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udpated to (barely) working 3x3 patch

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This commit is contained in:
Raphael Maenle
2019-07-12 14:25:41 +02:00
parent 5451c2d097 02156bd89a
commit 14825c344e
11 changed files with 1272 additions and 395 deletions
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7
launch/image_processor_tinytum.launch
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@ -27,9 +27,10 @@
<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>

9
launch/msckf_vio_euroc.launch
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@ -17,15 +17,16 @@
args='standalone msckf_vio/MsckfVioNodelet'
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/>
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="0"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="false"/>
<param name="StreamPause" value="true"/>
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="5"/>
<param name="patch_size_n" value="3"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>

6
launch/msckf_vio_tinytum.launch
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@ -17,15 +17,15 @@
args='standalone msckf_vio/MsckfVioNodelet'
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/>
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="1"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="1"/>
<param name="patch_size_n" value="3"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>

7
launch/msckf_vio_tum.launch
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@ -17,15 +17,16 @@
args='standalone msckf_vio/MsckfVioNodelet'
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/>
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="1"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="1"/>
<param name="patch_size_n" value="3"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>