SLAM Hive Wiki

How to create combination configurations in SLAM-Hive System.

Select the required SLAM algorithm and dataset.

Mapping Task Combination Configuration Name: Recommended Name rule: [Algorithm Name]+[Dataset Name]+[Simple Description].
Description:                                 Detailed description of the configuration.

example: Combination name: xxx; each config name: xxx-0, xxx-1...(if not exist before)

If your configurations refer to the dataset frequency or resolution changing, and you want to unify some topics' frequency or resolution(eg, stereo camera), you show input their IDs following the rules:

id1, id2;
id3, id4; id5;
 
# explain: id1 and id2 are associated; id3, id4 and id5 are associated.

If your configurations refer to the dataset resolution or frequency changing, you show input the new image size and camera intrinsic and frequency.

Example:

258: # Dataset Resolution param id
    1.0: # 1.0 0.8 0.6 the value of the resolution
      146: xxx # Dataset resolution intrinsic or size new value
      147: xxx 
      ...
    0.8: #
      xxx: xxx
      ...
    0.6: #
      xxx: xxx
      ...
    ...
xxx: #
    xxx: xxx
    xxx: xxx
    ...

There is a table to show all the parameter templates. You can select the needed template and input the value.

The details information can see at create parameter wiki and 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.

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After all, you can click save button to add the configuration to the database.

Note: A comb configuration will be created, which contains all configurations created by this rule (if some configurations already exist, no new configuration will be created, but will be associated with the existing configurations).

Finally, we provide a complete example: