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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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This commit is contained in:
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
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="3"/>
<param name="grid_max_feature_num" value="4"/>
<param name="grid_min_feature_num" value="5"/>
<param name="grid_max_feature_num" value="10"/>
<param name="pyramid_levels" value="3"/>
<param name="patch_size" value="15"/>
<param name="fast_threshold" value="10"/>

2
launch/msckf_vio_euroc.launch
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@@ -18,7 +18,7 @@
output="screen">
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="1"/>
<param name="FILTER" value="0"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>

4
launch/msckf_vio_tinytum.launch
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@@ -25,7 +25,7 @@
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="3"/>
<param name="patch_size_n" value="5"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>
@@ -33,7 +33,7 @@
<param name="frame_rate" value="20"/>
<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
<param name="child_frame_id" value="odom"/>
<param name="max_cam_state_size" value="10"/>
<param name="max_cam_state_size" value="20"/>
<param name="position_std_threshold" value="8.0"/>
<param name="rotation_threshold" value="0.2618"/>