Mapping

Mapping parameters

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.

Events processing

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

DSI

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

Point cloud from voxel grid

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

Linf

No extra parameters required.

Contrast

Parameter	Description
half_patchsize	size of the gaussian filter to estimate contrast

Gradient magnitude

Parameter	Description
half_patchsize	size of the sobel filter to compute algebraic derivatives

Map expansion

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

Further references

To fully understand how the parameters are used in the mapping module, please refer to:

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Mapping

Mapping parameters

Table of contents

Events processing

DSI

Point cloud from voxel grid

Linf

Contrast

Gradient magnitude

Map expansion

Further references

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