euroc_MH.info

sensors {  
  leica {
    type position

    frame body
    targetFrame world
    invertInput false
    
    topic "/leica/position"

    covPosition { sigma "0.01" }
    covOrientation { sigma "0.01" }

    absoluteMeasurements true

    rotation {
      used true
      roll 0.0
      pitch 0.0
      yaw 0.0
    }
    translation {
      used true
      x 0.0
      y 0.0
      z 0.0
    }
    delay { used false }
  }
  rovio {
    type pose

    used true

    frame body
    targetFrame world
    invertInput false

    topic "/rovio/transform"

    covPosition { sigma "0.01" }
    covOrientation { sigma "0.01" }

    absoluteMeasurements false

    rotation {
      used false
      roll 0.0
      pitch 0.0
      yaw 0.0
    }
    translation {
      used false
      x 0.0
      y 0.0
      z 0.0
    }
    delay { used false }
  }
}

model {
  Gravity { 
    used false
    magnitude 9.81 
  }
  frames "body,world"

  traj {
    frame body
    referenceFrame world
    initWithPoseMeasurements true
    McSensor rovio
    splines {
      knotsPerSecond 40
      rotSplineOrder 4
      rotFittingLambda 0.0000001
      transSplineOrder 4
      transFittingLambda 0.0000001
    }
  }
}

calibrator {
  verbose true
  timeBaseSensor rovio
  estimator {
    optimizer {
      maxIterations 150
      convergenceDeltaError 1e-6
      convergenceDeltaX 1e-6
    }
  }
}