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change the open_cl

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gfuse
2021-10-04 19:01:54 +02:00
parent b39cb43382
commit 354e112898
9 changed files with 410 additions and 2019 deletions
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GPU_version/vio/param/vo_fast.yaml
+2 -2
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@@ -1,6 +1,6 @@
svo:
grid_size: 8 #Feature grid size of a cell in [px].
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.
max_n_kfs: 15 #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: 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.
@@ -12,5 +12,5 @@ svo:
init_min_inliers: 50
ACC_noise: 0.4 #acc white noise in continuous in EKF
GYO_noise: 0.4 #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
svo_ekf: 0.2 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 0.1 #control vector noise in EKF