118
•
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.
