the pixel noise of most cameras should be less than 3 after factory c…

…alibration
introlab · Sep 29, 2023 · b97d383 · b97d383
1 parent ddb1595
commit b97d383
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
@@ -613,9 +613,9 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk,   double, 0.001,  "[m/s^3/sqrt(Hz)] (accel bias diffusion)");
     RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity,     double, 0.001,  "[rad/s/sqrt(Hz)] (gyro \"white noise\")");
     RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk,       double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)");
-    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx,            double, 1.0,    "Pixel noise for MSCKF features");
+    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx,            double, 2.0,    "Pixel noise for MSCKF features");
     RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier,     double, 1.0,    "Chi2 multiplier for MSCKF features");
-    RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx,             double, 1.0,    "Pixel noise for SLAM features");
+    RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx,             double, 2.0,    "Pixel noise for SLAM features");
     RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier,      double, 1.0,    "Chi2 multiplier for SLAM features");
 
     // Odometry Open3D

diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
@@ -18909,7 +18909,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                  <double>0.100000000000000</double>
                                 </property>
                                 <property name="value">
-                                 <double>1.000000000000000</double>
+                                 <double>2.000000000000000</double>
                                 </property>
                                </widget>
                               </item>
@@ -18967,7 +18967,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                  <double>0.100000000000000</double>
                                 </property>
                                 <property name="value">
-                                 <double>1.000000000000000</double>
+                                 <double>2.000000000000000</double>
                                 </property>
                                </widget>
                               </item>