stereo_orb_vo:
  ros__parameters:
    # ORB feature detection
    max_features: 500          # max keypoints per infra1 frame

    # Stereo scale
    baseline_m: 0.050          # D435i stereo baseline ~50 mm (overridden by camera_info Tx)

    # Depth validity window for scale recovery
    min_depth_m: 0.3           # metres — below reliable D435i range
    max_depth_m: 6.0           # metres — above reliable D435i range
    min_depth_samples: 10      # minimum valid depth samples for primary scale

    # TF / frame IDs
    frame_id:       "odom"
    child_frame_id: "camera_link"
