update config

2019-08-09 11:51:04 +02:00 · 2019-08-09 11:51:04 +02:00 · 4e4901dfa4
parent be249f6354
commit 4e4901dfa4
1 changed files with 2 additions and 2 deletions
--- a/src/vi_estimator/keypoint_vio.cpp
+++ b/src/vi_estimator/keypoint_vio.cpp
@ -54,8 +54,8 @@ KeypointVioEstimator::KeypointVioEstimator(
      g(g),
      initialized(false),
      config(config),
-      lambda(1e-6),
-      min_lambda(1e-14),
+      lambda(1e-10),
+      min_lambda(1e-32),
      max_lambda(100),
      lambda_vee(2) {
  this->obs_std_dev = config.vio_obs_std_dev;