vio:
  grid_size: 8            #Feature grid size of a cell in [px].
  max_n_kfs: 200            #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed.  Minimum number of keyframes is 3.
  loba_num_iter: 10         #Number of iterations in the local bundle adjustment.
  quality_min_fts: 10      #If the number of tracked features drops below this threshold. Tracking quality is bad.
  quality_max_drop_fts: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad.
  init_min_tracked: 120
  init_min_disparity: 10
  structureoptim_max_pts: 50
  kfselect_mindist: 0.01
  poseoptim_thresh: 1.5
  ACC_ekf: 0.2          #acc white noise in continuous in EKF
  GYO_ekf: 0.1         #gyro white noise in continuous in EKF
  VO_ekf_translation: 1.0              #VO noise  in EKF
  VO_ekf_orientation: 1.0              #VO noise  in EKF
  CMD_ekf_translation: 0.1  #control vector noise in EKF
  CMD_ekf_orientation: 0.01  #control vector noise in EKF