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removed dx filter, corrected jacobi calculation with bigger sobel (and correct division), removed scale for mahalanobis

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Raphael Maenle
2019-07-05 13:51:58 +02:00
parent 1a07ba3d3c
commit a7c296ca3d
4 changed files with 48 additions and 31 deletions
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4
launch/msckf_vio_euroc.launch
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@ -18,14 +18,14 @@
output="screen">
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="2"/>
<param name="FILTER" value="1"/>
<!-- 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)"/>