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change the triangulation and reproject pipline

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This commit is contained in:
gfuse
2021-10-04 10:00:13 +02:00
parent 2b6a1461bb
commit 346dbb640c
7 changed files with 291 additions and 111 deletions
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GPU_version/vio/param/vo_fast.yaml
+2 -2
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@@ -4,12 +4,12 @@ svo:
loba_num_iter: 10 #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: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad.
init_min_tracked: 100
init_min_tracked: 120
init_min_disparity: 10
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 30
init_min_inliers: 50
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.5 #gyro white noise in continuous in EKF
svo_ekf: 0.1 #Svo noise that will be devided by number of Reprojected points after opmization in EKF