• dreg : fake_stereo_cam.cpp , src/run_stereo.cpp , run_ps.cpp , run_object.cpp , run_mono.cpp , po_comparison.cpp
• lreg : run_stereo.cpp , src/run_stereo.cpp , run_ps.cpp , run_object.cpp , run_mono.cpp , po_comparison.cpp , fake_stereo_cam.cpp
• MAX_KEYFRAME_ANGLE : vo_node.cpp
• MAX_KEYFRAME_DISTANCE : vo_node.cpp
• maxang : run_mono.cpp
• maxdist : run_mono.cpp
• MIN_KEYFRAME_INLIERS : vo_node.cpp
• mininls : run_mono.cpp
• ndi : run_mono.cpp
• PI : mono_vslam_node.cpp
• rreg : run_stereo.cpp , src/run_stereo.cpp , run_ps.cpp , run_object.cpp , run_mono.cpp , po_comparison.cpp , fake_stereo_cam.cpp