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omp_settings.yaml
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omp_settings.yaml
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data_dir: /home/chad/datasets/ThreeDeeOffice
depth_max: 30
plot_depth: True
tf_bodyInW: [1,0,0,0,0,-1,0,0,0,0,-1,0,0,0,0,1]
tf_camInB: [0,0,1,0,
1,0,0,0,
0,1,0,0,
0,0,0,1]
tf_tagInCam: [0,1,0,0,
-1,0,0,0,
0,0,1,0,
0,0,0,1]
tf_tagFaceInBody: [-1,0,0,0,
0, 0,-1,0,
0,-1,0,0,
0,0,0,1]
tf_aprilTagInBody: [1,0,0,0,
0,0,-1,0,
0,1,0,0,
0,0,0,1]
random_seed: 0
airsim:
cam_name: 0
wall_labels: []#[wall, pillar, surface]
wall_color: [153, 108, 6]
wall_seg_id: 1
cube_label: Cube
img_w: 600
img_h: 450
dep_w: 300
dep_h: 225
fov: 90
angular_scan_resolution:
fine: 8
coarse: 4
grid_mapping:
grid_size: 0.7
x_length: 16
y_length: 16
x_offset: -5
y_offset: -5
obstacle_thickness: 0.3
free_dot_threshold: 0.4
manual_align: False
free_bearing_inflate: 5.0
ocp_bearing_inflate: 1.0
imp_data_preprocess:
overwrite_data: False
save_feature_img: True
save_feature_txt: True
save_scan_txt: True
nfeatures: 1000
contrastThreshold: 0.1
edgeThreshold: 5
marker_pose_samples:
sampling_ratio: 1.0
voxel_size: 0.05
min_distance: 1.0
outlier_distance: 0.5
similar_features:
min_sim_score: 0.9
min_distance: 2.0
parallel_jobs: 1
batch_size: 2000
voxel_size: 0.05
marker_placement:
marker_prior_std: [1.e-5, 1.e-5, 1.e-5, 1.e-5, 1.e-5, 1.e-5]
marker_meas_std: [1.e-3, 1.e-3, 1.e-3, 1.e-3, 1.e-3, 1.e-3]
cam_prior_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
lmk_prior_std: [5.e-2, 5.e-2, 5.e-2]
pix_std: 1
max_dist: 10
max_angle: 45
marker_num: 20
most_vis_marker_percentages: [90] #[90]
mean_max_weights: [0.5,0.5]
pkl_res_path: None
placed_marker_path: None
ignore_features: False
evaluation_datasets:
marker_nums: [0,5,10,15,20]
imp_max_ratios: []
rd_ids: [0,1,2,3,4] #[0,1,2,3,4]
uc_ids: [0,1,2,3,4] #,1,2,3,4]
size_ratios: [] #[25,50,75,125,150,175]
tf_perturb: [] #[-25,-50,-75,-100,25,50,75,100]
test_img_num: 2000
ref_res_pkl: /home/chad/datasets/ThreeDeeOffice/imp_res/90percent_markers/run0/res0.pkl
test_cam_trans_noise_scale: 1.0
test_cam_theta_noise_scale: 1.0
test_sample_mean_weight_scales: [1] #[2,4,8,16] #[1]
test_data_distributions: [weighted,unif] #[weighted,unif]
performance_evaluation:
VLAD_visual_words: 5
ball_tree_leaf_size: 10
nearest_neighbor_imgs: 10
parallel_jobs: 1
trans_angle_max: [[0.01, 1],[0.05, 5],[0.1, 10],[1,30]]
tag_loc_percent: [1.0]
tag_family: tag36h11
tag_size: 0.414715509
dft_sift_params: True
trans_tol: 1.0
rad_tol: 1.0
baseline_method:
unif_contour_min_distance: 2.0