118 lines
3.3 KiB
YAML
118 lines
3.3 KiB
YAML
%YAML:1.0 # need to specify the file type at the top!
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verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
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use_fej: true # if we should use first-estimate Jacobians (enable for good consistency)
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use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it
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use_rk4int: true # if rk4 integration should be used (overrides imu averaging)
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use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints
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max_cameras: 2
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calib_cam_extrinsics: true
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calib_cam_intrinsics: true
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calib_cam_timeoffset: true
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max_clones: 11
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max_slam: 50
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max_slam_in_update: 25
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max_msckf_in_update: 40
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dt_slam_delay: 2
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gravity_mag: 9.80766
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feat_rep_msckf: "GLOBAL_3D"
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feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
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feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"
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# zero velocity update parameters we can use
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# we support either IMU-based or disparity detection.
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try_zupt: false
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zupt_chi2_multipler: 0 # set to 0 for only disp-based
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zupt_max_velocity: 0.1
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zupt_noise_multiplier: 50
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zupt_max_disparity: 2.0 # set to 0 for only imu-based
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zupt_only_at_beginning: true
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# ==================================================================
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# ==================================================================
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init_window_time: 2.0
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init_imu_thresh: 0.45 # room1-5:0.45, room6:0.25
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init_max_disparity: 5.0
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init_max_features: 25
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init_dyn_mle_opt_calib: false
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init_dyn_mle_max_iter: 50
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init_dyn_mle_max_time: 0.05
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init_dyn_mle_max_threads: 6
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init_dyn_num_pose: 6
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init_dyn_min_deg: 20.0
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init_dyn_inflation_ori: 10
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init_dyn_inflation_vel: 100
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init_dyn_inflation_bg: 10
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init_dyn_inflation_ba: 100
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init_dyn_min_rec_cond: 1e-20
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init_dyn_bias_g: [0.0, 0.0, 0.0]
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init_dyn_bias_a: [0.0, 0.0, 0.0]
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# ==================================================================
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# ==================================================================
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record_timing_information: false
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record_timing_filepath: "/tmp/traj_timing.txt"
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save_total_state: false
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filepath_est: "/tmp/ov_estimate.txt"
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filepath_std: "/tmp/ov_estimate_std.txt"
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filepath_gt: "/tmp/ov_groundtruth.txt"
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# ==================================================================
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# ==================================================================
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# our front-end feature tracking parameters
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# we have a KLT and descriptor based (KLT is better implemented...)
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use_klt: true
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num_pts: 150
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fast_threshold: 20
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grid_x: 20
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grid_y: 20
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min_px_dist: 15
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knn_ratio: 0.65
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track_frequency: 21.0
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downsample_cameras: false
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multi_threading: true
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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# aruco tag tracker for the system
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# DICT_6X6_1000 from https://chev.me/arucogen/
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use_aruco: false
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num_aruco: 1024
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downsize_aruco: true
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# ==================================================================
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# ==================================================================
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# camera noises and chi-squared threshold multipliers
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up_msckf_sigma_px: 1
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up_msckf_chi2_multipler: 1
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up_slam_sigma_px: 1
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up_slam_chi2_multipler: 1
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up_aruco_sigma_px: 1
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up_aruco_chi2_multipler: 1
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# masks for our images
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use_mask: true
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mask0: "../../ov_data/masks/tumvi0.png" #relative to current file
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mask1: "../../ov_data/masks/tumvi1.png" #relative to current file
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# imu and camera spacial-temporal
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# imu config should also have the correct noise values
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relative_config_imu: "kalibr_imu_chain.yaml"
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relative_config_imucam: "kalibr_imucam_chain.yaml"
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