161.launch

<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>