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Gravity align in local 3D SLAM. (#373)

master
Wolfgang Hess 2017-06-28 16:17:18 +02:00 committed by GitHub
parent ffc939706d
commit 19da0ab7c8
1 changed files with 1 additions and 2 deletions
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configuration_files/trajectory_builder_3d.lua
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@ -68,8 +68,7 @@ TRAJECTORY_BUILDER_3D = {
orientation_model_variance = 5e-3, orientation_model_variance = 5e-3,
position_model_variance = 0.00654766, position_model_variance = 0.00654766,
velocity_model_variance = 0.53926, velocity_model_variance = 0.53926,
-- This disables gravity alignment in local SLAM. imu_gravity_time_constant = 10.,
imu_gravity_time_constant = 1e9,
num_odometry_states = 1, num_odometry_states = 1,
}, },