The enhanced Okvis system can be executed the same way as Okvis. All dependencies are the same as Okvis.(See https://github.com/ethz-asl/okvis for their Readme and how to run.)
The enhanced Vins-Mono system can be executed the same way as Vins-Mono but has some additional input parameters. All dependencies are the same as Vins-Mono. (See https://github.com/HKUST-Aerial-Robotics/VINS-Mono for their Readme and how to run.)
The following additional parameters in the launch file can be used:
- param name="expweightdist" type="double" value="{VALUE}"
Equals to a in Report.
- param name="nummeasurements" type="int" value="{VALUE}"
Number of measurements in the initialization of the maximum reprojection error.
- param name="cluster_windowsize" type="int" value="{VALUE}"
Windowsize of clusters.
- param name="num_cluster_confirmation" type="int" value="{VALUE}"
Number of clusters for a landmark to lie inside for full reduction.
- param name="classifier" type="string" value={VALUE}
Type of classifier:
-
dep3
-
nodep
-
noclassifier
-
param name="clusteralgorithm" type="string" value="{VALUE}"
Type of cluster-algorithm:
- simple
- dbscan
See readme in sfmsin folder.