17 lines
1.0 KiB
YAML
17 lines
1.0 KiB
YAML
svo:
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grid_size: 30 #Feature grid size of a cell in [px].
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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.
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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: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad.
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init_min_tracked: 100
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init_min_disparity: 40
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structureoptim_max_pts: 50
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kfselect_mindist: 0.01
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poseoptim_thresh: 8.0
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init_min_inliers: 30
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ACC_noise: 0.5 #acc white noise in continuous in EKF
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GYO_noise: 0.5 #gyro white noise in continuous in EKF
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svo_ekf: 0.05 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
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Cmd_Cov: 0.5 #control vector noise in EKF
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