added support for euroc dataset

2019-06-27 18:25:43 +02:00
parent bfb2a551a7
commit 9f528c1ea1
2 changed files with 19 additions and 4 deletions
--- a/launch/msckf_vio_euroc.launch
+++ b/launch/msckf_vio_euroc.launch
@@ -17,6 +17,17 @@
      args='standalone msckf_vio/MsckfVioNodelet'
      output="screen">

+
+      <!-- Photometry Flag-->
+      <param name="PHOTOMETRIC" value="false"/>
+
+      <!-- Debugging Flaggs -->
+      <param name="StreamPause" value="true"/>
+      <param name="PrintImages" value="false"/>
+      <param name="GroundTruth" value="false"/>
+
+      <param name="patch_size_n" value="5"/>
+
      <!-- Calibration parameters -->
      <rosparam command="load" file="$(arg calibration_file)"/>