add imu sub

2021-04-07 19:19:35 +02:00
parent e9256c9903
commit 651dcdfb2f
37 changed files with 786 additions and 310 deletions
@@ -0,0 +1,8 @@
+cam_model: ATAN
+cam_width: 752
+cam_height: 480
+cam_fx: 0.509326
+cam_fy: 0.796651
+cam_cx: 0.45905
+cam_cy: 0.510056
+cam_d0: 0.9320
@@ -0,0 +1,11 @@
+cam_model: Pinhole
+cam_width: 640
+cam_height: 480
+cam_fx: 789.860721
+cam_fy: 790.097440
+cam_cx: 305.323524
+cam_cy: 260.464072
+cam_d0: 0.027470
+cam_d1: -0.051518
+cam_d2: 0.004375
+cam_d3: -0.004028
@@ -0,0 +1,8 @@
+cam_model: ATAN
+cam_width: 640
+cam_height: 480
+cam_fx: 0.463632
+cam_fy: 0.823661
+cam_cx: 0.497465
+cam_cy: 0.498443
+cam_d0: 1.01687
@@ -0,0 +1,4 @@
+grid_size: 20
+max_n_kfs: 50
+loba_num_iter: 10
+max_fts: 200
@@ -0,0 +1,3 @@
+grid_size: 30
+max_n_kfs: 10
+loba_num_iter: 0