fixed Irradiance jacobain calculation, now division by pixel distance

2019-05-23 18:34:57 +02:00
parent 0be7047928
commit 82cd2c6771
4 changed files with 102 additions and 79 deletions
--- a/launch/msckf_vio_tum.launch
+++ b/launch/msckf_vio_tum.launch
@ -24,7 +24,7 @@
      <param name="PrintImages" value="true"/>
      <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)"/>