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set camera with imu

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This commit is contained in:
gfuse
2021-09-16 19:51:13 +02:00
parent 3a56d3314f
commit c3ca89fed8
3 changed files with 52091 additions and 74842 deletions
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GPU_version/vio/depth_filter_log.txt
+48798 -71371
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GPU_version/vio/frame_handler_log.txt
+3289 -3466
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GPU_version/vio/param/vo_fast.yaml
+4 -5
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@@ -10,8 +10,7 @@ svo:
kfselect_mindist: 0.01 kfselect_mindist: 0.01
poseoptim_thresh: 8.0 poseoptim_thresh: 8.0
init_min_inliers: 30 init_min_inliers: 30
map_scale: 0.5 ACC_noise: 0.5 #acc white noise in continuous in EKF
ACC_noise: 2000 #acc white noise in continuous in EKF GYO_noise: 0.5 #gyro white noise in continuous in EKF
GYO_noise: 2000 #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: 0.0001 #Svo noise that will be devided by number of Reprojected points after opmization in EKF Cmd_Cov: 0.5 #control vector noise in EKF
Cmd_Cov: 2000 #control vector noise in EKF