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Supplement and Adjust OpenVINS Parameters (#1145)

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* set the PrintLevel of OpenVINS to be equivalent to that of ULogger

* use global FAST settings

* add online calibration params

* add dynamic initialization params

* add necessary feature initializer options

* fix segfault of OdomImageDecimation

* add mask settings

* use depth as mask in OpenVINS

* set twist covariance

* restore default values of VisMinDepth and VisMaxDepth
This commit is contained in:
Borong Yuan
2023-10-21 14:24:51 -07:00
committed by GitHub
parent f06cc0b17f
commit 948e15c72c
7 changed files with 790 additions and 170 deletions
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corelib/src/Odometry.cpp
+4 -4
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@@ -675,12 +675,12 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UASSERT(info->newCorners.size() == info->refCorners.size() || info->refCorners.empty());
for(unsigned int i=0; i<info->newCorners.size(); ++i)
{
info->refCorners[i].x *= _imageDecimation;
info->refCorners[i].y *= _imageDecimation;
info->newCorners[i].x *= _imageDecimation;
info->newCorners[i].y *= _imageDecimation;
if(!info->refCorners.empty())
{
info->newCorners[i].x *= _imageDecimation;
info->newCorners[i].y *= _imageDecimation;
info->refCorners[i].x *= _imageDecimation;
info->refCorners[i].y *= _imageDecimation;
}
}
for(std::multimap<int, cv::KeyPoint>::iterator iter=info->words.begin(); iter!=info->words.end(); ++iter)