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This commit is contained in:
gfuse
2021-08-05 14:54:44 +02:00
parent 47e2993ed8
commit e20e2c76e1
9 changed files with 29 additions and 22 deletions
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GPU_version/vio/param/vo_fast.yaml
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@@ -3,7 +3,7 @@ svo:
max_n_kfs: 20 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3.
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.
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: 30
structureoptim_max_pts: 50