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为什么加入平面优化之后,回到原点的轨迹还是存在Z方向的漂移? #16
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你可以确认一下平面优化是否开启了 |
我直接使用的是原始的参数如下,请问还需要在哪里开启呢? imu: 1 |
我确认已经开启平面优化了 |
你可以尝试一下加大平面约束的权重 |
加大权重,是减小以下3个值吗?
roll_n: 0.005
pitch_n: 0.005
zpw_n: 0.025
在 2022-11-04 19:47:20,"庄庭达" ***@***.***> 写道:
你可以尝试一下加大平面约束的权重
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无论怎么调整平面约束的权重,都无法使得轨迹回到水平位置 |
我发现不管开不开平面约束,出来的轨迹都是差不多的。平面约束好像用处不大? |
你说的这个现象跟我之前的实验结论不太一致,你用的是哪个配置文件呢 |
使用的是你提供的默认文件,就是readme里的那句。是否需要更改?
在 2022-11-05 16:03:29,"庄庭达" ***@***.***> 写道:
你说的这个现象跟我之前的实验结论不太一致,你用的是哪个配置文件呢
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使用这个realsense_stereo_imu_config_ridgeback.yaml:
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@ChenHuang20 可以试下把平面约束关了,对比下结果 |
开和关基本没有区别 |
@ChenHuang20 可以对比下单目情况下的平面约束开关 |
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