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mapping task ID: 631 | mapping task ID: 3289 | mapping task ID: 3339 | mapping task ID: 3388 | mapping task ID: 3436 |
Mapping Task Configuration 287 Details Information
mapping task ID: 631 | mapping task ID: 3289 | mapping task ID: 3339 | mapping task ID: 3388 | mapping task ID: 3436 |
Algorihtm & Dataset
Algorithm Selection
Algorithm ImageTag: vins-fusion-stereo
Algorihtm name: vins-fusion
Dataset Selection:
Dataset Sequence Name: MH_01_easy
Dataset name: euroc
Configuration Information
Mapping Task Configuration Name: VINS-Fusion-stereo+MH_01_easy
Mapping Task Configuration Description:
Algorithm: VINS-Fusion-stereo 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-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 | 1.1757726639872075 |
| 441 | general+k2 | intrinsic(pinhole mei) |
Dataset | euroc | cam0_k2 | float | 15.491281051140213 |
| 442 | general+p1 | intrinsic(pinhole mei) |
Dataset | euroc | cam0_p1 | float | -0.0008123717295455049 |
| 443 | general+p2 | intrinsic(pinhole mei) |
Dataset | euroc | cam0_p2 | float | 0.0006729768403031024 |
| 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 |
| 500 | general+cam0_xi | intrinsic(mei) |
Dataset | euroc | cam0_xi | float | 3.6313355285286337 |
| 501 | general+cam0_gamma1 | intrinsic(mei) |
Dataset | euroc | cam0_gamma1 | float | 2138.7619122017772 |
| 502 | general+cam0_gamma2 | intrinsic(mei) |
Dataset | euroc | cam0_gamma2 | float | 2131.5886210259278 |
| 503 | general+cam0_u0 | intrinsic(mei) |
Dataset | euroc | cam0_u0 | float | 361.198566332638 |
| 504 | general+cam0_v0 | intrinsic(mei) |
Dataset | euroc | cam0_v0 | float | 248.27644773395667 |
| 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_mei.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_mei.yaml |
| 576 | general+cam1_xi | intrinsic(mei) |
Dataset | euroc | cam1_xi | float | 0.8126150589414611 |
| 577 | general+cam1_gamma1 | intrinsic(mei) |
Dataset | euroc | cam1_gamma1 | float | 834.0624973543779 |
| 578 | general+cam1_gamma2 | intrinsic(mei) |
Dataset | euroc | cam1_gamma2 | float | 831.4060676591695 |
| 579 | general+cam1_u0 | intrinsic(mei) |
Dataset | euroc | cam1_u0 | float | 374.3200735524974 |
| 580 | general+cam1_v0 | intrinsic(mei) |
Dataset | euroc | cam1_v0 | float | 254.22391621480082 |
| 581 | general+right_p1 | intrinsic(pinhole mei) |
Dataset | euroc | cam1_p1 | float | -0.0006665314436490669 |
| 582 | general+right_p2 | intrinsic(pinhole mei) |
Dataset | euroc | cam1_p2 | float | 0.0007231125584676709 |
| 583 | general+right_k1 | intrinsic(pinhole mei) |
Dataset | euroc | cam1_k1 | float | -0.34247886078397966 |
| 584 | general+right_k2 | intrinsic(pinhole mei) |
Dataset | euroc | cam1_k2 | float | 0.17108792755973357 |
| 350 | general+image_frequency | frequency of image data |
Dataset | euroc | image_frequency | int | 20 |