Add Alice maplab server config

ethz-asl · Dec 6, 2019 · 7f52ff4 · 7f52ff4
1 parent 0635e05
commit 7f52ff4
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/applications/maplab-server-node/share/alice/alice-maplab-server-config.yaml b/applications/maplab-server-node/share/alice/alice-maplab-server-config.yaml
@@ -0,0 +1,8 @@
+submap_commands:
+  - "optvi --ba_num_iterations=20 --ba_enable_signal_handler=false"
+
+global_map_commands:
+  - "aam --lc_mission_baseframe_min_inlier_ratio=0.05 --lc_min_inlier_ratio=0.05 --lc_min_inlier_count=5 --lc_ransac_pixel_sigma=3"
+  - "lc"
+  - "optvi --ba_num_iterations 1 --ba_enable_signal_handler=false"
+  - "elq --vi_map_landmark_quality_min_observers=2"