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Edit EKF and VO pipline to publish the odometry as soon as algorithm initialized. And VO will not save those frames that do not have features.

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gfuse
2021-07-10 13:35:58 +02:00
parent 3b110b299b
commit 99fa000ad5
20 changed files with 134 additions and 166 deletions
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GPU_version/vio/param/vo_fast.yaml
+4 -4
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@@ -7,9 +7,9 @@ svo:
init_min_tracked: 100
init_min_disparity: 30
structureoptim_max_pts: 50
kfselect_mindist: 0.001
kfselect_mindist: 0.01
poseoptim_thresh: 4.0
ACC_noise: 0.001 #acc white noise in continuous in EKF
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.001 #gyro white noise in continuous in EKF
svo_ekf: 100 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 0.001 #control vector noise in EKF
svo_ekf: 1.5 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 1.0 #control vector noise in EKF