raphael/msckf_vio
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added scaling changes to dI/dh for pixel size

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This commit is contained in:
Raphael Maenle
2019-05-24 15:00:18 +02:00
parent e788854fe8
commit d9899227c2
7 changed files with 79 additions and 22 deletions
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6
launch/msckf_vio_tum.launch
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@ -18,13 +18,13 @@
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="true"/>
<param name="PHOTOMETRIC" value="false"/>
<!-- Debugging Flaggs -->
<param name="PrintImages" 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)"/>