v02

tum_vi/dataset-room2_512_16/TUM-VI.yaml

@@ -0,0 +1,71 @@
+%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: "room2Atlas"
+#System.SaveAtlasToFile: "room2Atlas"

tum_vi/dataset-room2_512_16/dso_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.11600757858388268 m.
+RMSError without scaling parameter: 0.17047843608046367 m.

tum_vi/dataset-room2_512_16/dso_online_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.1219115016149343 m.
+RMSError without scaling parameter: 0.16789340106669168 m.

tum_vi/dataset-room2_512_16/kf_dataset-room2_512_16_mono_orb_slam3.txt

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tum_vi/dataset-room2_512_16/orb_slam3_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.048905012628844266 m.
+RMSError without scaling parameter: 0.7063340786379193 m.

tum_vi/dataset-room2_512_16/orb_slam3_raw_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.9900080405317458 m.
+RMSError without scaling parameter: 1.0556370737310405 m.