zParametersBundlingDefault.txt

s_verbose = false;

s_erodeSIFTdepth = true;
s_sendUplinkFeedbackImage = true;

s_recordSolverConvergence = false;

s_enablePerFrameTimings = false;
s_enableGlobalTimings = false;

s_widthSIFT = 640;
s_heightSIFT = 480;

s_minKeyScale = 3.0f;//5.0f;
s_siftMatchThresh = 0.7f; //0.7f;//0.5f;
s_siftMatchRatioMaxLocal = 0.8f;
s_siftMatchRatioMaxGlobal = 0.8f;

s_optMaxResThresh = 0.08f;			//not squared (per axis component)
s_denseDistThresh = 0.15f;
s_denseNormalThresh = 0.97f;
s_denseColorThresh = 0.1f;
s_denseColorGradientMin = 0.005f;
s_denseDepthMin = 0.5f;
s_denseDepthMax = 4.0f;
s_denseOverlapCheckSubsampleFactor = 4;

//s_maxNumImages = 400;
//s_submapSize = 30;
s_maxNumImages = 800;	
s_submapSize = 10;
s_maxNumKeysPerImage = 1024;

s_useLocalDense = true;
s_numOptPerResidualRemoval = 1; 

s_numLocalNonLinIterations = 2;
s_numLocalLinIterations = 100;
s_numGlobalNonLinIterations = 3;
s_numGlobalLinIterations = 150;

//s_downsampledWidth = 160;
//s_downsampledHeight = 120;
s_downsampledWidth = 80;
s_downsampledHeight = 60;


//dense term filtering
s_colorDownSigma = 2.5f;
s_depthDownSigmaD = 1.0f;
s_depthDownSigmaR = 0.05f;

s_maxKabschResidual2 = 0.0004f;

s_projCorrDistThres = 0.15f;
s_projCorrNormalThres = 0.97f;
s_projCorrColorThresh = 0.1f;

s_verifySiftErrThresh = 0.075f;
s_verifySiftCorrThresh = 0.02f;

s_useLocalVerify = true;
s_verifyOptErrThresh = 0.05f; 
s_verifyOptCorrThresh = 0.001f;

s_surfAreaPcaThresh = 0.032f;

s_minNumMatchesLocal = 5;
s_minNumMatchesGlobal = 5;

// filtering 
s_depthSigmaD = 2.0f;	//bilateral filter sigma domain
s_depthSigmaR = 0.05f;	//bilateral filter sigma range
s_depthFilter = true;	//bilateral filter enabled depth

s_useComprehensiveFrameInvalidation = true;