Added LM to VIO

2019-08-07 17:21:52 +02:00 · 2019-08-07 17:21:52 +02:00 · 8ffa903eb2
parent f8285ccc64
commit 8ffa903eb2
1 changed files with 1 additions and 1 deletions
--- a/src/vi_estimator/keypoint_vio.cpp
+++ b/src/vi_estimator/keypoint_vio.cpp
@ -56,7 +56,7 @@ KeypointVioEstimator::KeypointVioEstimator(
      config(config),
      lambda(1e-6),
      min_lambda(1e-12),
-      max_lambda(10),
+      max_lambda(100),
      lambda_vee(2) {
  this->obs_std_dev = config.vio_obs_std_dev;
  this->huber_thresh = config.vio_obs_huber_thresh;