14 lines
1018 B
YAML
14 lines
1018 B
YAML
svo:
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grid_size: 30 #Feature grid size of a cell in [px].
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max_n_kfs: 10 #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.
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loba_num_iter: 0 #Number of iterations in the local bundle adjustment.
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quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad.
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quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad.
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ACC_noise: 0.00001 #acc white noise in continuous
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GYO_noise: 0.00001 #gyro white noise in continuous
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IUC: 0.1 #integration uncertainty continuous
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ABC: 0.1 #acc bias in continuous
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GBC: 0.1 #gyro bias in continuous
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EBP: 0.1 #error in the bias used for preintegration
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NRP: 0.0000001 #noise used for projection in preintegration
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