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correct init

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This commit is contained in:
gfuse
2021-09-07 15:34:58 +02:00
parent 1599bbe487
commit 42af3a2c71
9 changed files with 548 additions and 459 deletions
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GPU_version/vio/param/vo_fast.yaml
+3 -3
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@@ -8,9 +8,9 @@ svo:
init_min_disparity: 30
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 4.0
poseoptim_thresh: 8.0
init_min_inliers: 40
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 100 #gyro white noise in continuous in EKF
svo_ekf: 0.01 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
GYO_noise: 0.1 #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
Cmd_Cov: 0.1 #control vector noise in EKF