fixed anchor initialization and added image resizing for incomming into msckf

2019-07-12 18:02:29 +02:00
parent 5a80f97b68
commit 0ef71b9220
3 changed files with 38 additions and 18 deletions
--- a/launch/msckf_vio_euroc.launch
+++ b/launch/msckf_vio_euroc.launch
@@ -19,11 +19,11 @@


      <!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
-      <param name="FILTER" value="1"/>
+      <param name="FILTER" value="2"/>

      <!-- Debugging Flaggs -->
      <param name="StreamPause" value="true"/>
-      <param name="PrintImages" value="true"/>
+      <param name="PrintImages" value="false"/>
      <param name="GroundTruth" value="false"/>

      <param name="patch_size_n" value="3"/>