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start outputting data after static initialization (#1171)

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* start outputting data after static initialization

* restore pixel noise to 1
This commit is contained in:
Borong Yuan
2023-11-29 05:20:45 +08:00
committed by GitHub
parent 7ab1ee0a0b
commit 07c24e95ba
3 changed files with 90 additions and 93 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -641,9 +641,9 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion)");
RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\")");
RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)");
RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 2.0, "Pixel noise for MSCKF features");
RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features");
RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features");
RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 2.0, "Pixel noise for SLAM features");
RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features");
RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features");
// Odometry Open3D