init GPU

2021-05-05 11:19:06 +02:00
parent 85470c37b6
commit fa3b7f1e1a
145 changed files with 37 additions and 842 deletions
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+cam_model: ATAN
+cam_width: 752
+cam_height: 480
+cam_fx: 0.509326
+cam_fy: 0.796651
+cam_cx: 0.45905
+cam_cy: 0.510056
+cam_d0: 0.9320
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+cam_model: Pinhole
+cam_width: 640
+cam_height: 480
+cam_fx: 789.860721
+cam_fy: 790.097440
+cam_cx: 305.323524
+cam_cy: 260.464072
+cam_d0: 0.027470
+cam_d1: -0.051518
+cam_d2: 0.004375
+cam_d3: -0.004028
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+cam_model: ATAN
+cam_width: 640
+cam_height: 480
+cam_fx: 0.463632
+cam_fy: 0.823661
+cam_cx: 0.497465
+cam_cy: 0.498443
+cam_d0: 1.01687
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+cam_model: ATAN
+cam_width: 1024
+cam_height: 720
+cam_fx: 1.98248
+cam_fy: 2.68212
+cam_cx: 0.502524
+cam_cy: 0.497744
+cam_d0: -0.000499999
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+grid_size: 20
+max_n_kfs: 50
+loba_num_iter: 10
+max_fts: 200
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+svo:
+  grid_size: 30            #Feature grid size of a cell in [px].
+  max_n_kfs: 10            #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.
+  ACC_noise: 0.00001          #acc white noise in continuous
+  GYO_noise: 0.00001          #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