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basalt/data/iccv21/basalt_batch_config.toml

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ICCV'21 square root marginalization paper code release Major changes: - New square-root implementation for optimization and marginalization, giving faster optimization and numerically more stable marginalization. The square root solver is the new default, but the Schur complement based implementation is still available. (Implements the ICCV'21 paper.) - The odometry estimator is now fully templetized and you can run in float or double. Default is float, which works well with the new square-root implementation and gives best runtimes. - Batch evaluation scripts and documentation to reproduce the ICCV'21 experiments. Additional changes: - New options in VIO to marginalize lost landmark right away and not only when the frame is marginalized (enabled by default). - small bugfix for keypoint patch extraction bounds - basalt_vio: more logging for batch evaluation - basalt_vio: better handling of closing the GUI while estimator is still running - basalt_vio: new command line argument to limit the number of frames processed - basalt_vio: new command line argument to save ground truth trajectory - added unit tests for square root marginalization - update basalt-headers - new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 14:50:02 +02:00
##############################################################################
## Base config that ends up in basalt_config.json
## These values are overwritten by the named config elements below.
##############################################################################
# config read by Basalt
[value0]
"config.optical_flow_type" = "frame_to_frame"
"config.optical_flow_detection_grid_size" = 50
"config.optical_flow_max_recovered_dist2" = 0.04
"config.optical_flow_pattern" = 51
"config.optical_flow_max_iterations" = 5
"config.optical_flow_epipolar_error" = 0.005
"config.optical_flow_levels" = 3
"config.optical_flow_skip_frames" = 1
"config.vio_linearization_type" = "ABS_QR"
"config.vio_sqrt_marg" = true
"config.vio_max_states" = 3
"config.vio_max_kfs" = 7
"config.vio_min_frames_after_kf" = 5
"config.vio_new_kf_keypoints_thresh" = 0.7
"config.vio_debug" = false
"config.vio_extended_logging" = false
"config.vio_obs_std_dev" = 0.5
"config.vio_obs_huber_thresh" = 1.0
"config.vio_min_triangulation_dist" = 0.05
"config.vio_outlier_threshold" = 3.0
"config.vio_filter_iteration" = 4
"config.vio_max_iterations" = 7
"config.vio_enforce_realtime" = false
"config.vio_use_lm" = true
"config.vio_lm_lambda_initial" = 1e-4
"config.vio_lm_lambda_min" = 1e-7
"config.vio_lm_lambda_max" = 1e2
"config.vio_lm_landmark_damping_variant" = 1
"config.vio_lm_pose_damping_variant" = 1
"config.vio_scale_jacobian" = false
"config.vio_init_pose_weight" = 1e8
"config.vio_init_ba_weight" = 1e1
"config.vio_init_bg_weight" = 1e2
"config.vio_marg_lost_landmarks" = true
"config.vio_kf_marg_feature_ratio" = 0.1
"config.mapper_obs_std_dev" = 0.25
"config.mapper_obs_huber_thresh" = 1.5
"config.mapper_detection_num_points" = 800
"config.mapper_num_frames_to_match" = 30
"config.mapper_frames_to_match_threshold" = 0.04
"config.mapper_min_matches" = 20
"config.mapper_ransac_threshold" = 5e-5
"config.mapper_min_track_length" = 5
"config.mapper_max_hamming_distance" = 70
"config.mapper_second_best_test_ratio" = 1.2
"config.mapper_bow_num_bits" = 16
"config.mapper_min_triangulation_dist" = 0.07
"config.mapper_no_factor_weights" = false
"config.mapper_use_factors" = true
"config.mapper_use_lm" = true
"config.mapper_lm_lambda_min" = 1e-32
"config.mapper_lm_lambda_max" = 1e3
# which executable to run
[batch_run]
executable = "basalt_vio"
# environment variables set for the executable
[batch_run.env]
OPENBLAS_NUM_THREADS = 1
OMP_NUM_THREADS = 1
# command line arguments to the executable ("--" is prepended)
[batch_run.args]
"config-path" = "basalt_config.json"
"show-gui" = "0"
"step-by-step" = "false"
#"max-frames" = "1000"
"use-imu" = "false"
"use-double" = "false"
"num-threads" = "0"
##############################################################################
## Named config elements to overwrite the base config: batch run script options
##############################################################################
[_batch.config.vio]
batch_run.args."use-imu" = "true"
[_batch.config.vo]
batch_run.args."use-imu" = "false"
[_batch.config.double]
batch_run.args."use-double" = "true"
[_batch.config.float]
batch_run.args."use-double" = "false"
[_batch.config.threads0]
batch_run.args."num-threads" = "0"
[_batch.config.threads1]
batch_run.args."num-threads" = "1"
[_batch.config.savetum]
batch_run.args."save-trajectory" = "tum"
# saving gt produces quite large output, but is needed for trajectory plots
[_batch.config.savetumgt]
batch_run.args."save-trajectory" = "tum"
batch_run.args."save-groundtruth" = "1"
# run each experiment twice to make sure file system caches are hot
[_batch.config.runtwice]
batch_run.num_runs = 2
##############################################################################
## Named config elements to overwrite the base config: datasets
##############################################################################
# NOTE: Replace the absolute paths in "dataset-path" entries with the
# path to your download of EuRoC, TUMVI, Kitti. The "cam-calib" paths
# are relative and point to locations in the basalt repository. This
# assumes a folder setup like:
#
# parent-folder/
# ├─ basalt/
# │ ├─ data/
# │ │ ├─ euroc_ds_calib.json
# │ │ ├─ ...
# │ ├─ ...
# ├─ experiments/
# │ ├─ iccv_tutorial/
# │ │ ├─ basalt_batch_config.toml
# │ │ ├─ ...
#
# The calibration for Kitti is expected in basalt format (you can use the
# basalt_convert_kitti_calib.py script)
[_batch.config.eurocMH01]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_01_easy"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocMH02]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_02_easy"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocMH03]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_03_medium"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocMH04]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_04_difficult"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocMH05]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/MH_05_difficult"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV101]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V1_01_easy"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV102]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V1_02_medium"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV103]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V1_03_difficult"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV201]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V2_01_easy"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV202]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V2_02_medium"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.eurocV203]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/euroc/V2_03_difficult"
batch_run.args."cam-calib" = "../../../../../../basalt/data/euroc_ds_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor1]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor1_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor2]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor2_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor3]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor3_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor4]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor4_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-corridor5]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-corridor5_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale1]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale1_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale2]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale2_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale3]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale3_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale4]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale4_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale5]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale5_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-magistrale6]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-magistrale6_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room1]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room1_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room2]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room2_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room3]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room3_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room4]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room4_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room5]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room5_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-room6]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-room6_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-slides1]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-slides1_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-slides2]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-slides2_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.tumvi-slides3]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/tumvi/512_16/dataset-slides3_512_16"
batch_run.args."cam-calib" = "../../../../../../basalt/data/tumvi_512_eucm_calib.json"
batch_run.args."dataset-type" = "euroc"
[_batch.config.kitti00]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/00"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/00/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti01]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/01"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/01/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti02]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/02"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/02/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti03]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/03"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/03/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti04]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/04"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/04/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti05]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/05"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/05/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti06]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/06"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/06/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti07]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/07"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/07/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti08]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/08"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/08/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti09]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/09"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/09/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
[_batch.config.kitti10]
batch_run.args."dataset-path" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/10"
batch_run.args."cam-calib" = "/storage/local/ssd/demmeln/tsm-exclude/kitti_odom_grey/sequences/10/basalt_calib.json"
batch_run.args."dataset-type" = "kitti"
##############################################################################
## Named config elements to overwrite the base config: basalt config
##############################################################################
[_batch.config.debug]
value0."config.vio_debug" = true
value0."config.vio_extended_logging" = true
[_batch.config.nodebug]
value0."config.vio_debug" = false
value0."config.vio_extended_logging" = false
[_batch.config.extlog]
value0."config.vio_extended_logging" = true
[_batch.config.noextlog]
value0."config.vio_extended_logging" = false
[_batch.config.eurocvo]
value0."config.optical_flow_detection_grid_size" = 40
value0."config.vio_min_frames_after_kf" = 1
value0."config.vio_new_kf_keypoints_thresh" = 0.8
value0."config.vio_kf_marg_feature_ratio" = 0.2
[_batch.config.tumvivio]
value0."config.optical_flow_detection_grid_size" = 40
[_batch.config.kittivo]
value0."config.optical_flow_detection_grid_size" = 30
value0."config.optical_flow_epipolar_error" = 0.001
value0."config.optical_flow_levels" = 4
value0."config.vio_min_frames_after_kf" = 1
[_batch.config.sq-sc-sc]
value0."config.vio_sqrt_marg" = false
value0."config.vio_linearization_type" = "ABS_SC"
[_batch.config.sqrt-sc-sc]
value0."config.vio_sqrt_marg" = true
value0."config.vio_linearization_type" = "ABS_SC"
[_batch.config.sqrt-nsllt-qr]
value0."config.vio_sqrt_marg" = true
value0."config.vio_linearization_type" = "ABS_QR"
##############################################################################
## Named alternatives, which generate a different experiment for each entry ("or" relation)
##############################################################################
[_batch.alternatives]
all_euroc = ["eurocMH01", "eurocMH02", "eurocMH03", "eurocMH04", "eurocMH05", "eurocV101", "eurocV102", "eurocV103", "eurocV201", "eurocV202"]
some_euroc = ["eurocMH01", "eurocMH02", "eurocV101", "eurocV103", "eurocV201", "eurocV202"]
some_tumvi = ["tumvi-corridor1", "tumvi-magistrale1", "tumvi-room1", "tumvi-slides1"]
more_tumvi = ["tumvi-corridor1", "tumvi-corridor2", "tumvi-magistrale1", "tumvi-magistrale2", "tumvi-room1", "tumvi-room2", "tumvi-slides1", "tumvi-slides2"]
some_more_tumvi = ["tumvi-corridor1", "tumvi-corridor2", "tumvi-corridor3", "tumvi-corridor4", "tumvi-corridor5", "tumvi-magistrale1", "tumvi-magistrale2", "tumvi-magistrale3", "tumvi-magistrale4", "tumvi-magistrale5", "tumvi-magistrale6", "tumvi-room1", "tumvi-room2", "tumvi-room3", "tumvi-room4", "tumvi-room5", "tumvi-room6", "tumvi-slides1", "tumvi-slides2", "tumvi-slides3"]
all_kitti = ["kitti00", "kitti01", "kitti02", "kitti03", "kitti04", "kitti05", "kitti06", "kitti07", "kitti08", "kitti09", "kitti10"]
all_imu = ["vio", "vo"]
all_double = ["double", "float"]
all_meth = ["sq-sc-sc", "sqrt-sc-sc", "sqrt-nsllt-qr"]
##############################################################################
## Config combinations, which composing named configs and alternatives ("and" relation)
##############################################################################
[_batch.combinations]
vio_euroc = ["vio", "savetumgt", "extlog", "runtwice", "all_meth", "all_double", "all_euroc"]
vio_tumvi = ["vio", "tumvivio", "savetumgt", "extlog", "runtwice", "all_meth", "all_double", "more_tumvi"]
vo_kitti = ["vo", "kittivo", "savetumgt", "extlog", "runtwice", "all_meth", "all_double", "all_kitti"]
#vio_euroc = ["vio", "runtwice", "all_meth", "all_double", "all_euroc"]
#vio_tumvi = ["vio", "tumvivio", "runtwice", "all_meth", "all_double", "more_tumvi"]
#vo_kitti = ["vo", "kittivo", "runtwice", "all_meth", "all_double", "all_kitti"]
##############################################################################
## Revision is the primary subfolder name where generated configs are placed
##############################################################################
[_batch]
revision = "01_iccv_all"
#revision = "02_iccv_runtime"