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added image rescaling factor

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This commit is contained in:
Raphael Maenle
2019-07-16 09:53:30 +02:00
parent 0ef71b9220
commit e94d4a06b5
5 changed files with 29 additions and 22 deletions
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6
launch/image_processor_tinytum.launch
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@@ -27,9 +27,9 @@
<param name="ransac_threshold" value="3"/>
<param name="stereo_threshold" value="5"/>
<remap from="~imu" to="/imu0"/>
<remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/image_raw"/>
<remap from="~imu" to="/imu02"/>
<remap from="~cam0_image" to="/cam0/image_raw2"/>
<remap from="~cam1_image" to="/cam1/image_raw2"/>
</node>

7
launch/msckf_vio_euroc.launch
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@@ -19,14 +19,15 @@
<!-- 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="PrintImages" value="true"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="3"/>
<param name="patch_size_n" value="5"/>
<param name="image_scale" value ="1"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>

4
launch/msckf_vio_tinytum.launch
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@@ -25,7 +25,9 @@
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="5"/>
<param name="patch_size_n" value="3"/>
<param name="image_scale" value ="1"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>