restructured calcualtion of patches in code

2019-07-02 08:32:56 +02:00
parent 58fe991647
commit 737c23f32a
4 changed files with 365 additions and 238 deletions
--- a/launch/msckf_vio_tinytum.launch
+++ b/launch/msckf_vio_tinytum.launch
@ -18,14 +18,14 @@
      output="screen">

      <!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
-      <param name="FILTER" value="1"/>
+      <param name="FILTER" value="0"/>

      <!-- Debugging Flaggs -->
      <param name="StreamPause" value="true"/>
      <param name="PrintImages" value="false"/>
      <param name="GroundTruth" value="false"/>

-      <param name="patch_size_n" value="5"/>
+      <param name="patch_size_n" value="3"/>
      <!-- Calibration parameters -->
      <rosparam command="load" file="$(arg calibration_file)"/>