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Added LM to VIO

This commit is contained in:
Vladyslav Usenko 2019-08-07 17:21:52 +02:00
parent f8285ccc64
commit 8ffa903eb2
1 changed files with 1 additions and 1 deletions
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2
src/vi_estimator/keypoint_vio.cpp
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@ -56,7 +56,7 @@ KeypointVioEstimator::KeypointVioEstimator(
config(config), config(config),
lambda(1e-6), lambda(1e-6),
min_lambda(1e-12), min_lambda(1e-12),
max_lambda(10), 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;
this->huber_thresh = config.vio_obs_huber_thresh; this->huber_thresh = config.vio_obs_huber_thresh;