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increase relocalization limit

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This commit is contained in:
gfuse
2021-08-20 15:53:16 +02:00
parent e9d5ff2033
commit e0122c81bb
1 changed files with 2 additions and 2 deletions
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GPU_version/vio/src/initialization.cpp
+2 -2
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@@ -56,12 +56,12 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
frame_ref_->cam_->errorMultiplier2(), Config::poseOptimThresh(), frame_ref_->cam_->errorMultiplier2(), Config::poseOptimThresh(),
inliers_, xyz_in_cur_, T_cur_from_ref_); inliers_, xyz_in_cur_, T_cur_from_ref_);
if(inliers_.size() < Config::initMinInliers() && disparity < 80) if(inliers_.size() < Config::initMinInliers() && disparity < 150)
{ {
SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<<inliers_.size()<<" While: "<<Config::initMinInliers()<<" inliers minimum required.\n" SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<<inliers_.size()<<" While: "<<Config::initMinInliers()<<" inliers minimum required.\n"
<<"Init: px average disparity is: "<<disparity<<" While: "<<Config::initMinDisparity()<<" minimum required."); <<"Init: px average disparity is: "<<disparity<<" While: "<<Config::initMinDisparity()<<" minimum required.");
return NO_KEYFRAME; return NO_KEYFRAME;
}else if(inliers_.size() < Config::initMinInliers() && disparity > 80){ }else if(inliers_.size() < Config::initMinInliers() && disparity > 150){
SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<<inliers_.size()<<" While: "<<Config::initMinInliers()<<" inliers minimum required.\n" SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<<inliers_.size()<<" While: "<<Config::initMinInliers()<<" inliers minimum required.\n"
<<"Init: px average disparity is: "<<disparity<<" While: "<<Config::initMinDisparity()<<" minimum required. Reinitialized"); <<"Init: px average disparity is: "<<disparity<<" While: "<<Config::initMinDisparity()<<" minimum required. Reinitialized");
return FAILURE; return FAILURE;