open_vins/settings.json at master · muellerlab/open_vins · GitHub

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{
  "do_time": false,
  "path_time": "/home/aaron/Desktop/openvins_data/traj_timing.txt",
  "FilterParameters": {
     "max_clones": 11,
     "max_slam": 0,
     "max_slam_in_update": 0,
     "max_msckf_in_update": 100,
     "init_window_time": 0.05,
     "init_imu_thresh": 0.12,
     "feat_rep_msckf": "GLOBAL_3D",
     "feat_rep_slam": "GLOBAL_3D"
  },
  "TrackerParameters": {
    "use_klt": true,
    "fast_threshold": 15,
    "grid_x": 4,
    "grid_y": 3,
    "min_px_dist": 10,
    "num_pts": 400
  },
  "CameraParameters": {
    "num_cameras": 1,
    "T_C0toI":
      [-1.0, 0.0, 0.0, 0.0,
       0.0, 0.0, -1.0, 0.0,
       0.0, -1.0, 0.0, 0.1,
       0.0, 0.0, 0.0, 1.0],
    "cam0_is_fisheye": false,
    "cam0_wh": [640, 480],
    "cam0_k": [320.0,320.0,320.0,240.0],
    "cam0_d": [0.0,0.0,0.0,0.0],
    "T_C1toI":
      [0.0, -1.0, 0.0, 0.0,
       -1.0, 0.0, 0.0, 0.0,
       0.0, 0.0, -1.0, 0.1,
       0.0, 0.0, 0.0, 1.0],
    "cam1_is_fisheye": false,
    "cam1_wh": [640, 480],
    "cam1_k": [320.0,320.0,320.0,240.0],
    "cam1_d": [0.0,0.0,0.0,0.0]
  },

  "SensorParameters": {
    "up_msckf_sigma_px": 1,
    "up_msckf_chi2_multipler": 1,
    "gyroscope_noise_density": 0.007955,
    "gyroscope_random_walk": 0.0,
    "accelerometer_noise_density": 0.004334,
    "accelerometer_random_walk": 0.0
  }
}