ov_init::InertialInitializerOptions struct

Public 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.

void print_and_load_initializer(const std::shared_ptr<ov_core::YamlParser>& parser = nullptr)

This function will load print out all initializer settings loaded. This allows for visual checking that everything was loaded properly from ROS/CMD parsers.

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.

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.

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.

Public variables

double init_window_time

Amount of time we will initialize over (seconds)

double init_imu_thresh

Variance threshold on our acceleration to be classified as moving.

double init_max_disparity

Max disparity we will consider the unit to be stationary.

int init_max_features

Number of features we should try to track.

bool init_dyn_use

If we should perform dynamic initialization.

bool init_dyn_mle_opt_calib

If we should optimize and recover the calibration in our MLE.

int init_dyn_mle_max_iter

Max number of MLE iterations for dynamic initialization.

int init_dyn_mle_max_threads

Max number of MLE threads for dynamic initialization.

double init_dyn_mle_max_time

Max time for MLE optimization (seconds)

int init_dyn_num_pose

Number of poses to use during initialization (max should be cam freq * window)

double init_dyn_min_deg

Minimum degrees we need to rotate before we try to init (sum of norm)

double init_dyn_inflation_orientation

Magnitude we will inflate initial covariance of orientation.

double init_dyn_inflation_velocity

Magnitude we will inflate initial covariance of velocity.

double init_dyn_inflation_bias_gyro

Magnitude we will inflate initial covariance of gyroscope bias.

double init_dyn_inflation_bias_accel

Magnitude we will inflate initial covariance of accelerometer bias.

double init_dyn_min_rec_cond

Eigen::Vector3d init_dyn_bias_g

Initial IMU gyroscope bias values for dynamic initialization (will be optimized)

Eigen::Vector3d init_dyn_bias_a

Initial IMU accelerometer bias values for dynamic initialization (will be optimized)

double sigma_w

Gyroscope white noise (rad/s/sqrt(hz))

double sigma_wb

Gyroscope random walk (rad/s^2/sqrt(hz))

double sigma_a

Accelerometer white noise (m/s^2/sqrt(hz))

double sigma_ab

Accelerometer random walk (m/s^3/sqrt(hz))

double sigma_pix

Noise sigma for our raw pixel measurements.

double gravity_mag

Gravity magnitude in the global frame (i.e. should be 9.81 typically)

int num_cameras

Number of distinct cameras that we will observe features in.

bool use_stereo

If we should process two cameras are being stereo or binocular. If binocular, we do monocular feature tracking on each image.

bool downsample_cameras

Will half the resolution all tracking image (aruco will be 1/4 instead of halved if dowsize_aruoc also enabled)

double calib_camimu_dt

Time offset between camera and IMU (t_imu = t_cam + t_off)

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)

std::map<size_t, Eigen::VectorXd> camera_extrinsics

Map between camid and camera extrinsics (q_ItoC, p_IinC).

int sim_seed_state_init

Seed for initial states (i.e. random feature 3d positions in the generated map)

int sim_seed_preturb

Seed for calibration perturbations. Change this to perturb by different random values if perturbations are enabled.

int sim_seed_measurements

bool sim_do_perturbation

If we should perturb the calibration that the estimator starts with.

std::string sim_traj_path

Path to the trajectory we will b-spline and simulate on. Should be time(s),pos(xyz),ori(xyzw) format.

double sim_distance_threshold

double sim_freq_cam

Frequency (Hz) that we will simulate our cameras.

double sim_freq_imu

Frequency (Hz) that we will simulate our inertial measurement unit.

double sim_min_feature_gen_distance

Feature distance we generate features from (minimum)

double sim_max_feature_gen_distance

Feature distance we generate features from (maximum)

Function documentation

Variable documentation