UAV1_params_thermal.yaml

###########################
# Initial state estimates #
###########################
 
# # Thermal Mars Yard
# starting from 21.0
 
 
# Thermal dataset 2019-02-07-22.bag
# p:    [0.0734184533358, 0.165730074048, 1.76847779751] # [x,y,z]
# v:    [-0.17585631, -0.02332516, -0.03579743] # [x,y,z]
# q:    [0.99982566352, -0.00165987122822, 0.00394223585083, 0.0181752383644] # [w,x,y,z]
 
# same dataset but -s 8.0
# p:    [0.0050586070865388634, -1.1379915475845337, 1.2442547082901] # [x,y,z]
# v:    [0.25430414, -0.00556579,  0.01211563] # [x,y,z]
# q:    [0.7057932003194942, -0.01337602940806912, 0.02213594630640657, 0.7079456199519741] # [w,x,y,z]
 
# start at 23.0 mars_yard_duo_tf.bag
# p:    [0.20111349225044228, -0.05243177339434628, 1.7537038326263428] # [x,y,z]
# v:    [0.01835578, -0.02295038, -0.10403917] # [x,y,z]
# q:    [-0.7075601032225535, 0.008718189542678395, -0.028073730643334474, -0.7060415712038604] # [w,x,y,z]


# start at 0.0 mars_yard_duo_tf.bag
p:    [0.4420640170574186, 0.10565657168626776, 1.7120877504348755]
v:    [ 0.04492134,  0.11195792, -0.01516127]
q:    [-0.997574263166533, -0.03675918262143196, 0.02183407740648154, -0.05493268506255283]


# # Thermal Mars...
# starting from 0
# p:    [ 0.242560297251, -0.00636227615178, 1.38774478436] # [x,y,z]
# v:    [0.0115386620164, -0.0166191160679, -0.121322162449] # [x,y,z]
# q:    [0.709417046529, -0.0168109190303 ,0.020556795595 ,0.704288562026] # [w,x,y,z]
 
# p:    [0.344585329294, -0.111417494714, 1.52889299393] # [x,y,z]
# v:    [-0.003511012, -0.03781423, -0.019490719] # [x,y,z]
# q:    [-0.955019770337, -0.00889921947666, 0.0199143022862, 0.295738956911] # [w,x,y,z]
 
# Initial IMU bias estimates
b_w: [0.0, 0.0, 0.0] # [x,y,z]
b_a: [0.0, 0.0, 0.0] # [x,y,z]
 
# Initial standard deviation estimates [x,y,z]
sigma_dp: [0.0, 0.0, 0.0] # [m]
sigma_dv: [0.05, 0.05, 0.05] # [m/s]
sigma_dtheta: [3.0, 3.0, 3.0] # [deg]
sigma_dbw: [6.0, 6.0, 6.0] # [deg/s]
sigma_dba: [0.3, 0.3, 0.3] # [m/s^2]
 
###############
# Calibration #
###############
 
# Camera calibration for myBags/20160426 bags
cam1_fx: 0.577085453947302
cam1_fy: 0.721472436786731
cam1_cx: 0.516956707113531
cam1_cy: 0.504461764661648
cam1_s: 1.030435318352822
cam1_img_width: 640
cam1_img_height: 512
cam1_q_ic: [
   -0.023109996805684,
   -0.014512491894295,
   0.999625192259579,
   -0.002188712846516,
 ] # [w,x,y,z]
cam1_p_ic: [0.10504305, 0.00284928, -0.059877417] # [x,y,z]
cam1_time_offset: -0.03281367231868547 # -0.00397400522578
 
cam2_fx: 0.46513
cam2_fy: 0.726246
cam2_cx: 0.499822
cam2_cy: 0.458086
cam2_s: 0.950711
cam2_img_width: 752
cam2_img_height: 480
cam2_q_ic: [
   -0.004059133072894,
   0.928890463133302,
   0.370065735566358,
   -0.014049352983967,
 ] # [w,x,y,z]
cam2_p_ic: [-0.05914814, 0.04309647, -0.03085167] # [x,y,z]
cam2_time_offset: -0.00397400522578
 
# Feature noise (normalized coordinate standard deviation)
# 8.75/(cam_1fx)/cam1_img_width
sigma_img: 0.02541924711215672 # 0.02541924711215672 # 0.0953919039528471619 # 0.02541924711215672 # 0.153919039528471619 # sqrt(0.00012922762474977756 * 5.0)
 
#######
# IMU #
#######
 
# MXR9500G/M accels (Astec)
n_a: 0.083 # Accel noise spectral density [m/s^2/sqrt(Hz)]
n_ba: 0.0083 # Accel bias random walk [m/s^3/sqrt(Hz)]
# ADXRS610 gyros (Astec)
n_w: 0.013 # Gyro noise spectral density [rad/s/sqrt(Hz)]
n_bw: 0.0013 # Gyro bias random walk [rad/s^2/sqrt(Hz)]
 
#######
# LRF #
#######
 
# Noise (standard deviation in m)
sigma_range: 0.05
 
##############
# Sun Sensor #
##############
 
# Currently unused
q_sc: [1.0, 0.0, 0.0, 0.0] # [w,x,y,z]
w_s: [0.0, 0.0, 1.0] # [x,y,z]
 
 
########################
# MULTI UAV PARAMETERS #
########################
pr_desc_ratio_thr: 0.80
pr_desc_min_distance: 50.0
desc_type: 0 # DESCRIPTOR_TYPE { ORB=0, SIFT, SURF };
 
# BoW ORB vocabulary
vocabulary_path: '/home/viciopoli/JPL/devel/x_ws/src/x/Vocabulary/thermal_voc_3_4_dbow3_calib.yaml'

sigma_landmark: 0.02 # meters
 
descriptor_scale_factor: 1.2
descriptor_pyramid: 8
descriptor_patch_size: 41
pr_score_thr: 0.55 # 0.675
 
ci_msckf_w: 0.0001 # for calibrated # 0.01 # for uncalibrated # Covariance intersection weights. if < 0 it's going to perform the optimization problem.
ci_slam_w: 0.0001 # for calibrated # 0.1 # for uncalibrated # Covariance intersection weights. if < 0 it's going to perform the optimization problem.

###################################
# Thermal photometric calibration #
###################################
# These paramters are needed only if `PHOTOMETRIC_CALI` is set to `true` in the `CMakeLists.txt` file
 
# window size to compute the intensity value changes to track over time
temporal_params_div: 32
# true -> compute the spatial parameters
spatial_params: True
# the features must cover the spatial_params_thr percentage of
# the image to compute the params
spatial_params_thr: 0.9
 
epsilon_gap: 0.5
epsilon_base: 0.4
 
##############################
# Tracker PHOTOMETRIC IMAGES #
##############################

win_size_w_photo: 3 # 15
win_size_h_photo: 3 # 15
max_level_photo: 2
min_eig_thr_photo: 0.003  # 0.001
fast_detection_delta_photo: 20 # 30

###########
# Tracker #
###########
 
#0-based maximal pyramid level number; if set to 0, pyramids are not used (single level),
# if set to 1, two levels are used, and so on; if pyramids are passed to input then
# algorithm will use as many levels as pyramids have but no more than maxLevel.
max_level: 2
 
# The algorithm calculates the minimum eigen value of a 2x2 normal matrix of optical
# flow equations (this matrix is called a spatial gradient matrix in [25]), divided
# by number of pixels in a window; if this value is less than minEigThreshold, then
# a corresponding feature is filtered out and its flow is not processed, so it allows
# to remove bad points and get a performance boost.
min_eig_thr: 0.003
 
# Size of the search window at each pyramid level.
win_size_w: 7
win_size_h: 7
 
# the intensity difference threshold for the FAST feature detector
fast_detection_delta: 20
non_max_supp: True
# the blocked region for other features to occupy will be of size (2 * block_half_length_ + 1)^2 [px]
block_half_length: 20
# the margin from the edge of the image within which all detected features must fall into
margin: 40
# min number of feature, triggers the feature research
n_feat_min: 400
# RANSAC: 8 / LMEDS: 4 (see OpenCV doc)
outlier_method: 8
# Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels,
# beyond which the point is considered an outlier and is not used for computing the final fundamental
# matrix. It can be set to something like 1-3, depending on the accuracy of the point localization,
# image resolution, and the image noise.
outlier_param1: 1.0
# Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence
# (probability) that the estimated matrix is correct.
outlier_param2: 0.999 #0.99
# 1 <=> no tiling
n_tiles_h: 3
n_tiles_w: 3
max_feat_per_tile: 10000
 
##############
# SLAM-MSCKF #
##############
 
# Number of poses in the sliding window
n_poses_max: 15
 
# Number of SLAM features
n_slam_features_max: 15
 
 
# Initial inverse depth of SLAM features [1/m]
# (default: 1 / (2 * d_min) [Montiel, 2006])
rho_0: 0.60 # 43
 
# Initial standard deviation of SLAM inverse depth [1/m]
# (default: 1 / (4 * d_min) [Montiel, 2006])
sigma_rho_0: 0.3 # 215
 
# Number of IEKF iterations (1 <=> EKF)
iekf_iter: 1
 
# Minimum baseline to trigger MSCKF measurement (pixels)
msckf_baseline: 300.0
 
# Minimum track length for a visual feature to be processed
min_track_length: 15
 
########
# Misc #
########
 
# Gravity vector in world frame [m/s^2]
g: [0.0, 0.0, -9.81] # [x,y,z]

# state buffer size
state_buffer_size: 250

# Timeout before 3D trajectory disappears in GUI (s)
traj_timeout_gui: 60
 
# flags to play rosbags
/use_sim_time: True
 
# Initialize at startup
init_at_startup: True