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change feature score in fast algorithm and add brightness

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This commit is contained in:
gfuse
2021-09-16 19:12:24 +02:00
parent 887487b4fc
commit 1e685aa829
14 changed files with 3586 additions and 10380 deletions
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GPU_version/vio/param/vo_fast.yaml
+5 -4
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@@ -10,7 +10,8 @@ svo:
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 30
ACC_noise: 100 #acc white noise in continuous in EKF
GYO_noise: 100 #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: 100 #control vector noise in EKF
map_scale: 0.5
ACC_noise: 2000 #acc white noise in continuous in EKF
GYO_noise: 2000 #gyro white noise in continuous in EKF
svo_ekf: 0.0001 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 2000 #control vector noise in EKF