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Mapping
This page summarizes the purpose of the parameters that affect the mapping module. Please, consider the linked references for further details on how the parameters are used by the mapping algorithm.
If you plan to modify or extend the mapping module, consider having a look at the documentation.
| Parameter | Description |
|---|---|
| skip_batches | amount of batches of events to skip during optimization |
| skip_batches_for_reset | amount of batches of events to skip during optimization after a reset |
| max_event_rate | maximum number of events processed per second; eventually drops events to fulfill this |
| frame_size | number of events to aggregate when computing new map |
| min_batch_size | minimum number of new events required for a map update |
| events_to_recreate_kf | number of events considered when creating a new keyframe to center the pose of the voxel grid |
| Parameter | Description |
|---|---|
| min_depth | voxel grid minimum depth |
| max_depth | voxel grid maximum depth |
| num_depth_cells | number of depth cells |
| fov_virtual_camera_deg | fov virtual camera (voxel grid) |
| virtual_width | voxel grid width |
| virtual_height | voxel grid height |
| adaptive_threshold_kernel_size | size of the adaptive threshold filter |
| size adaptive_threshold_c | constant offset of the adaptive thresholding |
Remark that only the last two parameters are actually private parameters of the module, the others are shared and are described also in the global parameters wiki page
| Parameter | Description |
|---|---|
| type_focus_measure | type of focus measure to use |
| radius_search | radius filter radius size |
| min_num_neighbors | minimum number of neighbors for radius filter |
| voxel_filter_leaf_size | voxel filter granularity |
| median_filter_size | size of median filter on depthmap |
| accumulate_local_map_once_every | 1 to accumulate all the local maps, n to acccumulate 1 every n |
| global_point_cloud_skip_first | number of local maps to skip when accumulating the global point cloud |
| radius_search_global_map | radius filter on global point cloud radius size |
| min_num_neighbors_global_map | minimum number of neighbors for radius filter on global point cloud |
Remark that the global point cloud is not a global map, but it is built accumulating the different local point maps.
The currently available focus measures are summarized in the next table.
| type_focus_measure | Description |
|---|---|
| 0 | Linf: pick 3D points where voxels have a local maximum of votes |
| 1 | Contrast: pick 3D points where the contrast of the voxel grid is maximum |
| 2 | Gradient magnitude: pick 3D points where the gradient magnitude is maximum |
No extra parameters required.
| Parameter | Description |
|---|---|
| half_patchsize | size of the gaussian filter to estimate contrast |
| Parameter | Description |
|---|---|
| half_patchsize | size of the sobel filter to compute algebraic derivatives |
| Parameter | Description |
|---|---|
| rate | rate at which the node checks whether an expansion is needed |
| visibility_threshold | visibility of the map below which the update is triggered |
| coverage_threshold | minimum amount of pixels covered by reprojected map threshold |
| baseline_threshold | baseline / mean depth ration above which the update is triggered |
| number_of_initial_maps_to_skip | starts checking updates conditions after this number of maps |
To fully understand how the parameters are used in the mapping module, please refer to: