Commit 8a1e6efb authored by xiaoqiang_user's avatar xiaoqiang_user

升级到强制平面约束

parent ccf450bf
......@@ -21,7 +21,7 @@ ORBextractor_scaleFactor: 1.2
UseImu: 1
updateScale: 1
LbaWeight: 1000
GbaWeight: 500
GbaWeight: 1000
IMUMaxFrame: 20 # max local frame number used in local BA
# transform matrix
TbaMatrix: !!opencv-matrix
......@@ -32,8 +32,8 @@ TbaMatrix: !!opencv-matrix
# data: [ 0., 0.55176688, 0.83399839, 0., -1., 0., 0., 0., 0., -0.83399839, 0.55176688, 0., 0., 0., 0., 1.]
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.3
filterMap: 0
minInsertDistance: 0.2
filterMap: 1
filerWeight: 1
EnableGC: 0
EnableCalib: 0
......@@ -61,3 +61,5 @@ TbsMatrix: !!opencv-matrix
dt: f
data: [-1.,0.,0.,0., 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
......@@ -21,7 +21,7 @@ ORBextractor_scaleFactor: 1.2
UseImu: 1
updateScale: 1
LbaWeight: 1000
GbaWeight: 500
GbaWeight: 1000
IMUMaxFrame: 20 # max local frame number used in local BA
# transform matrix
TbaMatrix: !!opencv-matrix
......@@ -32,8 +32,8 @@ TbaMatrix: !!opencv-matrix
# data: [ 0., 0.55176688, 0.83399839, 0., -1., 0., 0., 0., 0., -0.83399839, 0.55176688, 0., 0., 0., 0., 1.]
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.3
filterMap: 0
minInsertDistance: 0.2
filterMap: 1
filerWeight: 1
EnableGC: 0
EnableCalib: 0
......@@ -61,3 +61,5 @@ TbsMatrix: !!opencv-matrix
dt: f
data: [-1.,0.,0.,0., 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
......@@ -10,7 +10,7 @@ Camera.k2: 0.1003429320553524
Camera.k3: 0.0
Camera.p1: -0.0008603650130163881
Camera.p2: -0.0004735009752077179
LoadMap: 1
LoadMap: 0
updateMap: 1
drawTxt: 1
ORBextractor.iniThFAST: 20
......@@ -20,9 +20,9 @@ ORBextractor.nLevels: 8
ORBextractor.scaleFactor: 1.2
UseImu: 1
updateScale: 1
LbaWeight: 0
GbaWeight: 1
IMUMaxFrame: 10 # max local frame number used in local BA
LbaWeight: 1000
GbaWeight: 1000
IMUMaxFrame: 20 # max local frame number used in local BA
# transform matrix
TbaMatrix: !!opencv-matrix
rows: 4
......@@ -32,8 +32,8 @@ TbaMatrix: !!opencv-matrix
# data: [ 0., 0.55176688, 0.83399839, 0., -1., 0., 0., 0., 0., -0.83399839, 0.55176688, 0., 0., 0., 0., 1.]
EnableGBA: 1
dropRate: 1
minInsertDistance: 0.3
filterMap: 0
minInsertDistance: 0.2
filterMap: 1
filerWeight: 1
EnableGC: 0
EnableCalib: 0
......@@ -52,7 +52,7 @@ obs_min: 0
resolution: 0.05
pub_grid: 1
pub_mark: 1
use_scan: 1
use_scan: 0
#grid distance to the keyframe below the setting value, would be cleared
clear_radius: 0.2
TbsMatrix: !!opencv-matrix
......@@ -61,4 +61,5 @@ TbsMatrix: !!opencv-matrix
dt: f
data: [-1.,0.,0.,-0.30, 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
......@@ -21,7 +21,7 @@ ORBextractor_scaleFactor: 1.2
UseImu: 1
updateScale: 1
LbaWeight: 1000
GbaWeight: 500
GbaWeight: 1000
IMUMaxFrame: 20 # max local frame number used in local BA
# transform matrix
TbaMatrix: !!opencv-matrix
......@@ -32,8 +32,8 @@ TbaMatrix: !!opencv-matrix
# data: [ 0., 0.55176688, 0.83399839, 0., -1., 0., 0., 0., 0., -0.83399839, 0.55176688, 0., 0., 0., 0., 1.]
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.3
filterMap: 0
minInsertDistance: 0.2
filterMap: 1
filerWeight: 1
EnableGC: 0
EnableCalib: 0
......@@ -61,3 +61,5 @@ TbsMatrix: !!opencv-matrix
dt: f
data: [-1.,0.,0.,0., 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
......@@ -21,8 +21,8 @@ ORBextractor.scaleFactor: 1.2
UseImu: 1
updateScale: 1
LbaWeight: 1000
GbaWeight: 1
IMUMaxFrame: 10 # max local frame number used in local BA
GbaWeight: 1000
IMUMaxFrame: 20 # max local frame number used in local BA
# transform matrix
TbaMatrix: !!opencv-matrix
rows: 4
......@@ -32,7 +32,7 @@ TbaMatrix: !!opencv-matrix
# data: [ 0., 0.55176688, 0.83399839, 0., -1., 0., 0., 0., 0., -0.83399839, 0.55176688, 0., 0., 0., 0., 1.]
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.3
minInsertDistance: 0.2
filterMap: 0
filerWeight: 1
EnableGC: 0
......@@ -50,7 +50,7 @@ Odds_add: 30
Odds_delet: 2
obs_min: 0
resolution: 0.05
pub_grid: 1
pub_grid: 0
pub_mark: 1
use_scan: 0
#grid distance to the keyframe below the setting value, would be cleared
......@@ -66,3 +66,5 @@ Tbc2Matrix: !!opencv-matrix
cols: 4
dt: f
data: [ 0.0043014269, 0.013704162, -0.99989682, -0.3, 0.99995679, 0.0081848316, 0.0044138627, 0., 0.0082444753, -0.99987257, -0.013668363, 0.,0., 0., 0., 1.]
OdomMaxDist: 3.0 # max distance of odom frame used in BA
ForcePlane: 1
......@@ -21,7 +21,7 @@ ORBextractor_scaleFactor: 1.2
UseImu: 1
updateScale: 1
LbaWeight: 1000
GbaWeight: 500
GbaWeight: 1000
IMUMaxFrame: 20 # max local frame number used in local BA
# transform matrix
TbaMatrix: !!opencv-matrix
......@@ -32,7 +32,7 @@ TbaMatrix: !!opencv-matrix
# data: [ 0., 0.55176688, 0.83399839, 0., -1., 0., 0., 0., 0., -0.83399839, 0.55176688, 0., 0., 0., 0., 1.]
EnableGBA: 1
dropRate: 2
minInsertDistance: 0.3
minInsertDistance: 0.2
filterMap: 0
filerWeight: 1
EnableGC: 0
......@@ -61,3 +61,5 @@ TbsMatrix: !!opencv-matrix
dt: f
data: [-1.,0.,0.,0., 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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