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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Additional dynamic init thresholds #330

Closed CanCanZeng closed 11 months ago

CanCanZeng commented 1 year ago

add init_dyn_min_movement flag to make dynamic intialization more robust

goldbattle commented 1 year ago

Should also likely check if the velocity is near zero too as we should likely use static in this case.

CanCanZeng commented 1 year ago

I add a flag to control the minimum velocity for dynamic initialization, and I suggest to use two parameters to control the window length for static and dynamic initialization respectively

goldbattle commented 11 months ago

I have thought about this, and will close this feature for now. Maybe will revisit in the future if the dynamic initialization module is cleaned up.