About the parameters of the algorithm？
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What are the meanings represented by each parameter in the configs_euroc.yaml file?
I have found that in some scenarios, although line features increase robustness, they also improve translation errors. I guess it's the linear merge parameter that affects the results. I am trying to modify the parameters in the hope of achieving better results. But most of the parameters are not explained.
@zhongxiangrong Hi, some parameter explanations can be found here. it's true that LSD is not robust enough and needs to be carefully tuned. A new version with better line detection, loop detection and map reuse will be released soon.
thanks！keyframe: max_angle: 0.5 。What is the unit of this parameter?
When is the new version expected to be released? Have you considered using an IMU sensor?
What's more, What is the unit of parameter "line_detector: angle_thr,distance_thr, ep_thr"?In addition, it seems that these three parameters are not used in the code, but have been determined.
thanks！keyframe: max_angle: 0.5 。What is the unit of this parameter?
radian
When is the new version expected to be released? Have you considered using an IMU sensor?
may be 3-6 months later. IMU sensor will be supported.
What's more, What is the unit of parameter "line_detector: angle_thr,distance_thr, ep_thr"?In addition, it seems that these three parameters are not used in the code, but have been determined.
radian and pixel. Yes, I give specific parameters directly in the source code.
I found from the keyframe txt file output by the algorithm that the initial position is (0,0,1), why not (0,0,0)?