From 6a653031689bbb592792d85e932eb4c8f1c8427c Mon Sep 17 00:00:00 2001 From: Mederic Fourmy <mederic.fourmy@gmail.com> Date: Wed, 6 Jul 2022 17:22:13 +0200 Subject: [PATCH] add IMU bootstrap params --- yaml/processor_imu.yaml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/yaml/processor_imu.yaml b/yaml/processor_imu.yaml index b8ca2c8..18567f3 100644 --- a/yaml/processor_imu.yaml +++ b/yaml/processor_imu.yaml @@ -1,9 +1,16 @@ time_tolerance: 0.0025 # Time tolerance for joining KFs (half of 5ms or 200Hz) unmeasured_perturbation_std: 0.000001 apply_loss_function: false + keyframe_vote: voting_active: false max_time_span: 1.0 # seconds max_buff_length: 500 # motion deltas dist_traveled: 2.0 # meters angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg) + +bootstrap: + enable: false + method: "G" # methods: "G", "STATIC" or "V0_G" + averaging_length: 0.10 # seconds + keyframe_provider_processor_name: "processor_other_name" # Not yet implemented \ No newline at end of file -- GitLab