optv # Optimization based on the visual data only (landmark observations) optvi # Optimization based on the visual and inertial terms (landmarks and IMU)
The optimization can be aborted at any time using
Ctrl-C, it will then abort after at the end of the current iteration.
--ba_num_iterations # Set the maximum number of iterations of the optimization. --ba_visualize_every_n_iterations # Visualize the result of the optimization at every Nth step.
Only landmarks flagged as ‘good’ will be part of the optimization. The following flags can be used to set the parameters of the quality metrics:
--vi_map_landmark_quality_min_observation_angle_deg # Minimum angle disparity of observers for a landmark to be well constrained. --vi_map_landmark_quality_min_observers # Minimum number of observers for a landmark to be well constrained. --vi_map_landmark_quality_min_distance_from_closest_observer # A landmark needs to be at least as far away from the observer to be well constrained [m]. --vi_map_landmark_quality_max_distance_from_closest_observer # A landmark cannot be further away from the observer than this to be well constrained [m].
The landmark quality can be (re-)evaluated using the
evaluate_landmark_qualitycommand (before the optimization):
evaluate_landmark_quality --vi_map_landmark_quality_min_observers=2 ...