Merge remote-tracking branch 'origin/devel' into devel

yaml/camera_euroc_mav0.yaml

@@ -11,7 +11,7 @@ distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.000000]
+  data: [-0.28340811, 0.07395907, 0.00019359, 0.0000176187114, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3

yaml/camera_euroc_mav0_notangdist.yaml

-width: 752
-height: 480
-camera_name: narrow_stereo
-camera_matrix:
-  rows: 3
-  cols: 3
-  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, 0.00019359, 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]
-projection_matrix:
-  rows: 3
-  cols: 4
-  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]

yaml/demo_visual_odometry_euroc.yaml

@@ -36,7 +36,7 @@ config:
       extrinsic:
         pose: [0,0,0,  0,0,0,1]
       using_raw: false
-      follow: "camera_euroc_mav0_notangdist.yaml"
+      follow: "camera_euroc_mav0.yaml"
 
   processors:
     -