From e6620a4ed45ff49960e9572365743a5bc4a08f66 Mon Sep 17 00:00:00 2001
From: g-spacewhale <raphael@maenle.net>
Date: Wed, 10 Apr 2019 18:35:26 +0200
Subject: [PATCH] edited launch files to support euroc and mynt

---
 launch/image_processor_euroc.launch |  3 +-
 launch/image_processor_mynt.launch  | 33 ++++++++++++++++
 launch/msckf_vio_euroc.launch       |  3 ++
 launch/msckf_vio_mynt.launch        | 61 +++++++++++++++++++++++++++++
 4 files changed, 99 insertions(+), 1 deletion(-)
 create mode 100644 launch/image_processor_mynt.launch
 create mode 100644 launch/msckf_vio_mynt.launch

diff --git a/launch/image_processor_euroc.launch b/launch/image_processor_euroc.launch
index f728112..f49fc6c 100644
--- a/launch/image_processor_euroc.launch
+++ b/launch/image_processor_euroc.launch
@@ -8,7 +8,8 @@
   <group ns="$(arg robot)">
     <node pkg="nodelet" type="nodelet" name="image_processor"
       args="standalone msckf_vio/ImageProcessorNodelet"
-      output="screen">
+      output="screen"
+       >
 
       <rosparam command="load" file="$(arg calibration_file)"/>
       <param name="grid_row" value="4"/>
diff --git a/launch/image_processor_mynt.launch b/launch/image_processor_mynt.launch
new file mode 100644
index 0000000..63b058e
--- /dev/null
+++ b/launch/image_processor_mynt.launch
@@ -0,0 +1,33 @@
+<launch>
+
+  <arg name="robot" default="firefly_sbx"/>
+  <arg name="calibration_file"
+    default="$(find msckf_vio)/config/camchain-imucam-mynt.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="/mynteye/left/image_raw"/>
+      <remap from="~cam1_image" to="/mynteye/right/image_raw"/>
+
+    </node>
+  </group>
+
+</launch>
diff --git a/launch/msckf_vio_euroc.launch b/launch/msckf_vio_euroc.launch
index bfbf7eb..896feff 100644
--- a/launch/msckf_vio_euroc.launch
+++ b/launch/msckf_vio_euroc.launch
@@ -53,6 +53,9 @@
       <param name="initial_covariance/extrinsic_translation_cov" value="2.5e-5"/>
 
       <remap from="~imu" to="/imu0"/>
+      <remap from="~cam0_image" to="/cam0/image_raw"/>
+      <remap from="~cam1_image" to="/cam1/image_raw"/>
+
       <remap from="~features" to="image_processor/features"/>
 
     </node>
diff --git a/launch/msckf_vio_mynt.launch b/launch/msckf_vio_mynt.launch
new file mode 100644
index 0000000..678787e
--- /dev/null
+++ b/launch/msckf_vio_mynt.launch
@@ -0,0 +1,61 @@
+<launch>
+
+  <arg name="robot" default="firefly_sbx"/>
+  <arg name="fixed_frame_id" default="world"/>
+  <arg name="calibration_file"
+    default="$(find msckf_vio)/config/camchain-imucam-mynt.yaml"/>
+
+  <!-- Image Processor Nodelet  -->
+  <include file="$(find msckf_vio)/launch/image_processor_mynt.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="/mynteye/imu/data_raw"/>
+      <remap from="~features" to="image_processor/features"/>
+
+    </node>
+  </group>
+
+</launch>