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calibrate imu

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This commit is contained in:
gfuse
2021-06-04 14:59:02 +02:00
parent 982217598a
commit 27f92bc7e7
11 changed files with 108 additions and 140 deletions
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GPU_version/vio/param/vo_fast.yaml
+6 -6
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@@ -1,13 +1,13 @@
svo:
grid_size: 30 #Feature grid size of a cell in [px].
max_n_kfs: 10 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3.
max_n_kfs: 20 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3.
loba_num_iter: 0 #Number of iterations in the local bundle adjustment.
quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad.
quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad.
init_min_tracked: 100
init_min_disparity: 25
init_min_disparity: 20
structureoptim_max_pts: 50
kfselect_mindist: 0.12
kfselect_mindist: 0.05
poseoptim_thresh: 4.0
ACC_noise: 0.0001 #acc white noise in continuous
GYO_noise: 0.0001 #gyro white noise in continuous
@@ -17,6 +17,6 @@ svo:
EBP: 0.1 #error in the bias used for preintegration
NRP: 0.001 #noise used for projection in preintegration
gravity: -9.65
Acceleration_offset_x: 0.0 #-0.05
Acceleration_offset_y: 0.0 #-0.04
Gyroscope_offset_z: 0.0 #0.001
Acceleration_offset_x: 0.0
Acceleration_offset_y: 0.0
Gyroscope_offset_z: 0.0