%YAML:1.0


# general parameters
imu: 1 # if zero we do full 6 dof, otherwise if 1 then 4 dof optimization
output_path: "~/output/" # where to save final trajectory


# loop closure saving parameters
load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
pose_graph_save_path: "~/output/pose_graph/" # save and load path
save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0


# loop closure parameters
recall_ignore_recent_ct: 40 # how many frames we should skip that are recent (avoid matching to recent frames)
min_score: 0.030 # min score from dbow to try to loop closure with (0.015 default)
pnp_inflation: 10.0 # amount to inflate pnp ransac sigma by (10.0 default)

max_theta_diff: 170.0 # max orientation diff between keyframe and query frame (degrees)
max_pos_diff: 1.5 # max position diff between keyframe and query frame (meters)
min_loop_feat_num: 35 # minimum number of features needed to be matched between the keyframe and query frame

# keyframing parameters
skip_dist: 0.02 # meters, distance between keyframes
skip_cnt: 0 # num, skip every n frames (typically don't need unless high framerate)