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gfuse
2021-06-29 07:51:42 +02:00
parent cb242498e6
commit 901fbb14e8
160 changed files with 31877 additions and 1528 deletions
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GPU_version/vio/param/vo_fast.yaml
+5 -12
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@@ -5,18 +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: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad.
init_min_tracked: 100
init_min_disparity: 20
init_min_disparity: 30
structureoptim_max_pts: 50
kfselect_mindist: 0.05
poseoptim_thresh: 4.0
ACC_noise: 0.0001 #acc white noise in continuous
GYO_noise: 0.0001 #gyro white noise in continuous
IUC: 0.1 #integration uncertainty continuous
ABC: 0.1 #acc bias in continuous
GBC: 0.1 #gyro bias in continuous
EBP: 0.1 #error in the bias used for preintegration
NRP: 0.001 #noise used for projection in preintegration
gravity: -9.65
Acceleration_offset_x: 0.0
Acceleration_offset_y: 0.0
Gyroscope_offset_z: 0.0
ACC_noise: 0.1 #acc white noise in continuous in EKF
GYO_noise: 0.1 #gyro white noise in continuous in EKF
svo_ekf: 20 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 0.05 #control vector noise in EKF