wuyou33/master_thesis_code_all

Readme

dynokvis

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.)

dynvinsmono

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

sfmsin

See readme in sfmsin folder.