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minor changes to visualization, jakobi tests

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This commit is contained in:
Raphael Maenle
2019-05-03 16:42:27 +02:00
parent ee40dff740
commit 53b26f7613
4 changed files with 172 additions and 17 deletions
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4
launch/msckf_vio_tum.launch
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@ -19,7 +19,10 @@
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="true"/>
<!-- Debugging Flaggs -->
<param name="PrintImages" value="true"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="7"/>
<!-- Calibration parameters -->
@ -59,6 +62,7 @@
<param name="initial_covariance/irradiance_frame_bias" value="0.1"/>
<remap from="~imu" to="/imu0"/>
<remap from="~ground_truth" to="/vrpn_client/raw_transform"/>
<remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/image_raw"/>