raphael/msckf_vio
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changed visualization

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This commit is contained in:
Raphael Maenle
2019-07-12 14:01:11 +02:00
parent 1380ec426f
commit 02156bd89a
4 changed files with 25 additions and 25 deletions
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10
launch/image_processor_tinytum.launch
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@ -14,8 +14,8 @@
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="grid_row" value="4"/>
<param name="grid_col" value="4"/>
<param name="grid_min_feature_num" value="5"/>
<param name="grid_max_feature_num" value="10"/>
<param name="grid_min_feature_num" value="3"/>
<param name="grid_max_feature_num" value="4"/>
<param name="pyramid_levels" value="3"/>
<param name="patch_size" value="15"/>
<param name="fast_threshold" value="10"/>
@ -24,9 +24,9 @@
<param name="ransac_threshold" value="3"/>
<param name="stereo_threshold" value="5"/>
<remap from="~imu" to="/imu0"/>
<remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/image_raw"/>
<remap from="~imu" to="/imu02"/>
<remap from="~cam0_image" to="/cam0/image_raw2"/>
<remap from="~cam1_image" to="/cam1/image_raw2"/>
</node>
</group>