kaarta STENCIL 2 - Page 118

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• odomBufferSize: 50 – Configured at the factory. Not meant for user changes
• outputBufferSize: 100 – Configured at the factory. Not meant for user changes
visualInertialOdometer:
• useImuAcceleration: true. Set to false if you want to use only the orientation from the
IMU but not acceleration. This is helpful when there is a lot of vehicle vibration.
• usePlanarMotion: false - Set to true if you want to limit the motion to x-y plane for
movement on flat surfaces. (Ignores roll, pitch, and height changes).
• useLevelMotion: false – Set to true if you want to ignore roll and pitch
• useIMURollPitchOnly: false – Set to true if you want to ignore yaw data from the IMU.
• voIMUDiffThres: 0.025 – Threshold to reject Visual Odometry angular estimates if they
differ greatly from the IMU information.
• voIMUVeloOverideRatio: 0.05 – Visual odometry threshold to limit the rejection of
bad estimates.
• voIMUAccelDiffThresh: -1 – Threshold to reject Visual Odometry acceleration
estimates if they differ greatly from the IMU information. Default value of -1 indicates no
threshold is set.
• ignorePolygon: [ ] – Set as polygon points to ignore part of the camera image for visual
odometry calculations. Format [x1,y1, x2,y2, x3,y3, etc]. x goes from left to right (0 -> 320). y
goes top to bottom (0 -> 180). i.e. [10,170, 40,100, 280,100, 310,170].
stencil_controller: - Timeouts may not be correct for replay.
• startup_timeout: 17.0 – Delay in seconds before USB indicator turns red after starting
a scan.
• running_timeout: 2.0 – Delay in seconds before indicator turns red if processing is
delayed during a scan.
• gps_timeout: 3.0 – Timeout in seconds for waiting for GNSS data before turning the
green GNSS monitor green box to yellow.
• disk_level_low: 50 – Size in GBytes to issue low remaining disk space to user via the
USB indicator.
• disk_level_very_low: 25 – Size in GBytes to issue very low disk space to the user via
the USB indicator.
• disk_level_critical: 10 – Size in GBytes to stop/prevent scanning to preserve.
receive_xsens:
• imu_port: /dev/ttyUSB0 - Configured at the factory. Not meant for user changes
• use_chrony: false - Set to true if synchronizing a customer computer to Stencil 2.