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debug some bugs and recalibrate

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This commit is contained in:
gfuse
2021-10-07 16:25:27 +02:00
parent cf15e3fa15
commit 45ed85c0e9
12 changed files with 95 additions and 7632 deletions
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GPU_version/vio/param/vo_fast.yaml
+8 -6
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@@ -1,6 +1,6 @@
svo:
vio:
grid_size: 8 #Feature grid size of a cell in [px].
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.
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: 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.
@@ -10,7 +10,9 @@ svo:
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 50
ACC_noise: 0.1 #acc white noise in continuous in EKF
GYO_noise: 0.05 #gyro white noise in continuous in EKF
svo_ekf: 0.05 #VO noise in EKF
Cmd_Cov: 0.1 #control vector noise in EKF
ACC_ekf: 0.2 #acc white noise in continuous in EKF
GYO_ekf: 0.05 #gyro white noise in continuous in EKF
VO_ekf_translation: 0.5 #VO noise in EKF
VO_ekf_orientation: 1.5 #VO noise in EKF
CMD_ekf_translation: 0.1 #control vector noise in EKF
CMD_ekf_orientation: 0.01 #control vector noise in EKF