Update Tracking.cc
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c901f9828e
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6cd39454c8
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@ -1217,6 +1217,7 @@ bool Tracking::ParseIMUParamFile(cv::FileStorage &fSettings)
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cout << "IMU accelerometer noise: " << Na << " m/s^2/sqrt(Hz)" << endl;
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cout << "IMU accelerometer walk: " << Naw << " m/s^3/sqrt(Hz)" << endl;
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// 噪声从连续到离散差了一个sqrt(freq) 而随机游走从连续到离散差了一个 1/sqrt(freq)
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mpImuCalib = new IMU::Calib(Tbc,Ng*sf,Na*sf,Ngw/sf,Naw/sf);
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mpImuPreintegratedFromLastKF = new IMU::Preintegrated(IMU::Bias(),*mpImuCalib);
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