updated (improved) the gazebo bluefox config

ros_packages/mrs_open_vins_core/config/bluefox_imu_simulation/estimator_config.yaml

@@ -1,6 +1,6 @@
 %YAML:1.0 # need to specify the file type at the top!
 
-verbosity: "DEBUG" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
+verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
 
 use_fej: true # if first-estimate Jacobians should be used (enable for good consistency)
 integration: "rk4" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
@@ -14,13 +14,15 @@ calib_imu_intrinsics: false # if imu intrinsics should be calibrated (rotation a
 calib_imu_g_sensitivity: false # if gyroscope gravity sensitivity (Tg) should be calibrated
 
 max_clones: 11 # how many clones in the sliding window
-max_slam: 100 # number of features in our state vector
-max_slam_in_update: 25 # update can be split into sequential updates of batches, how many in a batch
-max_msckf_in_update: 50 # how many MSCKF features to use in the update
-dt_slam_delay: 3 # delay before initializing (helps with stability from bad initialization...)
+max_slam: 20 # number of features in our state vector
+max_slam_in_update: 10 # update can be split into sequential updates of batches, how many in a batch
+max_msckf_in_update: 20 # how many MSCKF features to use in the update
+dt_slam_delay: 1 # delay before initializing (helps with stability from bad initialization...)
 
 gravity_mag: 9.81 # magnitude of gravity in this location
 
+fi_max_dist: 200.0
+
 feat_rep_msckf: "GLOBAL_3D"
 feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
 feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"
@@ -41,8 +43,8 @@ zupt_only_at_beginning: true
 
 init_window_time: 2.0 # how many seconds to collect initialization information
 # init_window_time: 2.0 # how many seconds to collect initialization information
-init_imu_thresh: 0.01 # threshold for variance of the accelerometer to detect a "jerk" in motion
-init_max_disparity: 10.0 # max disparity to consider the platform stationary (dependent on resolution)
+init_imu_thresh: 0.3 # threshold for variance of the accelerometer to detect a "jerk" in motion
+init_max_disparity: 2.0 # max disparity to consider the platform stationary (dependent on resolution)
 init_max_features: 75 # how many features to track during initialization (saves on computation)
 
 init_dyn_use: false # if dynamic initialization should be used
@@ -81,18 +83,18 @@ filepath_gt: "/tmp/ov_groundtruth.txt"
 # our front-end feature tracking parameters
 # we have a KLT and descriptor based (KLT is better implemented...)
 use_klt: true # if true we will use KLT, otherwise use a ORB descriptor + robust matching
-num_pts: 400 # number of points (per camera) we will extract and try to track
+num_pts: 50 # number of points (per camera) we will extract and try to track
 # num_pts: 200 # number of points (per camera) we will extract and try to track
 # fast_threshold: 20 # threshold for fast extraction (warning: lower threshs can be expensive)
-fast_threshold: 15 # threshold for fast extraction (warning: lower threshs can be expensive)
-grid_x: 5 # extraction sub-grid count for horizontal direction (uniform tracking)
+fast_threshold: 35 # threshold for fast extraction (warning: lower threshs can be expensive)
+grid_x: 10 # extraction sub-grid count for horizontal direction (uniform tracking)
 # grid_y: 5 # extraction sub-grid count for vertical direction (uniform tracking)
-grid_y: 3 # extraction sub-grid count for vertical direction (uniform tracking)
+grid_y: 5 # extraction sub-grid count for vertical direction (uniform tracking)
 # min_px_dist: 10 # distance between features (features near each other provide less information)
 min_px_dist: 20 # distance between features (features near each other provide less information)
 knn_ratio: 0.70 # descriptor knn threshold for the top two descriptor matches
-track_frequency: 100.0 # frequency we will perform feature tracking at (in frames per second / hertz)
-downsample_cameras: false # will downsample image in half if true
+track_frequency: 50.0 # frequency we will perform feature tracking at (in frames per second / hertz)
+downsample_cameras: true # will downsample image in half if true
 num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
 histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
 
@@ -109,10 +111,10 @@ downsize_aruco: true
 # ==================================================================
 
 # camera noises and chi-squared threshold multipliers
-up_msckf_sigma_px: 1
-up_msckf_chi2_multipler: 1
-up_slam_sigma_px: 1
-up_slam_chi2_multipler: 1
+up_msckf_sigma_px: 1.5
+up_msckf_chi2_multipler: 1.5
+up_slam_sigma_px: 1.5
+up_slam_chi2_multipler: 1.5
 up_aruco_sigma_px: 1
 up_aruco_chi2_multipler: 1
 
@@ -123,7 +125,3 @@ use_mask: false
 # imu config should also have the correct noise values
 relative_config_imu: "kalibr_imu_chain.yaml"
 relative_config_imucam: "kalibr_imucam_chain.yaml"
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