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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,119 @@ | ||
| %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 first-estimate Jacobians should be used (enable for good consistency) | ||
| use_imuavg: true # if using discrete integration, if we should average sequential IMU measurements to "smooth" it | ||
| 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 between pairs | ||
| max_cameras: 1 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking) | ||
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| calib_cam_extrinsics: true # if the transform between camera and IMU should be optimized R_ItoC, p_CinI | ||
| calib_cam_intrinsics: true # if camera intrinsics should be optimized (focal, center, distortion) | ||
| calib_cam_timeoffset: true # if timeoffset between camera and IMU should be optimized | ||
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| max_clones: 11 # how many clones in the sliding window | ||
| max_slam: 25 # number of features in our state vector | ||
| max_slam_in_update: 25 # update can be split into sequential updates of batches, how many in a batch | ||
| max_msckf_in_update: 20 # how many MSCKF features to use in the update | ||
| dt_slam_delay: 2 # delay before initializing (helps with stability from bad initialization...) | ||
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| gravity_mag: 9.8065 # magnitude of gravity in this location | ||
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| feat_rep_msckf: "GLOBAL_3D" | ||
| feat_rep_slam: "GLOBAL_3D" | ||
| feat_rep_aruco: "GLOBAL_3D" | ||
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| # 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: 1.5 # set to 0 for only imu-based | ||
| zupt_only_at_beginning: true | ||
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| # ================================================================== | ||
| # ================================================================== | ||
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| init_window_time: 2.0 # how many seconds to collect initialization information | ||
| init_imu_thresh: 0.5 # threshold for variance of the accelerometer to detect a "jerk" in motion | ||
| init_max_disparity: 4.0 # max disparity to consider the platform stationary (dependent on resolution) | ||
| init_max_features: 75 # how many features to track during initialization (saves on computation) | ||
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| init_dyn_use: false # if dynamic initialization should be used | ||
| init_dyn_mle_opt_calib: false # if we should optimize calibration during intialization (not recommended) | ||
| init_dyn_mle_max_iter: 50 # how many iterations the MLE refinement should use (zero to skip the MLE) | ||
| init_dyn_mle_max_time: 0.05 # how many seconds the MLE should be completed in | ||
| init_dyn_mle_max_threads: 6 # how many threads the MLE should use | ||
| init_dyn_num_pose: 6 # number of poses to use within our window time (evenly spaced) | ||
| init_dyn_min_deg: 10.0 # orientation change needed to try to init | ||
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| init_dyn_inflation_ori: 10 # what to inflate the recovered q_GtoI covariance by | ||
| init_dyn_inflation_vel: 100 # what to inflate the recovered v_IinG covariance by | ||
| init_dyn_inflation_bg: 10 # what to inflate the recovered bias_g covariance by | ||
| init_dyn_inflation_ba: 100 # what to inflate the recovered bias_a covariance by | ||
| init_dyn_min_rec_cond: 1e-12 # reciprocal condition number thresh for info inversion | ||
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| init_dyn_bias_g: [ 0.0, 0.0, 0.0 ] # initial gyroscope bias guess | ||
| init_dyn_bias_a: [ 0.0, 0.0, 0.0 ] # initial accelerometer bias guess | ||
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| # ================================================================== | ||
| # ================================================================== | ||
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| record_timing_information: false # if we want to record timing information of the method | ||
| record_timing_filepath: "/tmp/traj_timing.txt" # https://docs.openvins.com/eval-timing.html#eval-ov-timing-flame | ||
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| # if we want to save the simulation state and its diagional covariance | ||
| # use this with rosrun ov_eval error_simulation | ||
| save_total_state: false | ||
| filepath_est: "/tmp/ov_estimate.txt" | ||
| filepath_std: "/tmp/ov_estimate_std.txt" | ||
| filepath_gt: "/tmp/ov_groundtruth.txt" | ||
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| # ================================================================== | ||
| # ================================================================== | ||
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| # our front-end feature tracking parameters | ||
| # we have a KLT and descriptor based (KLT is better implemented...) | ||
| use_klt: true # if true we will use KLT, otherwise use a ORB descriptor + robust matching | ||
| num_pts: 200 # number of points (per camera) we will extract and try to track | ||
| fast_threshold: 30 # threshold for fast extraction (warning: lower threshs can be expensive) | ||
| grid_x: 8 # extraction sub-grid count for horizontal direction (uniform tracking) | ||
| grid_y: 8 # extraction sub-grid count for vertical direction (uniform tracking) | ||
| min_px_dist: 20 # distance between features (features near each other provide less information) | ||
| knn_ratio: 0.70 # descriptor knn threshold for the top two descriptor matches | ||
| track_frequency: 31.0 # frequency we will perform feature tracking at (in frames per second / hertz) | ||
| downsample_cameras: false # will downsample image in half if true | ||
| num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads | ||
| histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE | ||
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| # aruco tag tracker for the system | ||
| # DICT_6X6_1000 from https://chev.me/arucogen/ | ||
| use_aruco: false | ||
| num_aruco: 1024 | ||
| downsize_aruco: true | ||
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| # ================================================================== | ||
| # ================================================================== | ||
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| # 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 | ||
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| # masks for our images | ||
| use_mask: false | ||
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| # 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" | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,16 @@ | ||
| %YAML:1.0 | ||
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| 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: 0.00207649074 | ||
| accelerometer_random_walk: 0.00041327852 | ||
| gyroscope_noise_density: 0.00020544166 | ||
| gyroscope_random_walk: 1.110622e-05 | ||
| model: calibrated | ||
| rostopic: /d455/imu | ||
| time_offset: 0.0 | ||
| update_rate: 400 |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,19 @@ | ||
| %YAML:1.0 | ||
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| cam0: | ||
| T_cam_imu: | ||
| - [0.9999654398038452, 0.007342326779113337, -0.003899927610975742, -0.027534314618518095] | ||
| - [-0.0073452195116216765, 0.9999727585590525, -0.0007279355223411334, -0.0030587146933711722] | ||
| - [0.0038944766308488753, 0.0007565561891287445, 0.9999921303062861, -0.023605118842939803] | ||
| - [0.0, 0.0, 0.0, 1.0] | ||
| cam_overlaps: [] | ||
| camera_model: pinhole | ||
| distortion_coeffs: [-0.045761895748285604, 0.03423951132164367, -0.00040139057556727315, 0.000431371425853453] | ||
| distortion_model: radtan | ||
| intrinsics: [416.85223429743274, 414.92069080087543, 421.02459311003213, 237.76180565241077] | ||
| resolution: [848, 480] | ||
| rostopic: /d455/color/image_raw | ||
| timeshift_cam_imu: 0.002524377913673846 | ||
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