config_ycbineoat.yml

data_dir: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/iros20_dataset/video_rosbag/IROS_SELECTED/FINISHED_LABEL.iros_submission_version/bleach0
mask_dir: '/media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/iros20_dataset/video_rosbag/IROS_SELECTED/FINISHED_LABEL.iros_submission_version/bleach0/masks'
model_name: 021_bleach_cleanser
model_dir: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/DATASET/YCB_Video_Dataset/CADmodels/021_bleach_cleanser/textured_simple.obj
debug_dir: /tmp/BundleTrack/
LOG: 0
port: '5555'

depth_processing:
  erode:
    radius: 1
    diff: 0.001
    ratio: 0.8   #if ratio larger than this, depth set to 0
  bilateral_filter:
    radius: 2
    sigma_D: 2
    sigma_R: 100000
  outlier_removal:
    num: 30
    std_mul: 3


bundle:
  num_iter_outter: 7
  num_iter_inner: 5
  window_size: 2  #exclude keyframes, include new frame
  max_BA_frames: 15
  subset_selection_method: greedy_rot
  robust_delta: 0.005
  min_fm_edges_newframe: 5
  image_downscale: 4

keyframe:
  min_interval: 1
  min_feat_num: 0
  min_rot: 10


sift:
  scales: [2,4,8]
  nOctaveLayers: 3
  contrastThreshold: 0.01
  edgeThreshold: 50
  sigma: 1.6

feature_corres:
  mutual: True
  max_dist_no_neighbor: 0.02
  max_normal_no_neighbor: 45
  max_dist_neighbor: 0.03
  max_normal_neighbor: 45

ransac:
  max_iter: 2000
  num_sample: 3
  inlier_dist: 0.01
  inlier_normal_angle: 45
  max_trans_neighbor: 0.05   #ransac model estimated pose shouldnt be too far
  max_rot_deg_neighbor: 45
  max_trans_no_neighbor: 0.02
  max_rot_no_neighbor: 10

p2p:
  max_dist: 0.02
  max_normal_angle: 45