added sobel kernel for image gradient calcualtion

2019-05-31 11:38:49 +02:00
parent 5d36a123a7
commit 2a16fb2fc5
8 changed files with 60 additions and 3 deletions
--- a/launch/msckf_vio_tum.launch
+++ b/launch/msckf_vio_tum.launch
@ -24,7 +24,7 @@
      <param name="PrintImages" value="true"/>
      <param name="GroundTruth" value="false"/>

-      <param name="patch_size_n" value="7"/>
+      <param name="patch_size_n" value="1"/>
      <!-- Calibration parameters -->
      <rosparam command="load" file="$(arg calibration_file)"/>