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The best possible situation 20.4.2021

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gfuse
2021-04-20 16:18:52 +02:00
parent 661acff27f
commit 4987e55ec7
6 changed files with 81 additions and 33 deletions
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vio_svo/param/vo_fast.yaml
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svo:
grid_size: 30
max_n_kfs: 10
loba_num_iter: 0
quality_min_fts: 20
quality_max_drop_fts: 50
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.
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.
ACC_noise: 0.0001 #acc white noise in continuous
GYO_noise: 0.0001 #gyro white noise in continuous
IUC: 0.1 #integration uncertainty continuous
ABC: 0.1 #acc bias in continuous
GBC: 0.1 #gyro bias in continuous
EBP: 0.01 #error in the bias used for preintegration
NRP: 0.0000001 #noise used for projection in preintegration