config_d405.ini

[CAMERA]
source                   YARP
width                    640
height                   480
fx                       430.24957275390625
fy                       429.587615966796875
cx                       314.24688720703125
cy                       238.2362518310546875

[INITIAL_CONDITION]
p_v_0                    (0.0, 0.0, 0.0)
p_w_0                    (0.0, 0.0, 0.0)

p_cov_v_0                (0.001, 0.001, 0.001)
p_cov_w_0                (0.001, 0.001, 0.001)
p_cov_x_0                (0.001, 0.001, 0.001)
p_cov_q_0                (0.001, 0.001, 0.001)

v_v_0                    (0.0, 0.0, 0.0)
v_w_0                    (0.0, 0.0, 0.0)

v_cov_v_0                (0.001, 0.001, 0.001)
v_cov_w_0                (0.001, 0.001, 0.001)

[KINEMATIC_MODEL]
psd_lin_acc              (1.0, 1.0, 1.0)
sigma_ang_vel            (1.0, 1.0, 1.0)

q_v                      (0.1, 0.1, 0.1)
q_w                      (0.1, 0.1, 0.1)

[MEASUREMENT_MODEL]
p_cov_v                  (0.1, 0.1, 0.1)
p_cov_w                  (0.0001, 0.0001, 0.0001)
p_cov_x                  (0.001, 0.001, 0.001)
p_cov_q                  (0.0001, 0.0001, 0.0001)

use_pose_measurement     true
use_vel_measurement      true
use_pose_resync          true

v_cov_flow               (1.0, 1.0)

depth_maximum            2.0
subsampling_radius       35.0
flow_weighting           true

[MODEL]
name                     006_mustard_bottle
use_internal_db          true
internal_db_name         DOPE

[OPTICAL_FLOW]
source                   NVOF_1_0

[OUTLIER_REJECTION]
enable                   true
gain                     0.01

[OUTPUT_FORMAT]
reference_frame          camera

[POSE]
source                   YARP
feedback                 RGB

[POSE_RENDERING]
style                    mesh

[SEGMENTATION]
source                   YARP
flow_aided               true
wait_initialization      true
feed_rate                1
synchronization_type     stamped

[UNSCENTED_TRANSFORM]
alpha                    1.0
beta                     2.0
kappa                    0.0