Add the example calibration and launch files with no extrinsics
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config/camchain-imucam-euroc-noextrinsics.yaml
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config/camchain-imucam-euroc-noextrinsics.yaml
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# The modifications of the output file from Kalibr:
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# 1. For each matrix (e.g. cam0/T_cam_imu), remove the brackets and minus sign for each line. Use one pair of brackets for each matrix.
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# 2. Add the T_imu_body at the end of the calibration file (usually set to identity).
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cam0:
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T_cam_imu:
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[0.0, 1.0, 0.0, 0.05,
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-1.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0]
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camera_model: pinhole
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distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
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distortion_model: radtan
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intrinsics: [458.654, 457.296, 367.215, 248.375]
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resolution: [752, 480]
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timeshift_cam_imu: 0.0
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cam1:
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T_cam_imu:
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[0.012555267089103, 0.999598781151433, -0.025389800891747, -0.044901980682509,
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-0.999755099723116, 0.013011905181504, 0.017900583825251, -0.020569771258915,
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0.018223771455443, 0.025158836311552, 0.999517347077547, -0.008638135126028,
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0, 0, 0, 1.000000000000000]
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T_cn_cnm1:
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[0.999997256477881, 0.002312067192424, 0.000376008102415, -0.110073808127187,
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-0.002317135723281, 0.999898048506644, 0.014089835846648, 0.000399121547014,
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-0.000343393120525, -0.014090668452714, 0.999900662637729, -0.000853702503357,
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0, 0, 0, 1.000000000000000]
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camera_model: pinhole
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distortion_coeffs: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05]
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distortion_model: radtan
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intrinsics: [457.587, 456.134, 379.999, 255.238]
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resolution: [752, 480]
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timeshift_cam_imu: 0.0
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T_imu_body:
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[1.0000, 0.0000, 0.0000, 0.0000,
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0.0000, 1.0000, 0.0000, 0.0000,
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0.0000, 0.0000, 1.0000, 0.0000,
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0.0000, 0.0000, 0.0000, 1.0000]
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launch/msckf_vio_euroc_noextrinsics.launch
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61
launch/msckf_vio_euroc_noextrinsics.launch
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<launch>
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<arg name="robot" default="firefly_sbx"/>
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<arg name="fixed_frame_id" default="world"/>
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<arg name="calibration_file"
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default="$(find msckf_vio)/config/camchain-imucam-euroc-noextrinsics.yaml"/>
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<!-- Image Processor Nodelet -->
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<include file="$(find msckf_vio)/launch/image_processor_euroc.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="calibration_file" value="$(arg calibration_file)"/>
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</include>
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<!-- Msckf Vio Nodelet -->
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<group ns="$(arg robot)">
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<node pkg="nodelet" type="nodelet" name="vio"
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args='standalone msckf_vio/MsckfVioNodelet'
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output="screen">
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<!-- Calibration parameters -->
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<rosparam command="load" file="$(arg calibration_file)"/>
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<param name="publish_tf" value="true"/>
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<param name="frame_rate" value="20"/>
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<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
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<param name="child_frame_id" value="odom"/>
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<param name="max_cam_state_size" value="20"/>
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<param name="position_std_threshold" value="8.0"/>
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<param name="rotation_threshold" value="0.2618"/>
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<param name="translation_threshold" value="0.4"/>
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<param name="tracking_rate_threshold" value="0.5"/>
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<!-- Feature optimization config -->
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<param name="feature/config/translation_threshold" value="-1.0"/>
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<!-- These values should be standard deviation -->
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<param name="noise/gyro" value="0.005"/>
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<param name="noise/acc" value="0.05"/>
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<param name="noise/gyro_bias" value="0.001"/>
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<param name="noise/acc_bias" value="0.01"/>
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<param name="noise/feature" value="0.035"/>
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<param name="initial_state/velocity/x" value="0.0"/>
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<param name="initial_state/velocity/y" value="0.0"/>
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<param name="initial_state/velocity/z" value="0.0"/>
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<!-- These values should be covariance -->
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<param name="initial_covariance/velocity" value="0.25"/>
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<param name="initial_covariance/gyro_bias" value="0.01"/>
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<param name="initial_covariance/acc_bias" value="0.01"/>
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<param name="initial_covariance/extrinsic_rotation_cov" value="2.742e-3"/>
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<param name="initial_covariance/extrinsic_translation_cov" value="4e-4"/>
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<remap from="~imu" to="/imu0"/>
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<remap from="~features" to="image_processor/features"/>
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</node>
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</group>
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</launch>
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