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base repository: HKUST-Aerial-Robotics/VINS-Mono
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head repository: arl-kgp/VINS-Mono
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  • 2 commits
  • 1 file changed
  • 1 contributor

Commits on Jul 21, 2018

  1. Add parameters for ARK optor cam2pc

    @mpdmanash
    mpdmanash committed Jul 21, 2018
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    a2e4322 View commit details

Commits on Jul 22, 2018

  1. IMU variances, Vibration dampning with better props and gimbal dampne… 

    …r: Works on Albatross!
    @mpdmanash
    mpdmanash committed Jul 22, 2018
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    164d687 View commit details
Showing with 20 additions and 17 deletions.
  1. +20 −17 config/euroc/euroc_config.yaml
37 changes: 20 additions & 17 deletions config/euroc/euroc_config.yaml
View file
Original file line number Diff line number Diff line change
@@ -2,24 +2,24 @@

#common parameters
imu_topic: "/imu0"
image_topic: "/cam0/image_raw"
output_path: "/home/tony-ws1/output/"
image_topic: "/camera/left/image_raw"
output_path: "/home/manash/output/"

#camera calibration
model_type: PINHOLE
camera_name: camera
image_width: 752
image_height: 480
distortion_parameters:
k1: -2.917e-01
k2: 8.228e-02
p1: 5.333e-05
p2: -1.578e-04
k1: -0.351508
k2: 0.088678
p1: 0.000176
p2: -0.000472
projection_parameters:
fx: 4.616e+02
fy: 4.603e+02
cx: 3.630e+02
cy: 2.481e+02
fx: 457.514038
fy: 457.787703
cx: 370.395692
cy: 250.884523

# Extrinsic parameter between IMU and Camera.
estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
@@ -31,15 +31,18 @@ extrinsicRotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.0148655429818, -0.999880929698, 0.00414029679422,
0.999557249008, 0.0149672133247, 0.025715529948,
-0.0257744366974, 0.00375618835797, 0.999660727178]
# data: [-1.0000000, -0.0000000, 0.0000000,
# 0.0000000, -1.0000000, 0.0000000,
# 0.0000000, 0.0000000, 1.0000000]
data: [-0.985818, 0.157594, 0.0576817,
-0.156092, -0.987296, 0.0297032,
0.0616299, 0.0202783, 0.997893]
#Translation from camera frame to imu frame, imu^T_cam
extrinsicTranslation: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [-0.0216401454975,-0.064676986768, 0.00981073058949]
data: [0.07014, -0.0014, 0.00738]

#feature traker paprameters
max_cnt: 150 # max feature number in feature tracking
@@ -56,8 +59,8 @@ max_num_iterations: 8 # max solver itrations, to guarantee real time
keyframe_parallax: 10.0 # keyframe selection threshold (pixel)

#imu parameters The more accurate parameters you provide, the better performance
acc_n: 0.08 # accelerometer measurement noise standard deviation. #0.2 0.04
gyr_n: 0.004 # gyroscope measurement noise standard deviation. #0.05 0.004
acc_n: 0.4 # accelerometer measurement noise standard deviation. #0.2 0.04
gyr_n: 0.1 # gyroscope measurement noise standard deviation. #0.05 0.004
acc_w: 0.00004 # accelerometer bias random work noise standard deviation. #0.02
gyr_w: 2.0e-6 # gyroscope bias random work noise standard deviation. #4.0e-5
g_norm: 9.81007 # gravity magnitude
@@ -77,6 +80,6 @@ rolling_shutter: 0 # 0: global shutter camera, 1: rolling shutt
rolling_shutter_tr: 0 # unit: s. rolling shutter read out time per frame (from data sheet).

#visualization parameters
save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0
save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0
visualize_imu_forward: 0 # output imu forward propogation to achieve low latency and high frequence results
visualize_camera_size: 0.4 # size of camera marker in RVIZ