From d6f5ba17c2afd77d5450edff2bd9946d0f7307b3 Mon Sep 17 00:00:00 2001 From: Patrick Geneva Date: Mon, 18 Jul 2022 11:51:51 -0400 Subject: [PATCH] more config comments [skip ci] --- config/euroc_mav/estimator_config.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/config/euroc_mav/estimator_config.yaml b/config/euroc_mav/estimator_config.yaml index 6795ffe49..98e422462 100644 --- a/config/euroc_mav/estimator_config.yaml +++ b/config/euroc_mav/estimator_config.yaml @@ -77,14 +77,14 @@ filepath_gt: "/tmp/ov_groundtruth.txt" # our front-end feature tracking parameters # we have a KLT and descriptor based (KLT is better implemented...) -use_klt: true -num_pts: 200 -fast_threshold: 20 -grid_x: 5 -grid_y: 5 -min_px_dist: 10 -knn_ratio: 0.70 -track_frequency: 21.0 +use_klt: true # if true we will use KLT, otherwise use a ORB descriptor + robust matching +num_pts: 200 # number of points (per camera) we will extract and try to track +fast_threshold: 20 # threshold for fast extraction (warning: lower threshs can be expensive) +grid_x: 5 # extraction sub-grid count for horizontal direction (uniform tracking) +grid_y: 5 # extraction sub-grid count for vertical direction (uniform tracking) +min_px_dist: 10 # distance between features (features near each other provide less information) +knn_ratio: 0.70 # descriptor knn threshold for the top two descriptor matches +track_frequency: 21.0 # frequency we will perform feature tracking at (in frames per second / hertz) downsample_cameras: false # will downsample image in half if true multi_threading: true # if should enable opencv multi threading histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE