Visual-SLAM.yaml

#camera_yaml: TUM1realsense.yaml
#camera_yaml: ORB_mv_25002090.yaml
camera_yaml: ORB_mv_25002112.yaml

#camera_topic: /camera/rgb/image_color
#camera_topic: /mv_25002090/image_raw
camera_topic: /mv_25002112/image_raw

additional_params:
#  scale: 12.7872
  scale: 14.208
  save_map: false
  use_rangefinder: true
  with_viewer: false
  reuse_map: true
#in meters:
  waypoint_dist_threshold: 0.3
#in degrees:
  waypoint_yaw_threshold: 10
  takeoff_height: 0.8