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debug GPU version

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This commit is contained in:
gfuse
2021-05-26 10:50:20 +02:00
parent 1fba26dfef
commit cd6f0c5b97
58 changed files with 3828 additions and 425 deletions
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GPU_version/vio/param/vo_fast.yaml
+11 -2
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@@ -4,10 +4,19 @@ svo:
loba_num_iter: 0 #Number of iterations in the local bundle adjustment.
quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad.
quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad.
ACC_noise: 0.00001 #acc white noise in continuous
GYO_noise: 0.00001 #gyro white noise in continuous
init_min_tracked: 100
init_min_disparity: 25
structureoptim_max_pts: 50
kfselect_mindist: 0.12
poseoptim_thresh: 4.0
ACC_noise: 0.0001 #acc white noise in continuous
GYO_noise: 0.0001 #gyro white noise in continuous
IUC: 0.1 #integration uncertainty continuous
ABC: 0.1 #acc bias in continuous
GBC: 0.1 #gyro bias in continuous
EBP: 0.1 #error in the bias used for preintegration
NRP: 0.0000001 #noise used for projection in preintegration
gravity: 9.65
Acceleration_offset_x: -0.05
Acceleration_offset_y: -0.04
Gyroscope_offset_z: 0.001