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estimator_config.yaml
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/
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 first-estimate Jacobians should be used (enable for good consistency)
integration: "rk4" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints
max_cameras: 2 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)
calib_cam_extrinsics: false # degenerate motion
calib_cam_intrinsics: true
calib_cam_timeoffset: false # degenerate motion
calib_imu_intrinsics: false
calib_imu_g_sensitivity: false
max_clones: 11
max_slam: 50
max_slam_in_update: 25
max_msckf_in_update: 50
dt_slam_delay: 1
gravity_mag: 9.80114
feat_rep_msckf: "ANCHORED_MSCKF_INVERSE_DEPTH"
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: true
zupt_chi2_multipler: 1 # set to 0 for only disp-based
zupt_max_velocity: 0.5
zupt_noise_multiplier: 10
zupt_max_disparity: 0.4 # set to 0 for only imu-based
zupt_only_at_beginning: false
# ==================================================================
# ==================================================================
init_window_time: 2.0
init_imu_thresh: 0.5
init_max_disparity: 1.5
init_max_features: 50
init_dyn_use: false
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: 0.0 # traj is mostly straight line motion
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 # traj is mostly straight line motion
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: 100
fast_threshold: 30
grid_x: 5
grid_y: 5
min_px_dist: 15
knn_ratio: 0.65
track_frequency: 31.0
downsample_cameras: false
num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
fi_min_dist: 1.0
fi_max_dist: 500.0
#fi_max_baseline: 200
#fi_max_cond_number: 20000
#fi_max_runs: 10
#fi_triangulate_1d: false
# 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: 2
up_msckf_chi2_multipler: 1
up_slam_sigma_px: 2
up_slam_chi2_multipler: 1
up_aruco_sigma_px: 1
up_aruco_chi2_multipler: 1
# masks for our images
use_mask: true
mask0: "mask_ironsides0.png" #relative to current file
mask1: "mask_ironsides1.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"