basalt/data/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_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_max_iterations": 5,
        "config.vio_debug": false,
        "config.vio_obs_std_dev": 0.5,
        "config.vio_obs_huber_thresh": 1.0,

        "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": 0.3,
        "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
    }
}