Update OAK stereo config and IMU rate#1116
Merged
matlabbe merged 2 commits intointrolab:masterfrom Aug 19, 2023
Merged
Conversation
Member
|
Thanks for all this information, very useful! |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
The kernel size of census transform is set to AUTO by default. Looks like CT-7x7 is used at 800p. I found that CT-7x9 gives better depth quality for both 800p and 400p. Don't know why it is not used as default.
IMU rate is set to 100 Hz as none of the devices with BMI270 can reach 200 Hz. PoE models can go up to around 120 Hz. It works well when using msckf_vio. Feature noise is best reduced to 0.02 to avoid drift.
Msckf_vio may not be the most accurate VIO, but it is certainly robust. I often encounter drift issues when using OpenVINS, and I am still looking for the cause.