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new param

This commit is contained in:
Vladyslav Usenko 2019-08-08 14:37:07 +02:00
parent 8ffa903eb2
commit 29ed498aa0
1 changed files with 1 additions and 1 deletions
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2
src/vi_estimator/keypoint_vio.cpp
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@ -55,7 +55,7 @@ KeypointVioEstimator::KeypointVioEstimator(
initialized(false), initialized(false),
config(config), config(config),
lambda(1e-6), lambda(1e-6),
min_lambda(1e-12), min_lambda(1e-14),
max_lambda(100), max_lambda(100),
lambda_vee(2) { lambda_vee(2) {
this->obs_std_dev = config.vio_obs_std_dev; this->obs_std_dev = config.vio_obs_std_dev;