Differences

This shows you the differences between two versions of the page.

--- configuration:create_comb [2024/07/02 11:52] – liuxzh12023
+++ configuration:create_comb [2024/07/02 14:05] (current) – liuxzh12023
@@ Line 14: / Line 14: @@
 example: Combination name: xxx; each config name: xxx-0, xxx-1...(if not exist before)
 </file>
 === Step 3: Dataset Uniform Parameters ===
@@ Line 24: / Line 25: @@
 # explain: id1 and id2 are associated; id3, id4 and id5 are associated.
 </code>
 === Step 4: Dataset New Value Parameters ===
@@ Line 54: / Line 56: @@
 The details information can see at [[ parameter:create | create parameter wiki]] and [[ Parameter: | parameter wiki]].
-If you want to make a parameter as one of the combinations, then you should input the value as: "**value1|value2|value3|...**". And if some parameters are associated with some topics announced in "Step 4", then the value here will have no effect.
+If you want to make a parameter as one of the combinations, then you should input the value as: "**value1|value2|value3|...**". And if some parameters are associated with some topics announced in "Step 4", then the value here will have no effect. If step 3 and 4 is not involved, you do not need to enter anything in it.
 ------
 After all, you can click //save// button to add the configuration to the database.
@@ Line 65: / Line 69: @@
 Finally, we provide a complete example:
+Original Dataset Information:
+<file yaml>
+Original Dataset Information:
+K Matrix
+ - [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
+[R t]
+ - [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
+ - [0,0,0]
+K [R t]
+[435.2046959714599, 0, 367.4517211914062, 0, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
+Rectified Left Camera Matrix:
+[[436.24429564   0.         364.44123459   0.        ]
+ [  0.         436.24429564 256.95167542   0.        ]
+ [  0.           0.           1.           0.        ]]
+Rectified Right Camera Matrix:
+[[436.24429564   0.         364.44123459 -48.02083068]
+ [  0.         436.24429564 256.95167542   0.        ]
+ [  0.           0.           1.           0.        ]]
+Rectified Left Camera Rotation:
+[[ 0.99996635 -0.00142274  0.00807958]
+ [ 0.00136574  0.99997418  0.00705563]
+ [-0.00808941 -0.00704436  0.99994247]]
+Rectified Right Camera Rotation:
+[[ 0.99996335 -0.00362581  0.00775544]
+ [ 0.0036804   0.99996848 -0.00703585]
+ [-0.00772969  0.00706413  0.99994517]]
+</file>
+Input Content:
+<file yaml>
+------ Step 1: Algorihtm & Dataset Selection
+orb-slam3-ros-stereo-inertial+MH_01_easy+comb_test
+------ Step 2: Configuration Info
+Algorithm: orb-slam3-ros-stereo-inertial
+Dataset: MH_01_easy
+test comb_configurations.
+Environment: Desktop (Memory: 32GB; CPU: Intel® Core™ i7-7700 CPU @ 3.60GHz × 8; Disk: 1TB)
+------ Step 3: Dataset Uniform Parameters
+,602 (Dataset Image Frequency)
+,603 (Dataset Image Resolution)
+------ Step 4: Dataset New Value Parameters
+: (Cam0 image frequency)
+: (how to change this topic: origin frequency / 1)
+: 20 (the value after changing)
+:
+: 10
+:
+: 5
+: (IMU frequency)
+:
+: 200
+:
+: 100
+:
+: 50
+: (Cam0 image resolution)
+:
+: 752             # width
+: 480             # height
+: 436.24429564    # fx
+: 436.24429564    # fy
+: 364.44123459    # cx
+: 256.95167542    # cy
+: 48.02083068     # bf
+: 60              # ThDepth
+: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]      # D Matrix
+: [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]   # K Matrix
+: [ 0.99996635, -0.00142274,  0.00807958, 0.00136574,  0.99997418 , 0.00705563,-0.00808941 ,-0.00704436 , 0.99994247]     # R Matrix
+: [436.24429564, 0.0 ,364.44123459, 0.0, 0.0, 436.24429564, 256.95167542, 0.0, 0.0, 0.0, 1.0, 0.0]   # P Matrix
+.8:
+: 601
+: 384
+: 349.09731801
+: 349.09731801
+: 291.74860382
+: 205.61695862
+: 38.42787944
+: 75
+: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+: [366.9232, 0.0, 293.772, 0.0, 365.8368, 198.7, 0.0, 0.0, 1.0]
+: [ 0.99996635 ,-0.00142274 , 0.00807958 ,0.00136574 , 0.99997418  ,0.00705563 ,-0.00808941 ,-0.00704436 , 0.99994247]
+: [349.09731801, 0, 291.74860382, 0, 0, 349.09731801, 205.61695862, 0, 0, 0, 1, 0]
+.6:
+: 451
+: 288
+: 261.91349264
+: 261.91349264
+: 218.81050873
+: 154.26602554
+: 28.83087208
+: 100
+: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+: [275.1924, 0.0, 220.329, 0.0, 274.3776, 149.025, 0.0, 0.0, 1.0]
+: [ 0.99996635 ,-0.00142274 , 0.00807958 ,0.00136574 , 0.99997418  ,0.00705563 ,-0.00808941 ,-0.00704436 , 0.99994247]
+: [261.91349264, 0, 218.81050873, 0, 0, 261.91349264, 154.26602554  , 0, 0, 0, 1, 0]
+.5:
+: 376
+: 240
+: 218.32162852
+: 218.32162852
+: 182.34145927
+: 128.59058762
+: 24.03237374
+: 120
+: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+: [229.327, 0.0, 183.6075, 0.0, 228.648, 124.1875, 0.0, 0.0, 1.0]
+: [ 0.99996635 ,-0.00142274 , 0.00807958 ,0.00136574 , 0.99997418  ,0.00705563 ,-0.00808941 ,-0.00704436 , 0.99994247]
+: [218.32162852, 0, 182.34145927, 0, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
+:
+:
+: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+: [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
+: [0.99996335 ,-0.00362581 , 0.00775544 ,0.0036804  , 0.99996848 ,-0.00703585, -0.00772969 , 0.00706413 , 0.99994517]
+: [436.24429564, 0.0 ,364.44123459, -48.02083068, 0.0, 436.24429564, 256.95167542, 0.0, 0.0, 0.0, 1.0, 0.0]
+.8:
+: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+: [366.0696, 0.0, 303.9992, 0.0, 364.9072, 204.1904, 0.0, 0.0, 1.0]
+: [ 0.99996335, -0.00362581 , 0.00775544 ,0.0036804 ,  0.99996848 ,-0.00703585 ,-0.00772969 , 0.00706413 , 0.99994517]
+: [349.09731801, 0, 291.74860382, -38.42787944, 0, 349.09731801, 205.61695862, 0, 0, 0, 1, 0]
+.6:
+: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+: [274.5522, 0.0, 227.9994, 0.0, 273.6804, 153.1428, 0.0, 0.0, 1.0]
+: [ 0.99996335, -0.00362581 , 0.00775544 ,0.0036804 ,  0.99996848 ,-0.00703585 ,-0.00772969 , 0.00706413 , 0.99994517]
+: [261.91349264, 0, 218.81050873, -28.83087208, 0, 261.91349264, 154.26602554  , 0, 0, 0, 1, 0]
+.5:
+: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+: [228.7935 ,  0.0  , 189.9995 , 0.0  ,  228.067 , 127.619 , 0.0 ,  0.0,
+.5 ]
+: [ 0.99996335, -0.00362581 , 0.00775544 ,0.0036804 ,  0.99996848 ,-0.00703585 ,-0.00772969 , 0.00706413 , 0.99994517]
+: [218.32162852, 0, 182.34145927, -24.03237374, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
+</file>
+Explanation:
+<file yaml>
+First, parameter can be divided into 3 categories:
+- 1 Dateset
+- 2 Dataset Frequency; Dataset Resolution
+- 3 Dataset Frequency remap; Dataset Resolution size; Dataset Resolution intrinsic
+When an algorithm involves Frequency and Resolution
+- First consider 2: key (topic name to be modified): value (how to change the value. For example: Frequency: 1|2; Resolution: 1|0.5).
+- Then consider 1: After setting 2, some of the original parameters' value need to be modified, for these parameters:
+  - In comb creation, the value in (key: value) is actually ineffective, only key is effective. (the effective values are in "Step 4")/
+- Then consider 3: key (keyName of the parameter to be modified): value (the topic name it corresponds to, that is, the key in 2).
+- The main function of 3 is to connect 2 and 1.
+If it is created simply, 3 is not needed, just change 1 to the corresponding value.
+If it is comb creation:
+- Need to combine step3 and step4
+- The function of step3 is: for example, for stereo cameras, the images of the two cameras are basically of the same frequency and size, so when modifying, they must be modified at the same time (1, 2, 4), so that the frequency/size of the two cameras are not same.
+- The function of step4 is: to provide a new value corresponding to 1 (this approach can have better scalability and can be applied to different camera models)
+</file>