Ros2#476
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…ющему (как и раньше). Обратный проход: Вычисляется поток от следующего кадра обратно к текущему. Проверка согласованности: Если точка после обратного прохода не вернулась в исходную позицию (с ошибкой > 0.7 пикселя), она считается выбросом (outlier) и отбрасывается.
- Accelerometer Outlier Rejection - Exponential Smoothing Filter - Altitude-Based Scale Correction
- **Periodic td optimization** to reduce runtime cost: td parameter is optimized in short bursts every `estimate_td_period` seconds (default 7s) - When idle between bursts, td stays constant and projection factors fall back to fast version without td term - Optional config key `estimate_td_period` added (seconds) - **Logging improvements**: - `td` value printed only when optimization occurs (not every frame) - Optimized trajectory position (`x, y, z`) printed every frame for monitoring - Format: `Optimized pose: x=... y=... z=...` and `td updated: ...` (when changed)
…ч при высокой скорости System Robustness - обработка negative timestamps и увеличенные пороги failure detection Performance Optimization - отключение bidirectional flow, сокращение solver iterations, оптимизация feature tracking Camera-Specific Tuning - параметры для thermal и USB камер Velocity Logging - вывод горизонтальной и вертикальной скорости
- tested on termal camera
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