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track features in all direction but acuraccy is not good

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gfuse
2021-09-17 20:31:13 +02:00
parent c374f21714
commit 082e971d80
11 changed files with 8900 additions and 3879 deletions
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GPU_version/vio/param/vo_fast.yaml
+3 -3
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@@ -10,7 +10,7 @@ svo:
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 30
ACC_noise: 200000 #0.5 #acc white noise in continuous in EKF
GYO_noise: 200000 #0.5 #gyro white noise in continuous in EKF
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.5 #gyro white noise in continuous in EKF
svo_ekf: 0.05 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 2000000 #0.5 #control vector noise in EKF
Cmd_Cov: 0.5 #control vector noise in EKF