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bednarhonza · Aug 18, 2017 · 4bc76a7 · 4bc76a7
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diff --git a/svo_ros/doc/euroc.md b/svo_ros/doc/euroc.md
@@ -0,0 +1,18 @@
+We provide two launch files for [EuRoC](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) for monocular and stereo setups:
+
+    roslaunch svo_ros euroc_mono_imu.launch
+    roslaunch svo_ros euroc_stereo_imu.launch
+
+These launch files read the parameters from `param/euroc_mono_imu.yaml` and `param/euroc_stereo_imu.yaml`. The parameters are not necessarily optimal for every sequence, but should be enough as a good starting point.
+
+### Staring Position when Playing Bag
+The first several images of many EuRoC sequences are not good for initialize `SVO`, especially for the monocular case. Therefore it is better to start the bag at a later time, for example:
+
+    rosbag play MH_01_easy.bag -s 50
+    rosbag play MH_02_easy.bag -s 45
+    rosbag play V1_01_easy.bag
+    rosbag play V1_02_medium.bag -s 13
+    rosbag play V2_01_easy.bag
+    rosbag play V2_02_medium.bag -s 13
+
+This is to avoid, for example, strong rotation for monocular initialization.
diff --git a/svo_ros/param/euroc_mono_imu.yaml b/svo_ros/param/euroc_mono_imu.yaml
@@ -1,13 +1,14 @@
 grid_size: 35
-use_threaded_depthfilter: False
 use_imu: True
 poseoptim_prior_lambda: 0.0
 img_align_prior_lambda_rot: 0.5
 img_align_prior_lambda_trans: 0.0
 
-# if the number of features are below this number, consider as failure
+# If set to false, we process the next frame(s) only when the depth update is finished
+use_threaded_depthfilter: False
+# If the number of features are below this number, consider as failure
 quality_min_fts: 40
-# if the number of features reduce by this number for consecutive frames, consider as failure
+# If the number of features reduce by this number for consecutive frames, consider as failure
 quality_max_drop_fts: 80
 
 map_scale: 5.0

diff --git a/svo_ros/param/euroc_stereo_imu.yaml b/svo_ros/param/euroc_stereo_imu.yaml
@@ -1,13 +1,14 @@
 pipeline_is_stereo: True
 
 grid_size: 35
-use_threaded_depthfilter: False
 use_async_reprojectors: True
 use_imu: False
 poseoptim_prior_lambda: 0.0
 img_align_prior_lambda_rot: 0.0
 img_align_prior_lambda_trans: 0.0
 
+# If set to false, we process the next frame(s) only when the depth update is finished
+use_threaded_depthfilter: False
 # if the number of features are below this number, consider as failure
 quality_min_fts: 40
 # if the number of features reduce by this number for consecutive frames, consider as failure