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Copy pathpseudo_real_time_estimation_RTK_RRR.yaml
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pseudo_real_time_estimation_RTK_RRR.yaml
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# GICI offline pseudo-real-time RTK/IMU/Camera RRR estimation
# You can uncomment the node configuration to publish related topics and observe estimation results (Build GICI in ROS wrapper).
stream:
streamers:
- streamer:
tag: str_gnss_rov
output_tags: [fmt_gnss_rov]
type: file
path: <data-directory>/gnss_rover.bin
- streamer:
tag: str_gnss_ref
output_tags: [fmt_gnss_ref]
type: file
path: <data-directory>/gnss_reference.bin
- streamer:
tag: str_gnss_eph
output_tags: [fmt_gnss_eph]
type: file
path: <data-directory>/gnss_ephemeris.bin
- streamer:
tag: str_dcb_file
output_tags: [fmt_dcb_file]
type: file
path: <gici-root-directory>/option/CAS0MGXRAP_20221580000_01D_01D_DCB.BSX
enable_time_tag: false
- streamer:
tag: str_imu
output_tags: [fmt_imu]
type: file
path: <data-directory>/imu.bin
loop_duration: 0.001
- streamer:
tag: str_camera
output_tags: [fmt_camera]
type: file
path: <data-directory>/camera.bin
buffer_length: 361472 # 752 * 480 + 512
- streamer:
tag: str_rrr_solution_file
input_tags: [fmt_rrr_solution_file]
type: file
path: <output-directory>/rtk_rrr_solution.txt
enable_time_tag: false
- streamer:
tag: str_solution_stream
input_tags: [fmt_solution_stream]
type: tcp-server
port: 9001
# - streamer:
# tag: str_ros_imu
# input_tags: [fmt_imu]
# type: ros
# topic_name: imu_raw
# queue_size: 10
# io: log
# format: imu
# - streamer:
# tag: str_ros_camera
# input_tags: [fmt_camera]
# type: ros
# topic_name: image_raw
# queue_size: 10
# io: log
# format: image
# - streamer:
# tag: str_solution
# type: ros
# topic_name: solution
# queue_size: 5
# io: output
# format: pose_stamped
# - streamer:
# tag: str_solution_odometry
# type: ros
# topic_name: solution_odometry
# queue_size: 10
# io: output
# format: odometry
# subframe_id: Body
# - streamer:
# tag: str_solution_path
# type: ros
# topic_name: solution_path
# queue_size: 100
# io: output
# format: path
# - streamer:
# tag: str_featured_image
# type: ros
# topic_name: featured_image
# queue_size: 3
# io: output
# format: image
# - streamer:
# tag: str_landmarks
# type: ros
# topic_name: landmarks
# queue_size: 3
# marker_scale: 0.2
# io: output
# format: marker
formators:
- formator:
io: input
tag: fmt_dcb_file
type: dcb-file
- formator:
io: input
tag: fmt_gnss_rov
type: gnss-raw
sub_type: tersus
- formator:
io: input
tag: fmt_gnss_ref
type: gnss-rtcm-3
start_time: 2023.03.20
- formator:
io: input
tag: fmt_gnss_eph
type: gnss-rtcm-3
start_time: 2023.03.20
- formator:
io: input
tag: fmt_imu
type: imu-pack
- formator:
io: input
tag: fmt_camera
width: 752
height: 480
type: image-pack
- formator:
io: output
tag: fmt_rrr_solution_file
type: nmea
use_esa: true
talker_id: GP
- formator:
io: output
tag: fmt_solution_stream
type: nmea
use_esa: true
use_esd: true
talker_id: GP
replay:
enable: true
speed: 1.0
start_offset: 0.0
estimate:
- estimator:
tag: est_rtk_imu_camera_rrr
type: rtk_imu_camera_rrr
input_tags: [fmt_gnss_rov, fmt_gnss_ref, fmt_gnss_eph, fmt_dcb_file, fmt_camera, fmt_imu]
fmt_gnss_rov_roles: [rover]
fmt_gnss_ref_roles: [reference]
fmt_gnss_eph_roles: [ephemeris]
fmt_dcb_file_roles: [code_bias]
fmt_camera_roles: [mono]
fmt_imu_roles: [major]
output_tags: [fmt_rrr_solution_file, fmt_solution_stream]
# output_tags: [fmt_rrr_solution_file, fmt_solution_stream, str_solution, str_solution_odometry, str_solution_path, str_featured_image, str_landmarks]
output_align_tag: fmt_imu
output_downsample_rate: 40
compute_covariance: false
enable_input_align: true
input_align_latency: 0.2
enable_backend_data_sparsify: true
pending_num_threshold: 5
rtk_imu_camera_rrr_options:
max_keyframes: 3
min_yaw_std_init_visual: 0.5
rtk_options:
use_ambiguity_resolution: true
gnss_estimator_base_options:
use_outlier_rejection: true
reject_one_outlier_once: false
max_pesudorange_error: 4.0
max_phaserange_error: 0.06
max_doppler_error: 0.5
gnss_common:
min_elevation: 12.0
min_SNR: [35.0, 30.0]
gnss_loose_estimator_base_options:
visual_estimator_base_options:
feature_error_std: 10.0
stable_feature_error_std: 1.0
min_observation_stable: 20
landmark_outlier_rejection_threshold: 2.0
imu_estimator_base_options:
imu_parameters:
sigma_bg: 1.0e-3
sigma_ba: 1.0e-2
sigma_g_c: 2.6700e-04
sigma_a_c: 0.0112
sigma_gw_c: 2.0881e-06
sigma_aw_c: 2.7361e-04
body_to_imu_rotation: [-90.0, -90.0, 0.0]
body_to_imu_rotation_std: 5.0
car_motion: true
car_motion_min_velocity: 3.0
car_motion_max_anguler_velocity: 5.0
estimator_base_options:
max_iteration: 5
num_threads: 4
max_solver_time: 0.03
verbose_output: true
solver_type: dense_schur
trust_region_strategy_type: dogleg
ambiguity_resolution_options:
system_exclude: [R]
min_percentage_fixation_uwl: 1.0
min_percentage_fixation_wl: 0.9
min_percentage_fixation_nl: 0.9
ratio: 2.0
gnss_imu_initializer_options:
max_iteration: 30
num_threads: 4
max_solver_time: 0.5
gnss_extrinsics: [-0.035, 0.354, -0.042]
gnss_extrinsics_initial_std: [0.0, 0.0, 0.0]
time_window_length_slow_motion: 0.05
time_window_length_dynamic_motion: 0.5
min_acceleration: 0.5
feature_handler_options:
max_features_per_frame: 100
max_n_kfs: 30
kfselect_min_numkfs: 30
kfselect_min_disparity: 10.0
kfselect_min_dist_metric: 0.5
kfselect_min_angle: 5.0
kfselect_min_dt: 1.0
detector:
cell_size: 40
initialization:
camera_parameters:
label: "gici-board"
cameras:
- camera:
label: cam0
image_width: 752
image_height: 480
type: pinhole
intrinsics:
cols: 1
rows: 4
data: [510.12091726559544, 509.55338413343736, 357.48596105253193, 240.00309579253124]
distortion:
type: radial-tangential
parameters:
cols: 1
rows: 4
data: [-0.36472323465957157, 0.11530151924890532, 0.0006024586154990503, 0.0020184970860498133]
mask: <gici-root-directory>/option/gici-mask.png
T_B_C:
cols: 4
rows: 4
data: [0.0134381210697455122, -0.999901594987671172, -0.00402706384669154413, -0.0229793554058591656,
0.999907681540912807, 0.0134460859659659704, -0.00195733688253543802, 0.0110786309679912626,
0.00201129251744842832, -0.00400038914436078377, 0.99998997574430859, 0.025008868367930974,
0, 0, 0, 1]
logging:
enable: true
min_log_level: 0
log_to_stderr: true
file_directory: <log-directory>