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params_rpg_fpv.yaml
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params_rpg_fpv.yaml
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###########################
# Initial state estimates #
###########################
p: [0.3973783621825099, 1.4634966189993928, 1.277009988555527]
v: [0.0, 0.0, 0.0] # [x,y,z]
q: [0.0073897794554689862, -0.06762916364373475, 0.8856791184114311, -0.4592866061561111]
# 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 #
###############
cam1_fx: 0.5002309156507843
cam1_fy: 0.6656671073341341
cam1_cx: 0.4719951933816623
cam1_cy: 0.5192265112426236
cam1_dist_model: equidistant
cam1_dist_params: [-0.03252275347038443, 0.0010042799356776398, -0.0048537750326187136, 0.0014604134198771906]
cam1_img_width: 346
cam1_img_height: 260
cam1_q_ic: [ -0.99999034, 0.00117482, -0.00392135, -0.00160356] # [w, x, y, z]
cam1_p_ic: [-0.00109897, 0.00261366, 0.02223472] # [x,y,z]
cam1_time_offset: 0.005733889300479769
cam2_fx: 0.8307143111366176
cam2_fy: 1.1094881524187095
cam2_cx: 0.5573099196496173
cam2_cy: 0.6332898330570906
cam2_dist_model: FOV
cam2_dist_params: [0.950711]
cam2_img_width: 240
cam2_img_height: 180
cam2_q_ic: [0.999965419952174, 0.004660206319180, -0.003190841088148, -0.006104089619662]
cam2_p_ic: [0.00674696422488, 0.0007279224709, 0.0342573613538] # [x,y,z]
cam2_time_offset: 0.0
# Feature noise (normalized coordinate standard deviation)
sigma_img: 0.028888392540119216
#######
# IMU #
#######
# calculated from Kalibr output
n_a: 0.0031622776601683794 # Accel noise spectral density [m/s^2/sqrt(Hz)]
n_ba: 6.324555320336759e-05 # Accel bias random walk [m/s^3/sqrt(Hz)]
n_w: 0.0015811388300841897 # Gyro noise spectral density [rad/s/sqrt(Hz)]
n_bw: 1.2649110640673519e-06 # 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: 88.29 # 9g should be enough https://www.youtube.com/watch?v=_0nbRYIBVDQ
#######
# 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: 6
margin: 6
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: 17
eklt_max_num_iterations: 10
eklt_tracking_quality: 0.6
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: 45
eklt_log_eps: 0.01
eklt_use_linlog_scale: false
eklt_first_image_t: -1
eklt_tracks_file_txt: ""
eklt_patch_timestamp_assignment: accumulated-events-center
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: -1.0
eklt_ekf_update_every_n: 2200
eklt_ekf_update_strategy: every-n-events
eklt_ekf_update_timestamp: patches-maximum
eklt_harris_block_size: 3
eklt_detection_min_distance: 8 # 10
eklt_harris_k: 0 # 0.04
eklt_harris_quality_level: 0.3 # 0.01
#########
# HASTE #
#########
haste_tracker_type: haste-correlation-star
haste_patch_size: 31
haste_max_corners: 60
haste_min_corners: 45
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: 0.95
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: 8
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: 1.3
# Initial standard deviation of SLAM inverse depth [1/m]
# (default: 1 / (4 * d_min) [Montiel, 2006])
sigma_rho_0: 0.65
# 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: 500
# 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_cam1_fx: 0.829551527
event_cam1_fy: 1.104604558
event_cam1_cx: 0.550800297
event_cam1_cy: 0.615070333
event_cam1_dist_model: radial-tangential
event_cam1_dist_params: [-0.3684363117977873, 0.1509472435566583, -0.0002961305343848646, -0.000759431726241032, 0]
event_cam1_img_width: 240
event_cam1_img_height: 180
event_cam1_q_ic: [0.999965419952174, 0.004660206319180, -0.003190841088148, -0.006104089619662]
event_cam1_p_ic: [0.00674696422488, 0.0007279224709, 0.0342573613538] # [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