added structure for stereo photometry - diverging

2019-07-03 17:48:54 +02:00
parent 6ee756941c
commit 3873c978dd
5 changed files with 161 additions and 114 deletions
--- a/launch/msckf_vio_tinytum.launch
+++ b/launch/msckf_vio_tinytum.launch
@ -18,14 +18,14 @@
      output="screen">

      <!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
-      <param name="FILTER" value="2"/>
+      <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="5"/>
      <!-- Calibration parameters -->
      <rosparam command="load" file="$(arg calibration_file)"/>