| %YAML:1.0 | |
| # additional camera parameters | |
| camera_parameters: | |
| timestamp_tolerance: 0.005 # [s] stereo frame out-of-sync tolerance | |
| sync_cameras: [0] # the cameras that will be synchronised | |
| image_delay: 0.00 # [s] timestamp_camera_correct = timestamp_camera - image_delay | |
| online_calibration: # some parameters to set the online | |
| do_extrinsics: false # Do we online-calibrate extrinsics? | |
| do_extrinsics_final_ba: false # Do we calibrate extrinsics in final BA? | |
| sigma_r: 0.01 # T_SCi position prior stdev [m] | |
| sigma_alpha: 0.05 # T_SCi orientation prior stdev [rad] | |
| imu_parameters: | |
| use: true | |
| a_max: 176.0 # acceleration saturation [m/s^2] | |
| g_max: 7.8 # gyro saturation [rad/s] | |
| #sigma_g_c: 20.0e-4 # gyro noise density [rad/s/sqrt(Hz)] | |
| #sigma_a_c: 20.0e-3 # accelerometer noise density [m/s^2/sqrt(Hz)] | |
| sigma_bg: 0.01 # gyro bias prior [rad/s] | |
| sigma_ba: 0.1 # accelerometer bias prior [m/s^2] | |
| #sigma_gw_c: 20.0e-5 # gyro drift noise density [rad/s^s/sqrt(Hz)] | |
| #sigma_aw_c: 20.0e-3 # accelerometer drift noise density [m/s^2/sqrt(Hz)] | |
| g: 9.81007 # Earth's acceleration due to gravity [m/s^2] | |
| g0: [ 0.0, 0.0, 0.0 ] # initial gyro bias [rad/s] | |
| a0: [ -0.05, 0.09, 0.01 ] # initial accelerometer bias [m/s^2] | |
| # transform Body-Sensor (IMU) | |
| T_BS: | |
| [1.0000, 0.0000, 0.0000, 0.0000, | |
| 0.0000, 1.0000, 0.0000, 0.0000, | |
| 0.0000, 0.0000, 1.0000, 0.0000, | |
| 0.0000, 0.0000, 0.0000, 1.0000] | |
| # frontend: detection etc. | |
| frontend_parameters: | |
| detection_threshold: 38.0 #42.0 # detection threshold. By default the uniformity radius in pixels | |
| absolute_threshold: 150.0 # absolute Harris corner threshold (noise floor) | |
| matching_threshold: 60.0 # BRISK descriptor matching threshold | |
| octaves: 0 # number of octaves for detection. 0 means single-scale at highest resolution | |
| max_num_keypoints: 700 # restrict to a maximum of this many keypoints per image (strongest ones) | |
| keyframe_overlap: 0.60 # minimum field-of-view overlap | |
| use_cnn: false # use the CNN (if available) to filter out dynamic content / sky | |
| parallelise_detection: true # Run parallel detect & describe. | |
| num_matching_threads: 4 # Parallelise matching with this number of threads. | |
| # estimator parameters | |
| estimator_parameters: | |
| num_keyframes: 5 # number of keyframes in optimisation window | |
| num_loop_closure_frames: 3 # number of loop closure frames in optimisation window | |
| num_imu_frames: 3 # number of frames linked by most recent nonlinear IMU error terms | |
| do_loop_closures: true # whether to do VI-SLAM or VIO | |
| do_final_ba: false # Whether to run a full final BA | |
| enforce_realtime: false # whether to limit the time budget for optimisation | |
| realtime_min_iterations: 3 # minimum number of iterations always performed | |
| realtime_max_iterations: 10 # never do more than these, even if not converged | |
| realtime_time_limit: 0.035 # time budget for realtime optimisation [s] | |
| realtime_num_threads: 3 # number of threads for the realtime optimisation | |
| full_graph_iterations: 15 # don't do more than these for the full (background) optimisation | |
| full_graph_num_threads: 3 # number of threads for the full (background) optimisation | |
| # some options for how and what to output | |
| output_parameters: | |
| display_matches: true # displays debug video and matches. May be slow. | |
| display_overhead: false # debug overhead image. Is slow. | |