Configuration Parse

Linux/Mac

The following is the parameter description of the PC configuration, include slam parameters and device parameters.

output

  • q_bo: the rotation part of extrinsics from output to body in quaternion, (x y z w)

  • p_bo: the translation part of extrinsics from output to body, (x y z)

camera

  • noise: the convariance matrix for keypoint measurement noise, (pixel^2)

  • distortion: the distortion coefficient of camera, (k1 k2 p1 p2)

  • intrinsic: the intrinsics of camera (fx fy cx cy)

  • q_bc: the rotation part of extrinsics from camera to body

  • p_bc: the translation part of extrinsics from camera to body

  • note: if you need to modify the distortion and intrinsic, remember the content at xrslam-pc/player/src/euroc_dataset_reader.cpp L55,56 to be modified at the same time.

imu

  • cov_g: the convariance matrix for gyroscope white noise, (rad/s/sqrt(hz))^2)

  • cov_a: the convariance matrix for accelerometer white noise, ((m/s^2/sqrt(hz))^2)

  • cov_bg: the convariance matrix for gyroscope bias diffusion, ((rad/s^2/sqrt(hz))^2)

  • cov_ba: the convariance matrix for accelerometer bias diffusion, ((m/s^3/sqrt(hz))^2)

  • q_bi: the rotation part of extrinsics from IMU to body

  • p_bi: the translation part of extrinsics from IMU to body

sliding window

  • size: the size of keyframes in the sliding window

  • force_keyframe_landmark: decide keyframe if the number of landmarks observed at this frame is below a certain threshold

feature_tracker

  • min_keypoint_distance: the minimum distance between two detected keypoints

  • max_keypoint_detection: the maxmium number of keypoints detected in each frame

  • max_init_frames: the maxmium number of frames in the map of feature tracker before initialization

  • max_frames: the maxmium number of frames in the map of feature tracker after initialization

  • predict_keypoints: weather to predict key keypoints according to transformation

initializer

  • keyframe_num: the number of keyframes required for initialization

  • keyframe_gap: the number of frames between two adjacent keyframes

  • min_matches: the minimum matches between the first and last frame for sfm initialization

  • min_parallax: the minimum average parallax between the first and last frame

  • min_triangulation: the minimum triangulation counts between the first and last frame

  • min_landmarks: the minimum number of landmarks in the map for initialization

  • refine_imu: weather to refine scale and velocity via gravity

solver

  • iteration_limit: the maxmium number of iteration for each optimization

  • time_limit: the maxmium time which optimizer cost for each optimization

iOS

iOS configuration also includes slam parameters and iPhone Parameters.

output

  • q_bo: the rotation part of extrinsics from output to body in quaternion, (x y z w)

  • p_bo: the translation part of extrinsics from output to body, (x y z)

camera

  • noise: the convariance matrix for keypoint measurement noise, (pixel^2)

  • distortion: the distortion coefficient of camera, (k1 k2 p1 p2)

  • intrinsic: the intrinsics of camera (fx fy cx cy)

  • q_bc: the rotation part of extrinsics from camera to body

  • p_bc: the translation part of extrinsics from camera to body

  • note: if you need to modify the distortion and intrinsic, remember the content at xrslam-pc/player/src/euroc_dataset_reader.cpp L55,56 to be modified at the same time.

imu

  • cov_g: the convariance matrix for gyroscope white noise, (rad/s/sqrt(hz))^2)

  • cov_a: the convariance matrix for accelerometer white noise, ((m/s^2/sqrt(hz))^2)

  • cov_bg: the convariance matrix for gyroscope bias diffusion, ((rad/s^2/sqrt(hz))^2)

  • cov_ba: the convariance matrix for accelerometer bias diffusion, ((m/s^3/sqrt(hz))^2)

  • q_bi: the rotation part of extrinsics from IMU to body

  • p_bi: the translation part of extrinsics from IMU to body

sliding window

  • size: the size of keyframes in the sliding window

  • tracker_frequent: use one frame for every n frames

feature_tracker

  • min_keypoint_distance: the minimum distance between two detected keypoints

  • max_keypoint_detection: the maxmium number of keypoints detected in each frame

  • max_frames: the maxmium number of frames in the map of feature tracker after initialization

solver

  • iteration_limit: the maxmium number of iteration for each optimization

  • time_limit: the maxmium time which optimizer cost for each optimization

visual_localization

  • enable: enable sfm-based localization or not

  • ip: server IP

  • port: server port