euroc stereo

svo_ros/launch/euroc_stereo_imu.launch

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+<launch>
+  <!-- SVO -->
+  <node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" output="screen">
+    <!-- Camera and IMU topics to subscribe to -->
+    <param name="cam0_topic" value="/cam0/image_raw" type="str" />
+    <param name="cam1_topic" value="/cam1/image_raw" type="str" />
+    <param name="imu_topic" value="/imu0" type="str" />
+    <param name="calib_file" value="$(find svo_ros)/calib/euroc_stereo_calib.yaml" type="str" />
+
+    <rosparam file="$(find svo_ros)/param/pinhole.yaml" />
+    <rosparam file="$(find svo_ros)/param/euroc_stereo_imu.yaml" />
+
+  </node>
+
+  <!-- RVIZ + SVO GUI -->
+  <node name="vis" pkg="rviz" type="rviz" args=" -d $(find svo_ros)/rviz_config.rviz" />
+  <node name="svo_gui" pkg="rqt_gui" type="rqt_gui" args="-s rqt_svo.svo.Svo --args --topic svo" />
+</launch>

svo_ros/param/euroc_stereo_imu.yaml

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+pipeline_is_stereo: True
+
+grid_size: 35
+use_threaded_depthfilter: False
+use_async_reprojectors: True
+use_imu: False
+poseoptim_prior_lambda: 0.0
+img_align_prior_lambda_rot: 0.0
+img_align_prior_lambda_trans: 0.0
+
+# if the number of features are below this number, consider as failure
+quality_min_fts: 40
+# if the number of features reduce by this number for consecutive frames, consider as failure
+quality_max_drop_fts: 80
+
+max_depth_inv: 0.1
+min_depth_inv: 10.0
+mean_depth_inv: 0.5
+
+map_scale: 5.0
+kfselect_criterion: FORWARD
+kfselect_numkfs_upper_thresh: 180
+kfselect_numkfs_lower_thresh: 90
+kfselect_min_dist_metric: 0.001
+kfselect_min_angle: 6
+kfselect_min_disparity: 40
+kfselect_min_num_frames_between_kfs: 0
+
+img_align_est_illumination_gain: true
+img_align_est_illumination_offset: true
+depth_filter_affine_est_offset: true
+depth_filter_affine_est_gain: true
+reprojector_affine_est_offset: true
+reprojector_affine_est_gain: true