raphael/msckf_vio
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added full switch

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This commit is contained in:
Raphael Maenle
2019-07-19 17:20:10 +02:00
parent ed2ba61828
commit a8090ca58a
4 changed files with 142 additions and 112 deletions
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8
launch/image_processor_tinytum.launch
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@ -18,7 +18,7 @@
<param name="grid_row" value="4"/>
<param name="grid_col" value="4"/>
<param name="grid_min_feature_num" value="3"/>
<param name="grid_max_feature_num" value="4"/>
<param name="grid_max_feature_num" value="5"/>
<param name="pyramid_levels" value="3"/>
<param name="patch_size" value="15"/>
<param name="fast_threshold" value="10"/>
@ -27,9 +27,9 @@
<param name="ransac_threshold" value="3"/>
<param name="stereo_threshold" value="5"/>
<remap from="~imu" to="/imu02"/>
<remap from="~cam0_image" to="/cam0/image_raw2"/>
<remap from="~cam1_image" to="/cam1/image_raw2"/>
<remap from="~imu" to="/imu0"/>
<remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/image_raw"/>
</node>

5
launch/msckf_vio_tinytum.launch
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@ -17,8 +17,7 @@
args='standalone msckf_vio/MsckfVioNodelet'
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"/>
@ -33,7 +32,7 @@
<param name="frame_rate" value="20"/>
<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
<param name="child_frame_id" value="odom"/>
<param name="max_cam_state_size" value="20"/>
<param name="max_cam_state_size" value="12"/>
<param name="position_std_threshold" value="8.0"/>
<param name="rotation_threshold" value="0.2618"/>