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do calibration

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This commit is contained in:
gfuse
2021-10-13 09:16:36 +02:00
parent aa9143b875
commit 612963faf1
4 changed files with 3 additions and 4 deletions
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GPU_version/vio/depth_filter_log.txt
Executable
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GPU_version/vio/frame_handler_log.txt
Executable
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GPU_version/vio/param/vo_fast.yaml
+2 -3
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@@ -8,11 +8,10 @@ vio:
init_min_disparity: 10 init_min_disparity: 10
structureoptim_max_pts: 50 structureoptim_max_pts: 50
kfselect_mindist: 0.01 kfselect_mindist: 0.01
poseoptim_thresh: 1.75 poseoptim_thresh: 3.0
init_min_inliers: 40
ACC_ekf: 0.2 #acc white noise in continuous in EKF ACC_ekf: 0.2 #acc white noise in continuous in EKF
GYO_ekf: 0.5 #gyro 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_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_translation: 0.1 #control vector noise in EKF
CMD_ekf_orientation: 0.01 #control vector noise in EKF CMD_ekf_orientation: 0.01 #control vector noise in EKF
GPU_version/vio/src/global_optimizer.cpp
+1 -1
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@@ -143,7 +143,7 @@ namespace vio {
// } // }
} }
} }
if(optimizer.vertices().empty()){ if(optimizer.vertices().empty() || optimizer.vertices().size()<1){
ba_mux_.unlock(); ba_mux_.unlock();
continue; continue;
} }