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config_example.cfg
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%YAML:1.0
# SDVL configuration file
#--------------------------------------------------------------------------------------------
# Camera Parameters
#--------------------------------------------------------------------------------------------
Camera.width: 640
Camera.height: 480
Camera.fx: 517.3
Camera.fy: 516.5
Camera.u0: 318.6
Camera.v0: 255.3
Camera.d1: 0.2624
Camera.d2: -0.9531
Camera.d3: -0.0054
Camera.d4: 0.0026
Camera.d5: 1.1633
#--------------------------------------------------------------------------------------------
# Video Parameters
#--------------------------------------------------------------------------------------------
# Type: 0 read real camera, 1 read consecutive images
Video.type: 1
# Configure real camera
Video.device: 0 #/dev/videox
Video.width: 640
Video.height: 480
Video.fps: 30
# Read sequential images from file
Video.path: "/path/to/images/"
Video.filename: "files.txt"
#--------------------------------------------------------------------------------------------
# SDVL Parameters
#--------------------------------------------------------------------------------------------
# Relevant parameters
SDVL.cell_size: 32 # Cell size in image
SDVL.min_avg_shift: 50 # Min average shift between features to initialize
SDVL.max_matches: 150 # Max matches needed
SDVL.max_keyframes: 100 # Max number of keyframes saved
SDVL.use_orb: 0 # Use ORB descriptors
# Ordinary parameters
SDVL.pyramid_levels: 5 # Number of pyramid levels
SDVL.min_keyframe_its: 30 # Min number of iterations before creating a new keyframe
SDVL.min_matches: 20 # Min matches needed
SDVL.max_failed: 15 # Max failed projections to delete a point
SDVL.max_search_keyframes: 5 # Max number of keyframes used to compare matches
SDVL.max_optim_pose_its: 10 # Max number of iterations for pose optimization
SDVL.max_ransac_points: 5 # Max number of selected points in RANSAC
SDVL.max_ransac_its: 100 # Max number of RANSAC iterations
SDVL.threshold_converged: 0.1 # Theshold of convergence
SDVL.min_init_corners: 50 # Min corners used to initialize
SDVL.inlier_error_threshold: 2.0 # Error threshold to be an inlier
SDVL.map_scale: 1.0 # Map scale
SDVL.max_alignLevel: 4 # Max level in pyramid
SDVL.min_alignLevel: 2 # Min level in pyramid
SDVL.max_img_align_its: 30 # Max image align iterations
SDVL.align_patch_size: 4 # Patch size
SDVL.scale_min_dist: 0.25 # Min distance to point compared to map scale
SDVL.lost_ratio: 0.7 # Lost points ratio to create new Keyframes
SDVL.patch_size: 8 # Path size for matches
SDVL.max_align_its: 10 # Max interations allowed to align point
SDVL.search_size: 6 # Search size around each pixel in deep search
SDVL.orb_size: 31 # ORB descriptor size
SDVL.max_fast_levels: 3 # Max number of pyramid levels in FAST
SDVL.fast_threshold: 10 # FAST threahold
SDVL.min_feature_score: 50 # Min feature Shi Tomasi score
SDVL.num_features: 1000 # Number of features detected per frame