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mapping task ID: 3111 |
Mapping Task Configuration 2316 Details Information
mapping task ID: 3111 |
Algorihtm & Dataset
Algorithm Selection
Algorithm ImageTag: vins-fusion-stereo-imu
Algorihtm name: vins-fusion
Dataset Selection:
Dataset Sequence Name: MH_01_easy
Dataset name: euroc
Configuration Information
Mapping Task Configuration Name: vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-6
Mapping Task Configuration Description:
Algorithm: vins-fusion-stereo-imu Dataset: MH_01_easy Experiments to explore the parameter space. image frequency: 20 | 10 | 5 | 2 | 1 image resolution: 1 | 0.8 | 0.6 | 0.5 | 0.4 | 0.2 Environment: Desktop (Memory: 32GB; CPU: Intel® Core™ i7-7700 CPU @ 3.60GHz × 8; Disk: 1TB) Totally: 5*6 = 30
Corresponding Parameters Infomation
| ID | Name | Description | parameter Type | Algo/Dataset Name | Key | Value Type | Value |
|---|---|---|---|---|---|---|---|
| 351 | general+image_width | image data size. |
Dataset | euroc | image_width | int | 752 |
| 352 | general+image_height | image data size. |
Dataset | euroc | image_height | int | 480 |
| 355 | VINS+max_cnt | max_cnt |
Algorithm | vins-fusion | max_cnt | int | 150 |
| 356 | VINS+min_dist | min_dist |
Algorithm | vins-fusion | min_dist | int | 30 |
| 357 | VINS+freq | frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image |
Algorithm | vins-fusion | freq | int | 10 |
| 358 | VINS+F_threshold | ransac threshold (pixel) |
Algorithm | vins-fusion | F_threshold | float | 1.0 |
| 360 | VINS+max_solver_time | max solver itration time (ms), to guarantee real time |
Algorithm | vins-fusion | max_solver_time | float | 0.04 |
| 361 | VINS+max_num_iterations | max solver itration time (ms), to guarantee real time |
Algorithm | vins-fusion | max_num_iterations | int | 8 |
| 362 | VINS+keyframe_parallax | keyframe selection threshold (pixel) |
Algorithm | vins-fusion | keyframe_parallax | float | 10.0 |
| 440 | general+k1 | intrinsic(pinhole mei) |
Dataset | euroc | cam0_k1 | float | -0.28340811 |
| 441 | general+k2 | intrinsic(pinhole mei) |
Dataset | euroc | cam0_k2 | float | 0.07395907 |
| 442 | general+p1 | intrinsic(pinhole mei) |
Dataset | euroc | cam0_p1 | float | 0.00019359 |
| 443 | general+p2 | intrinsic(pinhole mei) |
Dataset | euroc | cam0_p2 | float | 1.76187114e-05 |
| 482 | VINS+show_track | publish tracking image as topic |
Algorithm | vins-fusion | show_track | int | 1 |
| 493 | VINS+estimate_td | online estimate time offset between camera and imu |
Dataset | euroc | estimate_td | int | 0 |
| 494 | VINS+td | initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) |
Dataset | euroc | td | float | 0.0 |
| 497 | VINS+image_topic | remap |
Dataset | euroc | image0_topic | string | /cam0/image_raw |
| 499 | VINS+flow_back | perform forward and backward optical flow to improve feature tracking accuracy |
Algorithm | vins-fusion | flow_back | int | 1 |
| 506 | VINS+body_T_cam0 | body_T_cam0 |
Dataset matrix | euroc | body_T_cam0 | matrix | [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0, 0, 0, 1] |
| 507 | VINS+cam0_calib | cam0_calib |
Dataset | euroc | cam0_calib | string | cam0_pinhole.yaml |
| 490 | VINS+estimate_extrinsic | Extrinsic parameter between IMU and Camera. |
Dataset | euroc | estimate_extrinsic | int | 0 |
| 509 | VINS+image1_topic | remap |
Algorithm | vins-fusion | image1_topic | string | /cam1/image_raw |
| 510 | VINS+body_T_cam1 | body_T_cam1 |
Dataset matrix | euroc | body_T_cam1 | string | [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 0, 0, 0, 1] |
| 511 | VINS+cam1_calib | cam1_calib |
Dataset | euroc | cam1_calib | string | cam1_pinhole.yaml |
| 581 | general+right_p1 | intrinsic(pinhole mei) |
Dataset | euroc | cam1_p1 | float | 0.00019359 |
| 582 | general+right_p2 | intrinsic(pinhole mei) |
Dataset | euroc | cam1_p2 | float | 1.76187114e-05 |
| 583 | general+right_k1 | intrinsic(pinhole mei) |
Dataset | euroc | cam1_k1 | float | -0.28340811 |
| 584 | general+right_k2 | intrinsic(pinhole mei) |
Dataset | euroc | cam1_k2 | float | 0.07395907 |
| 476 | general+NoiseGyro | NoiseGyro |
Dataset | euroc | gyr_n | float | 0.01 |
| 477 | general+NoiseAcc | NoiseAcc |
Dataset | euroc | acc_n | float | 0.1 |
| 478 | general+GyroWalk | GyroWalk |
Dataset | euroc | gyr_w | float | 0.0001 |
| 479 | general+AccWalk | AccWalk |
Dataset | euroc | acc_w | float | 0.001 |
| 498 | VINS+imu_topic | remap |
Dataset | euroc | imu_topic | string | /imu0 |
| 505 | general+g_norm | gravity |
Dataset | euroc | g_norm | float | 9.81007 |
| 350 | general+image_frequency | frequency of image data |
Dataset | euroc | image_frequency | int | 10 |
| 575 | general+imu_frequency | frequency of imu data |
Dataset | euroc | imu_frequency | int | 200 |
| 436 | general+fx | intrinsic(pinhole) |
Dataset | euroc | cam0_fx | float | 458.654 |
| 437 | general+fy | intrinsic(pinhole) |
Dataset | euroc | cam0_fy | float | 457.296 |
| 438 | general+cx | intrinsic(pinhole) |
Dataset | euroc | cam0_cx | float | 367.215 |
| 439 | general+cy | intrinsic(pinhole) |
Dataset | euroc | cam0_cy | float | 248.375 |
| 588 | dataset_frequency+image0_frequency | using for dataset frequency reset. |
Dataset frequency | General | /cam0/image_raw | int | 2 |
| 589 | dataset_frequency+imu_frequency | using for dataset frequency reset. |
Dataset frequency | General | /imu0 | int | 1 |
| 591 | dataset_resolution+image0_resolution | using for dataset image resolution reset. |
Dataset resolution | General | /cam0/image_raw | float | 1.0 |
| 592 | dataset_resolution_size+image0_width | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution size | General | image_width | string | /cam0/image_raw |
| 593 | dataset_resolution_size+image0_height | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution size | General | image_height | string | /cam0/image_raw |
| 594 | dataset_resolution_intrinsic+cam0_fx | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cam0_fx | string | /cam0/image_raw |
| 595 | dataset_resolution_intrinsic+cam0_fy | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cam0_fy | string | /cam0/image_raw |
| 596 | dataset_resolution_intrinsic+cam0_cx | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cam0_cx | string | /cam0/image_raw |
| 597 | dataset_resolution_intrinsic+cam0_cy | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cam0_cy | string | /cam0/image_raw |
| 598 | dataset_resolution_intrinsic+cam1_fx | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cam1_fx | string | /cam1/image_raw |
| 599 | dataset_resolution_intrinsic+cam1_fy | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cam1_fy | string | /cam1/image_raw |
| 600 | dataset_resolution_intrinsic+cam1_cx | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cam1_cx | string | /cam1/image_raw |
| 601 | dataset_resolution_intrinsic+cam1_cy | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cam1_cy | string | /cam1/image_raw |
| 602 | dataset_frequency+image1_frequency | using for dataset frequency reset. |
Dataset frequency | General | /cam1/image_raw | int | 2 |
| 603 | dataset_resolution+image1_resolution | using for dataset image resolution reset. |
Dataset resolution | General | /cam1/image_raw | float | 1.0 |
| 604 | dataset_frequency_remap+image0_frequency | Using for frequency; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset frequency remap | General | image_frequency | string | /cam0/image_raw |
| 606 | dataset_frequency_remap+imu_frequency | Using for frequency; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset frequency remap | General | imu_frequency | string | /imu0 |
| 620 | general+fx_2 | intrinsic(pinhole) right |
Dataset | euroc | cam1_fx | float | 457.587 |
| 621 | general+fy_2 | intrinsic(pinhole) right |
Dataset | euroc | cam1_fy | float | 456.134 |
| 622 | general+cx_2 | intrinsic(pinhole) right |
Dataset | euroc | cam1_cx | float | 379.999 |
| 623 | general+cy_2 | intrinsic(pinhole) right |
Dataset | euroc | cam1_cy | float | 255.238 |