Parameter file

Example file

v: 1
alsologtostderr: true
log_dir: <DATASET_LOG_DIR>
ncamera_calibration: <BAG_FOLDER>/ncamera-euroc.yaml
imu_parameters_maplab: <BAG_FOLDER>/imu-adis16488.yaml
datasource_rosbag: <BAG_FILENAME>
save_map_folder: <OUTPUT_MAP_FOLDER>
datasource_type: rosbag
optimize_map_to_localization_map: false
map_builder_save_image_as_resources: false
vio_rosbag_realtime_playback_rate: 3
rovio_enable_frame_visualization: false
export_estimated_poses_to_csv: <DATASET_LOG_DIR>/trajectory_rovioli.csv

Usage

The parameter file defines additional parameters for the estimator step of the experiment. For each <name>: <value> pair defined in the yaml, an additional argument of the form --<name>=<value will be given to the estimator.

Placeholders

The values in this files support placeholders, i.e. values between <> will be replaced. See Available placeholders