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mapping task ID: 622 | mapping task ID: 3286 | mapping task ID: 3336 | mapping task ID: 3385 | mapping task ID: 3433 |
Mapping Task Configuration 282 Details Information
mapping task ID: 622 | mapping task ID: 3286 | mapping task ID: 3336 | mapping task ID: 3385 | mapping task ID: 3433 |
Algorihtm & Dataset
Algorithm Selection
Algorithm ImageTag: vins-mono
Algorihtm name: vins-mono
Dataset Selection:
Dataset Sequence Name: MH_01_easy
Dataset name: euroc
Configuration Information
Mapping Task Configuration Name: vins-mono+MH_01_easy
Mapping Task Configuration Description:
Algorithm: VINS-Mono Dataset: MH_01_easy Use default parameter Environment: Desktop (Memory: 32GB; CPU: Intel® Core™ i7-7700 CPU @ 3.60GHz × 8; Disk: 1TB)
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-mono | max_cnt | int | 150 |
| 356 | VINS+min_dist | min_dist |
Algorithm | vins-mono | 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-mono | freq | int | 10 |
| 358 | VINS+F_threshold | ransac threshold (pixel) |
Algorithm | vins-mono | F_threshold | float | 1.0 |
| 359 | VINS+equalize | if image is too dark or light, trun on equalize to find enough features |
Algorithm | vins-mono | equalize | int | 1 |
| 360 | VINS+max_solver_time | max solver itration time (ms), to guarantee real time |
Algorithm | vins-mono | max_solver_time | float | 0.04 |
| 361 | VINS+max_num_iterations | max solver itration time (ms), to guarantee real time |
Algorithm | vins-mono | max_num_iterations | int | 8 |
| 362 | VINS+keyframe_parallax | keyframe selection threshold (pixel) |
Algorithm | vins-mono | keyframe_parallax | float | 10.0 |
| 363 | VINS+loop_closure | start loop closure |
Algorithm | vins-mono | loop_closure | int | 1 |
| 364 | VINS+fast_relocalization | useful in real-time and large project |
Algorithm | vins-mono | fast_relocalization | int | 0 |
| 436 | general+fx | intrinsic(pinhole) |
Dataset | euroc | fx | float | 461.6 |
| 437 | general+fy | intrinsic(pinhole) |
Dataset | euroc | fy | float | 460.3 |
| 438 | general+cx | intrinsic(pinhole) |
Dataset | euroc | cx | float | 363.0 |
| 439 | general+cy | intrinsic(pinhole) |
Dataset | euroc | cy | float | 248.1 |
| 440 | general+k1 | intrinsic(pinhole mei) |
Dataset | euroc | k1 | float | -0.2917 |
| 441 | general+k2 | intrinsic(pinhole mei) |
Dataset | euroc | k2 | float | 0.08228 |
| 442 | general+p1 | intrinsic(pinhole mei) |
Dataset | euroc | p1 | float | 5.333e-05 |
| 443 | general+p2 | intrinsic(pinhole mei) |
Dataset | euroc | p2 | float | -0.0001578 |
| 476 | general+NoiseGyro | NoiseGyro |
Dataset | euroc | gyr_n | float | 0.004 |
| 477 | general+NoiseAcc | NoiseAcc |
Dataset | euroc | acc_n | float | 0.08 |
| 478 | general+GyroWalk | GyroWalk |
Dataset | euroc | gyr_w | float | 2e-06 |
| 479 | general+AccWalk | AccWalk |
Dataset | euroc | acc_w | float | 4e-05 |
| 482 | VINS+show_track | publish tracking image as topic |
Algorithm | vins-mono | show_track | int | 1 |
| 483 | VINS+fisheye | fisheye |
Algorithm | vins-mono | fisheye | int | 0 |
| 484 | VINS+load_previous_pose_graph | start loop closure |
Algorithm | vins-mono | load_previous_pose_graph | int | 0 |
| 485 | VINS+save_image | save image in pose graph for visualization prupose; you can close this function by setting 0 |
Algorithm | vins-mono | save_image | int | 1 |
| 486 | VINS+visualize_imu_forward | visualization parameters |
Algorithm | vins-mono | visualize_imu_forward | int | 0 |
| 487 | VINS+visualize_camera_size | visualization parameters |
Algorithm | vins-mono | visualize_camera_size | float | 0.4 |
| 488 | VINS+model_type | camera calibration |
Dataset | euroc | model_type | string | PINHOLE |
| 489 | VINS+camera_name | camera calibration |
Dataset | euroc | camera_name | string | camera |
| 490 | VINS+estimate_extrinsic | Extrinsic parameter between IMU and Camera. |
Dataset | euroc | estimate_extrinsic | int | 0 |
| 491 | VINS+extrinsicRotation | Extrinsic parameter between IMU and Camera. |
Dataset matrix | euroc | extrinsicRotation | matrix | [0.0148655429818, -0.999880929698, 0.00414029679422, 0.999557249008, 0.0149672133247, 0.025715529948, -0.0257744366974, 0.00375618835797, 0.999660727178] |
| 492 | VINS+extrinsicTranslation | Extrinsic parameter between IMU and Camera. |
Dataset matrix | euroc | extrinsicTranslation | matrix | [-0.0216401454975, 0.064676986768, 0.00981073058949] |
| 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 |
| 495 | VINS+rolling_shutter | 0: global shutter camera, 1: rolling shutter camera |
Dataset | euroc | rolling_shutter | int | 0 |
| 496 | VINS+rolling_shutter_tr | unit: s. rolling shutter read out time per frame (from data sheet). |
Dataset | euroc | rolling_shutter_tr | int | 0 |
| 497 | VINS+image_topic | remap |
Dataset | euroc | image_topic | string | /cam0/image_raw |
| 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 | 20 |
| 575 | general+imu_frequency | frequency of imu data |
Dataset | euroc | imu_frequency | int | 200 |