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parameters.txt~
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parameters.txt~
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dataBaseDir = '/home/valentin/Desktop/KITTI/2011_09_26/2011_09_26_drive_0035_extract';
======================================================================================
pipelineOptions.featureCount = 1000;
pipelineOptions.initDisparityThreshold = 1;
pipelineOptions.kfDisparityThreshold = 10;
pipelineOptions.showFeatureTracks = false;
pipelineOptions.inlierThreshold = 0.25^2;
pipelineOptions.inlierMinDisparity = 10;
pipelineOptions.inlierMaxForwardDistance = 50;
pipelineOptions.verbose = true;
%GTSAM
pipelineOptions.minViewingsForLandmark = 3;
pipelineOptions.obsNoiseSigma = 1;
pipelineOptions.useRobustMEst = true;
pipelineOptions.mEstWeight = 5;
pipelineOptions.triangPointSigma = 100;
xInit.p = T_wIMU_GT(1:3,4,1);
xInit.v = imuData.initialVelocity;
xInit.b_g = zeros(3,1);
xInit.b_a = zeros(3,1);
xInit.q = [1;zeros(3,1)];
g_w = -1*rotmat_from_quat(imuData.measOrient(:,1))'*[0 0 9.81]';
noiseParams.sigma_g = 1e-3*ones(3,1);
noiseParams.sigma_a = 1e-3*ones(3,1);
noiseParams.sigma_bg = 1e-5;
noiseParams.sigma_ba = 1e-5;
noiseParams.init_ba = [0.0045424; 0; -0.0015411];
noiseParams.init_bg = [-9.5784e-05; 1.7084e-05; 0.00023634];
noiseParams.tau = 10^12;
optimalWeight = 100;
predWeight = 0.01;
---------
BEST RPE: 0.28273 (100 frames, numClusters =5)
======================================================================================
dataBaseDir = '/home/valentin/Desktop/KITTI/2011_09_26/2011_09_26_drive_0002_sync';
======================================================================================
pipelineOptions.featureCount = 1000;
pipelineOptions.initDisparityThreshold = 1;
pipelineOptions.kfDisparityThreshold = 5;
pipelineOptions.showFeatureTracks = false;
pipelineOptions.inlierThreshold = 0.25^2;
pipelineOptions.inlierMinDisparity = 5;
pipelineOptions.inlierMaxForwardDistance = 300;
pipelineOptions.verbose = true;
%GTSAM
pipelineOptions.minViewingsForLandmark = 3;
pipelineOptions.obsNoiseSigma = 0.25;
pipelineOptions.useRobustMEst = true;
pipelineOptions.mEstWeight = 50;
pipelineOptions.triangPointSigma = 10;
xInit.p = T_wIMU_GT(1:3,4,1);
xInit.v = imuData.initialVelocity;
xInit.b_g = zeros(3,1);
xInit.b_a = zeros(3,1);
xInit.q = [1;zeros(3,1)];
g_w = -1*rotmat_from_quat(imuData.measOrient(:,1))'*[0 0 9.81]';
noiseParams.sigma_g = 1e-3*ones(3,1);
noiseParams.sigma_a = 1e-2*ones(3,1);
noiseParams.sigma_bg = 1e-4;
noiseParams.sigma_ba = 1e-4;
noiseParams.init_ba = zeros(3,1);
noiseParams.init_bg = zeros(3,1);
noiseParams.tau = 10^12;