correct initialization

2021-09-07 16:54:38 +02:00
parent 42af3a2c71
commit 4fd88041a0
5 changed files with 437 additions and 526 deletions
@@ -9,7 +9,7 @@ svo:
  structureoptim_max_pts: 50
  kfselect_mindist: 0.01
  poseoptim_thresh: 8.0
-  init_min_inliers: 40
+  init_min_inliers: 20
  ACC_noise: 0.5          #acc white noise in continuous 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