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fixed minor error when not enough samples, edited feature ammount and patch size to make irradiance msckf more stable

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Raphael Maenle
2019-07-09 11:24:25 +02:00
parent a7c296ca3d
commit 1380ec426f
6 changed files with 79 additions and 77 deletions
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4
config/camchain-imucam-tum-scaled.yaml
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@@ -7,7 +7,7 @@ cam0:
camera_model: pinhole
distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202,
0.00020293673591811182]
distortion_model: pre-equidistant
distortion_model: equidistant
intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
resolution: [512, 512]
rostopic: /cam0/image_raw
@@ -25,7 +25,7 @@ cam1:
camera_model: pinhole
distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606,
0.0003299517423931039]
distortion_model: pre-equidistant
distortion_model: equidistant
intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
resolution: [512, 512]
rostopic: /cam1/image_raw