get an unstable currect result

2021-10-12 23:28:30 +02:00
parent 094c9f4282
commit aa9143b875
7 changed files with 22 additions and 56 deletions
@@ -8,7 +8,7 @@ vio:
  init_min_disparity: 10
  structureoptim_max_pts: 50
  kfselect_mindist: 0.01
-  poseoptim_thresh: 8.0
+  poseoptim_thresh: 1.75
  init_min_inliers: 40
  ACC_ekf: 0.2          #acc white noise in continuous in EKF
  GYO_ekf: 0.5         #gyro white noise in continuous in EKF