Commit 5a008c3d authored by xiaoqiang_user's avatar xiaoqiang_user

修改安装参数

parent c5e32bb4
......@@ -28,8 +28,23 @@ 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.]
data:
- -0.0563815944
- 0.0352040865
- 0.997788429
- 0.275000006
- -0.997654438
- -0.0408406071
- -0.0549330786
- 0.0
- 0.0388164185
- -0.998545289
- 0.0374241732
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.2
......@@ -59,7 +74,7 @@ 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.]
data: [-1.,0.,0.,0.21, 0.,-1.,0.,0., 0.,0.,1.,0., 0.,0.,0.,1.]
use_second: 0
OdomMaxDist: 3.0 # max distance of odom frame used in BA
ForcePlane: 1
......@@ -28,8 +28,23 @@ TbaMatrix: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [ 0.018269612, -0.0095286127, -0.99978769, -0.25, 0.9997716, 0.011266328, 0.018161941, -0.050000001, 0.011090878, -0.9998911, 0.0097322678, 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.]
data:
- 0.0240604635
- -0.012360801
- -0.999634087
- -0.275000006
- 0.997513294
- 0.0665549785
- 0.0231864452
- -0.0850000009
- 0.0662440211
- -0.997706175
- 0.0139314076
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
EnableGBA: 1
dropRate: 1
minInsertDistance: 0.3
......@@ -59,7 +74,7 @@ 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.]
data: [-1.,0.,0.,0.21, 0.,-1.,0.,0., 0.,0.,1.,0., 0.,0.,0.,1.]
use_second: 0
OdomMaxDist: 3.0 # max distance of odom frame used in BA
ForcePlane: 1
......@@ -28,8 +28,23 @@ TbaMatrix: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [ 0.0022977469, 0.021060033, 0.99977559, 0.25, -0.99999392, 0.0026745496, 0.00224191, 0, -0.0026267346, -0.99977463, 0.021066051, 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.]
data:
- -0.0563815944
- 0.0352040865
- 0.997788429
- 0.275000006
- -0.997654438
- -0.0408406071
- -0.0549330786
- 0.0
- 0.0388164185
- -0.998545289
- 0.0374241732
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.3
......@@ -59,7 +74,7 @@ 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.]
data: [-1.,0.,0.,0.21, 0.,-1.,0.,0., 0.,0.,1.,0., 0.,0.,0.,1.]
use_second: 0
OdomMaxDist: 3.0 # max distance of odom frame used in BA
ForcePlane: 1
......@@ -28,8 +28,23 @@ 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.]
data:
- -0.0563815944
- 0.0352040865
- 0.997788429
- 0.275000006
- -0.997654438
- -0.0408406071
- -0.0549330786
- 0.0
- 0.0388164185
- -0.998545289
- 0.0374241732
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.2
......@@ -59,7 +74,7 @@ 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.]
data: [-1.,0.,0.,0.21, 0.,-1.,0.,0., 0.,0.,1.,0., 0.,0.,0.,1.]
use_second: 0
OdomMaxDist: 3.0 # max distance of odom frame used in BA
ForcePlane: 1
......@@ -28,8 +28,23 @@ 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.]
data:
- -0.0563815944
- 0.0352040865
- 0.997788429
- 0.275000006
- -0.997654438
- -0.0408406071
- -0.0549330786
- 0.0
- 0.0388164185
- -0.998545289
- 0.0374241732
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.2
......@@ -59,12 +74,28 @@ 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.]
data: [-1.,0.,0.,0.21, 0.,-1.,0.,0., 0.,0.,1.,0., 0.,0.,0.,1.]
use_second: 1
Tbc2Matrix: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [0.013453779, -0.035317063, -0.99928558, -0.27500001, 0.99976814, 0.017278949, 0.012849597, -0.12, 0.016812796, -0.99922675, 0.035541341, 0, 0, 0, 0, 1]
data:
- 0.0240604635
- -0.012360801
- -0.999634087
- -0.275000006
- 0.997513294
- 0.0665549785
- 0.0231864452
- -0.0850000009
- 0.0662440211
- -0.997706175
- 0.0139314076
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
OdomMaxDist: 3.0 # max distance of odom frame used in BA
ForcePlane: 1
......@@ -28,8 +28,23 @@ TbaMatrix: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [ 0.0022977469, 0.021060033, 0.99977559, 0.25, -0.99999392, 0.0026745496, 0.00224191, 0, -0.0026267346, -0.99977463, 0.021066051, 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.]
data:
- -0.0563815944
- 0.0352040865
- 0.997788429
- 0.275000006
- -0.997654438
- -0.0408406071
- -0.0549330786
- 0.0
- 0.0388164185
- -0.998545289
- 0.0374241732
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0
EnableGBA: 1
dropRate: 0
minInsertDistance: 0.2
......@@ -59,7 +74,7 @@ TbsMatrix: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [-1.,0.,0.,0.18, 0.,-1.,0.,0., 0.,0.,1.,0., 0.,0.,0.,1.]
data: [-1.,0.,0.,0.21, 0.,-1.,0.,0., 0.,0.,1.,0., 0.,0.,0.,1.]
use_second: 0
OdomMaxDist: 3.0 # max distance of odom frame used in BA
ForcePlane: 1
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