17 lines
1.0 KiB
YAML
17 lines
1.0 KiB
YAML
svo:
|
|
grid_size: 30 #Feature grid size of a cell in [px].
|
|
max_n_kfs: 20 #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: 0 #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: 100
|
|
init_min_disparity: 10
|
|
structureoptim_max_pts: 50
|
|
kfselect_mindist: 0.01
|
|
poseoptim_thresh: 8.0
|
|
init_min_inliers: 30
|
|
ACC_noise: 0.5 #acc white noise in continuous in EKF
|
|
GYO_noise: 0.5 #gyro white noise in continuous in EKF
|
|
svo_ekf: 0.05 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
|
|
Cmd_Cov: 1.0 #control vector noise in EKF
|