raphael/msckf_vio
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added some debug output, added qr decomp

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This commit is contained in:
Raphael Maenle
2019-06-19 09:13:46 +02:00
parent dcbc69a1c4
commit 2d045660c2
3 changed files with 55 additions and 69 deletions
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7
launch/msckf_vio_tum.launch
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@ -18,13 +18,14 @@
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="true"/>
<param name="PHOTOMETRIC" value="false"/>
<!-- 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)"/>
@ -71,4 +72,6 @@
</node>
</group>
<node name="player" pkg="bagcontrol" type="control.py" />
</launch>