Skip to content

Instantly share code, notes, and snippets.

@goldbattle
Created June 21, 2021 20:59
Show Gist options
  • Save goldbattle/38633c3ccc813787b480f65c80df1661 to your computer and use it in GitHub Desktop.
Save goldbattle/38633c3ccc813787b480f65c80df1661 to your computer and use it in GitHub Desktop.
<launch>
<!-- mono or stereo and what ros bag to play -->
<arg name="max_cameras" default="2" />
<arg name="use_stereo" default="true" />
<!-- imu starting thresholds -->
<arg name="init_window_time" default="0.5" />
<arg name="init_imu_thresh" default="0.5" />
<!-- saving trajectory path and timing information -->
<arg name="dosave" default="false" />
<arg name="dotime" default="false" />
<arg name="path_est" default="/tmp/traj_estimate.txt" />
<arg name="path_time" default="/tmp/traj_timing.txt" />
<!-- MASTER NODE! -->
<remap from="/ov_msckf/odomimu" to="/mavros/odometry/out"/>
<!-- <node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true">-->
<node name="run_serial_msckf" pkg="ov_msckf" type="run_serial_msckf" output="screen" clear_params="true" required="true">
<!-- bag topics -->
<param name="topic_imu" type="string" value="/d435i/imu" />
<param name="topic_camera0" type="string" value="/d435i/infra1/image_rect_raw" />
<param name="topic_camera1" type="string" value="/d435i/infra2/image_rect_raw" />
<!-- bag parameters -->
<param name="path_bag" type="string" value="/home/patrick/datasets/open_vins_issues/161.bag" />
<param name="bag_start" type="double" value="0" />
<param name="bag_durr" type="int" value="-1" />
<!-- world/filter parameters -->
<param name="use_fej" type="bool" value="true" />
<param name="use_imuavg" type="bool" value="true" />
<param name="use_rk4int" type="bool" value="true" />
<param name="use_stereo" type="bool" value="$(arg use_stereo)" />
<param name="calib_cam_extrinsics" type="bool" value="true" />
<param name="calib_cam_intrinsics" type="bool" value="true" />
<param name="calib_cam_timeoffset" type="bool" value="true" />
<param name="calib_camimu_dt" type="double" value="0.002253427204094642" />
<param name="max_clones" type="int" value="8" />
<param name="max_slam" type="int" value="100" />
<param name="max_slam_in_update" type="int" value="25" />
<param name="max_msckf_in_update" type="int" value="40" />
<param name="max_cameras" type="int" value="$(arg max_cameras)" />
<param name="dt_slam_delay" type="double" value="2" />
<param name="init_window_time" type="double" value="$(arg init_window_time)" />
<param name="init_imu_thresh" type="double" value="$(arg init_imu_thresh)" />
<rosparam param="gravity">[0.0,0.0,9.80766]</rosparam>
<param name="feat_rep_msckf" type="string" value="GLOBAL_3D" />
<param name="feat_rep_slam" type="string" value="ANCHORED_INVERSE_DEPTH_SINGLE" /> <!-- ANCHORED_MSCKF_INVERSE_DEPTH, ANCHORED_INVERSE_DEPTH_SINGLE -->
<param name="feat_rep_aruco" type="string" value="ANCHORED_INVERSE_DEPTH_SINGLE" /> <!-- ANCHORED_MSCKF_INVERSE_DEPTH, ANCHORED_INVERSE_DEPTH_SINGLE -->
<!-- zero velocity update parameters -->
<!-- inertial and disparity based detection (inertial is key for dynamic environments) -->
<param name="try_zupt" type="bool" value="true" />
<param name="zupt_chi2_multipler" type="double" value="0" /> <!-- set to 0 for only disp-based -->
<param name="zupt_max_velocity" type="double" value="0.1" />
<param name="zupt_noise_multiplier" type="double" value="50" />
<param name="zupt_max_disparity" type="double" value="0.5" /> <!-- set to 0 for only imu-based -->
<param name="zupt_only_at_beginning" type="bool" value="false" />
<!-- timing statistics recording -->
<param name="record_timing_information" type="bool" value="$(arg dotime)" />
<param name="record_timing_filepath" type="string" value="$(arg path_time)" />
<!-- tracker/extractor properties -->
<param name="use_klt" type="bool" value="true" />
<param name="num_pts" type="int" value="150" />
<param name="fast_threshold" type="int" value="10" />
<param name="grid_x" type="int" value="10" />
<param name="grid_y" type="int" value="6" />
<param name="min_px_dist" type="int" value="5" />
<param name="knn_ratio" type="double" value="0.65" />
<param name="downsample_cameras" type="bool" value="false" />
<!-- aruco tag/mapping properties -->
<param name="use_aruco" type="bool" value="false" />
<param name="num_aruco" type="int" value="1024" />
<param name="downsize_aruco" type="bool" value="true" />
<!-- sensor noise values / update -->
<param name="up_msckf_sigma_px" type="double" value="1" />
<param name="up_msckf_chi2_multipler" type="double" value="1" />
<param name="up_slam_sigma_px" type="double" value="1" />
<param name="up_slam_chi2_multipler" type="double" value="1" />
<param name="up_aruco_sigma_px" type="double" value="1" />
<param name="up_aruco_chi2_multipler" type="double" value="1" />
>
<param name="gyroscope_noise_density" type="double" value="0.002268927" />
<param name="gyroscope_random_walk" type="double" value="0.000707107" />
<param name="accelerometer_noise_density" type="double" value="0.008182448" />
<param name="accelerometer_random_walk" type="double" value="0.01" />
<!-- camera intrinsics -->
<rosparam param="cam0_wh">[848, 480]</rosparam>
<rosparam param="cam1_wh">[848, 480]</rosparam>
<param name="cam0_is_fisheye" type="bool" value="false" />
<param name="cam1_is_fisheye" type="bool" value="false" />
<rosparam param="cam0_k" >[419.3810644330385, 419.8692423723829, 429.4145018482037, 235.10523561765913]</rosparam>
<rosparam param="cam0_d" >[0.00873531415843783, -0.007060110257825944, -0.0003542470695597006, 0.001916541430415396]</rosparam>
<rosparam param="cam1_k" >[419.5237147700148, 419.95177692260575, 429.19989569240045, 235.12917776430314]</rosparam>
<rosparam param="cam1_d" >[0.008230738876912091, -0.006530178169032951, -0.00030643459401319493, 0.0015341586370279437]</rosparam>
<rosparam param="T_C0toI" >
[
0.99993848, -0.01087644, 0.00217611, -0.00490239,
0.01085902, 0.9999101, 0.00786587, 0.00131864,
-0.00226147, -0.00784175, 0.9999667, 0.01165503,
0.0, 0.0, 0.0, 1.0
]
</rosparam>
<rosparam param="T_C1toI" >
[
0.99994025, -0.01088851, 0.00096903, 0.04517292,
0.01088044, 0.99990899, 0.007977, 0.00184285,
-0.0010558, -0.00796598, 0.99996771, 0.01179229,
0.0, 0.0, 0.0, 1.0
]
</rosparam>
</node>
<!-- <node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find ov_msckf)/launch/display.rviz" />-->
</launch>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment