Devel/multi cam

cfg/domi_cam0.yaml

@@ -0,0 +1,13 @@
+image_width: 752
+image_height: 480
+camera_name: cam0
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [393.016201519, 0.0, 360.133022189, 0.0, 392.357540103, 239.827503562, 0.0, 0.0, 1.0]
+distortion_model: equidistant
+distortion_coefficients:
+  rows: 1
+  cols: 4
+  data: [-0.0524237801608, -0.00545225097947, -0.00275082473186, 0.00117687962781]
+

cfg/domi_cam1.yaml

@@ -0,0 +1,13 @@
+image_width: 752
+image_height: 480
+camera_name: cam1
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [399.348057011, 0.0, 386.463445149, 0.0, 398.349131629, 249.821188712, 0.0, 0.0, 1.0]
+distortion_model: equidistant
+distortion_coefficients:
+  rows: 1
+  cols: 4
+  data: [-0.0577566077926, -0.0163210986871, 0.0108510337124, -0.00372778210309]
+

cfg/domi_cam2.yaml

@@ -0,0 +1,13 @@
+image_width: 752
+image_height: 480
+camera_name: cam2
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [401.647215983, 0.0, 364.57630651, 0.0, 400.20768313, 237.330914431, 0.0, 0.0, 1.0]
+distortion_model: equidistant
+distortion_coefficients:
+  rows: 1
+  cols: 4
+  data: [-0.0645622778177, -0.0139883244162, 0.0160581204973, -0.00758677666188]
+

cfg/domi_cam3.yaml

@@ -0,0 +1,13 @@
+image_width: 752
+image_height: 480
+camera_name: cam3
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [398.9944782, 0.0, 364.41599021, 0.0, 398.080578743, 275.477777432, 0.0, 0.0, 1.0]
+distortion_model: equidistant
+distortion_coefficients:
+  rows: 1
+  cols: 4
+  data: [-0.0560625387897, -0.014037695708, 0.00638405850267, -0.00151939229656]
+

cfg/domi_cam4.yaml

@@ -0,0 +1,13 @@
+image_width: 752
+image_height: 480
+camera_name: cam4
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [400.103070384, 0.0, 371.400642253, 0.0, 399.068157312, 248.047178007, 0.0, 0.0, 1.0]
+distortion_model: equidistant
+distortion_coefficients:
+  rows: 1
+  cols: 4
+  data: [-0.0586905828624, -0.00419400201291, -0.00142056808843, 0.000320459725526]
+

cfg/euroc_cam0.yaml

@@ -12,26 +12,3 @@ distortion_coefficients:
   cols: 5
   data:  [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
 
-###### Original Calibration File ######
-## General sensor definitions.
-#sensor_type: camera
-#comment: VI-Sensor cam0 (MT9M034)
-#
-## Sensor extrinsics wrt. the body-frame.
-#T_BS:
-#  cols: 4
-#  rows: 4
-#  data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
-#         0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
-#        -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
-#         0.0, 0.0, 0.0, 1.0]
-#
-## Camera specific definitions.
-#rate_hz: 20
-#resolution: [752, 480]
-#camera_model: pinhole
-#intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv
-#distortion_model: radial-tangential
-#distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
-
-

cfg/euroc_cam0_new.yaml

@@ -0,0 +1,13 @@
+###### Camera Calibration File For Cam 0 of Euroc Datasets ######
+image_width: 752
+image_height: 480
+camera_name: cam0
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+data: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]

cfg/imu.yaml

@@ -0,0 +1,10 @@
+#Accelerometers
+accelerometer_noise_density: 1.86e-03   #Noise density (continuous-time)
+accelerometer_random_walk:   4.33e-04   #Bias random walk
+
+#Gyroscopes
+gyroscope_noise_density:     1.87e-04   #Noise density (continuous-time)
+gyroscope_random_walk:       2.66e-05   #Bias random walk
+
+rostopic:                    /mavros/imu/data      #the IMU ROS topic
+update_rate:                 200.0      #Hz (for discretization of the values above)

cfg/rovio.info

@@ -8,14 +8,14 @@ Common
 }
 Camera0
 {
-	CalibrationFile ;												Camera-Calibration file for intrinsics
-	qCM_x  0.00666398307551;										X-entry of IMU to Camera quaterion (Hamilton)
-	qCM_y  -0.0079168224269;										Y-entry of IMU to Camera quaterion (Hamilton)
-	qCM_z  -0.701985972528;											Z-entry of IMU to Camera quaterion (Hamilton)
-	qCM_w   0.712115587266;											W-entry of IMU to Camera quaterion (Hamilton)
-	MrMC_x -0.0111674199187;											X-entry of IMU to Camera vector (expressed in IMU CF) [m]
-	MrMC_y -0.0574640920022;										Y-entry of IMU to Camera vector (expressed in IMU CF) [m]
-	MrMC_z 0.0207586947896;											Z-entry of IMU to Camera vector (expressed in IMU CF) [m]
+    CalibrationFile  ;            Camera-Calibration file for intrinsics
+    qCM_x  0.498529507038;                               X-entry of IMU to Camera quaterion (Hamilton)
+    qCM_y  -0.496012173235;                               Y-entry of IMU to Camera quaterion (Hamilton)
+    qCM_z  0.511762063883;                               Z-entry of IMU to Camera quaterion (Hamilton)
+    qCM_w  0.493497562897;                               W-entry of IMU to Camera quaterion (Hamilton)
+    MrMC_x 0.000218693879012;                               X-entry of IMU to Camera vector (expressed in IMU CF) [m]
+    MrMC_y -0.00011610537335;                               Y-entry of IMU to Camera vector (expressed in IMU CF) [m]
+    MrMC_z -0.000499672135095;                               Z-entry of IMU to Camera vector (expressed in IMU CF) [m]
 }
 Camera1
 {
@@ -146,31 +146,33 @@ Prediction
 {
     PredictionNoise
     {
-        pos_0 1e-4;								X-covariance parameter of position prediction [m^2/s]
-        pos_1 1e-4;								Y-covariance parameter of position prediction [m^2/s]
-        pos_2 1e-4;								Z-covariance parameter of position prediction [m^2/s]
-        vel_0 4e-6;								X-covariance parameter of velocity prediction [m^2/s^3]
-        vel_1 4e-6;								Y-covariance parameter of velocity prediction [m^2/s^3]
-        vel_2 4e-6;								Z-covariance parameter of velocity prediction [m^2/s^3]
-        acb_0 1e-8;								X-covariance parameter of accelerometer bias prediction [m^2/s^5]
-        acb_1 1e-8;								Y-covariance parameter of accelerometer bias prediction [m^2/s^5]
-        acb_2 1e-8;								Z-covariance parameter of accelerometer bias prediction [m^2/s^5]
-        gyb_0 3.8e-7;							X-covariance parameter of gyroscope bias prediction [rad^2/s^3]
-        gyb_1 3.8e-7;							Y-covariance parameter of gyroscope bias prediction [rad^2/s^3]
-        gyb_2 3.8e-7;							Z-covariance parameter of gyroscope bias prediction [rad^2/s^3]
-        vep 1e-8;								Covariance parameter of linear extrinsics prediction [m^2/s]
-        att_0 7.6e-7;							X-Covariance parameter of attitude prediction [rad^2/s]
-        att_1 7.6e-7;							Y-Covariance parameter of attitude prediction [rad^2/s]
-        att_2 7.6e-7;							Z-Covariance parameter of attitude prediction [rad^2/s]
-        vea 1e-8;								Covariance parameter of rotational extrinsics prediction [rad^2/s]
-        dep 0.0001;							Covariance parameter of distance prediction [m^2/s]
-        nor 0.00001;								Covariance parameter of bearing vector prediction [rad^2/s]
+        pos_0 1e-4;               X-covariance parameter of position prediction [m^2/s]
+        pos_1 1e-4;               Y-covariance parameter of position prediction [m^2/s]
+        pos_2 1e-4;               Z-covariance parameter of position prediction [m^2/s]
+        vel_0 4e-5; 4e-6          X-covariance parameter of velocity prediction [m^2/s^3]
+        vel_1 4e-5;               Y-covariance parameter of velocity prediction [m^2/s^3]
+        vel_2 4e-5;               Z-covariance parameter of velocity prediction [m^2/s^3]
+        acb_0 9e-6;               X-covariance parameter of accelerometer bias prediction [m^2/s^5]
+        acb_1 9e-6;               Y-covariance parameter of accelerometer bias prediction [m^2/s^5]
+        acb_2 9e-6;               Z-covariance parameter of accelerometer bias prediction [m^2/s^5]
+        gyb_0 2e-8;             X-covariance parameter of gyroscope bias prediction [rad^2/s^3]
+        gyb_1 2e-8;             Y-covariance parameter of gyroscope bias prediction [rad^2/s^3]
+        gyb_2 2e-8;             Z-covariance parameter of gyroscope bias prediction [rad^2/s^3]
+        vep 1e-6;                   Covariance parameter of linear extrinsics prediction [m^2/s]
+        att_0 7.6e-6; 7.6e-7      X-Covariance parameter of attitude prediction [rad^2/s]
+        att_1 7.6e-6;             Y-Covariance parameter of attitude prediction [rad^2/s]
+        att_2 7.6e-6;             Z-Covariance parameter of attitude prediction [rad^2/s]
+        vea 1e-6;                   Covariance parameter of rotational extrinsics prediction [rad^2/s]
+        dep 0.0001;                 Covariance parameter of distance prediction [m^2/s]
+        nor 0.00001;                Covariance parameter of bearing vector prediction [rad^2/s]
+
+
     }
     MotionDetection
     {
-	    inertialMotionRorTh 0.1;				Treshold on rotational rate for motion detection [rad/s]
-	    inertialMotionAccTh 0.5;				Treshold on acceleration for motion detection [m/s^2]
-	}
+      inertialMotionRorTh 0.1;        Treshold on rotational rate for motion detection [rad/s]
+      inertialMotionAccTh 0.5;        Treshold on acceleration for motion detection [m/s^2]
+  }
 }
 PoseUpdate
 {
@@ -202,14 +204,14 @@ PoseUpdate
     qVM_x 0;									X-entry of quaterion representing IMU to reference body coordinate frame of pose measurement (Hamilton)
     qVM_y 0;									Y-entry of quaterion representing IMU to reference body coordinate frame of pose measurement (Hamilton)
     qVM_z 0;									Z-entry of quaterion representing IMU to reference body coordinate frame of pose measurement (Hamilton)
-    qVM_w 1;									W-entry of quaterion representing IMU to reference body coordinate frame of pose measurement (Hamilton)
+    qVM_w -1;									W-entry of quaterion representing IMU to reference body coordinate frame of pose measurement (Hamilton)
     MrMV_x 0;									X-entry of vector representing IMU to reference body coordinate frame of pose measurement
     MrMV_y 0;									Y-entry of vector representing IMU to reference body coordinate frame of pose measurement
     MrMV_z 0;									Z-entry of vector representing IMU to reference body coordinate frame of pose measurement
     qWI_x 0;									X-entry of quaterion representing World to reference inertial coordinate frame of pose measurement (Hamilton)
     qWI_y 0;									Y-entry of quaterion representing World to reference inertial coordinate frame of pose measurement (Hamilton)
     qWI_z 0;									Z-entry of quaterion representing World to reference inertial coordinate frame of pose measurement (Hamilton)
-    qWI_w 1;									W-entry of quaterion representing World to reference inertial coordinate frame of pose measurement (Hamilton)
+    qWI_w -1;									W-entry of quaterion representing World to reference inertial coordinate frame of pose measurement (Hamilton)
     IrIW_x 0;									X-entry of vector representing World to reference inertial coordinate frame of pose measurement
     IrIW_y 0;									Y-entry of vector representing World to reference inertial coordinate frame of pose measurement
     IrIW_z 0;									Z-entry of vector representing World to reference inertial coordinate frame of pose measurement
@@ -227,4 +229,4 @@ VelocityUpdate
     qAM_y 0
     qAM_z 0
     qAM_w 1
-}
+}