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added visualization with a ros flag, which shows feature with projection and residual (the features apparent movement)

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Raphael Maenle
2019-04-30 17:02:22 +02:00
parent 750d8ecfb1
commit cf40ce8afb
4 changed files with 106 additions and 63 deletions
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3
launch/msckf_vio_tum.launch
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@@ -19,8 +19,9 @@
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="true"/>
<param name="PrintImages" value="false"/>
<param name="patch_size_n" value="5"/>
<param name="patch_size_n" value="7"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>