vslam settings modification

GimpelZhang · Aug 23, 2020 · 594722d · 594722d
1 parent 87ce041
commit 594722d
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Showing 3 changed files with 24 additions and 22 deletions.
diff --git a/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp b/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
@@ -941,7 +941,9 @@ sensor_msgs::Imu AirsimROSWrapper::get_imu_msg_from_airsim(const msr::airlib::Im
     imu_msg.orientation.y = imu_data.orientation.y();
     imu_msg.orientation.z = imu_data.orientation.z();
     imu_msg.orientation.w = imu_data.orientation.w();
-
+    /*The following imu configs are from the work of xuhao1@github:
+    (xuhao1/airsim_ros_pkgs)[/https://github.com/xuhao1/airsim_ros_pkgs/blob/master/src/airsim_ros_wrapper.cpp]
+    corresponding with the vins setting files in the same repo. */
     // todo radians per second
     imu_msg.angular_velocity.x = (imu_data.angular_velocity.x());
     imu_msg.angular_velocity.y = -(imu_data.angular_velocity.y());
@@ -951,7 +953,7 @@ sensor_msgs::Imu AirsimROSWrapper::get_imu_msg_from_airsim(const msr::airlib::Im
     imu_msg.linear_acceleration.x = -imu_data.linear_acceleration.x();
     imu_msg.linear_acceleration.y = imu_data.linear_acceleration.y();
     imu_msg.linear_acceleration.z = -imu_data.linear_acceleration.z();
-
+    
     // imu_msg.orientation_covariance = ;
     // imu_msg.angular_velocity_covariance = ;
     // imu_msg.linear_acceleration_covariance = ;

diff --git a/ros/src/settings/mynt_stereo_imu_config_720p.yaml b/ros/src/settings/mynt_stereo_imu_config_720p.yaml
@@ -4,10 +4,10 @@
 imu: 1         
 num_of_cam: 2  
 
-imu_topic: "/airsim_car_node/drone_1/imu/Imu"
-image0_topic: "/airsim_car_node/drone_1/leftcamera_1/Scene" 
-image1_topic: "/airsim_car_node/drone_1/rightcamera_1/Scene"
-output_path: "../output/"
+imu_topic: "/airsim_node/drone_1/imu/Imu"
+image0_topic: "/airsim_node/drone_1/leftcamera_1/Scene" 
+image1_topic: "/airsim_node/drone_1/rightcamera_1/Scene"
+output_path: "/media/junchuan/exdisk/catkin_ws/output/"
 
 cam0_calib: "left_pinhole.yaml"
 cam1_calib: "right_pinhole.yaml"
@@ -23,17 +23,17 @@ body_T_cam0: !!opencv-matrix
    rows: 4
    cols: 4
    dt: d
-   data: [1, 0.0, -0.0, -0.06,
-          0.0, -1, -0.0, 1.6,
-          -0.0,  0.0, -1, -1.6,
+   data: [0, 0.0, 1.0, 0,
+          -1, 0, 0.0, 0.06,
+          0.0,  -1, 0, 2.4,
           0., 0., 0., 1.]
 body_T_cam1: !!opencv-matrix
    rows: 4
    cols: 4
    dt: d
-   data: [ 1, 0.00, 0.0, 0.06,
-           0.0, -1, -0.0, 1.6,
-           0.0, 0.0, -1, -1.6,
+   data: [ 0, 0.0, 1, 0,
+           -1, 0, 0.0, -0.06,
+           0.0, -1, 0, 2.4,
            0., 0., 0., 1.]
 
 
@@ -59,9 +59,9 @@ keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
 #acc_w: 0.5        # accelerometer bias random work noise standard deviation.  #0.02
 #gyr_w: 0.2       # gyroscope bias random work noise standard deviation.     #4.0e-5
 acc_n: 0.2          # accelerometer measurement noise standard deviation. #0.2   0.04
-gyr_n: 0.05         # gyroscope measurement noise standard deviation.     #0.05  0.004
-acc_w: 0.02      # accelerometer bias random work noise standard deviation.  #0.02
-gyr_w: 0.00004       # gyroscope bias random work noise standard deviation.     #4.0e-5
+gyr_n: 0.5        # gyroscope measurement noise standard deviation.     #0.05  0.004
+acc_w: 0.55       # accelerometer bias random work noise standard deviation.  #0.02
+gyr_w: 0.04       # gyroscope bias random work noise standard deviation.     #4.0e-5
 g_norm: 9.805       # gravity magnitude
 
 #unsynchronization parameters
@@ -70,6 +70,6 @@ td: 0.0                           # initial value of time offset. unit: s. reade
 
 #loop closure parameters
 load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
-pose_graph_save_path: "../output/" # save and load path
+pose_graph_save_path: "/media/junchuan/exdisk/catkin_ws/output/" # save and load path
 save_image: 0                   # save image in pose graph for visualization prupose; you can close this function by setting 0 
 
diff --git a/ros/src/settings/settings.json b/ros/src/settings/settings.json
@@ -5,13 +5,13 @@
   "ViewMode": "SpringArmChase",
   "PhysicsEngineName": "FastPhysicsEngine",
   "ClockType": "SteppableClock",
-  "ClockSpeed": 1,
+  "ClockSpeed": 0.34,
   "Vehicles": {
     "drone_1": {
       "VehicleType": "PhysXCar",
       "DefaultVehicleState": "Armed",
-      "EnableCollisionPassthrogh": false,
-      "EnableCollisions": true,
+      "EnableCollisionPassthrogh": true,
+      "EnableCollisions": false,
       "AllowAPIAlways": true,
       "RC": {
         "RemoteControlID": 0,
@@ -34,7 +34,7 @@
               "TargetGamma": 1.5
             }
           ],
-          "X": 1.6, "Y": -0.06, "Z": -1.6,
+          "X": 0, "Y": -0.06, "Z": -2.4,
           "Pitch": 0, "Roll": 0, "Yaw": 0
         },
         "rightcamera_1": {
@@ -47,11 +47,11 @@
               "TargetGamma": 1.5
             }
           ],
-          "X": 1.6, "Y": 0.06, "Z": -1.6,
+          "X": 0, "Y": 0.06, "Z": -2.4,
           "Pitch": 0, "Roll": 0, "Yaw": 0
         }
       },
-      "X": 2, "Y": 0, "Z": 0,
+      "X": 0, "Y": 0, "Z": 0,
       "Pitch": 0, "Roll": 0, "Yaw": 0
     }
   },