raphael/msckf_vio
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added two filter, not working yet - compare with htest

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This commit is contained in:
Raphael Maenle
2019-06-27 19:22:08 +02:00
parent 9f528c1ea1
commit 715ca6a6b4
4 changed files with 411 additions and 20 deletions
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5
launch/msckf_vio_euroc.launch
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@@ -17,9 +17,8 @@
args='standalone msckf_vio/MsckfVioNodelet'
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/>
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="2"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>

4
launch/msckf_vio_tinytum.launch
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@@ -17,8 +17,8 @@
args='standalone msckf_vio/MsckfVioNodelet'
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/>
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="1"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>