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| Original file line number | Diff line number | Diff line change |
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| # ----------------------------------------------------------------------------------------------------- | ||
| # StVO parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| # kf decision (SLAM) parameters | ||
| min_entropy_ratio : 0.85 # entropy ratio for detecting when a new KF is needed | ||
| max_kf_t_dist : 5.0 # max distance (tran) from previous KF to insert a new KF | ||
| max_kf_r_dist : 15.0 # max distance (rot) from previous KF to insert a new KF | ||
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| # StVO-PL options | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| has_points : true # true if using points | ||
| has_lines : true # true if using line segments | ||
| use_fld_lines : false # true if using FLD detector | ||
| lr_in_parallel : true # true if detecting and matching features in parallel | ||
| pl_in_parallel : true # true if detecting points and line segments in parallel | ||
| best_lr_matches : true # true if double-checking the matches between the two images | ||
| adaptative_fast : true # true if using adaptative fast_threshold | ||
| use_motion_model : false # true if using constant motion model | ||
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| # Tracking parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| # Point features | ||
| max_dist_epip : 0.0 # max. epipolar distance in pixels | ||
| min_disp : 1.0 # min. disparity (avoid points in the infinite) | ||
| min_ratio_12_p : 0.75 # min. ratio between the first and second best matches | ||
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| # Line segment features | ||
| line_sim_th : 0.75 # threshold for cosine similarity | ||
| stereo_overlap_th : 0.75 | ||
| f2f_overlap_th : 0.75 | ||
| min_line_length : 0.025 # min. line length (relative to img size) | ||
| line_horiz_th : 1.0 # parameter to avoid horizontal lines (pixels) | ||
| min_ratio_12_l : 0.75 # parameter to avoid outliers in line matching | ||
| ls_min_disp_ratio : 0.7 # min ratio between min(disp)/max(disp) for a LS | ||
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| # Adaptative FAST parameters | ||
| fast_min_th : 5 # min. value for FAST threshold | ||
| fast_max_th : 50 # max. value for FAST threshold | ||
| fast_inc_th : 5 # base increment for the FAST threshold | ||
| fast_feat_th : 50 # base number of features to increase/decrease FAST threshold | ||
| fast_err_th : 0.5 # threshold for the optimization error | ||
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| # Optimization parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| homog_th : 1e-7 # avoid points in the infinite | ||
| min_features : 10 # min. number of features to perform StVO | ||
| max_iters : 5 # max. number of iterations in the first stage of the optimization | ||
| max_iters_ref : 10 # max. number of iterations in the refinement stage | ||
| min_error : 1e-7 # min. error to stop the optimization | ||
| min_error_change : 1e-7 # min. error change to stop the optimization | ||
| inlier_k : 4.0 # factor to discard outliers before the refinement stage | ||
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| # Feature detection parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| matching_stereo : 0 # 0 - pure descriptor based | 1 - window based plus descriptor | ||
| matching_s_ws : 10 # size of the windows (in pixels) to look for stereo matches (if matching_stereo=1) | ||
| matching_f2f_ws : 3 # size of the windows (in pixels) to look for f2f matches | ||
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| # ORB detector | ||
| orb_nfeatures : 1200 # number of ORB features to detect | ||
| orb_scale_factor : 1.2 # pyramid decimation ratio for the ORB detector | ||
| orb_nlevels : 4 # number of pyramid levels | ||
| orb_edge_th : 19 # size of the border where the features are not detected | ||
| orb_wta_k : 2 # number of points that produce each element of the oriented BRIEF descriptor | ||
| orb_score : 1 # 0 - HARRIS | 1 - FAST | ||
| orb_patch_size : 31 # size of the patch used by the oriented BRIEF descriptor. | ||
| orb_fast_th : 20 # default FAST threshold | ||
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| # LSD parameters | ||
| lsd_nfeatures : 300 # number of LSD lines detected (set to 0 if keeping all lines) | ||
| lsd_refine : 0 # the way of refining or not the detected lines | ||
| lsd_scale : 1.2 # scale of the image that will be used to find the lines | ||
| lsd_sigma_scale : 0.6 # sigma for Gaussian filter | ||
| lsd_quant : 2.0 # bound to the quantization error on the gradient norm | ||
| lsd_ang_th : 22.5 # gradient angle tolerance in degrees | ||
| lsd_log_eps : 1.0 # detection threshold (only for advanced refinement) | ||
| lsd_density_th : 0.6 # minimal density of aligned region points in the enclosing rectangle | ||
| lsd_n_bins : 1024 # number of bins in pseudo-ordering of gradient modulus | ||
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| # ----------------------------------------------------------------------------------------------------- | ||
| # PLSLAM parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
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| fast_matching : true # allow for the fast matching (window-based) of the map features | ||
| has_refinement : false # refine the pose between keyframes (disabled as it is also performed by the LBA) | ||
| mutithread_slam : true # if true the system runs with both the VO, LBA and LC in parallel threads | ||
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| # lm numbers and errors | ||
| min_lm_obs : 5 # min number of observations for a landmark to be considered as inlier | ||
| max_common_fts_kf : 0.9 # max number of common features for a keyframe to be considered redundant (disabled) | ||
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| max_kf_epip_p : 1.0 # max epip distance for points in LBA | ||
| max_kf_epip_l : 1.0 # max epip distance for line segments in LBA | ||
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| max_point_point_error : 0.1 # maximum distance to fuse landmarks from local map (points) | ||
| max_point_line_error : 0.1 # maximum distance to fuse landmarks from local map (lines) | ||
| max_dir_line_error : 0.1 # maximum angle in line direction to fuse landmarks from local map | ||
| kf_inlier_ratio : 30.0 # ratio of inliers to fuse local landmarks | ||
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| # graphs parameters | ||
| min_lm_ess_graph : 150 # minimum number of landmarks for connectivity in Essential graph | ||
| min_lm_cov_graph : 75 # minimum number of landmarks for connectivity in Covisibility graph | ||
| min_kf_local_map : 3 # min number of landmarks for the local mapping | ||
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| # LBA | ||
| lambda_lba_lm : 0.00001 # (if auto, this is the initial tau) | ||
| lambda_lba_k : 10.0 # lambda_k for LM method in LBA | ||
| max_iters_lba : 15 # maximum number of iterations | ||
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| # Loop closure | ||
| vocabulary_p : "/home/ruben/code/pl-slam-dev/vocabulary/mapir_orb.yml" | ||
| vocabulary_l : "/home/ruben/code/pl-slam-dev/vocabulary/mapir_lsd.yml" | ||
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| lc_res : 1.0 # maximum residue in relative pose estimation | ||
| lc_unc : 0.01 # maximum uncertainty value in relative pose estimation | ||
| lc_inl : 0.3 # minimum inlier ratio in relative pose estimation | ||
| lc_trs : 1.5 # maximum translation in relative pose estimation | ||
| lc_rot : 35.0 # maximum rotation in relative pose estimation | ||
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| max_iters_pgo : 100 # maximum number of iterations of the PGO | ||
| lc_kf_dist : 50 # minimum number of KFs from prev LC | ||
| lc_kf_max_dist : 50 # max distance from last LC KF | ||
| lc_nkf_closest : 4 # number of KFs closest to the match to consider it as positive | ||
| lc_inlier_ratio : 30.0 # inlier ratio to consider or not a loop closure | ||
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| min_pt_matches : 10 # min number of point observations | ||
| min_ls_matches : 6 # min number of line segment observations | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| # StVO parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| has_points : true # true if using points | ||
| has_lines : true # true if using line segments | ||
| lr_in_parallel : true # true if detecting and matching features in parallel | ||
| pl_in_parallel : true # true if detecting points and line segments in parallel | ||
| # Tracking parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| min_ratio_12_p : 0.75 # min. ratio between the first and second best matches | ||
| min_ratio_12_l : 0.75 # parameter to avoid outliers in line matching | ||
| # Optimization parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| inlier_k : 4.0 # factor to discard outliers before the refinement stage | ||
| # Feature detection parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| # ORB detector | ||
| orb_nfeatures : 1200 # number of ORB features to detect | ||
| orb_nlevels : 4 # number of pyramid levels | ||
| orb_fast_th : 20 # default FAST threshold | ||
| # LSD parameters | ||
| lsd_nfeatures : 300 # number of LSD lines detected (set to 0 if keeping all lines) | ||
| # kf decision (SLAM) parameters | ||
| min_entropy_ratio : 0.85 # entropy ratio for detecting when a new KF is needed | ||
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| # ----------------------------------------------------------------------------------------------------- | ||
| # PLSLAM parameters | ||
| # ----------------------------------------------------------------------------------------------------- | ||
| fast_matching : false # allow for the fast matching (window-based) of the map features | ||
| mutithread_slam : true # if true the system runs with both the VO, LBA and LC in parallel threads | ||
| # graphs parameters | ||
| min_lm_ess_graph : 150 # minimum number of landmarks for connectivity in Essential graph | ||
| min_lm_cov_graph : 75 # minimum number of landmarks for connectivity in Covisibility graph | ||
| min_kf_local_map : 3 # min number of landmarks for the local mapping | ||
| # Loop closure | ||
| vocabulary_p : "/home/ruben/code/pl-slam-dev/vocabulary/mapir_orb.yml" | ||
| vocabulary_l : "/home/ruben/code/pl-slam-dev/vocabulary/mapir_lsd.yml" | ||
| lc_inl : 0.3 # minimum inlier ratio in relative pose estimation | ||
| lc_nkf_closest : 4 # number of KFs closest to the match to consider it as positive | ||
| lc_inlier_ratio : 30.0 # inlier ratio to consider or not a loop closure |
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