Commit 0695c2c2 authored by xiaoqiang_user's avatar xiaoqiang_user

修改更新参数

parent 43b554e2
......@@ -10,54 +10,79 @@ Camera_k2: 0.06685114307459132
Camera_k3: 0.0
Camera_p1: -0.0009688764167839786
Camera_p2: -0.0002636873513136712
EnableCalib: 0
EnableGBA: 1
EnableGC: 0
ForcePlane: 1
GbaWeight: 100
IMUMaxFrame: 10
LbaWeight: 1000
LoadMap: 1
updateMap: 1
drawTxt: 1
ORBextractor_iniThFAST: 20
ORBextractor_minThFAST: 7
ORBextractor_nFeatures: 2000
ORBextractor_nLevels: 8
ORBextractor_scaleFactor: 1.2
UseImu: 1
updateScale: 1
LbaWeight: 1000
GbaWeight: 500
IMUMaxFrame: 20 # max local frame number used in local BA
# transform matrix
Odds_add: 30
Odds_delet: 2
TbaMatrix: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [-0.095776238, 0.064534552, 0.99330872, 0.27500001, -0.99504238, 0.020646412, -0.097284786, 0, -0.026786491, -0.99770188, 0.062237181, 0, 0, 0, 0, 1]
# data: [ 0., 0.55176688, 0.83399839, 0., -1., 0., 0., 0., 0., -0.83399839, 0.55176688, 0., 0., 0., 0., 1.]
EnableGBA: 1
cols: 4
data:
- 0.0434085391
- 0.0236851238
- 0.998776615
- 0.75
- -0.998762131
- 0.0253323577
- 0.042807173
- 0.0
- -0.0242874734
- -0.99939847
- 0.0247554444
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
dt: f
rows: 4
TbsMatrix: !!opencv-matrix
cols: 4
data:
- 1.0
- 0.0
- 0.0
- 0.7
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
dt: f
rows: 4
UseImu: 1
border_maxz: 2.5
border_minz: -0.4
clear_radius: 0.2
dbfile_rootpath: slamdb
drawTxt: 1
dropRate: 2
minInsertDistance: 0.2
filterMap: 1
filerWeight: 1
EnableGC: 0
EnableCalib: 0
#mapsave function, rootpath under $HOME
dbfile_rootpath: slamdb
#mapsave function, current path and pgm file name, defalut equal null
filterMap: 1
map_name: default
# map server paramters
border_minz: -0.4
border_maxz: 1.5
Odds_add: 30
Odds_delet: 2
minInsertDistance: 0.2
obs_min: 0
resolution: 0.05
pub_grid: 1
pub_grid: 0
pub_mark: 1
resolution: 0.05
updateMap: 1
updateScale: 1
use_scan: 1
#grid distance to the keyframe below the setting value, would be cleared
clear_radius: 0.2
TbsMatrix: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [-1.,0.,0.,0.2, 0.,-1.,0.,0., 0.,0.,1.,0., 0.,0.,0.,1.]
use_second: 0
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