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stereo_fisheye.yaml
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stereo_fisheye.yaml
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pipeline_is_stereo: True
grid_size: 35
use_async_reprojectors: True
use_imu: False
poseoptim_prior_lambda: 0.0
img_align_prior_lambda_rot: 0.0
img_align_prior_lambda_trans: 0.0
# If set to false, we process the next frame(s) only when the depth update is finished
use_threaded_depthfilter: False
# if the number of features are below this number, consider as failure
quality_min_fts: 5
# if the number of features reduce by this number for consecutive frames, consider as failure
quality_max_drop_fts: 80
max_depth_inv: 0.1
min_depth_inv: 10.0
mean_depth_inv: 0.5
map_scale: 5.0
kfselect_criterion: FORWARD
kfselect_numkfs_upper_thresh: 180
kfselect_numkfs_lower_thresh: 90
kfselect_min_dist_metric: 0.001
kfselect_min_angle: 6
kfselect_min_disparity: 40
kfselect_min_num_frames_between_kfs: 0
img_align_est_illumination_gain: true
img_align_est_illumination_offset: true
depth_filter_affine_est_offset: true
depth_filter_affine_est_gain: true
reprojector_affine_est_offset: true
reprojector_affine_est_gain: true
#from me
init_min_features: 25
#from fisheye
max_fts: 180
grid_size: 25
map_scale: 5
kfselect_criterion: FORWARD
kfselect_numkfs_upper_thresh: 120
kfselect_numkfs_lower_thresh: 40
kfselect_min_dist_metric: 0.2
kfselect_min_angle: 10
kfselect_min_disparity: 25
update_seeds_with_old_keyframes: True
T_world_imuinit/qx: 1
T_world_imuinit/qy: 0
T_world_imuinit/qz: 0
T_world_imuinit/qw: 0
publish_every_nth_dense_input: 5
publish_marker_scale: 0.8
# fisheye specific
# the distortion of fisheye is not negligible,
# therefore the jacobian need to be considered
img_align_use_distortion_jacobian: True
# pose optimization and epipolar search should be done on unit sphere
poseoptim_using_unit_sphere: True
scan_epi_unit_sphere: True