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params_esim_xplorer.yaml
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params_esim_xplorer.yaml
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###########################
# Initial state estimates #
###########################
p: [0.0, 0.0, 20.0] # [x,y,z]
v: [1.0, 1.0, 0.0] # [x,y,z]
q: [0.0, 1.0, 0.0, 0.0] # [w,x,y,z]
# Initial IMU bias estimates
b_w: [0.0, 0.0, 0.0] # [x,y,z]
b_a: [0.0, 0.0, 0.0] # [x,y,z]
# Initial standard deviation estimates [x,y,z]
sigma_dp: [0.0, 0.0, 0.0] # [m]
sigma_dv: [0.05, 0.05, 0.05] # [m/s]
sigma_dtheta: [3.0, 3.0, 3.0] # [deg]
sigma_dbw: [6.0, 6.0, 6.0] # [deg/s]
sigma_dba: [0.3, 0.3, 0.3] # [m/s^2]
###############
# Calibration #
###############
# Camera info published for ESIM rosbags:
#height: 480
#width: 640
#distortion_model: "plumb_bob"
#D: []
#K: [320.0, 0.0, 320.0,
# 0.0, 320.0, 240.0,
# 0.0, 0.0, 1.0]
#R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
#P: [320.0, 0.0, 320.0, 0.0,
# 0.0, 320.0, 240.0, 0.0,
# 0.0, 0.0, 1.0, 0.0]
#binning_x: 0
#binning_y: 0
#roi:
# x_offset: 0
# y_offset: 0
# height: 0
# width: 0
# do_rectify: False
cam1_fx: 0.6437500
cam1_fy: 0.8583333
cam1_cx: 0.5000000
cam1_cy: 0.5000000
cam1_dist_model: FOV
cam1_dist_params: [0.0]
cam1_img_width: 640
cam1_img_height: 480
cam1_q_ic: [1.0, 0.0, 0.0, 0.0] # [w,x,y,z]
cam1_p_ic: [0.0, 0.0, 0.0] # [x,y,z]
cam1_time_offset: 0.0
cam2_fx: 0.5
cam2_fy: 0.66
cam2_cx: 0.5
cam2_cy: 0.5
cam2_dist_model: FOV
cam2_dist_params: [0.0]
cam2_img_width: 640
cam2_img_height: 480
cam2_q_ic: [1, 0, 0, 0] # [w,x,y,z]
#cam2_q_ic: [0.0000, -0.0000, -0.7071, 0.7071] # [w,x,y,z]
cam2_p_ic: [0, 0, 0] # [x,y,z]
cam2_time_offset: 0.0
# Feature noise (normalized coordinate standard deviation)
sigma_img: 0.02541924711215672 # sqrt(0.00012922762474977756 * 5.0)
#######
# IMU #
#######
# MXR9500G/M accels (Astec)
n_a: 0.0083 # Accel noise spectral density [m/s^2/sqrt(Hz)]
n_ba: 0.00083 # Accel bias random walk [m/s^3/sqrt(Hz)]
# ADXRS610 gyros (Astec)
n_w: 0.0013 # Gyro noise spectral density [rad/s/sqrt(Hz)]
n_bw: 0.00013 # Gyro bias random walk [rad/s^2/sqrt(Hz)]
# Max specific force norm threshold, after which accelerometer readings are detected as spikes. [m/s^2]
a_m_max: 50.0
#######
# LRF #
#######
# Noise (standard deviation in m)
sigma_range: 0.05
##############
# Sun Sensor #
##############
# Currently unused
q_sc: [1.0, 0.0, 0.0, 0.0] # [w,x,y,z]
w_s: [0.0, 0.0, 1.0] # [x,y,z]
###########
# Tracker #
###########
fast_detection_delta: 20
non_max_supp: True
block_half_length: 20
margin: 20
n_feat_min: 400
# RANSAC: 8 / LMEDS: 4 (see OpenCV doc)
outlier_method: 8
# Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels,
# beyond which the point is considered an outlier and is not used for computing the final fundamental
# matrix. It can be set to something like 1-3, depending on the accuracy of the point localization,
# image resolution, and the image noise.
outlier_param1: 0.3
# Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence
# (probability) that the estimated matrix is correct.
outlier_param2: 0.99
# 1 <=> no tiling
n_tiles_h: 1
n_tiles_w: 1
max_feat_per_tile: 10000
########
# EKLT #
########
eklt_batch_size: 500
eklt_update_every_n_events: 20
eklt_displacement_px: 0.6
eklt_patch_size: 21
eklt_max_num_iterations: 25
eklt_tracking_quality: 0.7
eklt_bootstrap: "klt"
eklt_lk_window_size: 20
eklt_num_pyramidal_layers: 3
eklt_scale: 4
eklt_display_features: true
eklt_display_feature_id: true
eklt_display_feature_patches: true
eklt_arrow_length: 5
eklt_max_corners: 60
eklt_min_corners: 35
eklt_log_eps: 0.01
eklt_use_linlog_scale: false
eklt_first_image_t: -1
eklt_tracks_file_txt: ""
eklt_patch_timestamp_assignment: latest-event
eklt_enable_outlier_removal: false
eklt_outlier_method: 8
eklt_outlier_param1: 0.6
eklt_outlier_param2: 0.99
eklt_ekf_feature_interpolation: linear-no-limit
eklt_ekf_feature_extrapolation_limit: 5.0
eklt_ekf_update_every_n: -1
eklt_ekf_update_strategy: every-ros-event-message
eklt_ekf_update_timestamp: patches-average
eklt_harris_block_size: 3
eklt_detection_min_distance: 25
eklt_harris_k: 0
eklt_harris_quality_level: 0.3
#########
# HASTE #
#########
haste_tracker_type: haste-correlation-star
haste_patch_size: 31
haste_max_corners: 60
haste_min_corners: 35
haste_bootstrap_from_frames: false
haste_bootstrap_with_unit_length_of: true
haste_enable_outlier_removal: true
haste_outlier_method: 8
haste_outlier_param1: 0.6
haste_outlier_param2: 0.99
haste_ekf_feature_interpolation: nearest-neighbor
haste_ekf_feature_extrapolation_limit: -1.0
haste_ekf_update_every_n: 3200
haste_ekf_update_strategy: every-n-events
haste_ekf_update_timestamp: patches-maximum
haste_harris_block_size: 3
haste_detection_min_distance: 15
haste_harris_k: 0
haste_harris_quality_level: 0.3
##############
# SLAM-MSCKF #
##############
# Number of poses in the sliding window
n_poses_max: 10
# Number of SLAM features
n_slam_features_max: 25
# Initial inverse depth of SLAM features [1/m]
# (default: 1 / (2 * d_min) [Montiel, 2006])
rho_0: 0.05
# Initial standard deviation of SLAM inverse depth [1/m]
# (default: 1 / (4 * d_min) [Montiel, 2006])
sigma_rho_0: 0.025
# Number of IEKF iterations (1 <=> EKF)
iekf_iter: 1
# Minimum baseline to trigger MSCKF measurement (pixels)
msckf_baseline: 15.0
# Minimum track length for a visual feature to be processed
min_track_length: 10
#######
# EKF #
#######
# State buffer size (default: 250 states)
state_buffer_size: 250
# Expected difference between successive IMU sequence IDs.
delta_seq_imu: 1
# Tolerance for how far in the future/past the closest state request can be without returning an invalid state. [s]
state_buffer_time_margin: 0.02
# Gravity vector in world frame [m/s^2]
g: [0.0, 0.0, -9.81] # [x,y,z]
########
# Misc #
########
# Timeout before 3D trajectory disappears in GUI (s)
traj_timeout_gui: 3
# flags to play rosbags
/use_sim_time: True
# Initialize at startup
init_at_startup: False
##########
# Events #
##########
# Event camera calibration for DVxplorer without distortion
event_cam1_fx: 0.6437500
event_cam1_fy: 0.8583333
event_cam1_cx: 0.5000000
event_cam1_cy: 0.5000000
event_cam1_dist_model: FOV
event_cam1_dist_params: [0.0]
event_cam1_img_width: 640
event_cam1_img_height: 480
event_cam1_q_ic: [1.0, 0.0, 0.0, 0.0] # [w,x,y,z]
event_cam1_p_ic: [0.0, 0.0, 0.0] # [x,y,z]
event_cam1_time_offset: 0.0
event_accumulation_methode: 0
event_accumulation_period: 0.1
n_events_min: 15000
n_events_max: 40000
n_events_noise_detection_min: 40
noise_event_rate: 20000
event_norm_factor: 4.0
correct_event_motion: False