parameters.yaml

simtrack/tracker/device_id: 0
simtrack/detector/device_id: 1

simtrack/optical_flow/n_scales: 0 # 0=auto
simtrack/optical_flow/median_filter: true
simtrack/optical_flow/consistent: true
simtrack/optical_flow/cons_thres: 0.5
simtrack/optical_flow/four_orientations: false

simtrack/detector/vec_size: 4
simtrack/detector/num_iter_ransac: 1000

simtrack/tracker/color_only_mode: false
simtrack/tracker/n_icp_outer_it: 3
simtrack/tracker/n_icp_inner_it: 3
simtrack/tracker/w_flow: 1.0
simtrack/tracker/w_ar_flow: 1.0
simtrack/tracker/w_disp: 1.0 # ignored in color_only_mode
simtrack/tracker/max_samples: 500000
simtrack/tracker/key_bits: 4
simtrack/tracker/near_plane: 0.001
simtrack/tracker/far_plane: 10.0

simtrack/tracker/reliability_threshold: 0.15
simtrack/tracker/sparse_intro_reliability_threshold: 0.30
simtrack/tracker/sparse_intro_allowed_reliability_decrease: 0.02
simtrack/tracker/max_proportion_projected_bounding_box: 10.0
simtrack/tracker/max_t_update_norm_squared: 0.04