Many improvements regarding priori information (to speed up optimization and allow usage of prior estimates)

config/ikalibr-config.yaml

@@ -141,9 +141,17 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters
     # by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

config/spat-temp-priori.yaml

@@ -47,4 +47,25 @@ SpatialTemporalPriori:
   #   value: 0.03
   # readout time of another rs camera
   # - key: /sensor2/topic
-  #   value: 0.02
+  #   value: 0.02
+  MIN_VISUAL_SCALE:
+  # if set for a camera sensor, this is the lower bound for the estimated visual scale.
+  # if not set, the minimum visual scale is 0.001
+  #- key: "/sensor1/topic"
+  #  value: 0.9
+  GRAVITY:
+  # the direction of the gravity vector in the reference IMU when it is in its default,
+  # gravity-aligned position. The magnitude of the vector should correspond to the magnitude
+  # set in ikalibr config. This is just an initialization value and it will be further optimized.
+    r0c0: 0.0
+    r1c0: 0.0
+    r2c0: -9.8
+  INTRI_WEIGHTS:
+  # these weights specify how much should the optimized intrinsics stick to their priors given as
+  # camera or IMU configs in the ikalibr config file.
+  # - key: "/camera1"
+  #   value: 1000
+  # - key: "/camera2"
+  #   value: 1
+  # - key: "/imu1"
+  #   value: 10000

data/li-calib/Court-01/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Court-02/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Court-03/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Court-04/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Court-05/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Garage-01/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Garage-02/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Garage-03/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Garage-04/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/li-calib/Garage-05/config-real.yaml

@@ -65,8 +65,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/real-world/iKalibr-data-2024-06-25-14-52-11/config-real.yaml

@@ -84,6 +84,10 @@ Configor:
     SpatTempPrioriPath: "/home/csl/ros_ws/iKalibr/src/ikalibr/config/spat-temp-priori.yaml"
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/real-world/iKalibr-data-2024-06-25-14-55-10/config-real.yaml

@@ -84,6 +84,10 @@ Configor:
     SpatTempPrioriPath: "/home/csl/ros_ws/iKalibr/src/ikalibr/config/spat-temp-priori.yaml"
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/real-world/iKalibr-data-2024-06-25-15-22-04/config-real.yaml

@@ -66,8 +66,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/real-world/iKalibr-data-2024-06-25-15-30-05/config-real.yaml

@@ -66,8 +66,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/real-world/iKalibr-data-2024-06-25-16-34-01/config-real.yaml

@@ -66,8 +66,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/real-world/iKalibr-data-2024-06-25-16-42-32/config-real.yaml

@@ -84,8 +84,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/real-world/iKalibr-data-2024-06-25-16-44-05/config-real.yaml

@@ -84,8 +84,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time

data/real-world/iKalibr-data-2024-06-25-16-49-39/config-real.yaml

@@ -61,8 +61,16 @@ Configor:
     GravityNorm: 9.8
     # priori about spatiotemporal parameters, given by corresponding config file path
     SpatTempPrioriPath: ""
+    # if nonempty, this should point to a knots.yaml file saved by a previous run of ikalibr
+    # splines will be loaded and initialized from these priors and their knots with priors
+    # will not be optimized (unless OptSplines is true)
+    SplinesPrioriPath: ""
     # if sensor are hardware-synchronized, you could choose to fix temporal parameters by setting this field to 'false'
     OptTemporalParams: true
+    # if true, the last batch optimization will also optimize IMU nonlinearities
+    OptImuNonlinearity: false
+    # if true, even spline knots with priori information will be optimized
+    OptSplines: true
     # the range where the time offsets would be optimized.
     # make sure this range contains the ground truth of time offsets
     # If you're not sure, make this field large, but this could lead to longer optimization time