18 lines
1.0 KiB
YAML
18 lines
1.0 KiB
YAML
vio:
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grid_size: 8 #Feature grid size of a cell in [px].
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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.
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loba_num_iter: 10 #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: 120
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init_min_disparity: 10
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structureoptim_max_pts: 50
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kfselect_mindist: 0.01
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poseoptim_thresh: 1.5
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ACC_ekf: 0.2 #acc white noise in continuous in EKF
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GYO_ekf: 0.1 #gyro white noise in continuous in EKF
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VO_ekf_translation: 1.0 #VO noise in EKF
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VO_ekf_orientation: 1.0 #VO noise in EKF
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CMD_ekf_translation: 0.1 #control vector noise in EKF
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CMD_ekf_orientation: 0.01 #control vector noise in EKF
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