update: init auxiliary files

resources/fast-scnn.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fcef94092f5f0f6425fc479bd32f0a57b05be2fdbdd896a3c3941c1532a861e4
+size 4958078

resources/small_voc.yml.gz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5794b4add087ff23e54fa229d9773ab2fb25a81a75eac3e29af233b02a929f4d
+size 64538

vslamlab_okvis2_settings.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Sensor names
+#--------------------------------------------------------------------------------------------
+cam_mono: rgb_0
+imu: imu_0
+
+# additional camera parameters
+camera_parameters:
+    timestamp_tolerance: 0.005 # [s] stereo frame out-of-sync tolerance
+    sync_cameras: [0] # the cameras that will be synchronised
+    image_delay: 0.0 # [s] timestamp_camera_correct = timestamp_camera - image_delay
+    online_calibration: # some parameters to set the online
+        do_extrinsics: false # Do we online-calibrate extrinsics?
+        do_extrinsics_final_ba: true # Do we calibrate extrinsics in final BA?
+        sigma_r: 0.01 # T_SCi position prior stdev [m]
+        sigma_alpha: 0.1 # T_SCi orientation prior stdev [rad]
+        sigma_r_final_ba: 0.03 # T_SCi position prior stdev in final BA [m]
+        sigma_alpha_final_ba: 0.3 # T_SCi orientation prior stdev in final BA [rad]
+
+# frontend: detection etc.
+frontend_parameters:
+    detection_threshold: 38.0 #42.0 # detection threshold. By default the uniformity radius in pixels
+    absolute_threshold: 150.0 # absolute Harris corner threshold (noise floor)
+    matching_threshold: 60.0 # BRISK descriptor matching threshold
+    octaves: 0 # number of octaves for detection. 0 means single-scale at highest resolution
+    max_num_keypoints: 700 # restrict to a maximum of this many keypoints per image (strongest ones)
+    keyframe_overlap: 0.60 # minimum field-of-view overlap
+    use_cnn: false # use the CNN (if available) to filter out dynamic content / sky
+    parallelise_detection: true # Run parallel detect & describe.
+    num_matching_threads: 4 # Parallelise matching with this number of threads.
+
+# estimator parameters
+estimator_parameters:
+    num_keyframes: 5 # number of keyframes in optimisation window
+    num_loop_closure_frames: 3 # number of loop closure frames in optimisation window
+    num_imu_frames: 3 # number of frames linked by most recent nonlinear IMU error terms
+    do_loop_closures: true # whether to do VI-SLAM or VIO
+    do_final_ba: false # Whether to run a full final BA
+    enforce_realtime: false # whether to limit the time budget for optimisation
+    realtime_min_iterations: 3 # minimum number of iterations always performed
+    realtime_max_iterations: 10 # never do more than these, even if not converged
+    realtime_time_limit: 0.035 # time budget for realtime optimisation [s]
+    realtime_num_threads: 3 # number of threads for the realtime optimisation
+    full_graph_iterations: 15 # don't do more than these for the full (background) optimisation
+    full_graph_num_threads: 3 # number of threads for the full (background) optimisation
+    p_dbow: 0.4 # Match threshold for dBoW -- unfortunately this varies with setups.
+    drift_percentage_heuristic: 1.35 # % allowed drift in loop closures rel. to dist. travelled.
+
+# some options for how and what to output
+output_parameters:
+    display_matches: true  # displays debug video and matches. May be slow.
+    display_overhead: false # debug overhead image. Is slow.