dataset:
  camera_config: /media/data/datasets/ntu/NTU_Ground_Texture_Dataset/camera.yaml
  dataroot: /media/data/datasets/ntu/NTU_Ground_Texture_Dataset/brick-V3
  image_dir_name: rgb

correlation_flow:
  gaussian:
    sigma: 0.2
  height: 480
  kernel: 0 # {0: "polynomial", 1: "gaussian"}
  lambda: 0.1
  polynomial:
    offset: 0.1
    power: 3
  rotation_channel: 480
  rotation_divisor: 720
  width: 640

keyframe_selection:
  lower_response_thr: 30
  max_angle: 0.052359877
  max_distance: 0.4
  upper_response_thr: 90
  
map:
  grid_scale: 0.1 # the true size of one grid

loop_closure:
  to_find_loop: true
  angle_response_thr: 60
  distance_thr: 5
  frame_gap_thr: 100
  position_response_thr: 60

map_sticther:
  cell_size: 1000
  stitch_map: true

visualization:
  frame_id: map
  topic:
    image: /kcc_slam/image
    frame_pose: /kcc_slam/frame_pose
    kcc_pose: /kcc_slam/kcc_pose
    map: /kcc_slam/occupancy_map

saving:
  save_pose: true
  saving_root: /home/xukuan/debug/kcc
