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increase init disparity

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This commit is contained in:
gfuse
2021-08-12 16:59:46 +02:00
parent 7f1900c3f6
commit 941577314c
3 changed files with 5 additions and 5 deletions
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GPU_version/vio/param/vo_fast.yaml
+1 -1
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@@ -5,7 +5,7 @@ svo:
quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. 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. 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_tracked: 100
init_min_disparity: 30 init_min_disparity: 60
structureoptim_max_pts: 50 structureoptim_max_pts: 50
kfselect_mindist: 0.01 kfselect_mindist: 0.01
poseoptim_thresh: 4.0 poseoptim_thresh: 4.0
GPU_version/vio/src/frame_handler_mono.cpp
+3 -3
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@@ -164,12 +164,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE; if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
//assert (false); //assert (false);
reprojector_.reprojectMap(new_frame_, overlap_kfs_); reprojector_.reprojectMap(new_frame_, overlap_kfs_);
/* /*
std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
<<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_ <<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_
<<"\t distance between two frames: "<< <<"\t distance between two frames: "<<
(last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';*/ (last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';
*/
size_t sfba_n_edges_final=0; size_t sfba_n_edges_final=0;
double sfba_thresh, sfba_error_init, sfba_error_final; double sfba_thresh, sfba_error_init, sfba_error_final;
pose_optimizer::optimizeGaussNewton( pose_optimizer::optimizeGaussNewton(
GPU_version/vio/src/visualizer.cpp
+1 -1
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@@ -52,7 +52,7 @@ void Visualizer::publishMinimal(
{ {
// publish cam in world frame (Estimated odometry in the worls frame) // publish cam in world frame (Estimated odometry in the worls frame)
auto odom=ukf.get_location(); auto odom=ukf.get_location();
Quaterniond q(AngleAxisd(odom.second.pitch()+M_PI_2, Vector3d::UnitZ())); Quaterniond q(AngleAxisd(odom.second.pitch(), Vector3d::UnitZ()));
geometry_msgs::PoseWithCovarianceStampedPtr msg_pose_with_cov(new geometry_msgs::PoseWithCovarianceStamped); geometry_msgs::PoseWithCovarianceStampedPtr msg_pose_with_cov(new geometry_msgs::PoseWithCovarianceStamped);
msg_pose_with_cov->header = header_msg; msg_pose_with_cov->header = header_msg;
msg_pose_with_cov->pose.pose.position.x = -odom.second.se2().translation()(0); msg_pose_with_cov->pose.pose.position.x = -odom.second.se2().translation()(0);