Skip to content

Develop v2.6 - Dynamic Initialization and Async Publishing #232

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 28 commits into from
Mar 21, 2022
Merged

Develop v2.6 - Dynamic Initialization and Async Publishing #232

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
28 commits
Select commit Hold shift + click to select a range
3af9100
initial MLE code
goldbattle Feb 1, 2022
e642505
remove debug code
goldbattle Feb 1, 2022
4df6c15
semi-working init+mle opt
goldbattle Feb 8, 2022
adb6f7a
fix not optimizing features
goldbattle Feb 8, 2022
ae11678
print error to console, fix ori align
goldbattle Feb 8, 2022
458ea84
add covariance recovery (seems to be inconsistent)
goldbattle Feb 9, 2022
5dc0fa0
have the user specify num of poses to use instead of freq-based
goldbattle Feb 9, 2022
36db02d
working?
goldbattle Feb 9, 2022
3b47b81
fix static window size to be that of the requested, change prints
goldbattle Feb 9, 2022
0703fc3
fix ros debug print usage
goldbattle Feb 9, 2022
ab0d140
fix print
goldbattle Feb 9, 2022
dc3e914
add multi-threading, disparity & angle checks for dynamic init, testi…
goldbattle Feb 10, 2022
44c4733
update uzhfpv to new groundtruths
goldbattle Feb 16, 2022
e7c7cd5
rework async logic for subscriber. Always publish IMU rate odometry (…
goldbattle Feb 17, 2022
328dda9
properly set null_space_rank to recover the initial covariance
goldbattle Mar 7, 2022
26cb5b5
small comment channges, also allow inflating of ori prior
goldbattle Mar 7, 2022
cad705e
update kaist dataset, fix cam intrinsics, update docs for kaist bag g…
goldbattle Mar 10, 2022
0d5e2cb
show overlay via TrackBase, aruco tracker set pts_last, and only say …
goldbattle Mar 11, 2022
c60a1d8
update docker and github action to build ceres
goldbattle Mar 14, 2022
979128a
update ros2 building, change ros viz to actually report RMSE, docs up…
goldbattle Mar 14, 2022
61815fc
try to fix build errors on 16 and 18
goldbattle Mar 14, 2022
26aa6de
add gps traj since we have them
goldbattle Mar 16, 2022
06ec15d
small formating, and tweak config
goldbattle Mar 16, 2022
d286c57
hopefully fix ros free build, update readme
goldbattle Mar 18, 2022
9d7d1a1
recommend using ubuntu libceres build
goldbattle Mar 18, 2022
98745cd
update docs [skip ci]
goldbattle Mar 18, 2022
f03b604
update copyright [skip ci]
goldbattle Mar 18, 2022
4fa753c
small changes and doc updates
goldbattle Mar 21, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
update kaist dataset, fix cam intrinsics, update docs for kaist bag g… 
…eneration
  • Loading branch information
@goldbattle
goldbattle committed Mar 10, 2022
commit cad705ebfa58eda9c9abd436f35da176d6b9f016
50 changes: 34 additions & 16 deletions config/kaist/estimator_config.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,34 +13,52 @@ calib_cam_extrinsics: false
calib_cam_intrinsics: true
calib_cam_timeoffset: true

max_clones: 25
max_slam: 10
max_clones: 12
max_slam: 50
max_slam_in_update: 25
max_msckf_in_update: 100
max_msckf_in_update: 50
dt_slam_delay: 1

gravity_mag: 9.79858
#gravity_mag: 9.81

feat_rep_msckf: "ANCHORED_MSCKF_INVERSE_DEPTH"
feat_rep_msckf: "GLOBAL_3D"
feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"

# zero velocity update parameters we can use
# we support either IMU-based or disparity detection.
try_zupt: true
zupt_chi2_multipler: 0 # set to 0 for only disp-based
zupt_chi2_multipler: 1 # set to 0 for only disp-based
zupt_max_velocity: 0.1
zupt_noise_multiplier: 1
zupt_max_disparity: 0.3 # set to 0 for only imu-based
zupt_noise_multiplier: 5
zupt_max_disparity: 0.4 # set to 0 for only imu-based
zupt_only_at_beginning: false

# ==================================================================
# ==================================================================

init_window_time: 1.0
init_imu_thresh: 0.5
init_window_time: 2.0
init_imu_thresh: 0.5 #0.5
init_max_disparity: 1.5
init_max_features: 50
init_max_features: 25

init_dyn_mle_opt_calib: false
init_dyn_mle_max_iter: 50
init_dyn_mle_max_time: 0.05
init_dyn_mle_max_threads: 6
init_dyn_num_pose: 6
init_dyn_min_deg: 0.0 # traj is mostly straight line motion

init_dyn_inflation_ori: 10
init_dyn_inflation_vel: 100
init_dyn_inflation_bg: 10
init_dyn_inflation_ba: 100
init_dyn_min_rec_cond: 1e-20 # traj is mostly straight line motion

init_dyn_bias_g: [0.0, 0.0, 0.0]
init_dyn_bias_a: [0.0, 0.0, 0.0]


# ==================================================================
# ==================================================================
Expand All @@ -59,18 +77,18 @@ filepath_gt: "/tmp/ov_groundtruth.txt"
# our front-end feature tracking parameters
# we have a KLT and descriptor based (KLT is better implemented...)
use_klt: true
num_pts: 300
fast_threshold: 10
num_pts: 200
fast_threshold: 50
grid_x: 20
grid_y: 20
min_px_dist: 20
grid_y: 15
min_px_dist: 30
knn_ratio: 0.65
track_frequency: 21.0
downsample_cameras: false
multi_threading: true
histogram_method: "CLAHE" # NONE, HISTOGRAM, CLAHE
histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE

fi_max_dist: 150
fi_max_dist: 250
fi_max_baseline: 200
fi_max_cond_number: 20000
fi_triangulate_1d: false
Expand Down
4 changes: 2 additions & 2 deletions config/kaist/kalibr_imucam_chain.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@ cam1:
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0]
camera_model: pinhole
distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606, 0.0003299517423931039]
distortion_coeffs: [-5.4921981799999998e-02,1.4243657430000001e-01,7.5412299999999996e-05,-6.7560530000000001e-04]
distortion_model: radtan
intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
intrinsics: [8.1378205539589999e+02,8.0852165574269998e+02,6.1386419539320002e+02,2.4941049348650000e+02]
resolution: [1280, 560]
rostopic: /stereo/right/image_raw
144 changes: 0 additions & 144 deletions config/kaist/pgeneva_ros_kaist.launch.old
View file
Open in desktop

This file was deleted.

2 changes: 1 addition & 1 deletion config/rpng_ironsides/estimator_config.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ calib_cam_timeoffset: true
max_clones: 12
max_slam: 50
max_slam_in_update: 25
max_msckf_in_update: 40
max_msckf_in_update: 50
dt_slam_delay: 1

gravity_mag: 9.80114
Expand Down
Loading