raphael/msckf_vio
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changed some parameters

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This commit is contained in:
Raphael Maenle
2019-07-12 11:37:36 +02:00
parent 3b6d2c918d
commit 5ba25f8f95
4 changed files with 18 additions and 17 deletions
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10
launch/image_processor_tinytum.launch
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@ -14,8 +14,8 @@
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="grid_row" value="4"/>
<param name="grid_col" value="4"/>
<param name="grid_min_feature_num" value="5"/>
<param name="grid_max_feature_num" value="10"/>
<param name="grid_min_feature_num" value="3"/>
<param name="grid_max_feature_num" value="4"/>
<param name="pyramid_levels" value="3"/>
<param name="patch_size" value="15"/>
<param name="fast_threshold" value="10"/>
@ -24,9 +24,9 @@
<param name="ransac_threshold" value="3"/>
<param name="stereo_threshold" value="5"/>
<remap from="~imu" to="/imu0"/>
<remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/image_raw"/>
<remap from="~imu" to="/imu02"/>
<remap from="~cam0_image" to="/cam0/image_raw2"/>
<remap from="~cam1_image" to="/cam1/image_raw2"/>
</node>
</group>

6
launch/msckf_vio_tinytum.launch
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@ -22,10 +22,10 @@
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>
<param name="PrintImages" value="false"/>
<param name="PrintImages" value="true"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="3"/>
<param name="patch_size_n" value="5"/>
<!-- 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="12"/>
<param name="max_cam_state_size" value="20"/>
<param name="position_std_threshold" value="8.0"/>
<param name="rotation_threshold" value="0.2618"/>