raphael/msckf_vio
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added changed formulation, no positive result

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This commit is contained in:
Raphael Maenle
2019-05-16 15:53:07 +02:00
parent 2ee7c248c1
commit 6b208dbc44
4 changed files with 98 additions and 147 deletions
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2
launch/msckf_vio_debug_tum.launch
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@ -22,7 +22,7 @@
<param name="PHOTOMETRIC" value="true"/>
<!-- Debugging Flaggs -->
<param name="PrintImages" value="false"/>
<param name="PrintImages" value="true"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="7"/>

4
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="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="7"/>
<param name="patch_size_n" value="1"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>