From 445c00db54ab55977341ed2e0ef8e3a3a93c8bc6 Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <vlad.usenko@tum.de>
Date: Mon, 29 Jul 2019 16:56:29 +0200
Subject: [PATCH] Added evaluation for pose-graph optimization

---
 data/euroc_config_no_weights.json | 38 +++++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 data/euroc_config_no_weights.json

diff --git a/data/euroc_config_no_weights.json b/data/euroc_config_no_weights.json
new file mode 100644
index 0000000..76f377c
--- /dev/null
+++ b/data/euroc_config_no_weights.json
@@ -0,0 +1,38 @@
+{
+    "value0": {
+        "config.optical_flow_type": "frame_to_frame",
+        "config.optical_flow_detection_grid_size": 50,
+        "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_debug": 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.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": true
+    }
+}