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Parameters

SLAM.Params — Type

Parameters of the system.

Arguments:

  • stereo::Bool: Set to false if in monocular mode, otherwise true. Default is false.
  • max_nb_keypoints::Int64: Maximum number of keypoints to detect in the image. Default is 1000.
  • max_distance::Int64: Cell size in pixels of the grid in Frame. Each frame is divided into a grid, where each cell contains certain number of keypoints. This grid is used when retrieving neighbouring keypoints from the Frame.
  • max_ktl_distance::Float64: When doing optical flow tracking, it is done by first tracking keypoint from previous frame to the current frame and then in reverse. If the distance between keypoint in previous frame and reverse tracked is greater than this distance, then that keypoint is considered lost and discarded. Default is 1.0.
  • pyramid_levels::Int64: Number of pyramid levels to use during optical flow. Set to 0 to use only original image. Otherwise if set to L, then total number of levels is L + 1. Default is 3.
  • pyramid_σ::Float64: σ for the Gaussian blur, used when constructing pyramids. Default is 1.0.
  • window_size::Int64: Size of the window to use when doing optical flow tracking. Default is 9.
  • initial_parallax::Float64: Average amount of the parallax needed between the frames for the initialization. Default is 20.0.
  • max_reprojection_error::Float64: Maximum reprojection error for the mappoint to be considered inlier. It is used in triangulation and pose calculation. Default is 3.0.
  • min_cov_score::Int64: Minimum number of 3D MapPoints required to perform Bundle-Adjustment. Default is 25.
  • filtering_ratio::Float64: Number of good keypoints divided by the total number of keypoints in a Frame. This is used to filter out non-informative Frames. If frame ratio is greater than this value, then it is removed during map filtering. Default is 0.9.
  • map_filtering::Bool: Set to true to perform local map matching. The goal of this is to try to re-match lost 3D keypoints back into the current frame.
  • max_projection_distance::Float64: Maximum distance between projected and target pixels to consider keypoints being "the same". Is is used during local map matching. Default is 2.0.
  • max_descriptor_distance::Float64: Maximum distance ratio between descriptors to be considered similar. It is used during local map matching. Default is 0.35. The lesser the value, the more accurate matching will be. Should be in (0, 1) range.

Below variables are part of the SLAM state and should not change manually.

  • vision_initialized::Bool: If true, then the Front-End was successfully initialized.
  • reset_required::Bool: Indicates if the visual part requires reset. This could happen if the system is tracking too little points.
  • local_ba_on::Bool: true, when Estimator is performing Local Bundle Adjustment.
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