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small fixes

This commit is contained in:
Vladyslav Usenko 2019-07-11 11:37:05 +02:00
parent 9c5f5f3394
commit c4f73877b4
4 changed files with 4 additions and 4 deletions
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2
include/basalt/optimization/poses_optimize.h
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@ -61,7 +61,7 @@ class PosesOptimization {
public:
PosesOptimization()
: lambda(1e-6), min_lambda(1e-12), max_lambda(10), lambda_vee(2) {}
: lambda(1e-6), min_lambda(1e-12), max_lambda(100), lambda_vee(2) {}
bool initializeIntrinsics(
size_t cam_id, const Eigen::vector<Eigen::Vector2d> &corners,

2
include/basalt/optimization/spline_optimize.h
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@ -92,7 +92,7 @@ class SplineOptimization {
mocap_initialized(false),
lambda(1e-12),
min_lambda(1e-18),
max_lambda(10),
max_lambda(100),
lambda_vee(2),
spline(dt_ns),
dt_ns(dt_ns) {

2
src/calibration/cam_calib.cpp
View File

@ -71,7 +71,7 @@ CamCalib::CamCalib(const std::string &dataset_path,
show_ids("ui.show_ids", false, false, true),
huber_thresh("ui.huber_thresh", 4.0, 0.1, 10.0),
opt_intr("ui.opt_intr", true, false, true),
opt_until_convg("ui.opt_until_convg", false, false, true),
opt_until_convg("ui.opt_until_converge", false, false, true),
stop_thresh("ui.stop_thresh", 1e-8, 1e-10, 0.01, true) {
if (show_gui) initGui();

2
src/calibration/cam_imu_calib.cpp
View File

@ -79,7 +79,7 @@ CamImuCalib::CamImuCalib(const std::string &dataset_path,
opt_imu_scale("ui.opt_imu_scale", false, false, true),
opt_mocap("ui.opt_mocap", false, false, true),
huber_thresh("ui.huber_thresh", 4.0, 0.1, 10.0),
opt_until_convg("ui.opt_until_convg", false, false, true),
opt_until_convg("ui.opt_until_converge", false, false, true),
stop_thresh("ui.stop_thresh", 1e-8, 1e-10, 0.01, true) {
if (show_gui) initGui();
}