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main.ini
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main.ini
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# -------------------------------------------------------------------
# Config file for the "corner-calib" application
# -------------------------------------------------------------------
main_type = '[Real]'
[Real]
USER_INITIALISE = true // true for user initial hits input, false otherwise
WITH_MONTECARLO = false // true | false Run Monte Carlo simulation when propagating covariances
WindowStyle = 'normal' // Windows style: 'normal' | 'docked' | 'modal'
#VIDEO_PREVIEW = false // true | false Shows a video preview of images to be employed # Temporarily unavailable
typeOfSource = 'Rawlog' // 'Rawlog' | 'Blender' The data format (generated by Blender or Rawlog)
datasetname = 'VideoIndoorSickJesus' // 'Blender1' | 'Comercio2' | ... The base name of dataset (with number)
stereoLabel = '_L' // '_L' | '_R' | '' The stereo camera label when using stereo pairs
stereoStore = true
LIDAR_tag = '_LASER_LMS' // '_LASER_LMS' | '_LASER_HOKUYO'
hokuyoLabel = '' // The Hokuyo label when using multiple rig
decimation = 1 // The decimation when taking dataset images
img_idxs = [1 412] // The span of image indexes to take into account in complete dataset / 1755 / 520
win_visibility = 'on' // The window in Matlab pops up when refreshed
linesToEnd = [1 1 1] // Expand lines to image borders in GOptimizer
ptime = 0.01 // Pause time when processing images and scans
WITHRANSAC = true // Apply RANSAC to correspondences prior to optimization
WITH_plotTs = false
videoFigure = true
#videoFigurePos = [600 500 2*640 2*480]
videoFigurePos = [1 1 1920 1080]
LRF_video_borders = [0 5 -3 3]
syncr_gap = 5
[Real]
USER_INITIALISE = true // true for user initial hits input, false otherwise
WITH_MONTECARLO = false // true | false Run Monte Carlo simulation when propagating covariances
WindowStyle = 'normal' // Windows style: 'normal' | 'docked' | 'modal'
#VIDEO_PREVIEW = false // true | false Shows a video preview of images to be employed # Temporarily unavailable
typeOfSource = 'Rawlog' // 'Rawlog' | 'Blender' The data format (generated by Blender or Rawlog)
datasetname = 'Comercio5' // 'Blender1' | 'Comercio2' | ... The base name of dataset (with number)
stereoLabel = '_R' // '_L' | '_R' | '' The stereo camera label when using stereo pairs
stereoStore = true
LIDAR_tag = '_LASER_HOKUYO' // '_LASER_LMS' | '_LASER_HOKUYO'
hokuyoLabel = '' // The Hokuyo label when using multiple rig
decimation = 1 // The decimation when taking dataset images
img_idxs = [1 300] // The span of image indexes to take into account in complete dataset / 1755
win_visibility = 'on' // The window in Matlab pops up when refreshed
linesToEnd = [0 1 1] // Expand lines to image borders in GOptimizer
ptime = 0.01 // Pause time when processing images and scans
WITHRANSAC = true // Apply RANSAC to correspondences prior to optimization
WITH_plotTs = false
videoFigure = true
videoFigurePos = [1 1 1920 1080]
LRF_video_borders = [-2 3 -2.5 2.5]
syncr_gap = 5
[GT]
USER_INITIALISE = true // true for user initial hits input, false otherwise
WITH_MONTECARLO = false // true | false Run Monte Carlo simulation when propagating covariances
WindowStyle = 'normal' // Windows style: 'normal' | 'docked' | 'modal'
#VIDEO_PREVIEW = false // true | false Shows a video preview of images to be employed # Temporarily unavailable
typeOfSource = 'Rawlog' // 'Rawlog' | 'Blender' The data format (generated by Blender or Rawlog)
datasetname = 'GTLab4' // 'Blender1' | 'Comercio2' | ... The base name of dataset (with number)
stereoLabel = '_R' // '_L' | '_R' | '' The stereo camera label when using stereo pairs
stereoStore = true
LIDAR_tag = '_LASER_LMS' // '_LASER_LMS' | '_LASER_HOKUYO'
hokuyoLabel = '' // The Hokuyo label when using multiple rig
decimation = 1 // The decimation when taking dataset images
img_idxs = [1 1] // The span of image indexes to take into account in complete dataset / 1755
win_visibility = 'on' // The window in Matlab pops up when refreshed
linesToEnd = [1 1 1] // Expand lines to image borders in GOptimizer
ptime = 0.01 // Pause time when processing images and scans
WITHRANSAC = true // Apply RANSAC to correspondences prior to optimization
WITH_plotTs = false
syncr_gap = 5
[GT_IR]
USER_INITIALISE = true // true for user initial hits input, false otherwise
WITH_MONTECARLO = false // true | false Run Monte Carlo simulation when propagating covariances
WindowStyle = 'normal' // Windows style: 'normal' | 'docked' | 'modal'
#VIDEO_PREVIEW = false // true | false Shows a video preview of images to be employed # Temporarily unavailable
typeOfSource = 'Rawlog' // 'Rawlog' | 'Blender' The data format (generated by Blender or Rawlog)
datasetname = 'GT2' // 'Blender1' | 'Comercio2' | ... The base name of dataset (with number)
stereoLabel = '_R' // '_L' | '_R' | '' The stereo camera label when using stereo pairs
stereoStore = true
LIDAR_tag = '_LASER_LMS' // '_LASER_LMS' | '_LASER_HOKUYO'
hokuyoLabel = '' // The Hokuyo label when using multiple rig
decimation = 1 // The decimation when taking dataset images
img_idxs = [1 1] // The span of image indexes to take into account in complete dataset / 1755
win_visibility = 'on' // The window in Matlab pops up when refreshed
linesToEnd = [1 1 1] // Expand lines to image borders in GOptimizer
ptime = 0.01 // Pause time when processing images and scans
WITHRANSAC = true // Apply RANSAC to correspondences prior to optimization
WITH_plotTs = false
syncr_gap = 5
[Blender]
USER_INITIALISE = true // true for user initial hits input, false otherwise
WITH_MONTECARLO = false // true | false Run Monte Carlo simulation when propagating covariances
WindowStyle = 'normal' // Windows style: 'normal' | 'docked' | 'modal'
#VIDEO_PREVIEW = false // true | false Shows a video preview of images to be employed # Temporarily unavailable
typeOfSource = 'Blender' // 'Rawlog' | 'Blender' The data format (generated by Blender or Rawlog)
datasetname = 'Blender_a' // 'Blender1' | 'Comercio2' | ... The base name of dataset (with number)
stereoLabel = '' // '_L' | '_R' | '' The stereo camera label when using stereo pairs
hokuyoLabel = '' // The Hokuyo label when using multiple rig
decimation = 1 // The decimation when taking dataset images
img_idxs = [1 10] // The span of image indexes to take into account in complete dataset
win_visibility = 'on' // The window in Matlab pops up when refreshed
WITHRANSAC = false
WITH_plotTs = false
syncr_gap = 5
[Noise]
WITHPLOTSCENE = false // Plot scenes with different patterns
WITHRANSAC = false // Apply RANSAC pre-filtering of correspondences in Trihedron
WITHPLOTCOST = false // Plot cost functions near GT R and t for different patterns and optimization methods
WITHPLOTHESSIAN = false // Plot 3D ellipsoid with hessian (for visualization of relative shape, etc.)
WITHVERBOSE = true // Control the appearance of messages
# Choose patterns to simulate
WITHTRIHEDRON = true
WITHCORNER = true
WITHZHANG = false
storeFile = 'sim_test.mat'
noise_config_file = 'sim_noise.ini'
noise_config_sect = '[test]'
[Simulation]
Nobs = 20 // Number of observations to generate
WITHPLOTSCENE = false // Plot scenes with different patterns
WITHRANSAC = false // Apply RANSAC pre-filtering of correspondences in Trihedron
WITHPLOTCOST = false // Plot cost functions near GT R and t for different patterns and optimization methods
WITHPLOTHESSIAN = false // Plot 3D ellipsoid with hessian (for visualization of relative shape, etc.)
WITHVERBOSE = true // Control the appearance of messages and information
# Choose patterns to simulate
WITHTRIHEDRON = true
WITHCORNER = false
WITHZHANG = false