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This commit is contained in:
gfuse
2021-09-21 16:00:58 +02:00
parent d6e035fb90
commit b980bb4c6e
3 changed files with 6931 additions and 5687 deletions
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GPU_version/vio/depth_filter_log.txt
+6105 -4870
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GPU_version/vio/frame_handler_log.txt
+825 -816
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GPU_version/vio/param/vo_fast.yaml
+1 -1
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@@ -9,7 +9,7 @@ svo:
structureoptim_max_pts: 50 structureoptim_max_pts: 50
kfselect_mindist: 0.01 kfselect_mindist: 0.01
poseoptim_thresh: 8.0 poseoptim_thresh: 8.0
init_min_inliers: 30 init_min_inliers: 20
ACC_noise: 0.5 #acc white noise in continuous in EKF ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.5 #gyro 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 svo_ekf: 0.05 #Svo noise that will be devided by number of Reprojected points after opmization in EKF