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added direct levenberg marqhart estimation for rho, was previously calculated from feature position

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Raphael Maenle
2019-06-04 17:38:11 +02:00
parent 2a16fb2fc5
commit 5f6bcd1784
3 changed files with 296 additions and 40 deletions
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6
launch/msckf_vio_tum.launch
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@ -18,13 +18,13 @@
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="true"/>
<param name="PHOTOMETRIC" value="false"/>
<!-- Debugging Flaggs -->
<param name="PrintImages" 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="3"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>