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params.yaml
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params.yaml
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###########################
# Initial state estimates #
###########################
## Default initial state: static, level.
#p: [0, 0, 0.5] # [x,y,z]
#v: [0.0, 0.0, 0.0] # [x,y,z]
#q: [1.0, 0.0, 0.0, 0.0] # [w,x,y,z]
## Initial state for myBags/201604026/circle_high_vel.bag at t = 0 s
p: [-0.168942875105, -0.573647949818, 1.09445961816] # [x,y,z]
v: [0.0, 0.0, 0.0] # [x,y,z]
q: [-0.329112656567, -0.0699724433216, 0.0214667765852, 0.941449889249] # [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]
###############
# Calibration #
###############
# Camera calibration for myBags/20160426 bags
cam1_fx: 0.46513
cam1_fy: 0.726246
cam1_cx: 0.499822
cam1_cy: 0.458086
cam1_s: 0.950711
cam1_img_width: 752
cam1_img_height: 480
cam1_q_ic: [-0.004059133072894, 0.928890463133302, 0.370065735566358, -0.014049352983967] # [w,x,y,z]
cam1_p_ic: [-0.05914814, 0.04309647, -0.03085167] # [x,y,z]
cam1_time_offset: -0.00397400522578
cam2_fx: 0.46513
cam2_fy: 0.726246
cam2_cx: 0.499822
cam2_cy: 0.458086
cam2_s: 0.950711
cam2_img_width: 752
cam2_img_height: 480
cam2_q_ic: [-0.004059133072894, 0.928890463133302, 0.370065735566358, -0.014049352983967] # [w,x,y,z]
cam2_p_ic: [-0.05914814, 0.04309647, -0.03085167] # [x,y,z]
cam2_time_offset: -0.00397400522578
# 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)]
#######
# 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
##############
# SLAM-MSCKF #
##############
# Number of poses in the sliding window
n_poses_max: 10
# Number of SLAM features
n_slam_features_max: 15
# Initial inverse depth of SLAM features [1/m]
# (default: 1 / (2 * d_min) [Montiel, 2006])
rho_0: 2.5
# Initial standard deviation of SLAM inverse depth [1/m]
# (default: 1 / (4 * d_min) [Montiel, 2006])
sigma_rho_0: 1.25
# Number of IEKF iterations (1 <=> EKF)
iekf_iter: 1
# Minimum baseline to trigger MSCKF measurement (pixels)
msckf_baseline: 30.0
# Minimum track length for a visual feature to be processed
min_track_length: 10
########
# 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