From d52e8f11e2698dbb6ad9c82ec4aa44e6e43ac701 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 9 Apr 2022 12:24:29 +0200
Subject: [PATCH] Some sensible tuning
---
yaml/demo_visual_odometry_euroc.yaml | 5 ++---
yaml/processor_visual_odometry.yaml | 10 +++++++---
yaml/solver.yaml | 6 +++---
yaml/tree_manager_sliding.yaml | 2 +-
4 files changed, 13 insertions(+), 10 deletions(-)
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index 707d1b9..0be3673 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -3,9 +3,8 @@ config:
debug:
profiling: true
profiling_file: "~/wolf_demo_visual_odometry_profiling.txt"
- print_problem: false
+ print_problem: true
print_depth: 2 # only if print_problem
- print_state: false # only if print_problem
print_constr_by: false # only if print_problem
print_metric: false # only if print_problem
print_state_blocks: false # only if print_problem
@@ -13,7 +12,7 @@ config:
problem:
node_rate: 100
- follow: "tree_manager_full_history.yaml"
+ follow: "tree_manager_sliding.yaml"
frame_structure: "PO"
dimension: 3
prior:
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index c749065..541cf9c 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -5,12 +5,16 @@ algorithm:
klt_params:
tracker_width: 21
tracker_height: 21
- nlevels_pyramids: 3
+ nlevels_pyramids: 2
klt_max_err: 0.2
fast_params:
threshold_fast: 30
non_max_suppresion: true
-min_nb_tracks: 200
-max_nb_tracks: 400
+min_nb_tracks: 30
+max_nb_tracks: 50
+
+std_pix: 1
+
+min_track_length_for_landmark: 3
diff --git a/yaml/solver.yaml b/yaml/solver.yaml
index f7d5455..546f3ce 100644
--- a/yaml/solver.yaml
+++ b/yaml/solver.yaml
@@ -1,11 +1,11 @@
minimizer: "LEVENBERG_MARQUARDT"
interrupt_on_problem_change: false
-min_num_iterations: 4
+min_num_iterations: 1
max_num_iterations: 20
function_tolerance: 1e-7
gradient_tolerance: 1e-9
use_nonmonotonic_steps: false
-period: 0.3 # note: this must be smaller (i.e. faster) than the KF period in processor_tracker_landmark_apriltag.yaml
-n_threads: 2
+period: 0.5
+n_threads: 8
compute_cov: false
verbose: 0
\ No newline at end of file
diff --git a/yaml/tree_manager_sliding.yaml b/yaml/tree_manager_sliding.yaml
index 6ee8b76..520fde4 100644
--- a/yaml/tree_manager_sliding.yaml
+++ b/yaml/tree_manager_sliding.yaml
@@ -1,6 +1,6 @@
tree_manager:
type: TreeManagerSlidingWindow
n_fix_first_frames: 1
- n_frames: 15
+ n_frames: 5
viral_remove_empty_parent: true
# type: "none"
\ No newline at end of file
--
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