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config.yaml
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config.yaml
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simulation:
mode: run # or tune
img_path: docs/img # for saving plots
traj_path: data/trajs
traj_name: mandala0_mono # e.g. trans_x, rot_x, ...
notch_traj_name: notch90
num_kf_runs: 1
frozen_dofs: [1, 1, 1, 1, 1, 1]
do_plot: true
do_fast_sim: true
camera:
# Initial timestamp (if known)
start_frame: null
# Number of camera frames to use starting from start_frame
total_frames: all
scale: 10
with_notch: false
# for the Kalman filter measurement noise matrix
noise:
position: [0.02, 0.002, 0.02]
theta: [0.00001, 0.00001, 0.00001] # degrees
notch: 0.01 # degrees
imu:
# number of IMU data between previous frame up to and includig the next frame
interframe_vals: 10
# from datasheet; used for generating values for the Kalman filter process noise matrix
noise_sample_rate: 10 # Hz
gravity: 981 # cm/s^2, adjust units if necessary
model:
length: 50 # cm
angle: 30 # degrees
filter:
# initial conditions
ic:
# initial uncertainties / covariance values (diagonal entries)
cov0:
# IMU position in world coordinates
imu_pos: [0.02, 0.002, 0.002]
# IMU velocity in world coordintes
imu_vel: [0.1, 0.1, 0.1]
# IMU orientation parametrisation in world coordinates
imu_theta: [1.0, 1, 1] # degrees
# relative rotation from IMU to camera
dofs_rot: [5, 5, 5] # degrees
# relative translation from IMU to camera
dofs_trans: [10, 10, 10]
# notch rotation and its first two derivatives
notch: [0.2, 0.02, 0.02] # degrees
# camera position in world coordinates
camera_pos: [0.02, 0.002, 0.002]
# camera orientation parametrisation in world coordinates
camera_theta: [0.2, 0.2, 0.2] # degrees
# initial states
x0:
# IMU position in world coordinates
imu_pos: [0, 0, 0]
# IMU velocity in world coordintes
imu_vel: [0, 0, 0]
# IMU orientation parametrisation in world coordinates
imu_theta: [0, 0, 0] # degrees
# relative rotation from IMU to camera
dofs_rot: [0, 0, 0] # degrees
# relative translation from IMU to camera
dofs_trans: [0, 0, 20]
# notch rotation and its first two derivatives
notch: [0, 0, 0] # degrees
# camera position in world coordinates
camera_pos: [0, 0, 0]
# camera orientation parametrisation in world coordinates
camera_theta: [0, 0, 0] # degrees
# variables for the process noise matrix Q
process_noise:
# random walk of the dof params (step taken between frames)
dofs:
translation: [0.25, 0.25, 0.25]
rotation: [1, 1, 10] # degrees
notch_accel: 0.05 # degrees/s^2