Additional dynamic init thresholds #330
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goldbattle
reviewed
Apr 19, 2023
| @@ -909,6 +909,15 @@ bool DynamicInitializer::initialize(double ×tamp, Eigen::MatrixXd &covarian | |||
| return state_imu; | |||
| }; | |||
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| // Calculate the distance between the head and the tail. | |||
| // If the movement is smaller than threshold, the parallax is not enough and initialization is not allowed | |||
| Eigen::Vector3d movement = get_pose(newest_cam_time).segment<3>(4) - get_pose(oldest_camera_time).segment<3>(4); | |||
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Please use .block(4, 0, 3, 1) here.
goldbattle
reviewed
Apr 19, 2023
| Eigen::Vector3d movement = get_pose(newest_cam_time).segment<3>(4) - get_pose(oldest_camera_time).segment<3>(4); | ||
| double distance = movement.norm(); | ||
| if (distance < params.init_dyn_min_movement) { | ||
| PRINT_DEBUG(YELLOW "[init-d]: the distance is %.3f < %.3f, intialization failed\n" RESET, distance, params.init_dyn_min_movement); |
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Make this a warning level. E.g.:
PRINT_WARNING(YELLOW "[init-d]: xxxxxxx!\n" RESET);Also fix the spelling.
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Should also likely check if the velocity is near zero too as we should likely use static in this case. |
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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 |
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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. |
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add init_dyn_min_movement flag to make dynamic intialization more robust