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Added evaluation for pose-graph optimization

This commit is contained in:
Vladyslav Usenko 2019-07-29 16:56:29 +02:00
parent e3237cf8cb
commit 445c00db54
1 changed files with 38 additions and 0 deletions
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38
data/euroc_config_no_weights.json Normal file
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{
"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_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_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.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": true
}
}