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Update README.md

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Majid Geravand
2021-05-25 11:22:43 +02:00
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@@ -39,7 +39,7 @@ The GTSAM documentation https://gtsam.org/tutorials/
First install gtsam library => https://github.com/borglab/gtsam
Then follow thw SVO instalation
Then follow the SVO instalation
See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/
@@ -47,3 +47,16 @@ See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and
You are very welcome to contribute to SVO by opening a pull request via Github.
I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide
## Setting
You can edit the camera position in the launch file as (The IMU frame will rotate to align with camera frame based on the follwoing Eular angles):
<!-- Initial camera orientation, make it point downwards -->
<param name="init_rx" value="-2.35619" />
<param name="init_ry" value="0.00" />
<param name="init_rz" value="0.00" />
You can also edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h)
CPU_version/vio_svo/param/vo_fast.yaml