EQVIO_config_UZHFPV.yaml

GIFT:
  equaliseImageHistogram: false
  featureDist: 85.14085350941133
  featureSearchThreshold: 0.4678407422980303
  maxError: 24.859286812166822
  maxFeatures: 40
  maxLevel: 3
  minHarrisQuality: 0.041154574134693075
  ransacParams:
    inlierThreshold: 0.0023054130418769516
    maxIterations: 53
    minDataPoints: 5
    minInliers: 47
  trackedFeatureDist: 18.31029378391811
  winSize: 13
eqf:
  initialValue:
    sceneDepth: 5.063359392968643
  initialVariance:
    attitude: 0.09440608762859234
    biasAcc: 0.6343716263804418
    biasGyr: 2.859235978270507
    cameraAttitude: 0.01690927549681094
    cameraPosition: 0.010721941602677596
    point: 77.24860136667657
    position: 0.1
    velocity: 7.286181745132278e-05
  measurementNoise:
    feature: 0.5334515782275915
    featureOutlierAbs: 4.281940468140158
    featureOutlierProb: 0.10406031980156036
    featureRetention: 0.2276564690508065
  processVariance:
    attitude: 1.584893192461114e-05
    biasAcc: 0.0
    biasGyr: 0.0
    cameraAttitude: 8.535913392913662e-07
    cameraPosition: 5.892675149026958e-05
    point: 0.001
    position: 1.0e-05
    velocity: 0.0009172759353897796
  settings:
    coordinateChoice: InvDepth
    fastRiccati: true
    useDiscreteInnovationLift: false
    useDiscreteVelocityLift: true
    useEquivariantOutput: true
    useFeaturePredictions: false
    useInnovationLift: true
    useMedianDepth: false
  velocityNoise:
    acc: 0.0031188805760819604
    accBias: 0.009484699993745682
    gyr: 0.0001556083863968156
    gyrBias: 4.324987346585896e-05
main:
  cameraLag: 0.010541058194473643
  limitRate: 0.0
  startTime: 0.0
  writeFilter: false
  writeState: true
sim:
  cameraOffset:
  - xw
  - -0.04844625116694773
  - -0.08142350220051031
  - 0.003102425417307478
  - 0.7021240268103595
  - -0.006484783602096129
  - 0.013217864997878212
  - 0.7017528002920512
  fieldOfView: 60
  maxFeatures: 40
  numPoints: 5000
  randomSeed: 0
  wallDistance: 1.0