From b97d383644c87e59045e56e49e551b29e90402f2 Mon Sep 17 00:00:00 2001
From: Borong Yuan <yuanborong@hotmail.com>
Date: Fri, 29 Sep 2023 15:16:33 +0800
Subject: [PATCH] the pixel noise of most cameras should be less than 3 after
 factory calibration

---
 corelib/include/rtabmap/core/Parameters.h | 4 ++--
 guilib/src/ui/preferencesDialog.ui        | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index ed3c16dd38..8631a9d3a5 100644
--- 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
index b0bafe2aae..b5a1243f61 100644
--- 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>