Merge pull request #318 from goldbattle/illixr

Cleanup some ROS-free install location logic

config/rpng_plane/estimator_config.yaml

@@ -0,0 +1,119 @@
+%YAML:1.0 # need to specify the file type at the top!
+
+verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
+
+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)
+
+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)
+
+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
+
+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...)
+
+gravity_mag: 9.8065 # magnitude of gravity in this location
+
+feat_rep_msckf: "GLOBAL_3D"
+feat_rep_slam: "GLOBAL_3D"
+feat_rep_aruco: "GLOBAL_3D"
+
+# 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
+
+# ==================================================================
+# ==================================================================
+
+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)
+
+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
+
+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
+
+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
+
+# ==================================================================
+# ==================================================================
+
+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
+
+# 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"
+
+# ==================================================================
+# ==================================================================
+
+# 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
+
+# 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: false
+
+# 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/rpng_plane/kalibr_imu_chain.yaml

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+%YAML:1.0
+
+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

config/rpng_plane/kalibr_imucam_chain.yaml

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+%YAML:1.0
+
+
+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
+
+