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Ivan
2022-04-05 11:45:47 +03:00
parent 40281cc330
commit 281a8818a3
324 changed files with 293783 additions and 22899 deletions
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tum_vi/dataset-room3_512_16/.txt_converted.txt Normal file
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tum_vi/dataset-room3_512_16/TUM-VI.yaml Executable file
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%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
File.version: "1.0"
Camera.type: "KannalaBrandt8"
# Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 190.978477
Camera1.fy: 190.973307
Camera1.cx: 254.931706
Camera1.cy: 256.897442
# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
Camera1.k1: 0.003482389402
Camera1.k2: 0.000715034845
Camera1.k3: -0.002053236141
Camera1.k4: 0.000202936736
# Camera resolution
Camera.width: 512
Camera.height: 512
# Camera frames per second
Camera.fps: 20
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1500 # Tested with 1250
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1.0
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2.0
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3.0
Viewer.ViewpointX: 0.0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -3.5
Viewer.ViewpointF: 500.0
#--------------------------------------------------------------------------------------------
# Load and Save Atlas.
#--------------------------------------------------------------------------------------------
System.LoadAtlasFromFile: "room3Atlas"
System.SaveAtlasToFile: "room3Atlas"

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tum_vi/dataset-room3_512_16/basalt_stereo_errors.txt Normal file
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RMSError using scaling parameter: 0.15645981983089008 m.
RMSError without scaling parameter: 0.15647893451883135 m.

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tum_vi/dataset-room3_512_16/basalt_stereoi_errors.txt Normal file
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RMSError using scaling parameter: 0.1324148254876058 m.
RMSError without scaling parameter: 0.13241870576583495 m.

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tum_vi/dataset-room3_512_16/dataset-room3_512_16_mono_dso.txt Normal file
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RMSError using scaling parameter: 0.10963989470655305 m.
RMSError without scaling parameter: 0.39082061736017826 m.

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RMSError using scaling parameter: 0.10649246943900895 m.
RMSError without scaling parameter: 0.4220234593342773 m.

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RMSError without scaling parameter: 1.0269982867698852 m.

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RMSError without scaling parameter: 1.0977085013673655 m.

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RMSError without scaling parameter: 0.01512955363974755 m.

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RMSError without scaling parameter: 0.6755599812382672 m.

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RMSError without scaling parameter: 1.2478255190645933 m.

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