package xslam.vins.feature_tracker.proto

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Used in: estimator.proto.EstimatorOptions

• string model_type = 1

  camera calibration

• string camera_name = 2

• int32 image_width = 3

• int32 image_height = 4

• double focal_length = 25

  distortion

• double k1 = 5

• double k2 = 6

• double p1 = 7

• double p2 = 8

• double fx = 9

  projection

• double fy = 10

• double cx = 11

• double cy = 12

• int32 estimate_extrinsic = 13

  Extrinsic parameter between IMU and Camera.

  0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.

• int32 estimate_td = 14

  unsynchronization parameters

  online estimate time offset between camera and imu

• double td = 15

• int32 rolling_shutter = 16

  rolling shutter parameters

  0: global shutter camera, 1: rolling shutter camera

• int32 rolling_shutter_tr = 17

• int32 max_cnt = 18

  feature traker paprameters

  max feature number in feature tracking

• int32 min_distance = 19

  min distance between two features

• int32 freq = 20

  frequence (Hz) of publish tracking result. At least 10Hz for good estimation.

• double F_threshold = 21

  ransac threshold (pixel)

• bool show_track = 22

  publish tracking image as topic

• bool equalize = 23

  if image is too dark or light, trun on equalize to find enough features

• bool fisheye = 24

  if using fisheye, trun on it. A circle mask will be loaded to remove edge noisy points