Visual SLAM starts to work.

This merge incorporates many improvements in the code made to make visual SLAM work. The master branch should benefit from many of them.

The WIP is waiting for additional work needed on the trackers side, which will be boarded soon.

@jsola In the same spirit multiplying by 0.5 in faster than dividing by 2 ;)

Isn't the compiler taking care of these smallities?

Only if optimization is enabled (-Ox) modern compilers will do . Was just a side note.

OK

@jsola sounds great ! Any 'visual' results ? Screenshot and such ?
Also you should replace the std::cout with the logging macro WOLF_DEBUG so that you won't have to comment/uncomment and/or delete those prints.

Not yet... we got to have WOLF map landmarks, but not yet optimizing poses. This should be much easier work than the one already done, though.

Added 1 commit:

• 8217b069 - Improve print() with number of children displayed

Compare with previous version

Unmarked this merge request as a Work In Progress

Status changed to merged

Mentioned in commit c1504e7a