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calibrate orintation

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gfuse
2021-08-26 20:27:01 +02:00
parent 50192e3b04
commit c1ac138890
12 changed files with 56 additions and 82 deletions
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GPU_version/vio/param/vo_fast.yaml
+4 -4
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@@ -5,12 +5,12 @@ svo:
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.
init_min_tracked: 100
init_min_disparity: 60
init_min_disparity: 80
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 4.0
init_min_inliers: 30
init_min_inliers: 40
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.001 #gyro white noise in continuous in EKF
GYO_noise: 0.005 #gyro white noise in continuous 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
Cmd_Cov: 0.1 #control vector noise in EKF