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Ivan
2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
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6
data/aprilgrid_5x4_uzh.json Normal file
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"tagRows": 4,
"tagSize": 0.075,
"tagSpacing": 0.2
}

6
data/aprilgrid_6x6.json Normal file
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{
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"tagRows": 6,
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"tagSpacing": 0.3
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data/euroc_config.json Normal file
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{
"value0": {
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"config.optical_flow_detection_grid_size": 50,
"config.optical_flow_max_recovered_dist2": 0.04,
"config.optical_flow_pattern": 51,
"config.optical_flow_max_iterations": 5,
"config.optical_flow_epipolar_error": 0.005,
"config.optical_flow_levels": 3,
"config.optical_flow_skip_frames": 1,
"config.vio_linearization_type": "ABS_QR",
"config.vio_sqrt_marg": true,
"config.vio_max_states": 3,
"config.vio_max_kfs": 7,
"config.vio_min_frames_after_kf": 5,
"config.vio_new_kf_keypoints_thresh": 0.7,
"config.vio_debug": false,
"config.vio_extended_logging": false,
"config.vio_obs_std_dev": 0.5,
"config.vio_obs_huber_thresh": 1.0,
"config.vio_min_triangulation_dist": 0.05,
"config.vio_outlier_threshold": 3.0,
"config.vio_filter_iteration": 4,
"config.vio_max_iterations": 7,
"config.vio_enforce_realtime": false,
"config.vio_use_lm": true,
"config.vio_lm_lambda_initial": 1e-4,
"config.vio_lm_lambda_min": 1e-6,
"config.vio_lm_lambda_max": 1e2,
"config.vio_lm_landmark_damping_variant": 1,
"config.vio_lm_pose_damping_variant": 1,
"config.vio_scale_jacobian": false,
"config.vio_init_pose_weight": 1e8,
"config.vio_init_ba_weight": 1e1,
"config.vio_init_bg_weight": 1e2,
"config.vio_marg_lost_landmarks": true,
"config.vio_kf_marg_feature_ratio": 0.1,
"config.mapper_obs_std_dev": 0.25,
"config.mapper_obs_huber_thresh": 1.5,
"config.mapper_detection_num_points": 800,
"config.mapper_num_frames_to_match": 30,
"config.mapper_frames_to_match_threshold": 0.04,
"config.mapper_min_matches": 20,
"config.mapper_ransac_threshold": 5e-5,
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"config.mapper_use_factors": true,
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}

56
data/euroc_config_no_factors.json Normal file
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"config.vio_sqrt_marg": true,
"config.vio_max_states": 3,
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"config.vio_new_kf_keypoints_thresh": 0.7,
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"config.vio_filter_iteration": 4,
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56
data/euroc_config_no_weights.json Normal file
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{
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"config.vio_lm_lambda_initial": 1e-8,
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}
}

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data/euroc_config_vo.json Normal file
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{
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}

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data/euroc_ds_calib.json Normal file
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data/euroc_eucm_calib.json Normal file
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data/iccv21/basalt_batch_config.toml Normal file
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##############################################################################
## Base config that ends up in basalt_config.json
## These values are overwritten by the named config elements below.
##############################################################################
# config read by Basalt
[value0]
"config.optical_flow_type" = "frame_to_frame"
"config.optical_flow_detection_grid_size" = 50
"config.optical_flow_max_recovered_dist2" = 0.04
"config.optical_flow_pattern" = 51
"config.optical_flow_max_iterations" = 5
"config.optical_flow_epipolar_error" = 0.005
"config.optical_flow_levels" = 3
"config.optical_flow_skip_frames" = 1
"config.vio_linearization_type" = "ABS_QR"
"config.vio_sqrt_marg" = true
"config.vio_max_states" = 3
"config.vio_max_kfs" = 7
"config.vio_min_frames_after_kf" = 5
"config.vio_new_kf_keypoints_thresh" = 0.7
"config.vio_debug" = false
"config.vio_extended_logging" = false
"config.vio_obs_std_dev" = 0.5
"config.vio_obs_huber_thresh" = 1.0
"config.vio_min_triangulation_dist" = 0.05
"config.vio_outlier_threshold" = 3.0
"config.vio_filter_iteration" = 4
"config.vio_max_iterations" = 7
"config.vio_enforce_realtime" = false
"config.vio_use_lm" = true
"config.vio_lm_lambda_initial" = 1e-4
"config.vio_lm_lambda_min" = 1e-7
"config.vio_lm_lambda_max" = 1e2
"config.vio_lm_landmark_damping_variant" = 1
"config.vio_lm_pose_damping_variant" = 1
"config.vio_scale_jacobian" = false
"config.vio_init_pose_weight" = 1e8
"config.vio_init_ba_weight" = 1e1
"config.vio_init_bg_weight" = 1e2
"config.vio_marg_lost_landmarks" = true
"config.vio_kf_marg_feature_ratio" = 0.1
"config.mapper_obs_std_dev" = 0.25
"config.mapper_obs_huber_thresh" = 1.5
"config.mapper_detection_num_points" = 800
"config.mapper_num_frames_to_match" = 30
"config.mapper_frames_to_match_threshold" = 0.04
"config.mapper_min_matches" = 20
"config.mapper_ransac_threshold" = 5e-5
"config.mapper_min_track_length" = 5
"config.mapper_max_hamming_distance" = 70
"config.mapper_second_best_test_ratio" = 1.2
"config.mapper_bow_num_bits" = 16
"config.mapper_min_triangulation_dist" = 0.07
"config.mapper_no_factor_weights" = false
"config.mapper_use_factors" = true
"config.mapper_use_lm" = true
"config.mapper_lm_lambda_min" = 1e-32
"config.mapper_lm_lambda_max" = 1e3
# which executable to run
[batch_run]
executable = "basalt_vio"
# environment variables set for the executable
[batch_run.env]
OPENBLAS_NUM_THREADS = 1
OMP_NUM_THREADS = 1
# command line arguments to the executable ("--" is prepended)
[batch_run.args]
"config-path" = "basalt_config.json"
"show-gui" = "0"
"step-by-step" = "false"
#"max-frames" = "1000"
"use-imu" = "false"
"use-double" = "false"
"num-threads" = "0"
##############################################################################
## Named config elements to overwrite the base config: batch run script options
##############################################################################
[_batch.config.vio]
batch_run.args."use-imu" = "true"
[_batch.config.vo]
batch_run.args."use-imu" = "false"
[_batch.config.double]
batch_run.args."use-double" = "true"
[_batch.config.float]
batch_run.args."use-double" = "false"
[_batch.config.threads0]
batch_run.args."num-threads" = "0"
[_batch.config.threads1]
batch_run.args."num-threads" = "1"
[_batch.config.savetum]
batch_run.args."save-trajectory" = "tum"
# saving gt produces quite large output, but is needed for trajectory plots
[_batch.config.savetumgt]
batch_run.args."save-trajectory" = "tum"
batch_run.args."save-groundtruth" = "1"
# run each experiment twice to make sure file system caches are hot
[_batch.config.runtwice]
batch_run.num_runs = 2
##############################################################################
## Named config elements to overwrite the base config: datasets
##############################################################################
# NOTE: Replace the absolute paths in "dataset-path" entries with the
# path to your download of EuRoC, TUMVI, Kitti. The "cam-calib" paths
# are relative and point to locations in the basalt repository. This
# assumes a folder setup like:
#
# parent-folder/
# ├─ basalt/
# │ ├─ data/
# │ │ ├─ euroc_ds_calib.json
# │ │ ├─ ...
# │ ├─ ...
# ├─ experiments/
# │ ├─ iccv_tutorial/
# │ │ ├─ basalt_batch_config.toml
# │ │ ├─ ...
#
# The calibration for Kitti is expected in basalt format (you can use the
# basalt_convert_kitti_calib.py script)
[_batch.config.eurocMH01]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_01_easy"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocMH02]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_02_easy"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocMH03]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_03_medium"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocMH04]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_04_difficult"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocMH05]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_05_difficult"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV101]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V1_01_easy"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV102]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V1_02_medium"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV103]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V1_03_difficult"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV201]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V2_01_easy"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV202]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V2_02_medium"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV203]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V2_03_difficult"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor1]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor1_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor2]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor2_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor3]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor3_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor4]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor4_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor5]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor5_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale1]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale1_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale2]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale2_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale3]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale3_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale4]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale4_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale5]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale5_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale6]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale6_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room1]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room1_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room2]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room2_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room3]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room3_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room4]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room4_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room5]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room5_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room6]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room6_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-slides1]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-slides1_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-slides2]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-slides2_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-slides3]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-slides3_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.kitti00]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/00"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/00/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti01]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/01"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/01/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti02]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/02"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/02/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti03]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/03"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/03/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti04]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/04"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/04/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti05]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/05"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/05/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti06]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/06"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/06/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti07]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/07"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/07/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti08]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/08"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/08/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti09]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/09"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/09/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti10]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/10"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/10/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
##############################################################################
## Named config elements to overwrite the base config: basalt config
##############################################################################
[_batch.config.debug]
value0."config.vio_debug" = true
value0."config.vio_extended_logging" = true
[_batch.config.nodebug]
value0."config.vio_debug" = false
value0."config.vio_extended_logging" = false
[_batch.config.extlog]
value0."config.vio_extended_logging" = true
[_batch.config.noextlog]
value0."config.vio_extended_logging" = false
[_batch.config.eurocvo]
value0."config.optical_flow_detection_grid_size" = 40
value0."config.vio_min_frames_after_kf" = 1
value0."config.vio_new_kf_keypoints_thresh" = 0.8
value0."config.vio_kf_marg_feature_ratio" = 0.2
[_batch.config.tumvivio]
value0."config.optical_flow_detection_grid_size" = 40
[_batch.config.kittivo]
value0."config.optical_flow_detection_grid_size" = 30
value0."config.optical_flow_epipolar_error" = 0.001
value0."config.optical_flow_levels" = 4
value0."config.vio_min_frames_after_kf" = 1
[_batch.config.sq-sc-sc]
value0."config.vio_sqrt_marg" = false
value0."config.vio_linearization_type" = "ABS_SC"
[_batch.config.sqrt-sc-sc]
value0."config.vio_sqrt_marg" = true
value0."config.vio_linearization_type" = "ABS_SC"
[_batch.config.sqrt-nsllt-qr]
value0."config.vio_sqrt_marg" = true
value0."config.vio_linearization_type" = "ABS_QR"
##############################################################################
## Named alternatives, which generate a different experiment for each entry ("or" relation)
##############################################################################
[_batch.alternatives]
all_euroc = ["eurocMH01", "eurocMH02", "eurocMH03", "eurocMH04", "eurocMH05", "eurocV101", "eurocV102", "eurocV103", "eurocV201", "eurocV202"]
some_euroc = ["eurocMH01", "eurocMH02", "eurocV101", "eurocV103", "eurocV201", "eurocV202"]
some_tumvi = ["tumvi-corridor1", "tumvi-magistrale1", "tumvi-room1", "tumvi-slides1"]
more_tumvi = ["tumvi-corridor1", "tumvi-corridor2", "tumvi-magistrale1", "tumvi-magistrale2", "tumvi-room1", "tumvi-room2", "tumvi-slides1", "tumvi-slides2"]
some_more_tumvi = ["tumvi-corridor1", "tumvi-corridor2", "tumvi-corridor3", "tumvi-corridor4", "tumvi-corridor5", "tumvi-magistrale1", "tumvi-magistrale2", "tumvi-magistrale3", "tumvi-magistrale4", "tumvi-magistrale5", "tumvi-magistrale6", "tumvi-room1", "tumvi-room2", "tumvi-room3", "tumvi-room4", "tumvi-room5", "tumvi-room6", "tumvi-slides1", "tumvi-slides2", "tumvi-slides3"]
all_kitti = ["kitti00", "kitti01", "kitti02", "kitti03", "kitti04", "kitti05", "kitti06", "kitti07", "kitti08", "kitti09", "kitti10"]
all_imu = ["vio", "vo"]
all_double = ["double", "float"]
all_meth = ["sq-sc-sc", "sqrt-sc-sc", "sqrt-nsllt-qr"]
##############################################################################
## Config combinations, which composing named configs and alternatives ("and" relation)
##############################################################################
[_batch.combinations]
vio_euroc = ["vio", "savetumgt", "extlog", "runtwice", "all_meth", "all_double", "all_euroc"]
vio_tumvi = ["vio", "tumvivio", "savetumgt", "extlog", "runtwice", "all_meth", "all_double", "more_tumvi"]
vo_kitti = ["vo", "kittivo", "savetumgt", "extlog", "runtwice", "all_meth", "all_double", "all_kitti"]
#vio_euroc = ["vio", "runtwice", "all_meth", "all_double", "all_euroc"]
#vio_tumvi = ["vio", "tumvivio", "runtwice", "all_meth", "all_double", "more_tumvi"]
#vo_kitti = ["vo", "kittivo", "runtwice", "all_meth", "all_double", "all_kitti"]
##############################################################################
## Revision is the primary subfolder name where generated configs are placed
##############################################################################
[_batch]
revision = "01_iccv_all"
#revision = "02_iccv_runtime"

593
data/iccv21/experiments-iccv.toml Normal file
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@@ -0,0 +1,593 @@
[options]
base_path = "$config_dir"
output_path = "./tables/experiments-iccv"
cache_dir = "./tables/cache"
show_values_failed_runs = false
screenread = true
#overwrite_cache = true
###################
## abbreviate some sequence names for more compact tables / legends
[seq_displayname_mapping]
"tumvi-corridor1" = "tumvi-corr1"
"tumvi-corridor2" = "tumvi-corr2"
"tumvi-magistrale1" = "tumvi-mag1"
"tumvi-magistrale2" = "tumvi-mag2"
###################
## define method names in table headers / legends globally
[[substitutions]]
DISPLAY_NAME_SQRTVIO64 = "$\\sqrt{VIO}$-64"
DISPLAY_NAME_SQRTVIO32 = "$\\sqrt{VIO}$-32"
DISPLAY_NAME_SQRTVO64 = "$\\sqrt{VO}$-64"
DISPLAY_NAME_SQRTVO32 = "$\\sqrt{VO}$-32"
DISPLAY_NAME_SQVIO64 = "$VIO$-64"
DISPLAY_NAME_SQVIO32 = "$VIO$-32"
DISPLAY_NAME_SQVO64 = "$VO$-64"
DISPLAY_NAME_SQVO32 = "$VO$-32"
###################
## where to find experimental runs
[[substitutions]]
EXP_PATTERN_VIO = "01_iccv_all/*-*/vio_*/"
EXP_PATTERN_VO = "01_iccv_all/*-*/vo_*/"
#EXP_PATTERN_VIO = "02_iccv_runtime/*-*/vio_*/"
#EXP_PATTERN_VO = "02_iccv_runtime/*-*/vo_*/"
###################
## which kind of plots to show
[[substitutions]]
SHOW_TRAJECTORY_PLOTS = true
SHOW_EIGENVALUE_PLOTS = true
SHOW_NULLSPACE_PLOTS = true
###################
## define which sequences to show in plots
[[substitutions]]
SEQUENCES_EUROC = [
"eurocMH01",
"eurocMH02",
"eurocMH03",
"eurocMH04",
"eurocMH05",
"eurocV101",
"eurocV102",
"eurocV103",
"eurocV201",
"eurocV202",
]
SEQUENCES_TUMVI = [
"tumvi-corridor1",
"tumvi-corridor2",
"tumvi-magistrale1",
"tumvi-magistrale2",
"tumvi-room1",
"tumvi-room2",
"tumvi-slides1",
"tumvi-slides2",
]
SEQUENCES_KITTI = [
"kitti00",
"kitti02",
"kitti03",
"kitti04",
"kitti05",
"kitti06",
"kitti07",
"kitti08",
"kitti09",
"kitti10",
]
###################
## VIO experiments
[[experiments]]
name = "vio_sqrt-nsllt-qr-64"
display_name = "${DISPLAY_NAME_SQRTVIO64}${}^{\\textrm{NS}}_{\\textrm{QR}}$"
pattern = "${EXP_PATTERN_VIO}/*_sqrt-nsllt-qr_double_*"
[[experiments]]
name = "vio_sqrt-nsllt-qr-32"
display_name = "${DISPLAY_NAME_SQRTVIO32}${}^{\\textrm{NS}}_{\\textrm{QR}}$"
pattern = "${EXP_PATTERN_VIO}/*_sqrt-nsllt-qr_float_*"
[[experiments]]
name = "vio_sqrt-sc-sc-64"
display_name = "${DISPLAY_NAME_SQRTVIO64}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
pattern = "${EXP_PATTERN_VIO}/*_sqrt-sc-sc_double_*"
[[experiments]]
name = "vio_sqrt-sc-sc-32"
display_name = "${DISPLAY_NAME_SQRTVIO32}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
pattern = "${EXP_PATTERN_VIO}/*_sqrt-sc-sc_float_*"
[[experiments]]
name = "vio_sq-sc-sc-64"
display_name = "${DISPLAY_NAME_SQVIO64}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
pattern = "${EXP_PATTERN_VIO}/*_sq-sc-sc_double_*"
[[experiments]]
name = "vio_sq-sc-sc-32"
display_name = "${DISPLAY_NAME_SQVIO32}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
pattern = "${EXP_PATTERN_VIO}/*_sq-sc-sc_float_*"
###################
## VIO experiments -- aliases with shorter display names for plots
[[experiments]]
name = "vio_sqrt-64"
display_name = "${DISPLAY_NAME_SQRTVIO64}"
extend = "vio_sqrt-nsllt-qr-64"
[[experiments]]
name = "vio_sqrt-32"
display_name = "${DISPLAY_NAME_SQRTVIO32}"
extend = "vio_sqrt-nsllt-qr-32"
[[experiments]]
name = "vio_sq-64"
display_name = "${DISPLAY_NAME_SQVIO64}"
extend = "vio_sq-sc-sc-64"
[[experiments]]
name = "vio_sq-32"
display_name = "${DISPLAY_NAME_SQVIO32}"
extend = "vio_sq-sc-sc-32"
###################
## VO experiments
[[experiments]]
name = "vo_sqrt-nsllt-qr-64"
display_name = "${DISPLAY_NAME_SQRTVO64}${}^{\\textrm{NS}}_{\\textrm{QR}}$"
pattern = "${EXP_PATTERN_VO}/*_sqrt-nsllt-qr_double_*"
[[experiments]]
name = "vo_sqrt-nsllt-qr-32"
display_name = "${DISPLAY_NAME_SQRTVO32}${}^{\\textrm{NS}}_{\\textrm{QR}}$"
pattern = "${EXP_PATTERN_VO}/*_sqrt-nsllt-qr_float_*"
[[experiments]]
name = "vo_sqrt-sc-sc-64"
display_name = "${DISPLAY_NAME_SQRTVO64}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
pattern = "${EXP_PATTERN_VO}/*_sqrt-sc-sc_double_*"
[[experiments]]
name = "vo_sqrt-sc-sc-32"
display_name = "${DISPLAY_NAME_SQRTVO32}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
pattern = "${EXP_PATTERN_VO}/*_sqrt-sc-sc_float_*"
[[experiments]]
name = "vo_sq-sc-sc-64"
display_name = "${DISPLAY_NAME_SQVO64}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
pattern = "${EXP_PATTERN_VO}/*_sq-sc-sc_double_*"
[[experiments]]
name = "vo_sq-sc-sc-32"
display_name = "${DISPLAY_NAME_SQVO32}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
pattern = "${EXP_PATTERN_VO}/*_sq-sc-sc_float_*"
###################
## VIO experiments -- aliases with shorter display names for plots
[[experiments]]
name = "vo_sqrt-64"
display_name = "${DISPLAY_NAME_SQRTVO64}"
extend = "vo_sqrt-nsllt-qr-64"
[[experiments]]
name = "vo_sqrt-32"
display_name = "${DISPLAY_NAME_SQRTVO32}"
extend = "vo_sqrt-nsllt-qr-32"
[[experiments]]
name = "vo_sq-64"
display_name = "${DISPLAY_NAME_SQVO64}"
extend = "vo_sq-sc-sc-64"
[[experiments]]
name = "vo_sq-32"
display_name = "${DISPLAY_NAME_SQVO32}"
extend = "vo_sq-sc-sc-32"
################################################################################
################################################################################
[[results]]
class = "section"
name = "Accuracy VIO & VO"
show = true
###################
## accuracy results table for all VIO sequences
[[results]]
class = "results_table"
name = "vio ate"
show = true
export_latex = "vio_ate"
metrics_legend = false
rotate_header = true
escape_latex_header = false
vertical_bars = false
color_failed = ""
filter_regex = "euroc|tumvi.*1|tumvi.*2"
experiments = [
"vio_sqrt-nsllt-qr-64",
"vio_sqrt-nsllt-qr-32",
"vio_sq-sc-sc-64",
"vio_sq-sc-sc-32",
]
metrics = [
"ate_rmse",
]
###################
## accuracy results table for all VO sequences
[[results]]
class = "results_table"
name = "vo ate"
show = true
export_latex = "vo_ate"
metrics_legend = false
rotate_header = true
escape_latex_header = false
vertical_bars = false
color_failed = ""
#filter_regex = "kitti00|kitti0[2-9]|kitti10"
#filter_regex = "kitti"
override_as_failed = ["kitti01"]
experiments = [
"vo_sqrt-nsllt-qr-64",
"vo_sqrt-nsllt-qr-32",
"vo_sq-sc-sc-64",
"vo_sq-sc-sc-32",
]
metrics = [
{name = "ate_rmse", failed_threshold = 100, decimals = 2},
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Runtime VIO & VO"
show = true
###################
## runtime results table for all VIO sequences
[[results]]
class = "results_table"
name = "vio time optimize / marginalize"
show = true
export_latex = "vio_runtime"
metrics_legend = false
rotate_header = true
escape_latex_header = false
vertical_bars = false
color_failed = ""
multirow = false
filter_regex = "euroc|tumvi.*1|tumvi.*2"
experiments = [
"vio_sqrt-nsllt-qr-64",
"vio_sqrt-nsllt-qr-32",
"vio_sq-sc-sc-64",
"vio_sq-sc-sc-32",
]
metrics = [
{name = "time_opt", decimals = 1},
{name = "time_marg", decimals = 1},
]
###################
## runtime results table for all VO sequences
[[results]]
class = "results_table"
name = "vo time optimize / marginalize"
show = true
export_latex = "vo_runtime"
metrics_legend = false
rotate_header = true
escape_latex_header = false
vertical_bars = false
color_failed = ""
multirow = false
#filter_regex = "kitti00|kitti0[2-9]|kitti10"
#filter_regex = "kitti"
override_as_failed = ["kitti01"]
experiments = [
"vo_sqrt-nsllt-qr-64",
"vo_sqrt-nsllt-qr-32",
"vo_sq-sc-sc-64",
"vo_sq-sc-sc-32",
]
metrics = [
"time_opt",
"time_marg",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Ablation VIO & VO"
show = true
###################
## ablation study table for VIO summarized over all EuRoC sequences
[[results]]
class = "summarize_sequences_table"
name = "summary euroc ablation"
export_latex = "vio_euroc_ablation"
escape_latex_header = false
filter_regex = "euroc"
experiments = [
"vio_sqrt-nsllt-qr-64",
"vio_sqrt-nsllt-qr-32",
"vio_sqrt-sc-sc-64",
"vio_sqrt-sc-sc-32",
]
metrics = [
{name = "ate_rmse", display_name = "ATE [m]", geometric_mean = false, decimals = 3},
{name = "time_exec_realtimefactor", display_name = "real-time", geometric_mean = true, format_string = "{:.1f}x"},
{name = "time_exec", display_name = "t total [s]", geometric_mean = false, decimals = 1},
{name = "time_opt", display_name = "t opt [s]", geometric_mean = false, decimals = 1},
{name = "time_marg", display_name = "t marg [s]", geometric_mean = false, decimals = 1},
# {name = "time_marg", display_name = "t marg (frac. of meas)", relative_to_metric = "time_measure", geometric_mean = true, format_string = "{:.2f}"},
# {name = "time_opt", display_name = "t opt (frac. of meas)", relative_to_metric = "time_measure", geometric_mean = true, format_string = "{:.2f}"},
# {name = "time_marg", display_name = "t marg (frac. of total)", relative_to_metric = "time_exec", geometric_mean = true, format_string = "{:.2f}"},
# {name = "time_opt", display_name = "t opt (frac. of total)", relative_to_metric = "time_exec", geometric_mean = true, format_string = "{:.2f}"},
{name = "avg_num_it", display_name = "avg #it", geometric_mean = false, decimals = 1},
{name = "avg_num_it_failed", display_name = "avg #it-failed", geometric_mean = false, decimals = 1},
]
###################
## ablation study table for VO summarized over all Kitti sequences (w/o kitti01)
[[results]]
class = "summarize_sequences_table"
name = "summary kitti (w/o kitti01) ablation"
show = true
export_latex = "vo_kitti_ablation"
escape_latex_header = false
filter_regex = "kitti00|kitti0[2-9]|kitti10"
experiments = [
"vo_sqrt-nsllt-qr-64",
"vo_sqrt-nsllt-qr-32",
"vo_sqrt-sc-sc-64",
"vo_sqrt-sc-sc-32",
]
metrics = [
{name = "ate_rmse", display_name = "ATE [m]", geometric_mean = false, decimals = 3},
{name = "time_exec_realtimefactor", display_name = "real-time", geometric_mean = true, format_string = "{:.1f}x"},
{name = "time_exec", display_name = "t total [s]", geometric_mean = false, decimals = 1},
{name = "time_opt", display_name = "t opt [s]", geometric_mean = false, decimals = 1},
{name = "time_marg", display_name = "t marg [s]", geometric_mean = false, decimals = 1},
{name = "avg_num_it", display_name = "avg #it", geometric_mean = false, decimals = 1},
{name = "avg_num_it_failed", display_name = "avg #it-failed", geometric_mean = false, decimals = 1},
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Trajectories EuRoC"
show = "<SHOW_TRAJECTORY_PLOTS>"
###################
## template for trajectory plots for a set of sequences
[[templates]]
_name = "TRAJECTORY"
_arguments = ["SEQUENCE", "EXPERIMENTS", "AXES"]
class = "plot"
name = "trajectory"
type = "trajectory"
figsize = [4.0,2.5]
trajectory_axes = "<AXES>"
sequence = "<SEQUENCE>"
experiments = "<EXPERIMENTS>"
###################
## instantiate trajectory plot template for EuRoC
[[results]]
[results._template]
_name = "TRAJECTORY"
AXES = "xy"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_EUROC>"}
EXPERIMENTS = [
"vio_sqrt-32",
"vio_sq-32",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Eigenvalues EuRoC"
show = "<SHOW_EIGENVALUE_PLOTS>"
###################
## template for eigenvalue plots for a set of sequences
[[templates]]
_name = "EIGENVALUES"
_arguments = ["SEQUENCE", "EXPERIMENTS"]
class = "plot"
type = "eigenvalues"
name = "vio"
#legend_loc = "upper left"
#ylim.top = 1e6
#ylim.bottom = -1e6
sequence = "<SEQUENCE>"
experiments = "<EXPERIMENTS>"
###################
## instantiate eigenvalue plot template for EuRoC
[[results]]
[results._template]
_name = "EIGENVALUES"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_EUROC>"}
EXPERIMENTS = [
"vio_sqrt-64",
"vio_sqrt-32",
"vio_sq-64",
"vio_sq-32",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Nullspace EuRoC"
show = "<SHOW_NULLSPACE_PLOTS>"
###################
## template for nullspace plots for a set of sequences
[[templates]]
_name = "NULLSPACE"
_arguments = ["SEQUENCE", "EXPERIMENTS"]
class = "plot"
type = "nullspace"
name = "vio"
#legend_loc = "lower right"
sequence = "<SEQUENCE>"
experiments = "<EXPERIMENTS>"
###################
## instantiate nullspace plot template for EuRoC
[[results]]
[results._template]
_name = "NULLSPACE"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_EUROC>"}
EXPERIMENTS = [
"vio_sqrt-64",
"vio_sqrt-32",
"vio_sq-64",
"vio_sq-32",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Trajectories TUMVI"
show = "<SHOW_TRAJECTORY_PLOTS>"
###################
## instantiate trajectory plot template for TUMVI
[[results]]
[results._template]
_name = "TRAJECTORY"
AXES = "xy"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_TUMVI>"}
EXPERIMENTS = [
"vio_sqrt-32",
"vio_sq-32",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Eigenvalues TUMVI"
show = "<SHOW_EIGENVALUE_PLOTS>"
###################
## instantiate eigenvalue plot template for TUMVI
[[results]]
[results._template]
_name = "EIGENVALUES"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_TUMVI>"}
EXPERIMENTS = [
"vio_sqrt-64",
"vio_sqrt-32",
"vio_sq-64",
"vio_sq-32",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Nullspace TUMVI"
show = "<SHOW_NULLSPACE_PLOTS>"
###################
## instantiate nullspace plot template for TUMVI
[[results]]
[results._template]
_name = "NULLSPACE"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_TUMVI>"}
EXPERIMENTS = [
"vio_sqrt-64",
"vio_sqrt-32",
"vio_sq-64",
"vio_sq-32",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Trajectories Kitti"
show = "<SHOW_TRAJECTORY_PLOTS>"
###################
## instantiate trajectory plot template for Kitti
[[results]]
[results._template]
_name = "TRAJECTORY"
AXES = "xz"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_KITTI>"}
EXPERIMENTS = [
"vo_sqrt-32",
"vo_sq-32",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Eigenvalues Kitti"
show = "<SHOW_EIGENVALUE_PLOTS>"
###################
## instantiate eigenvalue plot template for Kitti
[[results]]
[results._template]
_name = "EIGENVALUES"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_KITTI>"}
EXPERIMENTS = [
"vo_sqrt-64",
"vo_sqrt-32",
"vo_sq-64",
"vo_sq-32",
]
################################################################################
################################################################################
[[results]]
class = "section"
name = "Nullspace Kitti"
show = "<SHOW_NULLSPACE_PLOTS>"
###################
## instantiate nullspace plot template for Kitti
[[results]]
[results._template]
_name = "NULLSPACE"
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_KITTI>"}
EXPERIMENTS = [
"vo_sqrt-64",
"vo_sqrt-32",
"vo_sq-64",
"vo_sq-32",
]

56
data/kitti_config.json Normal file
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@@ -0,0 +1,56 @@
{
"value0": {
"config.optical_flow_type": "frame_to_frame",
"config.optical_flow_detection_grid_size": 30,
"config.optical_flow_max_recovered_dist2": 0.04,
"config.optical_flow_pattern": 51,
"config.optical_flow_max_iterations": 5,
"config.optical_flow_epipolar_error": 0.001,
"config.optical_flow_levels": 4,
"config.optical_flow_skip_frames": 1,
"config.vio_linearization_type": "ABS_QR",
"config.vio_sqrt_marg": true,
"config.vio_max_states": 3,
"config.vio_max_kfs": 7,
"config.vio_min_frames_after_kf": 1,
"config.vio_new_kf_keypoints_thresh": 0.7,
"config.vio_debug": false,
"config.vio_extended_logging": false,
"config.vio_obs_std_dev": 0.5,
"config.vio_obs_huber_thresh": 1.0,
"config.vio_min_triangulation_dist": 0.05,
"config.vio_outlier_threshold": 3.0,
"config.vio_filter_iteration": 4,
"config.vio_max_iterations": 7,
"config.vio_enforce_realtime": false,
"config.vio_use_lm": false,
"config.vio_lm_lambda_initial": 1e-4,
"config.vio_lm_lambda_min": 1e-6,
"config.vio_lm_lambda_max": 1e2,
"config.vio_lm_landmark_damping_variant": 1,
"config.vio_lm_pose_damping_variant": 1,
"config.vio_scale_jacobian": false,
"config.vio_init_pose_weight": 1e8,
"config.vio_init_ba_weight": 1e1,
"config.vio_init_bg_weight": 1e2,
"config.vio_marg_lost_landmarks": true,
"config.vio_kf_marg_feature_ratio": 0.1,
"config.mapper_obs_std_dev": 0.25,
"config.mapper_obs_huber_thresh": 1.5,
"config.mapper_detection_num_points": 800,
"config.mapper_num_frames_to_match": 30,
"config.mapper_frames_to_match_threshold": 0.04,
"config.mapper_min_matches": 20,
"config.mapper_ransac_threshold": 5e-5,
"config.mapper_min_track_length": 5,
"config.mapper_max_hamming_distance": 70,
"config.mapper_second_best_test_ratio": 1.2,
"config.mapper_bow_num_bits": 16,
"config.mapper_min_triangulation_dist": 0.07,
"config.mapper_no_factor_weights": false,
"config.mapper_use_factors": true,
"config.mapper_use_lm": true,
"config.mapper_lm_lambda_min": 1e-32,
"config.mapper_lm_lambda_max": 1e3
}
}

56
data/tumvi_512_config.json Normal file
View File

@@ -0,0 +1,56 @@
{
"value0": {
"config.optical_flow_type": "frame_to_frame",
"config.optical_flow_detection_grid_size": 40,
"config.optical_flow_max_recovered_dist2": 0.04,
"config.optical_flow_pattern": 51,
"config.optical_flow_max_iterations": 5,
"config.optical_flow_epipolar_error": 0.005,
"config.optical_flow_levels": 3,
"config.optical_flow_skip_frames": 1,
"config.vio_linearization_type": "ABS_QR",
"config.vio_sqrt_marg": true,
"config.vio_max_states": 3,
"config.vio_max_kfs": 7,
"config.vio_min_frames_after_kf": 5,
"config.vio_new_kf_keypoints_thresh": 0.7,
"config.vio_debug": false,
"config.vio_extended_logging": false,
"config.vio_obs_std_dev": 0.5,
"config.vio_obs_huber_thresh": 1.0,
"config.vio_min_triangulation_dist": 0.05,
"config.vio_outlier_threshold": 3.0,
"config.vio_filter_iteration": 4,
"config.vio_max_iterations": 7,
"config.vio_enforce_realtime": false,
"config.vio_use_lm": false,
"config.vio_lm_lambda_initial": 1e-7,
"config.vio_lm_lambda_min": 1e-6,
"config.vio_lm_lambda_max": 1e2,
"config.vio_lm_landmark_damping_variant": 1,
"config.vio_lm_pose_damping_variant": 1,
"config.vio_scale_jacobian": false,
"config.vio_init_pose_weight": 1e8,
"config.vio_init_ba_weight": 1e1,
"config.vio_init_bg_weight": 1e2,
"config.vio_marg_lost_landmarks": true,
"config.vio_kf_marg_feature_ratio": 0.1,
"config.mapper_obs_std_dev": 0.25,
"config.mapper_obs_huber_thresh": 1.5,
"config.mapper_detection_num_points": 800,
"config.mapper_num_frames_to_match": 30,
"config.mapper_frames_to_match_threshold": 0.04,
"config.mapper_min_matches": 20,
"config.mapper_ransac_threshold": 5e-5,
"config.mapper_min_track_length": 5,
"config.mapper_max_hamming_distance": 70,
"config.mapper_second_best_test_ratio": 1.2,
"config.mapper_bow_num_bits": 16,
"config.mapper_min_triangulation_dist": 0.07,
"config.mapper_no_factor_weights": false,
"config.mapper_use_factors": true,
"config.mapper_use_lm": false,
"config.mapper_lm_lambda_min": 1e-32,
"config.mapper_lm_lambda_max": 1e3
}
}

381
data/tumvi_512_ds_calib.json Normal file
View File

@@ -0,0 +1,381 @@
{
"value0": {
"T_imu_cam": [
{
"px": 0.04548094812071685,
"py": -0.07145370002838907,
"pz": -0.046315428444919249,
"qx": -0.013392900690257393,
"qy": -0.6945866755293793,
"qz": 0.7192437840259219,
"qw": 0.007639340823570553
},
{
"px": -0.05546984222234079,
"py": -0.06999334244486549,
"pz": -0.049092582974927929,
"qx": -0.01340980138125811,
"qy": -0.7115668842588793,
"qz": 0.7024477338114514,
"qw": 0.007741299385907546
}
],
"intrinsics": [
{
"camera_type": "ds",
"intrinsics": {
"fx": 158.28600034966977,
"fy": 158.2743455478755,
"cx": 254.96116578191653,
"cy": 256.8894394501779,
"xi": -0.17213086034353243,
"alpha": 0.5931177593944744
}
},
{
"camera_type": "ds",
"intrinsics": {
"fx": 157.91830144176309,
"fy": 157.8901286125632,
"cx": 252.56547609702953,
"cy": 255.02489416194656,
"xi": -0.17114780716007858,
"alpha": 0.5925543396658507
}
}
],
"resolution": [
[
512,
512
],
[
512,
512
]
],
"calib_accel_bias": [
-0.0011791549110128743,
-0.007714616665106584,
0.00006733124206236036,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"calib_gyro_bias": [
-0.00007403817898158015,
0.0000024090695654577384,
-0.00001847724206614636,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"imu_update_rate": 200.0,
"accel_noise_std": [0.016, 0.016, 0.016],
"gyro_noise_std": [0.000282, 0.000282, 0.000282],
"accel_bias_std": [0.001, 0.001, 0.001],
"gyro_bias_std": [0.0001, 0.0001, 0.0001],
"T_mocap_world": {
"px": 0.0,
"py": 0.0,
"pz": 0.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0,
"qw": 1.0
},
"T_imu_marker": {
"px": 0.0,
"py": 0.0,
"pz": 0.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0,
"qw": 1.0
},
"mocap_time_offset_ns": 0,
"mocap_to_imu_offset_ns": 0,
"cam_time_offset_ns": 0,
"vignette": [
{
"value0": 0,
"value1": 10000000000,
"value2": [
[
0.9899372881888493
],
[
0.9931178795891834
],
[
0.9984407803536122
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data/tumvi_512_eucm_calib.json Normal file
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