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correct triangulation

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gfuse
2021-09-24 19:51:09 +02:00
parent 7e7c60f5a1
commit 8f4ddb9c72
10 changed files with 1439 additions and 1174 deletions
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GPU_version/vio/param/vo_fast.yaml
+2 -2
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@@ -5,11 +5,11 @@ svo:
quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad.
quality_max_drop_fts: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad.
init_min_tracked: 100
init_min_disparity: 40
init_min_disparity: 20
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 20
init_min_inliers: 25
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.5 #gyro white noise in continuous in EKF
svo_ekf: 0.05 #Svo noise that will be devided by number of Reprojected points after opmization in EKF