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‎config/calib/00/ba_calib.yml‎

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BaseDir: ../KITTI-00/
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KeyFrameDir: KeyFrames/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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init_sim3: calib_res/he_rb_calib_00.txt
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ORBVocabulary: ../data/Vocabulary/ORBvoc.txt
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ORBConfig: ../config/orb_ori/KITTI00-02.yaml
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VOIdFile: FrameId.yml
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MapFile: Map.yml
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ResFile: calib_res/ba_local_calib_00.txt
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method: local # global or local
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method_options: {"global":1,"local":2}

‎config/calib/00/he_calib.yml‎

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%YAML:1.0
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---
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io:
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BaseDir: ../KITTI-00/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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VOIdFile: FrameId.yml
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ResFile: calib_res/he_calib_00.txt
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ResRBFile: calib_res/he_rb_calib_00.txt
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ResLPFile: calib_res/he_lp_calib_00.txt
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runtime:
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zero_translation: true
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regulation: true
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robust_kernel_size: 0.3
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regulation_weight: 1.0E-3
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inner_iter: 10
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ex_iter: 20
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init_mu: 64
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divide_factor: 1.4
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min_mu: 0.01
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verborse: true

‎config/calib/00/iba_calib.yml‎

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%YAML:1.0
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---
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io:
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BaseDir: ../KITTI-00/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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VOIdFile: FrameId.yml
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ResFile: calib_res/iba_calib_00.txt
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init_sim3: calib_res/pso_calib_00.txt
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PointCloudDir: ../data/00/velodyne
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orb:
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Vocabulary: ../data/Vocabulary/ORBvoc.txt
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Config: ../config/orb_ori/KITTI00-02.yaml
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KeyFrameDir: ../KITTI-00/KeyFrames/
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MapFile: ../KITTI-00/Map.yml
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runtime:
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max_pixel_dist: 1.5
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min_covis_weight: 200
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kdtree2d_max_leaf_size: 10
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kdtree3d_max_leaf_size: 30
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neigh_radius: 0.6
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neigh_max_pts: 30
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max_iba_iter: 30
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pl_eval_factor: 10
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inner_iba_iter: 10
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robust_kernerl_delta: 10
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verborse: true

‎config/calib/00/iba_calib_drawfunc.yml‎

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%YAML:1.0
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---
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io:
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BaseDir: ../KITTI-00/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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VOIdFile: FrameId.yml
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init_sim3: ../demo/sim3_demo_00.txt
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res_file: ../demo/sim3_res_00.txt
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PointCloudDir: ../data/00/velodyne
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PointCloudskip: 1
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precision: 6
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PointCloudOnlyPositiveX: true
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orb:
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Vocabulary: ../data/Vocabulary/ORBvoc.txt
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Config: ../config/orb_ori/KITTI00-02.yaml
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KeyFrameDir: ../KITTI-00/KeyFrames/
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MapFile: ../KITTI-00/Map.yml
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runtime:
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max_pixel_dist: 1.5
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num_best_convis: 3 # set negative to use min_convis_weight
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min_covis_weight: 100
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min_rot_diff: 0.03
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kdtree2d_max_leaf_size: 10
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kdtree3d_max_leaf_size: 30
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corr_3d_2d_threshold: 40
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corr_3d_3d_threshold: 10
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norm_max_pts: 30
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norm_min_pts: 5
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norm_radius: 0.6
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norm_reg_threshold: 0.02 # 0.02
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min_diff_dist: 0.3 # 0.2
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he_threshold: 0.094
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err_weight: [1.0, 0.0]
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verborse: true
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use_plane: true # set to false for the ablation study

‎config/calib/00/iba_calib_global.yml‎

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%YAML:1.0
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---
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io:
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BaseDir: ../KITTI-00/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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VOIdFile: FrameId.yml
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ResFile: calib_res/iba_global_baonly_00.txt
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init_sim3: calib_res/he_rb_calib_00.txt
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gt_sim3: calib_res/gt_calib_00.txt
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PointCloudDir: ../data/00/velodyne
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PointCloudskip: 1
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PointCloudOnlyPositiveX: true
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orb:
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Vocabulary: ../data/Vocabulary/ORBvoc.txt
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Config: ../config/orb_ori/KITTI00-02.yaml
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KeyFrameDir: ../KITTI-00/KeyFrames/
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MapFile: ../KITTI-00/Map.yml
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runtime:
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max_pixel_dist: 1.5
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num_best_convis: 3 # set negative to use min_convis_weight
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min_covis_weight: 100
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min_rot_diff: 0.03
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kdtree2d_max_leaf_size: 10
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kdtree3d_max_leaf_size: 30
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corr_3d_2d_threshold: 40
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corr_3d_3d_threshold: 10
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norm_max_pts: 30
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norm_min_pts: 5
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norm_radius: 0.6
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norm_reg_threshold: 0.02 # 0.02
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min_diff_dist: 0.2 # 0.2
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he_threshold: 0.094
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err_weight: [1.0, 0.0]
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init_frame: [0.5,0.5,0.5,0.5,0.5,0.5,0.5]
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min_mesh: 1.0E-6
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lb: [-0.1,-0.1,-0.1,-0.3,-0.3,-0.3,-1.0]
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ub: [0.1,0.1,0.1,0.3,0.3,0.3,1.0]
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max_bbeval: 5000
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valid_rate: 0.95
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seed: 0
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use_vns: true
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use_cache: false
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cacheFile: ../KITTI-00/cache/cache_00_d1.5_fuse_wide.txt
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verborse: true
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use_plane: false # set to false for the ablation study

‎config/calib/00/iba_calib_gpr.yml‎

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%YAML:1.0
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---
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io:
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BaseDir: ../KITTI-00/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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VOIdFile: FrameId.yml
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ResFile: calib_res/iba_calib_gpr_00.txt
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init_sim3: calib_res/iba_global_pl_00.txt
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PointCloudDir: ../data/00/velodyne
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PointCloudSkip: 1
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PointCloudOnlyPositiveX: true # set to false to load points with negative X, or set true to save memory, provided you assume it is prior knowledge
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orb:
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Vocabulary: ../data/Vocabulary/ORBvoc.txt
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Config: ../config/orb_ori/KITTI00-02.yaml
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KeyFrameDir: ../KITTI-00/KeyFrames/
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MapFile: ../KITTI-00/Map.yml
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runtime:
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max_pixel_dist: 1.5
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num_best_convis: 10
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min_covis_weight: 200
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kdtree2d_max_leaf_size: 10
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kdtree3d_max_leaf_size: 30
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neigh_radius: 1.0
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neigh_max_pts: 30
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neigh_min_pts: 10
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max_iba_iter: 30
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inner_iba_iter: 10
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sq_err_threshold: 500
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robust_kernel_delta: 6.25
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robust_kernel_3ddelta: 0.5
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init_sigma: 5
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init_l: 10
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sigma_noise: 1.0E-10
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optimize_gpr: true
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verborse: true

‎config/calib/00/iba_calib_local.yml‎

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%YAML:1.0
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---
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io:
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BaseDir: ../KITTI-00/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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VOIdFile: FrameId.yml
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ResFile: calib_res/iba_local_00.txt
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init_sim3: calib_res/iba_global_bias_00.txt
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PointCloudDir: ../data/00/velodyne
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PointCloudSkip: 1
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PointCloudOnlyPositiveX: true # set to false to load points with negative X, or set true to save memory, provided you assume it is prior knowledge
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orb:
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Vocabulary: ../data/Vocabulary/ORBvoc.txt
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Config: ../config/orb_ori/KITTI00-02.yaml
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KeyFrameDir: ../KITTI-00/KeyFrames/
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MapFile: ../KITTI-00/Map.yml
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runtime:
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max_pixel_dist: 1.5
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num_best_convis: 3
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min_covis_weight: 200
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neigh_max_pts: 30
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neigh_min_pts: 5
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neigh_radius: 0.6
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norm_reg_threshold: 0.02
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min_diff_dist: 0.2
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init_sigma: 5
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init_l: 10
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sigma_noise: 1.0E-10
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optimize_gpr: true
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kdtree2d_max_leaf_size: 10
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kdtree3d_max_leaf_size: 30
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max_iba_iter: 10
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inner_iba_iter: 10
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iba_min_diff: 1.0E-6
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sq_err_threshold: 500
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robust_kernel_delta: 5.0
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robust_kernel_3ddelta: 1.5
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err_weight: [1.0, 1.0]
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verborse: true

‎config/calib/00/iba_calib_plane.yml‎

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%YAML:1.0
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---
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io:
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BaseDir: ../KITTI-00/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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VOIdFile: FrameId.yml
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ResFile: calib_res/iba_plane_00.txt
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init_sim3: calib_res/iba_global_pl3_00.txt
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PointCloudDir: ../data/00/velodyne
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PointCloudSkip: 1
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PointCloudOnlyPositiveX: true # set to false to load points with negative X, or set true to save memory, provided you assume it is prior knowledge
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orb:
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Vocabulary: ../data/Vocabulary/ORBvoc.txt
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Config: ../config/orb_ori/KITTI00-02.yaml
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KeyFrameDir: ../KITTI-00/KeyFrames/
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MapFile: ../KITTI-00/Map.yml
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runtime:
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max_pixel_dist: 1.5
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num_best_convis: 3
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min_covis_weight: 200
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kdtree2d_max_leaf_size: 10
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kdtree3d_max_leaf_size: 30
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norm_radius: 0.3
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norm_max_pts: 30
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max_iba_iter: 30
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inner_iba_iter: 10
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sq_err_threshold: 500
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robust_kernel_delta: 6.25
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verborse: true

‎config/calib/00/iba_global_refine.yml‎

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%YAML:1.0
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---
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io:
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BaseDir: ../KITTI-00/
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VOFile: slam_res/Twc.txt
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LOFile: slam_res/floam_isam_00.txt
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VOIdFile: FrameId.yml
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ResFile: calib_res/iba_global_plrefine_00.txt
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init_sim3: calib_res/iba_global_pl_00.txt
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gt_sim3: calib_res/gt_calib_00.txt
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PointCloudDir: ../data/00/velodyne
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PointCloudskip: 1
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PointCloudOnlyPositiveX: true
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orb:
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Vocabulary: ../data/Vocabulary/ORBvoc.txt
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Config: ../config/orb_ori/KITTI00-02.yaml
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KeyFrameDir: ../KITTI-00/KeyFrames/
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MapFile: ../KITTI-00/Map.yml
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runtime:
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max_pixel_dist: 1.5
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num_best_convis: 3 # set negative to use min_convis_weight
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min_covis_weight: 100
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min_rot_diff: 0.03
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kdtree2d_max_leaf_size: 10
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kdtree3d_max_leaf_size: 30
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corr_3d_2d_threshold: 8
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corr_3d_3d_threshold: 0.5
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norm_max_pts: 30
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norm_radius: 0.6
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norm_reg_threshold: 0.004
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min_diff_dist: 0.2
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he_threshold: 0.093
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err_weight: [1.0, 1.0]
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init_frame: [0.05,0.05,0.05,0.1,0.1,0.1,0.2]
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min_mesh: 1.0E-8
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lb: [-0.05,-0.05,-0.05,-0.1,-0.1,-0.1,-0.2]
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ub: [0.05,0.05,0.05,0.1,0.1,0.1,0.2]
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max_bbeval: 5000
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seed: 0
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use_cache: false
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cacheFile: ../KITTI-00/cache/cache_00_d1.5_fuse_wide.txt
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verborse: true
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use_plane: true # set to false for the ablation study

‎config/calib/00/icp_calib.yml‎

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%YAML:1.0
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---
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io:
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lidar_pcd: ../KITTI-00/slam_res/floam_map_00.pcd
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lidar_pose: ../KITTI-00/slam_res/floam_isam_00.txt
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cam_pcd: ../KITTI-00/slam_res/orb_map_00.pcd
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init_sim3: ../KITTI-00/calib_res/iba_global_stable_00.txt
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FrameId: ../KITTI-00/FrameId.yml
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savePath: ../KITTI-00/calib_res/icp_calib_00.txt
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runtime:
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max_corr_dist: 1
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max_iter: 100
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vis:
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use_vis: true
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height: 960
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width: 1280
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name: "Map ICP"
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cam_pcd_color: [0.7,0.3,0.8]
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lidar_pcd_color: [0.5,0.8,0.3]

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