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Update Tracking.cc

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小白逆袭 2021-09-14 15:47:27 +08:00 committed by GitHub
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src/Tracking.cc
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@ -1217,6 +1217,7 @@ bool Tracking::ParseIMUParamFile(cv::FileStorage &fSettings)
cout << "IMU accelerometer noise: " << Na << " m/s^2/sqrt(Hz)" << endl; cout << "IMU accelerometer noise: " << Na << " m/s^2/sqrt(Hz)" << endl;
cout << "IMU accelerometer walk: " << Naw << " m/s^3/sqrt(Hz)" << endl; cout << "IMU accelerometer walk: " << Naw << " m/s^3/sqrt(Hz)" << endl;
// 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)
mpImuCalib = new IMU::Calib(Tbc,Ng*sf,Na*sf,Ngw/sf,Naw/sf); mpImuCalib = new IMU::Calib(Tbc,Ng*sf,Na*sf,Ngw/sf,Naw/sf);
mpImuPreintegratedFromLastKF = new IMU::Preintegrated(IMU::Bias(),*mpImuCalib); mpImuPreintegratedFromLastKF = new IMU::Preintegrated(IMU::Bias(),*mpImuCalib);