raphael/msckf_vio
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First commit of the code

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Ke Sun
2018-01-08 14:41:37 -05:00
parent 37dd131d33
commit 700a3c625a
32 changed files with 5921 additions and 1 deletions
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33
launch/image_processor_euroc.launch Normal file
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<launch>
<arg name="robot" default="firefly_sbx"/>
<arg name="calibration_file"
default="$(find msckf_vio)/config/camchain-imucam-euroc.yaml"/>
<!-- Image Processor Nodelet -->
<group ns="$(arg robot)">
<node pkg="nodelet" type="nodelet" name="image_processor"
args="standalone msckf_vio/ImageProcessorNodelet"
output="screen">
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="grid_row" value="4"/>
<param name="grid_col" value="5"/>
<param name="grid_min_feature_num" value="3"/>
<param name="grid_max_feature_num" value="4"/>
<param name="pyramid_levels" value="3"/>
<param name="patch_size" value="15"/>
<param name="fast_threshold" value="10"/>
<param name="max_iteration" value="30"/>
<param name="track_precision" value="0.01"/>
<param name="ransac_threshold" value="3"/>
<param name="stereo_threshold" value="5"/>
<remap from="~imu" to="/imu0"/>
<remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/image_raw"/>
</node>
</group>
</launch>

33
launch/image_processor_fla.launch Normal file
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<launch>
<arg name="robot" default="fla"/>
<arg name="calibration_file"
default="$(find msckf_vio)/config/camchain-imucam-fla.yaml"/>
<!-- Image Processor Nodelet -->
<group ns="$(arg robot)">
<node pkg="nodelet" type="nodelet" name="image_processor"
args="standalone msckf_vio/ImageProcessorNodelet"
output="screen">
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="grid_row" value="4"/>
<param name="grid_col" value="5"/>
<param name="grid_min_feature_num" value="2"/>
<param name="grid_max_feature_num" value="3"/>
<param name="pyramid_levels" value="3"/>
<param name="patch_size" value="15"/>
<param name="fast_threshold" value="10"/>
<param name="max_iteration" value="30"/>
<param name="track_precision" value="0.01"/>
<param name="ransac_threshold" value="3"/>
<param name="stereo_threshold" value="5"/>
<remap from="~imu" to="sync/imu/imu"/>
<remap from="~cam0_image" to="sync/cam0/image_raw"/>
<remap from="~cam1_image" to="sync/cam1/image_raw"/>
</node>
</group>
</launch>

61
launch/msckf_vio_euroc.launch Normal file
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<launch>
<arg name="robot" default="firefly_sbx"/>
<arg name="fixed_frame_id" default="world"/>
<arg name="calibration_file"
default="$(find msckf_vio)/config/camchain-imucam-euroc.yaml"/>
<!-- Image Processor Nodelet -->
<include file="$(find msckf_vio)/launch/image_processor_euroc.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="calibration_file" value="$(arg calibration_file)"/>
</include>
<!-- Msckf Vio Nodelet -->
<group ns="$(arg robot)">
<node pkg="nodelet" type="nodelet" name="vio"
args='standalone msckf_vio/MsckfVioNodelet'
output="screen">
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="publish_tf" value="true"/>
<param name="frame_rate" value="20"/>
<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
<param name="child_frame_id" value="odom"/>
<param name="max_cam_state_size" value="20"/>
<param name="position_std_threshold" value="8.0"/>
<param name="rotation_threshold" value="0.2618"/>
<param name="translation_threshold" value="0.4"/>
<param name="tracking_rate_threshold" value="0.5"/>
<!-- Feature optimization config -->
<param name="feature/config/translation_threshold" value="-1.0"/>
<!-- These values should be standard deviation -->
<param name="noise/gyro" value="0.005"/>
<param name="noise/acc" value="0.05"/>
<param name="noise/gyro_bias" value="0.001"/>
<param name="noise/acc_bias" value="0.01"/>
<param name="noise/feature" value="0.035"/>
<param name="initial_state/velocity/x" value="0.0"/>
<param name="initial_state/velocity/y" value="0.0"/>
<param name="initial_state/velocity/z" value="0.0"/>
<!-- These values should be covariance -->
<param name="initial_covariance/velocity" value="0.25"/>
<param name="initial_covariance/gyro_bias" value="0.01"/>
<param name="initial_covariance/acc_bias" value="0.01"/>
<param name="initial_covariance/extrinsic_rotation_cov" value="3.0462e-4"/>
<param name="initial_covariance/extrinsic_translation_cov" value="2.5e-5"/>
<remap from="~imu" to="/imu0"/>
<remap from="~features" to="image_processor/features"/>
</node>
</group>
</launch>

61
launch/msckf_vio_fla.launch Normal file
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<launch>
<arg name="robot" default="fla"/>
<arg name="fixed_frame_id" default="vision"/>
<arg name="calibration_file"
default="$(find msckf_vio)/config/camchain-imucam-fla.yaml"/>
<!-- Image Processor Nodelet -->
<include file="$(find msckf_vio)/launch/image_processor_fla.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="calibration_file" value="$(arg calibration_file)"/>
</include>
<!-- Msckf Vio Nodelet -->
<group ns="$(arg robot)">
<node pkg="nodelet" type="nodelet" name="vio"
args='standalone msckf_vio/MsckfVioNodelet'
output="screen">
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="publish_tf" value="true"/>
<param name="frame_rate" value="40"/>
<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
<param name="child_frame_id" value="odom"/>
<param name="max_cam_state_size" value="20"/>
<param name="position_std_threshold" value="8.0"/>
<param name="rotation_threshold" value="0.2618"/>
<param name="translation_threshold" value="0.4"/>
<param name="tracking_rate_threshold" value="0.5"/>
<!-- Feature optimization config -->
<param name="feature/config/translation_threshold" value="-1.0"/>
<!-- These values should be standard deviation -->
<param name="noise/gyro" value="0.01"/>
<param name="noise/acc" value="0.1"/>
<param name="noise/gyro_bias" value="0.005"/>
<param name="noise/acc_bias" value="0.05"/>
<param name="noise/feature" value="0.03"/>
<param name="initial_state/velocity/x" value="0.0"/>
<param name="initial_state/velocity/y" value="0.0"/>
<param name="initial_state/velocity/z" value="0.0"/>
<!-- These values should be covariance -->
<param name="initial_covariance/velocity" value="0.25"/>
<param name="initial_covariance/gyro_bias" value="0.0001"/>
<param name="initial_covariance/acc_bias" value="0.01"/>
<param name="initial_covariance/extrinsic_rotation_cov" value="3.0462e-4"/>
<param name="initial_covariance/extrinsic_translation_cov" value="2.5e-5"/>
<remap from="~imu" to="sync/imu/imu"/>
<remap from="~features" to="image_processor/features"/>
</node>
</group>
</launch>

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launch/reset.launch Normal file
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<launch>
<arg name="robot" default="fla1"/>
<group ns="$(arg robot)">
<node pkg="rosservice" type="rosservice" name="reset_vio"
args="call --wait vio/reset"/>
</group>
</launch>