EQVIO_config_template.yaml

eqf:
  initialVariance:
    attitude: 1.0
    position: 1.0
    velocity: 1.0
    point: 5000.0
    pointDepth: -1.0
    cameraAttitude: 0.1
    cameraPosition: 0.1
    biasGyr: 1.0
    biasAcc: 1.0
  processVariance:
    cameraPosition: 0.0001
    cameraAttitude: 0.0001 
    biasGyr: 0.0001
    biasAcc: 0.0001
    attitude: 0.01
    position: 0.01
    velocity: 0.1
    point: 0.001
  initialValue:
    sceneDepth: 1.0
    cameraOffset:
      - xw
      - -0.0216401454975
      - -0.064676986768
      - 0.00981073058949
      - 0.7123014606690344
      - -0.007707179755538301
      - 0.010499323370588468
      - 0.7017528002920512
  measurementNoise:
    feature: 0.003
    featureOutlierAbs: 0.01
    featureOutlierProb: 3.0
    featureRetention: 0.2
  velocityNoise:
    gyr: 0.0001
    acc: 0.0001
    gyrBias: 0.0001
    accBias: 0.0001
  settings:
    fastRiccati: false
    useDiscreteInnovationLift: true
    useDiscreteVelocityLift: true
    coordinateChoice: Euclidean
    useMedianDepth: true
    useFeaturePredictions: false
    useEquivariantOutput: true
    removeLostLandmarks: true
    useDiscreteStateMatrix: false
GIFT:
  intrinsicsFile: intrinsics_example.yaml
  maxFeatures: 30
  featureDist: 30
  minHarrisQuality: 0.05
  featureSearchThreshold: 0.8
  maxError: 1e8
  winSize: 21
  maxLevel: 3
  trackedFeatureDist: 20.0
  equaliseImageHistogram: false
main:
  writeState: false
  showVisualisation: true
  limitRate: 20.0 # Hz