%YAML:1.0
output:
  q_bo: [ -0.7071068, 0.7071068, 0, 0 ] # x y z w
  p_bo: [ 0.053617261855615515, -0.0016905232538204646, -0.0075510493739824724 ] # x y z [m]

feature_tracker:
  min_keypoint_distance: 25.0
  max_keypoint_detection: 300
  max_frames: 100

solver:
  time_limit: 0.1
  iteration_limit: 10

sliding_window:
  size: 5
  tracker_frequent: 3

visual_localization:
  enable: true
  ip: "10.156.16.69"
  port: 12345
