Add using_raw to demo yaml

demos/camera_euroc_mav0.yaml → demos/camera_euroc_mav0_notang.yaml

@@ -4,21 +4,23 @@ camera_name: narrow_stereo
 camera_matrix:
   rows: 3
   cols: 3
-  data: [458, 0.000000, 367.215, 
-         0.000000, 457.296, 248.375, 
+  data: [458, 0.000000, 367.215,
+         0.000000, 457.296, 248.375,
          0.000000, 0.000000, 1.000000]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.28340811, 0.07395907, 0.000000, 0.000000, 0.000000]
+  data: [-0.28340811, 0.07395907, 0.00019359, 0.0, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
+  data: [1.000000, 0.000000, 0.000000,
+         0.000000, 1.000000, 0.000000,
+         0.000000, 0.000000, 1.000000]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [458, 0.000000, 367.215, 0.000000, 
-         0.000000, 457.296, 248.375, 0.000000, 
+  data: [355.63, 0.000000, 362.27, 0.000000,
+         0.000000, 417.16, 249.65, 0.000000,
          0.000000, 0.000000, 1.000000, 0.000000]

demos/demo_visual_odometry.yaml

@@ -38,7 +38,8 @@ config:
       name:               "sen cam"
       extrinsic: 
         pose:             [0,0,0, 0,0,0,1]
-      follow:             "demos/camera_euroc_mav0.yaml"         # config parameters in this file
+      using_raw:          true
+      follow:             "demos/camera_euroc_mav0_notang.yaml"         # config parameters in this file
 
   processors: