tumvi_512_config.json

{
    "value0": {
        "config.optical_flow_type": "frame_to_frame",
        "config.optical_flow_detection_grid_size": 40,
        "config.optical_flow_max_recovered_dist2": 0.04,
        "config.optical_flow_pattern": 51,
        "config.optical_flow_max_iterations": 5,
        "config.optical_flow_epipolar_error": 0.005,
        "config.optical_flow_levels": 3,
        "config.optical_flow_skip_frames": 1,
        "config.vio_linearization_type": "ABS_QR",
        "config.vio_sqrt_marg": true,
        "config.vio_max_states": 3,
        "config.vio_max_kfs": 7,
        "config.vio_min_frames_after_kf": 5,
        "config.vio_new_kf_keypoints_thresh": 0.7,
        "config.vio_debug": false,
        "config.vio_extended_logging": false,
        "config.vio_obs_std_dev": 0.5,
        "config.vio_obs_huber_thresh": 1.0,
        "config.vio_min_triangulation_dist": 0.05,
        "config.vio_outlier_threshold": 3.0,
        "config.vio_filter_iteration": 4,
        "config.vio_max_iterations": 7,
        "config.vio_enforce_realtime": false,
        "config.vio_use_lm": false,
        "config.vio_lm_lambda_initial": 1e-7,
        "config.vio_lm_lambda_min": 1e-6,
        "config.vio_lm_lambda_max": 1e2,
        "config.vio_lm_landmark_damping_variant": 1,
        "config.vio_lm_pose_damping_variant": 1,
        "config.vio_scale_jacobian": false,
        "config.vio_init_pose_weight": 1e8,
        "config.vio_init_ba_weight": 1e1,
        "config.vio_init_bg_weight": 1e2,
        "config.vio_marg_lost_landmarks": true,
        "config.vio_kf_marg_feature_ratio": 0.1,
        "config.mapper_obs_std_dev": 0.25,
        "config.mapper_obs_huber_thresh": 1.5,
        "config.mapper_detection_num_points": 800,
        "config.mapper_num_frames_to_match": 30,
        "config.mapper_frames_to_match_threshold": 0.04,
        "config.mapper_min_matches": 20,
        "config.mapper_ransac_threshold": 5e-5,
        "config.mapper_min_track_length": 5,
        "config.mapper_max_hamming_distance": 70,
        "config.mapper_second_best_test_ratio": 1.2,
        "config.mapper_bow_num_bits": 16,
        "config.mapper_min_triangulation_dist": 0.07,
        "config.mapper_no_factor_weights": false,
        "config.mapper_use_factors": true,
        "config.mapper_use_lm": false,
        "config.mapper_lm_lambda_min": 1e-32,
        "config.mapper_lm_lambda_max": 1e3
    }
}