diff --git a/cfg/pointgrey_viewer.json b/cfg/pointgrey_viewer.json deleted file mode 100644 index b11cc349..00000000 --- a/cfg/pointgrey_viewer.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "window": { - "height": 1000, - "width": 960 - }, - - "viewport": { - "width": 960, - "height": 500, - "fx": 800, - "fy": 800, - "cx": 480, - "cy": 250, - "znear": 0.1, - "zfar": 10 - }, - - "bg_color": { - "r": 0.0, - "g": 0.0, - "b": 0.0, - "a": 1.0 - }, - "grid_size": 20, - "draw_trace_as_dots": false -} diff --git a/cfg/pointgrey_xsens.json b/cfg/pointgrey_xsens.json deleted file mode 100644 index c4d3de08..00000000 --- a/cfg/pointgrey_xsens.json +++ /dev/null @@ -1,285 +0,0 @@ -{ - // verbose - "simulation": false, - "print_timing": true, - "use_canvas": true, - "use_debug_view": true, // draw rejected & dropped features on canvas - "async_run": false, // turn this off in benchmarking - "imu_tk_convention": true, - - // visualization (tracker view) option - "print_bias_info": true, - "draw_OOS": true, - - // algorithmic-level knobs - // "integration_method": "PrinceDormand", // "PrinceDormand", "RK4", //, Fehlberg - "integration_method": "PrinceDormand", // "PrinceDormand", "RK4", //, Fehlberg - "use_OOS": false, // update with Out-Of-State features - "use_depth_opt": true, // depth optimization - "use_MH_gating": true, - "use_1pt_RANSAC": false, - "use_compression": true, // measurement compression - "triangulate_pre_subfilter": false, - "compression_trigger_ratio": 1.5, - "max_group_lifetime": 60, - - "PrinceDormand": { - "control_stepsize": false, - "tolerance": 1e-15, - "attempts": 12, - "min_scale_factor": 0.125, - "max_scale_factor": 4.0, - "stepsize": 0.002 - }, - - "RK4": { - "stepsize": 0.002 - }, - - // memory - "memory": { - "max_features": 256, - "max_groups": 256 // max groups should increase as allowed group lifetime increases - }, - - - // gravity constant - "gravity": [0, 0, -9.796], - // Initial State - "X" : { - "W" : [0, 0, 0], - "T" : [0, 0, 0], - "V" : [0, 0, 0], - - "ba": [-0.00342173, -0.00861755, 0.0218768], - "bg": [-0.05163, 0.0108186, 0.0188156], - - "Wbc": [-1.26, 1.21, -1.16], - - // "Tbc": [0.00, 0.022, -0.050], // this seems working well on swivel_chair - "Tbc": [-0.030, 0.04, 0.030], // this seems working well on swivel_chair - - "Wg" : [0, 0, 0], - "td" : 0.027 // 0.0167 - }, - - "P" : { - // to be precise, these are standard deviation - "W" : 0.001, - "T" : 0.01, - "V" : 0.5, - "bg" : 1e-4, - "ba" : 1e-3, - "Wbc" : 3.1, - "Tbc" : 0.01, - "Wg" : 3.01, - "td" : 1e-3, // 1ms - "Cg" : 1e-3, // 1e-3, - "Ca" : 1e-3, // 1e-3, - "FC" : 10, // 10, - "distortion": 1e-3 - }, - - "Qmodel" : { - "W" : 0, - "T" : 0.0, - "V" : 0.0, - "wb" : 0.0000, - "ab" : 0.000, - "Wbc" : 0, - "Tbc" : 0.0, - "Wg" : 0 - }, - - // noise densities obtained by using the Allan toolkit from - // https://github.com/GAVLab/allan_variance - // "Qimu": { - // "gyro": [0.000741, 0.000744, 0.000789], - // "gyro_bias": [0.000172, 0.000127, 0.000193], - // "accel": [0.000963, 0.00107, 0.00114], - // "accel_bias": [0.000391, 0.000478, 0.000241] - // }, - - // // inflated by 3 - // "Qimu": { - // "gyro": 0.003, - // "gyro_bias": 0.0006, - // "accel": 0.003, - // "accel_bias": 0.0015 - // }, - - // inflated by 10 - "Qimu": { - "gyro": 0.01, // 0.10, - "gyro_bias": 0.002, // 0.0020, - "accel": 0.04, - "accel_bias": 0.001 // 0.005 - }, - - // initial std on feature state - "initial_z": 1.0, // meter - "initial_std_x": 3.5, // pixel - "initial_std_y": 3.5, // pixel - "initial_std_z": 0.5, // meter - - // std of visuale measurement, in pixels - "visual_meas_std": 3.5, - "outlier_thresh": 1.1, - "oos_meas_std": 3.5, - "max_depth": 5.0, - "min_depth": 0.05, - - - // depth sub-filter setting - "subfilter": { - "visual_meas_std": 3.5, - "ready_steps": 5, - "MH_thresh": 8.991 - }, - - // pre-subfilter triangulation options - "triangulation": { - "method": 1, - "zmin": 0.05, - "zmax": 5.0 - }, - - "depth_opt": { - "two_view": true, - "use_hessian": false, // true, - "max_iters": 5, - "eps": 1e-3, - "damping": 1e-3, - "max_res_norm": 2.5 // maximal norm of per observation residuals - }, - - "feature_P0_damping": 10.0, // 10.0 seems most appropriate - - "imu_calib": { - "Cas": [1.00056, 1.00062, 1.00136], - - "Car": [[ 1, -0.000914275, -0.000414882], - [ 0, 1, -0.0000350183], - [-0, 0, 1]], - - "Cgs": [0.999823, 1.00412, 0.987355], - - "Cgr": [[1, -0.00224194, 0.0120628], - [0.00306442, 1, -0.000998032], - [0.00306442, 0.00285738,1]] - - }, - "gravity_init_counter": 20, - - "camera_cfg": { - "model": "atan", - - "rows": 500, - "cols": 960, - // "fx": 539.4192, - // "fy": 540.924, - // "cx": 472.22016, - // "cy": 257.5774, - // "w": 0.709402, - - "model": "fov", - "fx": 546.56, - "fy": 549.41, - "cx": 470.98, - "cy": 266.07, - "w": 0.727, - - "comment": "from corvis" - }, - - "min_inliers": 5, // minimum number of inlier measurements - - "MH_thresh": 5.991, // 8.991 - "MH_adjust_factor": 1.15, - - "1pt_RANSAC_thresh": 1.5, - "1pt_RANSAC_prob": 0.95, - "1pt_RANSAC_Chi2": 5.89, - - "tracker_cfg": { - "use_prediction": false, - "mask_size": 35, - "margin": 0, // image boundary to mask out - "num_features_min": 90, - "num_features_max": 240, - "max_pixel_displacement": 256, - "normalize": false, - - "KLT": { - "win_size": 35, - "max_level": 5, - "max_iter": 30, - "eps": 0.01 - }, - - "extract_descriptor": false, - "descriptor_distance_thresh": -1, // -1 to disable descriptor check - "default_descriptor": "BRIEF", - - // "detector": "BRISK", - "detector": "FAST", - // "detector": "ORB", - // "detector": "AGAST", - // "detector": "GFTT", - - "FAST": { - // https://docs.opencv.org/3.4/df/d74/classcv_1_1FastFeatureDetector.html - "threshold": 20, - "nonmaxSuppression": true - }, - - "BRISK": { - // https://docs.opencv.org/3.4/de/dbf/classcv_1_1BRISK.html - "thresh": 25, - "octaves": 3, - "patternScale": 1.0 - }, - - "ORB": { - // https://docs.opencv.org/3.3.0/db/d95/classcv_1_1ORB.html - "nfeatures": 500, - "scaleFactor": 1.2, - "nlevels": 4, - "edgeThreshold": 31, - "firstLevel": 0, - "WTA_K": 2, - "patchSize": 31, - "fastThreshold": 20 - }, - - "AGAST": { - // https://docs.opencv.org/3.4/d7/d19/classcv_1_1AgastFeatureDetector.html - "threshold": 10, - "nonmaxSuppression": true - }, - - "GFTT": { - // Good Feature To Track - // https://docs.opencv.org/3.3.0/df/d21/classcv_1_1GFTTDetector.html - "maxCorners": 1000, - "qualityLevel": 0.01, - "minDistance": 1.0, - "blockSize": 3, - "useHarrisDetector": false, - "k": 0.04 - }, - - "BRIEF": { - "bytes": 64, - "use_orientation": false - }, - - "FREAK": { - "orientationNormalized": true, - "scaleNormalized": true, - "patternScale": 22.0, - "nOctaves": 4 - } - } - -} diff --git a/cfg/pointgrey_xsens.json.tuning b/cfg/pointgrey_xsens.json.tuning deleted file mode 100644 index 2f085f84..00000000 --- a/cfg/pointgrey_xsens.json.tuning +++ /dev/null @@ -1,289 +0,0 @@ -{ - // verbose - "simulation": false, - "print_timing": true, - "use_canvas": true, - "use_debug_view": true, // draw rejected & dropped features on canvas - "async_run": false, // turn this off in benchmarking - "imu_tk_convention": true, - - // visualization (tracker view) option - "print_bias_info": true, - "draw_OOS": false, - - // algorithmic-level knobs - "integration_method": "PrinceDormand", // "PrinceDormand", "RK4", //, Fehlberg - "use_OOS": false, // update with Out-Of-State features - "use_depth_opt": false, // depth optimization - "use_MH_gating": false, - "use_1pt_RANSAC": false, - "use_compression": true, // measurement compression - "triangulate_pre_subfilter": false, - "compression_trigger_ratio": 1.5, - "max_group_lifetime": 60, - - "PrinceDormand": { - "control_stepsize": false, - "tolerance": 1e-15, - "attempts": 12, - "min_scale_factor": 0.125, - "max_scale_factor": 4.0, - "stepsize": 0.002 - }, - - "RK4": { - "stepsize": 0.002 - }, - - // memory - "memory": { - "max_features": 256, - "max_groups": 256 // max groups should increase as allowed group lifetime increases - }, - - - // gravity constant - "gravity": [0, 0, -9.796], - // Initial State - "X" : { - "W" : [0, 0, 0], - "T" : [0, 0, 0], - "V" : [0, 0, 0], - - "ba": [-0.0213759, -0.0139499, 0.0539907], - - "bg": [-0.0486856, 0.0148992, 0.0257884], - - "Wbc" : [[ 0.0386525 , -0.00266767, 0.99924915], - [-0.99923832, -0.00547073, 0.03863747], - [ 0.00536355, -0.99998148, -0.00287709]], - - "Tbc": [0.00088177, 0.00018814, 0.00022154], // form Kalibr - - "Wg" : [0, 0, 0], - "td" : 0.035 // 0.0167 - }, - - "P" : { - // to be precise, these are standard deviation - "W" : 0.0001, - "T" : 0.001, - "V" : 0.5, - "bg" : 3e-4, - "ba" : 3e-3, - "Wbc" : 0.01, - "Tbc" : 0.01, - "Wg" : 0.01, - "td" : 1e-4, // 1ms - "Cg" : 5e-6, - "Ca" : 5e-6, - "FC" : 50, // 50, - "distortion": 0.1 // 5e-6 - }, - - "Qmodel" : { - "W" : 0, - "T" : 0.0, - "V" : 0.0, - "wb" : 0.0000, - "ab" : 0.000, - "Wbc" : 0, - "Tbc" : 0.0, - "Wg" : 0 - }, - - // noise densities obtained by using the Allan toolkit from - // https://github.com/GAVLab/allan_variance - // "Qimu": { - // "gyro": [0.000741, 0.000744, 0.000789], - // "gyro_bias": [0.000172, 0.000127, 0.000193], - // "accel": [0.000963, 0.00107, 0.00114], - // "accel_bias": [0.000391, 0.000478, 0.000241] - // }, - - // // inflated by 3 - // "Qimu": { - // "gyro": 0.003, - // "gyro_bias": 0.0006, - // "accel": 0.003, - // "accel_bias": 0.0015 - // }, - - // inflated by 10 - "Qimu": { - "gyro": 0.010, - "gyro_bias": 0.0020, - "accel": 0.010, - "accel_bias": 0.005 - }, - - // initial std on feature state - "initial_z": 2.5, // meter - "initial_std_x": 0.5, // pixel - "initial_std_y": 0.5, // pixel - "initial_std_z": 2.0, // meter - - // std of visuale measurement, in pixels - "visual_meas_std": 1.5, - "outlier_thresh": 1.1, - "oos_meas_std": 3.5, - "max_depth": 5.0, - "min_depth": 0.05, - - - // depth sub-filter setting - "subfilter": { - "visual_meas_std": 3.5, - "ready_steps": 5, - "MH_thresh": 18.991 - }, - - // pre-subfilter triangulation options - "triangulation": { - "method": 1, - "zmin": 0.05, - "zmax": 5.0 - }, - - "depth_opt": { - "two_view": false, - "use_hessian": true, - "max_iters": 5, - "eps": 1e-3, - "damping": 1e-3, - "max_res_norm": 2.5 // maximal norm of per observation residuals - }, - - "feature_P0_damping": 1.0, // 10.0 seems most appropriate - - "imu_calib": { - "Cas": [1.00085, 1.00005, 1.00003], - - "Car":[[1, -0.000237209, 0.000831471], - [0, 1, -0.000138506], - [-0, 0, 1]], - - "Cgs": [1.00129, 1.0082, 1.0001], - - - "Cgr": [[1, -0.000282244, -0.00483696], - [-3.38236e-05, 1, -0.00557761], - [-0.00502474, -0.000825633, 1]], - - }, - "gravity_init_counter": 20, - - "camera_cfg": { - "rows": 500, - "cols": 960, - - //"model": "equidistant", - //"fx": 572.39477586, - //"fy": 575.3033304, - //"cx": 469.38775022, - //"cy": 264.72022544, - //"k0123": [0.12912284, -0.03684228, 0.18502686, -0.05051993], - // "max_iter": 15, - - "model": "fov", - "fx": 546.56, - "fy": 549.41, - "cx": 470.98, - "cy": 266.07, - "w": 0.727, - - - "comment": "calibrated with kalibr" - }, - - "min_inliers": 5, // minimum number of inlier measurements - - "MH_thresh": 8.991, // 8.991 - "MH_adjust_factor": 1.15, - - "1pt_RANSAC_thresh": 1.5, - "1pt_RANSAC_prob": 0.95, - "1pt_RANSAC_Chi2": 5.89, - - "tracker_cfg": { - "use_prediction": false, - "mask_size": 35, - "margin": 8, // image boundary to mask out - "num_features_min": 90, - "num_features_max": 120, - "max_pixel_displacement": 64, - "normalize": false, - - "KLT": { - "win_size": 15, - "max_level": 5, - "max_iter": 30, - "eps": 0.01 - }, - - "extract_descriptor": false, - "descriptor_distance_thresh": -1, // -1 to disable descriptor check - "default_descriptor": "BRIEF", - - // "detector": "BRISK", - "detector": "FAST", - // "detector": "ORB", - // "detector": "AGAST", - // "detector": "GFTT", - - "FAST": { - // https://docs.opencv.org/3.4/df/d74/classcv_1_1FastFeatureDetector.html - "threshold": 20, - "nonmaxSuppression": true - }, - - "BRISK": { - // https://docs.opencv.org/3.4/de/dbf/classcv_1_1BRISK.html - "thresh": 25, - "octaves": 3, - "patternScale": 1.0 - }, - - "ORB": { - // https://docs.opencv.org/3.3.0/db/d95/classcv_1_1ORB.html - "nfeatures": 500, - "scaleFactor": 1.2, - "nlevels": 4, - "edgeThreshold": 31, - "firstLevel": 0, - "WTA_K": 2, - "patchSize": 31, - "fastThreshold": 20 - }, - - "AGAST": { - // https://docs.opencv.org/3.4/d7/d19/classcv_1_1AgastFeatureDetector.html - "threshold": 10, - "nonmaxSuppression": true - }, - - "GFTT": { - // Good Feature To Track - // https://docs.opencv.org/3.3.0/df/d21/classcv_1_1GFTTDetector.html - "maxCorners": 1000, - "qualityLevel": 0.01, - "minDistance": 1.0, - "blockSize": 3, - "useHarrisDetector": false, - "k": 0.04 - }, - - "BRIEF": { - "bytes": 64, - "use_orientation": false - }, - - "FREAK": { - "orientationNormalized": true, - "scaleNormalized": true, - "patternScale": 22.0, - "nOctaves": 4 - } - } - -}