tro revision param

Author: qintonguav

config/euroc/euroc_config.yaml

@@ -22,7 +22,7 @@ projection_parameters:
    cy: 2.481e+02
 
 # Extrinsic parameter between IMU and Camera.
-estimate_extrinsic: 1   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
+estimate_extrinsic: 0   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
                         # 1  Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
                         # 2  Don't know anything about extrinsic parameters. You don't need to give R,T. We will try to calibrate it. Do some rotation movement at beginning.                        
 #If you choose 0 or 1, you should write down the following matrix.
@@ -31,15 +31,15 @@ extrinsicRotation: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [0, -1, 0, 
-           1, 0, 0, 
-           0, 0, 1]
+   data: [0.0148655429818, -0.999880929698, 0.00414029679422,
+           0.999557249008, 0.0149672133247, 0.025715529948, 
+           -0.0257744366974, 0.00375618835797, 0.999660727178]
 #Translation from camera frame to imu frame, imu^T_cam
 extrinsicTranslation: !!opencv-matrix
    rows: 3
    cols: 1
    dt: d
-   data: [-0.02,-0.06, 0.01]
+   data: [-0.0216401454975,-0.064676986768, 0.00981073058949]
 
 #feature traker paprameters
 max_cnt: 150            # max feature number in feature tracking
@@ -56,10 +56,10 @@ max_num_iterations: 8   # max solver itrations, to guarantee real time
 keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
 
 #imu parameters       The more accurate parameters you provide, the better performance
-acc_n: 0.2          # accelerometer measurement noise standard deviation. #0.2
-gyr_n: 0.02         # gyroscope measurement noise standard deviation.     #0.05
-acc_w: 0.0002         # accelerometer bias random work noise standard deviation.  #0.02
-gyr_w: 2.0e-5       # gyroscope bias random work noise standard deviation.     #4.0e-5
+acc_n: 0.08          # accelerometer measurement noise standard deviation. #0.2   0.04
+gyr_n: 0.004         # gyroscope measurement noise standard deviation.     #0.05  0.004
+acc_w: 0.00004         # accelerometer bias random work noise standard deviation.  #0.02
+gyr_w: 2.0e-6       # gyroscope bias random work noise standard deviation.     #4.0e-5
 g_norm: 9.81007     # gravity magnitude
 
 #loop closure parameters

config/realsense/realsense_color_config.yaml

@@ -70,10 +70,10 @@ pose_graph_save_path: "/home/tony-ws1/output/pose_graph/" # save and load path
 
 #unsynchronization parameters
 estimate_td: 1                      # online estimate time offset between camera and imu
-td: 0.007                           # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
+td: 0.000                           # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
 
 #rolling shutter parameters
-rolling_shutter: 1                  # 0: global shutter camera, 1: rolling shutter camera
+rolling_shutter: 1                      # 0: global shutter camera, 1: rolling shutter camera
 rolling_shutter_tr: 0.033               # unit: s. rolling shutter read out time per frame (from data sheet). 
 
 #visualization parameters

config/realsense/realsense_fisheye_config.yaml

@@ -49,7 +49,7 @@ min_dist: 30            # min distance between two features
 freq: 10                # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image 
 F_threshold: 1.0        # ransac threshold (pixel)
 show_track: 1           # publish tracking image as topic
-equalize: 1             # if image is too dark or light, trun on equalize to find enough features
+equalize: 0             # if image is too dark or light, trun on equalize to find enough features
 fisheye: 0              # if using fisheye, trun on it. A circle mask will be loaded to remove edge noisy points
 
 #optimization parameters

pose_graph/src/pose_graph.cpp

@@ -437,7 +437,7 @@ void PoseGraph::optimize4DoF()
             options.max_num_iterations = 5;
             ceres::Solver::Summary summary;
             ceres::LossFunction *loss_function;
-            loss_function = new ceres::HuberLoss(1.0);
+            loss_function = new ceres::HuberLoss(0.1);
             //loss_function = new ceres::CauchyLoss(1.0);
             ceres::LocalParameterization* angle_local_parameterization =
                 AngleLocalParameterization::Create();

pose_graph/src/pose_graph.h

@@ -204,7 +204,7 @@ struct FourDOFWeightError
 {
 	FourDOFWeightError(double t_x, double t_y, double t_z, double relative_yaw, double pitch_i, double roll_i)
 				  :t_x(t_x), t_y(t_y), t_z(t_z), relative_yaw(relative_yaw), pitch_i(pitch_i), roll_i(roll_i){
-				  	weight = 1;
+				  	weight = 0.1;
 				  }
 
 	template <typename T>