: "../../ov_data/masks/tumvi1.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/tum_vi/kalibr_imu_chain.yaml

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+%YAML:1.0 # need to specify the file type at the top!
+
+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: 0.0028  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
+  accelerometer_random_walk: 0.00086   # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
+  gyroscope_noise_density: 0.00016     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
+  gyroscope_random_walk: 2.2e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
+  model: calibrated
+  rostopic: /imu0
+  time_offset: 0.0
+  update_rate: 200.0

config/tum_vi/kalibr_imucam_chain.yaml

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+%YAML:1.0 # need to specify the file type at the top!
+
+cam0:
+  T_cam_imu: #rotation from IMU to camera R_ItoC, position of IMU in camera p_IinC
+    - [-0.9995250378696743, 0.029615343885863205, -0.008522328211654736, 0.04727988224914392]
+    - [0.0075019185074052044, -0.03439736061393144, -0.9993800792498829, -0.047443232143367084]
+    - [-0.02989013031643309, -0.998969345370175, 0.03415885127385616, -0.0681999605066297]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [1]
+  camera_model: pinhole
+  distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182]
+  distortion_model: equidistant
+  intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
+  resolution: [512, 512]
+  rostopic: /cam0/image_raw
+
+
+cam1:
+  T_cam_imu: #rotation from IMU to camera R_ItoC, position of IMU in camera p_IinC
+    - [-0.9995110484978581, 0.030299116376600627, -0.0077218830287333565, -0.053697434688869734]
+    - [0.008104079263822521, 0.012511643720192351, -0.9998888851620987, -0.046131737923635924]
+    - [-0.030199136245891378, -0.9994625667418545, -0.012751072573940885, -0.07149261284195751]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0]
+  camera_model: pinhole
+  distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606, 0.0003299517423931039]
+  distortion_model: equidistant
+  intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
+  resolution: [512, 512]
+  rostopic: /cam1/image_raw