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Merge pull request #259 from rpng/develop_v2.6.1
Develop v2.6.1
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‎.gitignore

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@@ -7,3 +7,4 @@ doxgen_generated
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*.swp
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*.swo
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doc
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.vscode

‎ReadMe.md

+2-1
Original file line numberDiff line numberDiff line change
@@ -17,10 +17,11 @@ details on what the system supports.
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* Github project page - https://github.com/rpng/open_vins
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* Documentation - https://docs.openvins.com/
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* Getting started guide - https://docs.openvins.com/getting-started.html
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* Publication reference - http://udel.edu/~pgeneva/downloads/papers/c10.pdf
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* Publication reference - https://pgeneva.com/downloads/papers/Geneva2020ICRA.pdf
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## News / Events
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* **July 14, 2022** - Improved feature extraction logic for >100hz tracking, some bug fixes and updated scripts. See v2.6.1 [PR#259](https://github.com/rpng/open_vins/pull/259).
2425
* **March 14, 2022** - Initial dynamic initialization open sourcing, asynchronous subscription to inertial readings and publishing of odometry, support for lower frequency feature tracking. See v2.6 [PR#232](https://github.com/rpng/open_vins/pull/232) for details.
2526
* **December 13, 2021** - New YAML configuration system, ROS2 support, Docker images, robust static initialization based on disparity, internal logging system to reduce verbosity, image transport publishers, dynamic number of features support, and other small fixes. See
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v2.5 [PR#209](https://github.com/rpng/open_vins/pull/209) for details.

‎config/euroc_mav/estimator_config.yaml

+28-27
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,7 @@ feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"
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# zero velocity update parameters we can use
2929
# we support either IMU-based or disparity detection.
30-
try_zupt: true
30+
try_zupt: false
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zupt_chi2_multipler: 0 # set to 0 for only disp-based
3232
zupt_max_velocity: 0.1
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zupt_noise_multiplier: 50
@@ -39,24 +39,25 @@ zupt_only_at_beginning: true
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init_window_time: 2.0 # how many seconds to collect initialization information
4141
init_imu_thresh: 1.5 # threshold for variance of the accelerometer to detect a "jerk" in motion
42-
init_max_disparity: 1.5 # max disparity to consider the platform stationary (dependent on resolution)
43-
init_max_features: 25 # how many features to track during initialization (saves on computation)
44-
45-
init_dyn_mle_opt_calib: false
46-
init_dyn_mle_max_iter: 50
47-
init_dyn_mle_max_time: 0.05
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init_dyn_mle_max_threads: 6
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init_dyn_num_pose: 6
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init_dyn_min_deg: 10.0
51-
52-
init_dyn_inflation_ori: 10
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init_dyn_inflation_vel: 100
54-
init_dyn_inflation_bg: 10
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init_dyn_inflation_ba: 100
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init_dyn_min_rec_cond: 1e-12
57-
58-
init_dyn_bias_g: [0.0, 0.0, 0.0]
59-
init_dyn_bias_a: [0.0, 0.0, 0.0]
42+
init_max_disparity: 10.0 # max disparity to consider the platform stationary (dependent on resolution)
43+
init_max_features: 75 # how many features to track during initialization (saves on computation)
44+
45+
init_dyn_use: false # if dynamic initialization should be used
46+
init_dyn_mle_opt_calib: false # if we should optimize calibration during intialization (not recommended)
47+
init_dyn_mle_max_iter: 50 # how many iterations the MLE refinement should use (zero to skip the MLE)
48+
init_dyn_mle_max_time: 0.05 # how many seconds the MLE should be completed in
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init_dyn_mle_max_threads: 6 # how many threads the MLE should use
50+
init_dyn_num_pose: 6 # number of poses to use within our window time (evenly spaced)
51+
init_dyn_min_deg: 10.0 # orientation change needed to try to init
52+
53+
init_dyn_inflation_ori: 10 # what to inflate the recovered q_GtoI covariance by
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init_dyn_inflation_vel: 100 # what to inflate the recovered v_IinG covariance by
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init_dyn_inflation_bg: 10 # what to inflate the recovered bias_g covariance by
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init_dyn_inflation_ba: 100 # what to inflate the recovered bias_a covariance by
57+
init_dyn_min_rec_cond: 1e-12 # reciprocal condition number thresh for info inversion
58+
59+
init_dyn_bias_g: [ 0.0, 0.0, 0.0 ] # initial gyroscope bias guess
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init_dyn_bias_a: [ 0.0, 0.0, 0.0 ] # initial accelerometer bias guess
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# ==================================================================
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# ==================================================================
@@ -76,14 +77,14 @@ filepath_gt: "/tmp/ov_groundtruth.txt"
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# our front-end feature tracking parameters
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# we have a KLT and descriptor based (KLT is better implemented...)
79-
use_klt: true
80-
num_pts: 200
81-
fast_threshold: 20
82-
grid_x: 20
83-
grid_y: 20
84-
min_px_dist: 15
85-
knn_ratio: 0.70
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track_frequency: 21.0
80+
use_klt: true # if true we will use KLT, otherwise use a ORB descriptor + robust matching
81+
num_pts: 200 # number of points (per camera) we will extract and try to track
82+
fast_threshold: 20 # threshold for fast extraction (warning: lower threshs can be expensive)
83+
grid_x: 5 # extraction sub-grid count for horizontal direction (uniform tracking)
84+
grid_y: 5 # extraction sub-grid count for vertical direction (uniform tracking)
85+
min_px_dist: 10 # distance between features (features near each other provide less information)
86+
knn_ratio: 0.70 # descriptor knn threshold for the top two descriptor matches
87+
track_frequency: 21.0 # frequency we will perform feature tracking at (in frames per second / hertz)
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downsample_cameras: false # will downsample image in half if true
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multi_threading: true # if should enable opencv multi threading
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE

‎config/kaist/estimator_config.yaml

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Original file line numberDiff line numberDiff line change
@@ -9,17 +9,16 @@ use_rk4int: true # if rk4 integration should be used (overrides imu averaging)
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use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints
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max_cameras: 2
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12-
calib_cam_extrinsics: false
12+
calib_cam_extrinsics: false # degenerate motion
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calib_cam_intrinsics: true
14-
calib_cam_timeoffset: true
14+
calib_cam_timeoffset: true # degenerate motion
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16-
max_clones: 12
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max_clones: 8
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max_slam: 50
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max_slam_in_update: 25
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max_msckf_in_update: 50
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dt_slam_delay: 1
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22-
#gravity_mag: 9.79858
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gravity_mag: 9.81
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2524
feat_rep_msckf: "ANCHORED_MSCKF_INVERSE_DEPTH"
@@ -29,7 +28,7 @@ feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"
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# zero velocity update parameters we can use
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# we support either IMU-based or disparity detection.
3130
try_zupt: true
32-
zupt_chi2_multipler: 1 # set to 0 for only disp-based
31+
zupt_chi2_multipler: 0.25 # set to 0 for only disp-based
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zupt_max_velocity: 0.1
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zupt_noise_multiplier: 5
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zupt_max_disparity: 0.4 # set to 0 for only imu-based
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# ==================================================================
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init_window_time: 2.0
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init_imu_thresh: 0.5 #0.5
41+
init_imu_thresh: 0.5
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init_max_disparity: 1.5
44-
init_max_features: 25
43+
init_max_features: 75
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45+
init_dyn_use: true
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init_dyn_mle_opt_calib: false
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init_dyn_mle_max_iter: 50
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init_dyn_mle_max_time: 0.05
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init_dyn_mle_max_threads: 6
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init_dyn_num_pose: 6
51-
init_dyn_min_deg: 0.0 # traj is mostly straight line motion
51+
init_dyn_min_deg: 5.0 # traj is mostly straight line motion
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5353
init_dyn_inflation_ori: 10
5454
init_dyn_inflation_vel: 100
@@ -78,18 +78,19 @@ filepath_gt: "/tmp/ov_groundtruth.txt"
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# we have a KLT and descriptor based (KLT is better implemented...)
7979
use_klt: true
8080
num_pts: 200
81-
fast_threshold: 50
82-
grid_x: 20
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grid_y: 15
84-
min_px_dist: 30
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fast_threshold: 30
82+
grid_x: 5
83+
grid_y: 5
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min_px_dist: 20
8585
knn_ratio: 0.65
86-
track_frequency: 21.0
86+
track_frequency: 31.0
8787
downsample_cameras: false
8888
multi_threading: true
8989
histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
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91-
fi_max_dist: 500
92-
fi_max_baseline: 800
91+
fi_min_dist: 0.25
92+
fi_max_dist: 150.0
93+
fi_max_baseline: 200
9394
fi_max_cond_number: 20000
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fi_triangulate_1d: false
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@@ -103,9 +104,9 @@ downsize_aruco: true
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# ==================================================================
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# camera noises and chi-squared threshold multipliers
106-
up_msckf_sigma_px: 1
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up_msckf_sigma_px: 1.5
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up_msckf_chi2_multipler: 1
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up_slam_sigma_px: 1
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up_slam_sigma_px: 1.5
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up_slam_chi2_multipler: 1
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up_aruco_sigma_px: 1
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up_aruco_chi2_multipler: 1

‎config/kaist/kalibr_imu_chain.yaml

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%YAML:1.0 # need to specify the file type at the top!
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4-
# MTI-100 series converted from data sheet, guess on bias random walk
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# MTI-100 series converted from datasheet, guess on bias random walk
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# https://www.xsens.com/hubfs/Downloads/usermanual/MTi_usermanual.pdf
6+
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imu0:
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T_i_b:
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- [1.0, 0.0, 0.0, 0.0]
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- [0.0, 1.0, 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]
12-
accelerometer_noise_density: 2.0000e-03 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
13-
accelerometer_random_walk: 3.0000e-03 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
14-
gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
15-
gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
16-
# <param name="gyroscope_noise_density" type="double" value="1.7453e-04" /> <!-- 1.7453e-04 -->
17-
# <param name="gyroscope_random_walk" type="double" value="1.0000e-05" />
18-
# <param name="accelerometer_noise_density" type="double" value="5.8860e-03" /> <!-- 5.8860e-04 -->
19-
# <param name="accelerometer_random_walk" type="double" value="1.0000e-04" />
13+
# accelerometer_noise_density: 2.0000e-03 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
14+
# accelerometer_random_walk: 3.0000e-03 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
15+
# gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
16+
# gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
17+
accelerometer_noise_density: 5.8860e-03 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
18+
accelerometer_random_walk: 1.0000e-04 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
19+
gyroscope_noise_density: 1.7453e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
20+
gyroscope_random_walk: 1.0000e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
2021
model: calibrated
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rostopic: /imu/data_raw
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time_offset: 0.0

‎config/kaist/kalibr_imucam_chain.yaml

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@@ -13,6 +13,7 @@ cam0:
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intrinsics: [8.1690378992770002e+02,8.1156803828490001e+02,6.0850726281690004e+02,2.6347599764440002e+02]
1414
resolution: [1280, 560]
1515
rostopic: /stereo/left/image_raw
16+
1617
cam1:
1718
T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
1819
- [-0.00768,-0.01509,0.99986,1.73376]
@@ -25,4 +26,4 @@ cam1:
2526
distortion_model: radtan
2627
intrinsics: [8.1378205539589999e+02,8.0852165574269998e+02,6.1386419539320002e+02,2.4941049348650000e+02]
2728
resolution: [1280, 560]
28-
rostopic: /stereo/right/image_raw
29+
rostopic: /stereo/right/image_raw

‎config/kaist_vio/estimator_config.yaml

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@@ -16,18 +16,18 @@ calib_cam_timeoffset: false # disable since this is a degenerate motion
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max_clones: 11 # how many clones in the sliding window
1717
max_slam: 50 # number of features in our state vector
1818
max_slam_in_update: 25 # update can be split into sequential updates of batches, how many in a batch
19-
max_msckf_in_update: 40 # how many MSCKF features to use in the update
19+
max_msckf_in_update: 50 # how many MSCKF features to use in the update
2020
dt_slam_delay: 1 # delay before initializing (helps with stability from bad initialization...)
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gravity_mag: 9.81 # magnitude of gravity in this location
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24-
feat_rep_msckf: "GLOBAL_3D"
24+
feat_rep_msckf: "ANCHORED_MSCKF_INVERSE_DEPTH"
2525
feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
2626
feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"
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# zero velocity update parameters we can use
2929
# we support either IMU-based or disparity detection.
30-
try_zupt: true
30+
try_zupt: false
3131
zupt_chi2_multipler: 0 # set to 0 for only disp-based
3232
zupt_max_velocity: 0.02
3333
zupt_noise_multiplier: 10
@@ -38,10 +38,11 @@ zupt_only_at_beginning: false
3838
# ==================================================================
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4040
init_window_time: 2.0 # how many seconds to collect initialization information
41-
init_imu_thresh: 1.5 # threshold for variance of the accelerometer to detect a "jerk" in motion
42-
init_max_disparity: 0.20 # max disparity to consider the platform stationary (dependent on resolution)
43-
init_max_features: 25 # how many features to track during initialization (saves on computation)
41+
init_imu_thresh: 0.60 # threshold for variance of the accelerometer to detect a "jerk" in motion
42+
init_max_disparity: 5.0 # max disparity to consider the platform stationary (dependent on resolution)
43+
init_max_features: 75 # how many features to track during initialization (saves on computation)
4444

45+
init_dyn_use: false
4546
init_dyn_mle_opt_calib: false
4647
init_dyn_mle_max_iter: 50
4748
init_dyn_mle_max_time: 0.05
@@ -79,11 +80,11 @@ filepath_gt: "/tmp/ov_groundtruth.txt"
7980
use_klt: true
8081
num_pts: 200
8182
fast_threshold: 30
82-
grid_x: 20
83-
grid_y: 20
83+
grid_x: 5
84+
grid_y: 5
8485
min_px_dist: 15
8586
knn_ratio: 0.70
86-
track_frequency: 10.0
87+
track_frequency: 31.0
8788
downsample_cameras: false # will downsample image in half if true
8889
multi_threading: true # if should enable opencv multi threading
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histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE

‎config/kaist_vio/kalibr_imu_chain.yaml

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@@ -6,14 +6,14 @@ imu0:
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- [0.0, 1.0, 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]
9-
accelerometer_noise_density: 0.00333388 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
10-
accelerometer_random_walk: 0.00047402 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
11-
gyroscope_noise_density: 0.00005770 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
12-
gyroscope_random_walk: 0.00001565 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
13-
# accelerometer_noise_density: 0.07 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
14-
# accelerometer_random_walk: 0.009 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
15-
# gyroscope_noise_density: 0.001 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
16-
# gyroscope_random_walk: 0.0003 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
9+
# accelerometer_noise_density: 0.00333388 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
10+
# accelerometer_random_walk: 0.00047402 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
11+
# gyroscope_noise_density: 0.00005770 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
12+
# gyroscope_random_walk: 0.00001565 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
13+
accelerometer_noise_density: 0.07 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
14+
accelerometer_random_walk: 0.009 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
15+
gyroscope_noise_density: 0.001 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
16+
gyroscope_random_walk: 0.0003 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
1717
model: calibrated
1818
rostopic: /mavros/imu/data
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time_offset: 0.0

‎config/rpng_aruco/estimator_config.yaml

+11-10
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,7 @@ feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"
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2828
# zero velocity update parameters we can use
2929
# we support either IMU-based or disparity detection.
30-
try_zupt: true
30+
try_zupt: false
3131
zupt_chi2_multipler: 0 # set to 0 for only disp-based
3232
zupt_max_velocity: 0.1
3333
zupt_noise_multiplier: 50
@@ -39,9 +39,10 @@ zupt_only_at_beginning: true
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4040
init_window_time: 2.0
4141
init_imu_thresh: 1.2
42-
init_max_disparity: 1.5
43-
init_max_features: 25
42+
init_max_disparity: 2.0
43+
init_max_features: 75
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45+
init_dyn_use: false
4546
init_dyn_mle_opt_calib: false
4647
init_dyn_mle_max_iter: 50
4748
init_dyn_mle_max_time: 0.05
@@ -77,9 +78,9 @@ filepath_gt: "/tmp/ov_groundtruth.txt"
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use_klt: true
7879
num_pts: 150
7980
fast_threshold: 30
80-
grid_x: 20
81-
grid_y: 20
82-
min_px_dist: 30
81+
grid_x: 5
82+
grid_y: 5
83+
min_px_dist: 20
8384
knn_ratio: 0.85
8485
track_frequency: 21.0
8586
downsample_cameras: false
@@ -96,12 +97,12 @@ downsize_aruco: true
9697
# ==================================================================
9798

9899
# camera noises and chi-squared threshold multipliers
99-
up_msckf_sigma_px: 1
100+
up_msckf_sigma_px: 1.5
100101
up_msckf_chi2_multipler: 1
101-
up_slam_sigma_px: 1
102+
up_slam_sigma_px: 1.5
102103
up_slam_chi2_multipler: 1
103-
up_aruco_sigma_px: 1
104-
up_aruco_chi2_multipler: 8
104+
up_aruco_sigma_px: 2.0
105+
up_aruco_chi2_multipler: 10
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106107
# masks for our images
107108
use_mask: false

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