settings.yaml

%YAML:1.0

max_feature_num: 1000
# for experiments
runFrameNum:  10000
runTestFlag:  0
runRefFrame:  800
runNewFrame:  800
debug_mode:   1
# trade-off between accuracy and efficiency
ransac_maximum_iterations:  400
maximum_keyframe_match_num:       5
use_fine_search:                  1


# should be optimized by algorithm, select the parameters automatically.
minimum_disparity:        0.1
reprojection_error_3d_threshold:  0.01
reprojection_error_2d_threshold:  6
keyframe_minimum_distance:        4
remove_outlier_keyframes:         0
use_icp_registration:             0
icp_weight:                       0.5
far_plane_distance:               5


# not sure if it is reasonable

#fixed parameters
hamming_distance_threshold:       50
salient_score_threshold:          1.5
maximum_local_frame_match_num:    10
save_ply_files:                   0