Merge branch 'devel' of...

Merge branch 'devel' of https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_visual_odometry into devel

yaml/processor_visual_odometry.yaml

@@ -4,13 +4,13 @@ keyframe_vote:
     voting_active: true
     # Trigger a new keyframe creation as well as detection of new keypoints in last frame
     # when the track number goes below min_features_for_keyframe in incoming
-    min_features_for_keyframe: 25
+    min_features_for_keyframe: 30
 
 # Use a robust cost function
 apply_loss_function: false
 
 # Select the best new Keypoints when performing detection
-max_new_features: 15
+max_new_features: 30
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -38,7 +38,7 @@ klt_params:
 grid_params:
     # number of cells used by the active search grid data structure
     nbr_cells_h: 6  # horizontal
-    nbr_cells_v: 5  # vertical
+    nbr_cells_v: 6  # vertical
     # minimum margin of the region of interest from the edges of the image 
     margin: 10
     # reduce the size of each region of interest by n pixels to prevent keypoints from being too close

yaml/solver.yaml

 minimizer: "LEVENBERG_MARQUARDT"
-interrupt_on_problem_change: false
+interrupt_on_problem_change: true
 min_num_iterations: 1
-max_num_iterations: 20
+max_num_iterations: 30
 function_tolerance: 1e-8
 gradient_tolerance: 1e-9
 use_nonmonotonic_steps: false
 period: 0.05                     
-n_threads: 2
+n_threads: 4
 compute_cov: false
 verbose: 0
\ No newline at end of file