raphael/msckf_vio
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added larger sobel filter in calculation - converges sometimes for a few seconds

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This commit is contained in:
Raphael Maenle
2019-07-05 09:43:35 +02:00
parent 3873c978dd
commit 1a07ba3d3c
3 changed files with 73 additions and 34 deletions
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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="5"/>
<param name="patch_size_n" value="3"/>
<!-- 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="20"/>
<param name="max_cam_state_size" value="10"/>
<param name="position_std_threshold" value="8.0"/>
<param name="rotation_threshold" value="0.2618"/>

4
launch/msckf_vio_tum.launch
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@@ -18,14 +18,14 @@
output="screen">
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="0"/>
<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="5"/>
<param name="patch_size_n" value="3"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>