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featureTracker: Camera calibration parameters.
• useGenericCameraParams: false - If useGenericCameraParams is true, a set of
reasonable hard-coded camera parameters is used for visual odometry. These may not be
optimal for any given camera, but may be sufficient in some situations if the original
camera parameters are lost or unknown.
• fx, fy, cx, cy, k1, k2, p1, and p2: calibration parameters specific to the camera
on this stencil. These should not be changed.
• skipFrameNum: 4 – Visual odometry is run at 10 hz. This is good for live scanning. For
replay you can set this parameter to 0 and visual odometry will be run at 50 hz.
logging: place to set various logging modes to optimize data storage.
• save_raw_data: true – Set to false to disable recording of raw data. The Adaptive Data
Replay Tool cannot be used if raw data is not saved.
• save_images_to_bag: false – Feature points only will be saved to the .bag file. Set to true
if you want to save images from the feature tracker which could triple the size of the raw
data files. This parameter does not affect the Image Saver. This parameter is only used
during mapping/localizing with camera modes.
• Image_preview_save_rate_hz: 1 – This allows saving a preview image for visualization
and debugging in replay when save_images_to_bag is false. This parameter does not affect
the Image Saver.
• log_program_output_to_file: true - if set to true, log debug data into a text file in the
scan folder. If false, discard data.
scanning_viewer: Choose the Kaarta UI or the older RVIZ scanning window for scanning
and playback.
• auto_start: true – If set to false, the user will have to manually start the visualization
window for scanning.
• type: kaarta_ui - use the Kaarta UI for visualization during live scanning and replay.
Change to “rviz” to revert to the classic older Stencil RVIZ visualization
• kaarta_ui_rviz_config_dir: /home/stencil/install/share/ros_ui/rviz/ - directory for the
kaarta and rviz configuration parameters.
receive_gps:
• enabled: false - This parameter indicates whether the GNSS has been set up by the user.
This parameter is changed automatically when using the GNSS Monitor. The user can reset
this to false, if they do not want to launch the GPS drivers.
• Source: none - This parameter is changed automatically when using the GNSS Monitor. It
indicates the IP or USB address.
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