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bandle adjustment works well

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gfuse
2021-10-01 17:02:02 +02:00
parent af0cf99be3
commit f64ef21d03
14 changed files with 716 additions and 905 deletions
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GPU_version/vio/param/vo_fast.yaml
+2 -2
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@@ -1,7 +1,7 @@
svo:
grid_size: 30 #Feature grid size of a cell in [px].
grid_size: 8 #Feature grid size of a cell in [px].
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.
loba_num_iter: 10 #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: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad.
init_min_tracked: 100