From 612963faf155e30993c5919ff7bc56a47c7d683a Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 13 Oct 2021 09:16:36 +0200 Subject: [PATCH] do calibration --- GPU_version/vio/depth_filter_log.txt | 0 GPU_version/vio/frame_handler_log.txt | 0 GPU_version/vio/param/vo_fast.yaml | 5 ++--- GPU_version/vio/src/global_optimizer.cpp | 2 +- 4 files changed, 3 insertions(+), 4 deletions(-) create mode 100755 GPU_version/vio/depth_filter_log.txt create mode 100755 GPU_version/vio/frame_handler_log.txt diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt new file mode 100755 index 0000000..e69de29 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt new file mode 100755 index 0000000..e69de29 diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 0bad1f9..efd75b0 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -8,11 +8,10 @@ vio: init_min_disparity: 10 structureoptim_max_pts: 50 kfselect_mindist: 0.01 - poseoptim_thresh: 1.75 - init_min_inliers: 40 + poseoptim_thresh: 3.0 ACC_ekf: 0.2 #acc white noise in continuous in EKF GYO_ekf: 0.5 #gyro white noise in continuous in EKF VO_ekf_translation: 1.0 #VO noise in EKF - VO_ekf_orientation: 0.5 #VO noise in EKF + VO_ekf_orientation: 1.0 #VO noise in EKF CMD_ekf_translation: 0.1 #control vector noise in EKF CMD_ekf_orientation: 0.01 #control vector noise in EKF diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp index 44e0afd..e57759e 100644 --- a/GPU_version/vio/src/global_optimizer.cpp +++ b/GPU_version/vio/src/global_optimizer.cpp @@ -143,7 +143,7 @@ namespace vio { // } } } - if(optimizer.vertices().empty()){ + if(optimizer.vertices().empty() || optimizer.vertices().size()<1){ ba_mux_.unlock(); continue; }