Struct which stores all options needed for state estimation. More...
#include <VioManagerOptions.h>
Public Member Functions | |
| void | print_and_load (const std::shared_ptr< ov_core::YamlParser > &parser=nullptr) |
| This function will load the non-simulation parameters of the system and print. More... | |
| void | print_and_load_estimator (const std::shared_ptr< ov_core::YamlParser > &parser=nullptr) |
| This function will load print out all estimator settings loaded. This allows for visual checking that everything was loaded properly from ROS/CMD parsers. More... | |
| void | print_and_load_noise (const std::shared_ptr< ov_core::YamlParser > &parser=nullptr) |
| This function will load print out all noise parameters loaded. This allows for visual checking that everything was loaded properly from ROS/CMD parsers. More... | |
| void | print_and_load_simulation (const std::shared_ptr< ov_core::YamlParser > &parser=nullptr) |
| This function will load print out all simulated parameters. This allows for visual checking that everything was loaded properly from ROS/CMD parsers. More... | |
| void | print_and_load_state (const std::shared_ptr< ov_core::YamlParser > &parser=nullptr) |
| This function will load and print all state parameters (e.g. sensor extrinsics) This allows for visual checking that everything was loaded properly from ROS/CMD parsers. More... | |
| void | print_and_load_trackers (const std::shared_ptr< ov_core::YamlParser > &parser=nullptr) |
| This function will load print out all parameters related to visual tracking This allows for visual checking that everything was loaded properly from ROS/CMD parsers. More... | |
Public Attributes | |
| UpdaterOptions | aruco_options |
| Update options for ARUCO features (pixel noise and chi2 multiplier) More... | |
| double | calib_camimu_dt = 0.0 |
| Time offset between camera and IMU. More... | |
| std::map< size_t, Eigen::VectorXd > | camera_extrinsics |
| Map between camid and camera extrinsics (q_ItoC, p_IinC). More... | |
| std::unordered_map< size_t, std::shared_ptr< ov_core::CamBase > > | camera_intrinsics |
| Map between camid and camera intrinsics (fx, fy, cx, cy, d1...d4, cam_w, cam_h) More... | |
| bool | downsample_cameras = false |
| Will half the resolution all tracking image (aruco will be 1/4 instead of halved if dowsize_aruoc also enabled) More... | |
| bool | downsize_aruco = true |
| Will half the resolution of the aruco tag image (will be faster) More... | |
| double | dt_slam_delay = 2.0 |
| Delay, in seconds, that we should wait from init before we start estimating SLAM features. More... | |
| int | fast_threshold = 20 |
| Fast extraction threshold. More... | |
| ov_core::FeatureInitializerOptions | featinit_options |
| Parameters used by our feature initialize / triangulator. More... | |
| double | gravity_mag = 9.81 |
| Gravity magnitude in the global frame (i.e. should be 9.81 typically) More... | |
| int | grid_x = 5 |
| Number of grids we should split column-wise to do feature extraction in. More... | |
| int | grid_y = 5 |
| Number of grids we should split row-wise to do feature extraction in. More... | |
| ov_core::TrackBase::HistogramMethod | histogram_method = ov_core::TrackBase::HistogramMethod::HISTOGRAM |
| What type of pre-processing histogram method should be applied to images. More... | |
| NoiseManager | imu_noises |
| Continuous-time IMU noise (gyroscope and accelerometer) More... | |
| ov_init::InertialInitializerOptions | init_options |
| Our state initialization options (e.g. window size, num features, if we should get the calibration) More... | |
| double | knn_ratio = 0.85 |
| KNN ration between top two descriptor matcher which is required to be a good match. More... | |
| std::map< size_t, cv::Mat > | masks |
| Mask images for each camera. More... | |
| int | min_px_dist = 10 |
| Will check after doing KLT track and remove any features closer than this. More... | |
| UpdaterOptions | msckf_options |
| Update options for MSCKF features (pixel noise and chi2 multiplier) More... | |
| int | num_opencv_threads = 4 |
| Threads our front-end should try to use (opencv uses this also) More... | |
| int | num_pts = 150 |
| The number of points we should extract and track in each image frame. This highly effects the computation required for tracking. More... | |
| Eigen::Matrix< double, 4, 1 > | q_ACCtoIMU |
| Rotation from gyroscope frame to the "IMU" accelerometer frame. More... | |
| Eigen::Matrix< double, 4, 1 > | q_GYROtoIMU |
| Rotation from accelerometer to the "IMU" gyroscope frame frame. More... | |
| std::string | record_timing_filepath = "ov_msckf_timing.txt" |
| The path to the file we will record the timing information into. More... | |
| bool | record_timing_information = false |
| If we should record the timing performance to file. More... | |
| double | sim_distance_threshold = 1.2 |
| bool | sim_do_perturbation = false |
| If we should perturb the calibration that the estimator starts with. More... | |
| double | sim_freq_cam = 10.0 |
| Frequency (Hz) that we will simulate our cameras. More... | |
| double | sim_freq_imu = 400.0 |
| Frequency (Hz) that we will simulate our inertial measurement unit. More... | |
| double | sim_max_feature_gen_distance = 10 |
| Feature distance we generate features from (maximum) More... | |
| double | sim_min_feature_gen_distance = 5 |
| Feature distance we generate features from (minimum) More... | |
| int | sim_seed_measurements = 0 |
| int | sim_seed_preturb = 0 |
| Seed for calibration perturbations. Change this to perturb by different random values if perturbations are enabled. More... | |
| int | sim_seed_state_init = 0 |
| Seed for initial states (i.e. random feature 3d positions in the generated map) More... | |
| std::string | sim_traj_path = "src/open_vins/ov_data/sim/udel_gore.txt" |
| Path to the trajectory we will b-spline and simulate on. Should be time(s),pos(xyz),ori(xyzw) format. More... | |
| UpdaterOptions | slam_options |
| Update options for SLAM features (pixel noise and chi2 multiplier) More... | |
| StateOptions | state_options |
| Core state options (e.g. number of cameras, use fej, stereo, what calibration to enable etc) More... | |
| double | track_frequency = 20.0 |
| Frequency we want to track images at (higher freq ones will be dropped) More... | |
| bool | try_zupt = false |
| If we should try to use zero velocity update. More... | |
| bool | use_aruco = true |
| If should extract aruco tags and estimate them. More... | |
| bool | use_klt = true |
| If we should use KLT tracking, or descriptor matcher. More... | |
| bool | use_mask = false |
| If we should try to load a mask and use it to reject invalid features. More... | |
| bool | use_multi_threading_pubs = true |
| If our ROS image publisher should be async (if sim this should be no!) More... | |
| bool | use_multi_threading_subs = false |
| If our ROS subscriber callbacks should be async (if sim and serial then this should be no!) More... | |
| bool | use_stereo = true |
| If we should process two cameras are being stereo or binocular. If binocular, we do monocular feature tracking on each image. More... | |
| Eigen::Matrix< double, 6, 1 > | vec_da |
| Accelerometer IMU intrinsics (scale imperfection and axis misalignment, column-wise, inverse) More... | |
| Eigen::Matrix< double, 6, 1 > | vec_dw |
| Gyroscope IMU intrinsics (scale imperfection and axis misalignment, column-wise, inverse) More... | |
| Eigen::Matrix< double, 9, 1 > | vec_tg |
| Gyroscope gravity sensitivity (scale imperfection and axis misalignment, column-wise) More... | |
| double | zupt_max_disparity = 1.0 |
| Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt) More... | |
| double | zupt_max_velocity = 1.0 |
| Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt) More... | |
| double | zupt_noise_multiplier = 1.0 |
| Multiplier of our zupt measurement IMU noise matrix (default should be 1.0) More... | |
| bool | zupt_only_at_beginning = false |
| If we should only use the zupt at the very beginning static initialization phase. More... | |
| UpdaterOptions | zupt_options |
| Update options for zero velocity (chi2 multiplier) More... | |
Struct which stores all options needed for state estimation.
This is broken into a few different parts: estimator, trackers, and simulation. If you are going to add a parameter here you will need to add it to the parsers. You will also need to add it to the print statement at the bottom of each.
Definition at line 56 of file VioManagerOptions.h.
|
inline |
This function will load the non-simulation parameters of the system and print.
| parser | If not null, this parser will be used to load our parameters |
Definition at line 62 of file VioManagerOptions.h.
|
inline |
This function will load print out all estimator settings loaded. This allows for visual checking that everything was loaded properly from ROS/CMD parsers.
| parser | If not null, this parser will be used to load our parameters |
Definition at line 109 of file VioManagerOptions.h.
|
inline |
This function will load print out all noise parameters loaded. This allows for visual checking that everything was loaded properly from ROS/CMD parsers.
| parser | If not null, this parser will be used to load our parameters |
Definition at line 156 of file VioManagerOptions.h.
|
inline |
This function will load print out all simulated parameters. This allows for visual checking that everything was loaded properly from ROS/CMD parsers.
| parser | If not null, this parser will be used to load our parameters |
Definition at line 545 of file VioManagerOptions.h.
|
inline |
This function will load and print all state parameters (e.g. sensor extrinsics) This allows for visual checking that everything was loaded properly from ROS/CMD parsers.
| parser | If not null, this parser will be used to load our parameters |
Definition at line 228 of file VioManagerOptions.h.
|
inline |
This function will load print out all parameters related to visual tracking This allows for visual checking that everything was loaded properly from ROS/CMD parsers.
| parser | If not null, this parser will be used to load our parameters |
Definition at line 453 of file VioManagerOptions.h.
| UpdaterOptions ov_msckf::VioManagerOptions::aruco_options |
Update options for ARUCO features (pixel noise and chi2 multiplier)
Definition at line 145 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::calib_camimu_dt = 0.0 |
Time offset between camera and IMU.
Definition at line 208 of file VioManagerOptions.h.
| std::map<size_t, Eigen::VectorXd> ov_msckf::VioManagerOptions::camera_extrinsics |
Map between camid and camera extrinsics (q_ItoC, p_IinC).
Definition at line 214 of file VioManagerOptions.h.
| std::unordered_map<size_t, std::shared_ptr<ov_core::CamBase> > ov_msckf::VioManagerOptions::camera_intrinsics |
Map between camid and camera intrinsics (fx, fy, cx, cy, d1...d4, cam_w, cam_h)
Definition at line 211 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::downsample_cameras = false |
Will half the resolution all tracking image (aruco will be 1/4 instead of halved if dowsize_aruoc also enabled)
Definition at line 409 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::downsize_aruco = true |
Will half the resolution of the aruco tag image (will be faster)
Definition at line 406 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::dt_slam_delay = 2.0 |
Delay, in seconds, that we should wait from init before we start estimating SLAM features.
Definition at line 80 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::fast_threshold = 20 |
Fast extraction threshold.
Definition at line 424 of file VioManagerOptions.h.
| ov_core::FeatureInitializerOptions ov_msckf::VioManagerOptions::featinit_options |
Parameters used by our feature initialize / triangulator.
Definition at line 445 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::gravity_mag = 9.81 |
Gravity magnitude in the global frame (i.e. should be 9.81 typically)
Definition at line 190 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::grid_x = 5 |
Number of grids we should split column-wise to do feature extraction in.
Definition at line 427 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::grid_y = 5 |
Number of grids we should split row-wise to do feature extraction in.
Definition at line 430 of file VioManagerOptions.h.
| ov_core::TrackBase::HistogramMethod ov_msckf::VioManagerOptions::histogram_method = ov_core::TrackBase::HistogramMethod::HISTOGRAM |
What type of pre-processing histogram method should be applied to images.
Definition at line 436 of file VioManagerOptions.h.
| NoiseManager ov_msckf::VioManagerOptions::imu_noises |
Continuous-time IMU noise (gyroscope and accelerometer)
Definition at line 136 of file VioManagerOptions.h.
| ov_init::InertialInitializerOptions ov_msckf::VioManagerOptions::init_options |
Our state initialization options (e.g. window size, num features, if we should get the calibration)
Definition at line 77 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::knn_ratio = 0.85 |
KNN ration between top two descriptor matcher which is required to be a good match.
Definition at line 439 of file VioManagerOptions.h.
| std::map<size_t, cv::Mat> ov_msckf::VioManagerOptions::masks |
Mask images for each camera.
Definition at line 220 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::min_px_dist = 10 |
Will check after doing KLT track and remove any features closer than this.
Definition at line 433 of file VioManagerOptions.h.
| UpdaterOptions ov_msckf::VioManagerOptions::msckf_options |
Update options for MSCKF features (pixel noise and chi2 multiplier)
Definition at line 139 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::num_opencv_threads = 4 |
Threads our front-end should try to use (opencv uses this also)
Definition at line 412 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::num_pts = 150 |
The number of points we should extract and track in each image frame. This highly effects the computation required for tracking.
Definition at line 421 of file VioManagerOptions.h.
| Eigen::Matrix<double, 4, 1> ov_msckf::VioManagerOptions::q_ACCtoIMU |
Rotation from gyroscope frame to the "IMU" accelerometer frame.
Definition at line 202 of file VioManagerOptions.h.
| Eigen::Matrix<double, 4, 1> ov_msckf::VioManagerOptions::q_GYROtoIMU |
Rotation from accelerometer to the "IMU" gyroscope frame frame.
Definition at line 205 of file VioManagerOptions.h.
| std::string ov_msckf::VioManagerOptions::record_timing_filepath = "ov_msckf_timing.txt" |
The path to the file we will record the timing information into.
Definition at line 101 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::record_timing_information = false |
If we should record the timing performance to file.
Definition at line 98 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::sim_distance_threshold = 1.2 |
We will start simulating after we have moved this much along the b-spline. This prevents static starts as we init from groundtruth in simulation.
Definition at line 525 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::sim_do_perturbation = false |
If we should perturb the calibration that the estimator starts with.
Definition at line 518 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::sim_freq_cam = 10.0 |
Frequency (Hz) that we will simulate our cameras.
Definition at line 528 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::sim_freq_imu = 400.0 |
Frequency (Hz) that we will simulate our inertial measurement unit.
Definition at line 531 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::sim_max_feature_gen_distance = 10 |
Feature distance we generate features from (maximum)
Definition at line 537 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::sim_min_feature_gen_distance = 5 |
Feature distance we generate features from (minimum)
Definition at line 534 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::sim_seed_measurements = 0 |
Measurement noise seed. This should be incremented for each run in the Monte-Carlo simulation to generate the same true measurements, but diffferent noise values.
Definition at line 515 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::sim_seed_preturb = 0 |
Seed for calibration perturbations. Change this to perturb by different random values if perturbations are enabled.
Definition at line 511 of file VioManagerOptions.h.
| int ov_msckf::VioManagerOptions::sim_seed_state_init = 0 |
Seed for initial states (i.e. random feature 3d positions in the generated map)
Definition at line 508 of file VioManagerOptions.h.
| std::string ov_msckf::VioManagerOptions::sim_traj_path = "src/open_vins/ov_data/sim/udel_gore.txt" |
Path to the trajectory we will b-spline and simulate on. Should be time(s),pos(xyz),ori(xyzw) format.
Definition at line 521 of file VioManagerOptions.h.
| UpdaterOptions ov_msckf::VioManagerOptions::slam_options |
Update options for SLAM features (pixel noise and chi2 multiplier)
Definition at line 142 of file VioManagerOptions.h.
| StateOptions ov_msckf::VioManagerOptions::state_options |
Core state options (e.g. number of cameras, use fej, stereo, what calibration to enable etc)
Definition at line 74 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::track_frequency = 20.0 |
Frequency we want to track images at (higher freq ones will be dropped)
Definition at line 442 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::try_zupt = false |
If we should try to use zero velocity update.
Definition at line 83 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::use_aruco = true |
If should extract aruco tags and estimate them.
Definition at line 403 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::use_klt = true |
If we should use KLT tracking, or descriptor matcher.
Definition at line 400 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::use_mask = false |
If we should try to load a mask and use it to reject invalid features.
Definition at line 217 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::use_multi_threading_pubs = true |
If our ROS image publisher should be async (if sim this should be no!)
Definition at line 415 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::use_multi_threading_subs = false |
If our ROS subscriber callbacks should be async (if sim and serial then this should be no!)
Definition at line 418 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::use_stereo = true |
If we should process two cameras are being stereo or binocular. If binocular, we do monocular feature tracking on each image.
Definition at line 397 of file VioManagerOptions.h.
| Eigen::Matrix<double, 6, 1> ov_msckf::VioManagerOptions::vec_da |
Accelerometer IMU intrinsics (scale imperfection and axis misalignment, column-wise, inverse)
Definition at line 196 of file VioManagerOptions.h.
| Eigen::Matrix<double, 6, 1> ov_msckf::VioManagerOptions::vec_dw |
Gyroscope IMU intrinsics (scale imperfection and axis misalignment, column-wise, inverse)
Definition at line 193 of file VioManagerOptions.h.
| Eigen::Matrix<double, 9, 1> ov_msckf::VioManagerOptions::vec_tg |
Gyroscope gravity sensitivity (scale imperfection and axis misalignment, column-wise)
Definition at line 199 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::zupt_max_disparity = 1.0 |
Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt)
Definition at line 92 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::zupt_max_velocity = 1.0 |
Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt)
Definition at line 86 of file VioManagerOptions.h.
| double ov_msckf::VioManagerOptions::zupt_noise_multiplier = 1.0 |
Multiplier of our zupt measurement IMU noise matrix (default should be 1.0)
Definition at line 89 of file VioManagerOptions.h.
| bool ov_msckf::VioManagerOptions::zupt_only_at_beginning = false |
If we should only use the zupt at the very beginning static initialization phase.
Definition at line 95 of file VioManagerOptions.h.
| UpdaterOptions ov_msckf::VioManagerOptions::zupt_options |
Update options for zero velocity (chi2 multiplier)
Definition at line 148 of file VioManagerOptions.h.