update filter, flow ema 0.5 + med 3

2026-09-12 19:36:36 +08:00
parent 5f78115429
commit 0d5d8ff70d
12 changed files with 697 additions and 62 deletions
@@ -29,10 +29,18 @@
    "loop_closure_interval": 1,
    "algorithm": "dis",
    "dis_preset": "medium",
-    "dis_mode": 3,
+    "dis_mode": 1,
    "algorithm_list": ["raft", "dis"],
    "hhd_downsample": 3
  },
+  "filters": {
+    "enabled": true,
+    "flow_ema_alpha": 0.5,
+    "force_median_window": 3,
+    "force_lowpass_cutoff_hz": 0.0,
+    "force_lowpass_order": 2,
+    "force_lowpass_sample_rate_hz": "auto"
+  },
  "contact": {
    "min_contour_area": 3000,
    "flow_threshold":5,