Can you have a problem with scale in odometry?
I try to use stereo cam RealSense with high accuracy IMU in SVO 2.0 odometry...
When I cyclically shift a drone between two stationary points A(x1,y1,z1) and B(x2,y1,z1), drone in any iterations flies in new points with low, and low, and low scale
May be you know some parameters in config files to solve this problem?
Hi, colleagues!
Can you have a problem with scale in odometry? I try to use stereo cam RealSense with high accuracy IMU in SVO 2.0 odometry... When I cyclically shift a drone between two stationary points A(x1,y1,z1) and B(x2,y1,z1), drone in any iterations flies in new points with low, and low, and low scale
May be you know some parameters in config files to solve this problem?
Some of parameter in my yaml file
pipeline_is_stereo: True automatic_reinitialization: True # When lost, stereo can recover immediately grid_size: 35 use_async_reprojectors: True use_imu: True poseoptim_prior_lambda: 2.0 img_align_prior_lambda_rot: 5.0 img_align_prior_lambda_trans: 0.0
use_threaded_depthfilter: True quality_min_fts: 40 quality_max_drop_fts: 80
max_depth_inv: 0.1 min_depth_inv: 10.0 mean_depth_inv: 0.5
map_scale: 1.0 kfselect_criterion: DOWNLOOKING kfselect_numkfs_upper_thresh: 180 kfselect_numkfs_lower_thresh: 90 kfselect_min_dist_metric: 0.001 kfselect_min_angle: 6 kfselect_min_disparity: 40 kfselect_min_num_frames_between_kfs: 0
img_align_est_illumination_gain: true img_align_est_illumination_offset: true depth_filter_affine_est_offset: true depth_filter_affine_est_gain: true reprojector_affine_est_offset: true reprojector_affine_est_gain: true