calculate average of jacobis and residual to reduce to single point in caclualtion - does not produce desired result

2019-05-29 10:38:40 +02:00
parent 8bebf99c37
commit 6e151510cf
3 changed files with 271 additions and 50 deletions
--- a/launch/msckf_vio_tum.launch
+++ b/launch/msckf_vio_tum.launch
@ -21,10 +21,10 @@
      <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="3"/>
+      <param name="patch_size_n" value="7"/>
      <!-- Calibration parameters -->
      <rosparam command="load" file="$(arg calibration_file)"/>