From a2eeb002906af0193ab01b0d78ac9f9a0fac26f2 Mon Sep 17 00:00:00 2001 From: Vladyslav Usenko Date: Mon, 12 Aug 2019 19:36:44 +0200 Subject: [PATCH] update config --- data/euroc_config_no_weights.json | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/data/euroc_config_no_weights.json b/data/euroc_config_no_weights.json index 91231c1..8743e73 100644 --- a/data/euroc_config_no_weights.json +++ b/data/euroc_config_no_weights.json @@ -20,6 +20,9 @@ "config.vio_filter_iteration": 4, "config.vio_max_iterations": 7, "config.vio_enforce_realtime": false, + "config.vio_use_lm": false, + "config.vio_lm_lambda_min": 1e-32, + "config.vio_lm_lambda_max": 1e2, "config.mapper_obs_std_dev": 0.25, "config.mapper_obs_huber_thresh": 1.5, @@ -33,6 +36,9 @@ "config.mapper_second_best_test_ratio": 1.2, "config.mapper_bow_num_bits": 16, "config.mapper_min_triangulation_dist": 0.07, - "config.mapper_no_factor_weights": true + "config.mapper_no_factor_weights": true, + "config.mapper_use_lm": false, + "config.mapper_lm_lambda_min": 1e-32, + "config.mapper_lm_lambda_max": 1e3 } }