From 2105c397dac5c6de39fd4dbec450231c6f6b4262 Mon Sep 17 00:00:00 2001
From: ymd-stella <world.applepie@gmail.com>
Date: Sun, 25 Feb 2024 08:29:06 +0900
Subject: [PATCH] Add parameters for tuning equirectangular model

---
 docs/parameters.rst | 30 ++++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/docs/parameters.rst b/docs/parameters.rst
index 38afc34..2047e5f 100644
--- a/docs/parameters.rst
+++ b/docs/parameters.rst
@@ -158,6 +158,8 @@ Mapping
       - If true, remove keyframes past num_temporal_keyframes
     * - num_temporal_keyframes
       - Number of temporal keyframes
+    * - residual_deg_thr
+      - It is used to check epipolar constraints. The default inlier threshold value is 0.2 degree (e.g. for the camera with width of 900-pixel and 90-degree FOV, 0.2 degree is equivalent to 2 pixel in the horizontal direction)
 
 .. _section-parameters-stereo-rectifier:
 
@@ -352,6 +354,34 @@ LoopDetector
     * - backend
       - g2o or gtsam
 
+.. _section-parameters-global-optimizer:
+
+GlobalOptimizer
+===============
+
+.. list-table::
+    :header-rows: 1
+    :widths: 1, 3
+
+    * - Name
+      - Description
+    * - thr_neighbor_keyframes
+      - Keyframes exceeding the threshold are treated as neighbors
+
+.. _section-parameters-graph-optimizer:
+
+GraphOptimizer
+==============
+
+.. list-table::
+    :header-rows: 1
+    :widths: 1, 3
+
+    * - Name
+      - Description
+    * - min_num_shared_lms
+      - Add constraints between keyframes that exceed thresholds
+
 .. _section-parameters-marker-model:
 
 MarkerModel