diff --git a/demos/camera_Dinesh_LAAS_params.yaml b/demos/camera_Dinesh_LAAS_params.yaml
deleted file mode 100644
index 739505d12e8a2dd224b99220ee024ddc8efd9508..0000000000000000000000000000000000000000
--- a/demos/camera_Dinesh_LAAS_params.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: mono
-camera_matrix:
- rows: 3
- cols: 3
- data: [809.135074, 0.000000, 335.684471, 0.000000, 809.410030, 257.352121, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.416913, 0.264210, -0.000221, -0.000326, 0.000000]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [753.818405, 0.000000, 337.203047, 0.000000, 0.000000, 777.118492, 258.102663, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_Dinesh_LAAS_params_notangentrect.yaml b/demos/camera_Dinesh_LAAS_params_notangentrect.yaml
deleted file mode 100644
index dd2f6433f2b60c21b68ebf70b595af981550923c..0000000000000000000000000000000000000000
--- a/demos/camera_Dinesh_LAAS_params_notangentrect.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: mono
-camera_matrix:
- rows: 3
- cols: 3
- data: [809.135074, 0.000000, 335.684471, 0.000000, 809.410030, 257.352121, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.416913, 0.264210, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [753.818405, 0.000000, 337.203047, 0.000000, 0.000000, 777.118492, 258.102663, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_logitech_c300_640_480.yaml b/demos/camera_logitech_c300_640_480.yaml
deleted file mode 100644
index 5f8a1899b71df3721e6f9722d39bd8e09e34509a..0000000000000000000000000000000000000000
--- a/demos/camera_logitech_c300_640_480.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-image_width: 640
-image_height: 480
-#camera_name: narrow_stereo
-camera_name: camera
-camera_matrix:
- rows: 3
- cols: 3
- data: [711.687376, 0.000000, 323.306816, 0.000000, 710.933260, 232.005822, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0.067204, -0.141639, 0, 0, 0]
-# data: [0.067204, -0.141639, 0.004462, -0.000636, 0.000000]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [718.941772, 0.000000, 323.016804, 0.000000, 0.000000, 717.174622, 233.475721, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_params.yaml b/demos/camera_params.yaml
deleted file mode 100644
index de0c31d0b05a024724840598a490527a62002ca2..0000000000000000000000000000000000000000
--- a/demos/camera_params.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: narrow_stereo
-camera_matrix:
- rows: 3
- cols: 3
- data: [872.791604, 0, 407.599166, 0, 883.154343, 270.343971, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.284384, -0.030014, -0.01554, -0.003363, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [826.19989, 0, 413.746093, 0, 0, 863.790649, 267.937027, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/demos/camera_params_1280x960_ideal.yaml b/demos/camera_params_1280x960_ideal.yaml
deleted file mode 100644
index 814d3cb3f74d51925e62389366ef0a24d429ee44..0000000000000000000000000000000000000000
--- a/demos/camera_params_1280x960_ideal.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 1280
-image_height: 960
-camera_name: canonical
-camera_matrix:
- rows: 3
- cols: 3
- data: [640, 0, 640, 0, 640, 480, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0, 0, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [640, 0, 640, 0, 0, 640, 480, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/demos/camera_params_canonical.yaml b/demos/camera_params_canonical.yaml
deleted file mode 100644
index 2508a0bec574125ae9dea63e558528b7211079d1..0000000000000000000000000000000000000000
--- a/demos/camera_params_canonical.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 2
-image_height: 2
-camera_name: canonical
-camera_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0, 0, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/demos/camera_params_ueye.yaml b/demos/camera_params_ueye.yaml
deleted file mode 100644
index 8703fc4575d1422190e318fb7e0f8a816d37e5cb..0000000000000000000000000000000000000000
--- a/demos/camera_params_ueye.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: camera
-camera_matrix:
- rows: 3
- cols: 3
- data: [392.796383, 0, 350.175772, 0, 392.779002, 255.209917, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.3, 0.096, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [313.834106, 0, 361.199457, 0, 0, 349.145264, 258.654166, 0, 0, 0, 1, 0]
diff --git a/demos/camera_params_ueye_radial_dist.yaml b/demos/camera_params_ueye_radial_dist.yaml
deleted file mode 100644
index 52d1fbb4dd01de04e6c759f0850015509235f4b4..0000000000000000000000000000000000000000
--- a/demos/camera_params_ueye_radial_dist.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: narrow_stereo
-camera_matrix:
- rows: 3
- cols: 3
- data: [402.860630, 0.000000, 350.628016, 0.000000, 403.220300, 269.746108, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.276945, 0.095681, 0.000000, 0.000000, -0.013371]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [323.792358, 0.000000, 363.187868, 0.000000, 0.000000, 357.040344, 276.369440, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_params_ueye_sim.yaml b/demos/camera_params_ueye_sim.yaml
deleted file mode 100644
index 97f8f676b6b36629bb76a8bdc8c3fe06250b7b5b..0000000000000000000000000000000000000000
--- a/demos/camera_params_ueye_sim.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: camera
-camera_matrix:
- rows: 3
- cols: 3
- data: [320, 0, 320, 0, 320, 240, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0, 0, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [320, 0, 320, 0, 0, 320, 240, 0, 0, 0, 1, 0]
diff --git a/demos/camera_params_vga_ideal.yaml b/demos/camera_params_vga_ideal.yaml
deleted file mode 100644
index c0c21118a4d69765f3d86471a7ff4003afc64dc4..0000000000000000000000000000000000000000
--- a/demos/camera_params_vga_ideal.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: canonical
-camera_matrix:
- rows: 3
- cols: 3
- data: [320, 0, 320, 0, 320, 240, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0, 0, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [320, 0, 320, 0, 0, 320, 240, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/demos/map_apriltag_1.yaml b/demos/map_apriltag_1.yaml
deleted file mode 100644
index d0c6a90707ddd2d15a2f921f244f085ecb337e6f..0000000000000000000000000000000000000000
--- a/demos/map_apriltag_1.yaml
+++ /dev/null
@@ -1,42 +0,0 @@
-map name: "Example of map of Apriltag landmarks"
-
-nlandmarks: 4 # This must match the number of landmarks in the list that follows. Otherwise it is an error.
-
-landmarks:
-
- - id : 1 # use same as tag id
- type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- tag id: 1
- tag width: 0.1
- position: [0, 0, 0]
- orientation: [0, 0, 0] # roll pitch yaw in degrees
- position fixed: true
- orientation fixed: true
-
- - id : 3 # use same as tag id
- type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- tag id: 3
- tag width: 0.1
- position: [1, 1, 0]
- orientation: [0, 0, 0] # roll pitch yaw in degrees
- position fixed: true
- orientation fixed: true
-
- - id : 5 # use same as tag id
- type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- tag id: 5
- tag width: 0.1
- position: [1, 0, 0]
- orientation: [0, 0, 0] # roll pitch yaw in degrees
- position fixed: true
- orientation fixed: true
-
- - id : 2 # use same as tag id
- type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- tag id: 2
- tag width: 0.1
- position: [0, 1, 0]
- orientation: [0, 0, 0] # roll pitch yaw in degrees
- position fixed: true
- orientation fixed: true
-
diff --git a/demos/map_polyline_example.yaml b/demos/map_polyline_example.yaml
deleted file mode 100644
index d1cde10c538cfa7e6f5b6a4b117309e36426528d..0000000000000000000000000000000000000000
--- a/demos/map_polyline_example.yaml
+++ /dev/null
@@ -1,57 +0,0 @@
-map name: "Example of map of Polyline2D landmarks"
-
-nlandmarks: 4 # This must match the number of landmarks in the list that follows. Otherwise it is an error.
-
-landmarks:
-
- - id: 1
- type: "POLYLINE 2D" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- position: [1, 1]
- orientation: [1]
- position fixed: true
- orientation fixed: true
- classification: 0
- first_id: 0
- first_defined: false
- last_defined: false
- points:
- - [1, 1]
- - [1, 2]
- - [1, 3]
-
- - id: 4
- type: "POLYLINE 2D" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- position: [4, 4]
- orientation: [4]
- position fixed: true
- orientation fixed: true
- classification: 0
- first_id: -2
- first_defined: false
- last_defined: true
- points:
- - [4, 1]
- - [4, 2]
- - [4, 3]
- - [4, 4]
-
-
- - id: 6
- type: "POLYLINE 2D" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- position: [6, 6]
- orientation: [6]
- position fixed: true
- orientation fixed: true
- classification: 0
- first_id: 0
- first_defined: true
- last_defined: false
- points:
- - [6, 1]
- - [6, 2]
-
- - id: 7
- type: "AHP"
- position: [1, 2, 3, 4]
- descriptor: [1, 0, 1, 0, 1, 1, 0, 0]
-
\ No newline at end of file
diff --git a/demos/processor_image_feature.yaml b/demos/processor_image_feature.yaml
deleted file mode 100644
index a48c9e4277b483a0f67e4f856f72c0076a2cc2be..0000000000000000000000000000000000000000
--- a/demos/processor_image_feature.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-processor type: "IMAGE ORB"
-processor name: "ORB feature tracker"
-
-vision_utils:
- YAML file params: processor_image_vision_utils.yaml
-
-algorithm:
- maximum new features: 40
- minimum features for new keyframe: 40
- minimum response for new features: 80 #0.0005
- time tolerance: 0.01
- distance: 20
-
-noise:
- pixel noise std: 1 # pixels
-
-draw: # Used to control drawing options
- primary draw: true
- secondary draw: true
- detection roi: true
- tracking roi: false
-
diff --git a/demos/processor_image_vision_utils.yaml b/demos/processor_image_vision_utils.yaml
deleted file mode 100644
index 028f69ba6321802009765d346f2e735c6a018990..0000000000000000000000000000000000000000
--- a/demos/processor_image_vision_utils.yaml
+++ /dev/null
@@ -1,42 +0,0 @@
-sensor:
- type: "USB_CAM"
-
-detector:
- type: "ORB"
- nfeatures: 100
- scale factor: 1.2
- nlevels: 8
- edge threshold: 8 # 16
- first level: 0
- WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
- score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
- patch size: 15 # 31
-
-descriptor:
- type: "ORB"
- nfeatures: 100
- scale factor: 1.2
- nlevels: 8
- edge threshold: 8 # 16
- first level: 0
- WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
- score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
- patch size: 15 # 31
-
-matcher:
- type: "FLANNBASED"
- match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
- roi:
- width: 20
- height: 20
- min normalized score: 0.85
-
-algorithm:
- type: "ACTIVESEARCH"
- draw results: false
- grid horiz cells: 12
- grid vert cells: 8
- separation: 10
- min features to track: 5
- max new features: 40
- min response new features: 80
\ No newline at end of file
diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
deleted file mode 100644
index 8e8a6c8cd0b75c0366a7aa83db4f3d54e4687fa6..0000000000000000000000000000000000000000
--- a/demos/processor_imu.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025 # Time tolerance for joining KFs
-keyframe vote:
- max time span: 2.0 # seconds
- max buffer length: 20000 # motion deltas
- dist traveled: 2.0 # meters
- angle turned: 0.2 # radians (1 rad approx 57 deg, approx 60 deg)
- voting_active: false
-
\ No newline at end of file
diff --git a/demos/processor_imu_no_vote.yaml b/demos/processor_imu_no_vote.yaml
deleted file mode 100644
index 678867b719b191b6ba980a5c712f5164a9f83e28..0000000000000000000000000000000000000000
--- a/demos/processor_imu_no_vote.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
-time tolerance: 0.0025 # Time tolerance for joining KFs
-unmeasured perturbation std: 0.00001
-keyframe vote:
- max time span: 999999.0 # seconds
- max buffer length: 999999 # motion deltas
- dist traveled: 999999.0 # meters
- angle turned: 999999 # radians (1 rad approx 57 deg, approx 60 deg)
- voting_active: false
-
\ No newline at end of file
diff --git a/demos/processor_imu_t1.yaml b/demos/processor_imu_t1.yaml
deleted file mode 100644
index b68740d245b4922a4a095b2a0ac1b2ce5becbd52..0000000000000000000000000000000000000000
--- a/demos/processor_imu_t1.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025 # Time tolerance for joining KFs
-keyframe vote:
- max time span: 0.9999 # seconds
- max buffer length: 10000 # motion deltas
- dist traveled: 10000 # meters
- angle turned: 10000 # radians (1 rad approx 57 deg, approx 60 deg)
- voting_active: true
-
\ No newline at end of file
diff --git a/demos/processor_imu_t6.yaml b/demos/processor_imu_t6.yaml
deleted file mode 100644
index 511a917c7500abbb445c7bfb016737c881dc400a..0000000000000000000000000000000000000000
--- a/demos/processor_imu_t6.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025 # Time tolerance for joining KFs
-keyframe vote:
- max time span: 5.9999 # seconds
- max buffer length: 10000 # motion deltas
- dist traveled: 10000 # meters
- angle turned: 10000 # radians (1 rad approx 57 deg, approx 60 deg)
- voting_active: true
-
\ No newline at end of file
diff --git a/demos/processor_odom_3D.yaml b/demos/processor_odom_3D.yaml
deleted file mode 100644
index f501e333800ec1bbb4b7c751a32aa67a99bec74c..0000000000000000000000000000000000000000
--- a/demos/processor_odom_3D.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-processor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
-time tolerance: 0.01 # seconds
-keyframe vote:
- max time span: 0.2 # seconds
- max buffer length: 10 # motion deltas
- dist traveled: 0.5 # meters
- angle turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
diff --git a/demos/processor_tracker_landmark_apriltag.yaml b/demos/processor_tracker_landmark_apriltag.yaml
deleted file mode 100644
index e8b1fd02dc80ffedefafc44ae3af9898a873cb3b..0000000000000000000000000000000000000000
--- a/demos/processor_tracker_landmark_apriltag.yaml
+++ /dev/null
@@ -1,57 +0,0 @@
-processor type: "TRACKER LANDMARK APRILTAG"
-processor name: "tracker landmark apriltag example"
-
-detector parameters:
- quad_decimate: 1.5 # doing quad detection at lower resolution to speed things up (see end of file)
- quad_sigma: 0.8 # gaussian blur good for noisy images, may be recommended with quad_decimate. Kernel size adapted (see end of this file)
- nthreads: 8 # how many thread during tag detection (does not change much?)
- debug: false # write some debugging images
- refine_edges: true # better edge detection if quad_decimate > 1 (quite inexpensive, almost no diff)
- ippe_min_ratio: 3.0 # quite arbitrary, always > 1 (to deactive, set at 0 for example)
- ippe_max_rep_error: 2.0 # to deactivate, set at something big (100)
-
-tag widths:
- 0: 0.055
- 1: 0.055
- 2: 0.055
- 3: 0.055
-
-tag parameters:
- tag_family: "tag36h11"
- # tag_black_border: 1
- tag_width_default: 0.165 # used if tag width not specified
-
-
-noise:
- std_xy : 0.1 # m
- std_z : 0.1 # m
- std_rpy_degrees : 5 # degrees
- std_pix: 20 # pixel error
-
-vote:
- voting active: true
- min_time_vote: 0 # s
- max_time_vote: 0 # s
- min_features_for_keyframe: 12
- max_features_diff: 17
- nb_vote_for_every_first: 50
- enough_info_necessary: true # create kf if enough information to uniquely determine the KF position (necessary for apriltag_only slam)
-
-reestimate_last_frame: true # for a better prior on the new keyframe: use only if no motion processor
-add_3D_cstr: true # add 3D constraints between the KF so that they do not jump when using apriltag only
-
-
-# Annexes:
-### Quad decimate: the higher, the lower the resolution
-# Does nothing if <= 1.0
-# Only values taken into account:
-# 1.5, 2, 3, 4
-# 1.5 -> ~*2 speed up
-
-# Higher values use a "bad" code according to commentaries in the library, smaller do nothing
-### Gaussian blur table:
-# max sigma kernel size
-# 0.499 1 (disabled)
-# 0.999 3
-# 1.499 5
-# 1.999 7
diff --git a/demos/sensor_imu.yaml b/demos/sensor_imu.yaml
deleted file mode 100644
index 66b81a5288877362753612f7aa4b9222da009e8d..0000000000000000000000000000000000000000
--- a/demos/sensor_imu.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-sensor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main IMU" # This is ignored. The name provided to the SensorFactory prevails
-motion variances:
- a_noise: 0.053 # standard deviation of Acceleration noise (same for all the axis) in m/s2
- w_noise: 0.0011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
- ab_initial_stdev: 0.800 # m/s2 - initial bias
- wb_initial_stdev: 0.350 # rad/sec - initial bias
- ab_rate_stdev: 0.1 # m/s2/sqrt(s)
- wb_rate_stdev: 0.0400 # rad/s/sqrt(s)
\ No newline at end of file
diff --git a/demos/sensor_odom_3D.yaml b/demos/sensor_odom_3D.yaml
deleted file mode 100644
index 9ea77803548cfd9d033f54e40b6d92a72710afb8..0000000000000000000000000000000000000000
--- a/demos/sensor_odom_3D.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-sensor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
-motion variances:
- disp_to_disp: 0.02 # m^2 / m
- disp_to_rot: 0.02 # rad^2 / m
- rot_to_rot: 0.01 # rad^2 / rad
- min_disp_var: 0.01 # m^2
- min_rot_var: 0.01 # rad^2
diff --git a/demos/sensor_odom_3D_HQ.yaml b/demos/sensor_odom_3D_HQ.yaml
deleted file mode 100644
index 08945ef842e46f28642f1be63ca95850b618a35e..0000000000000000000000000000000000000000
--- a/demos/sensor_odom_3D_HQ.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-sensor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
-motion variances:
- disp_to_disp: 0.000001 # m^2 / m
- disp_to_rot: 0.000001 # rad^2 / m
- rot_to_rot: 0.000001 # rad^2 / rad
- min_disp_var: 0.00000001 # m^2
- min_rot_var: 0.00000001 # rad^2
\ No newline at end of file