update yaml + add almost empty CMakeLists.txt

CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(wolf_demo_visual_odometry)
+
+# This file does absolutely nothing, since there is no code
+# to compile but is necessary to avoid errors when building with catkin

rviz/online.rviz

@@ -8,8 +8,9 @@ Panels:
         - /Factors1/Namespaces1
         - /Landmarks1/Namespaces1
         - /Trajectory1/Namespaces1
+        - /image_raw1
       Splitter Ratio: 0.5
-    Tree Height: 474
+    Tree Height: 181
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -28,7 +29,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: Image
+    SyncSource: image_raw
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -71,9 +72,9 @@ Visualization Manager:
         base_footprint:
           Value: true
         map:
-          Value: false
+          Value: true
         odom:
-          Value: false
+          Value: true
       Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
@@ -100,7 +101,7 @@ Visualization Manager:
       Marker Topic: /wolf_ros_node/graph_factors
       Name: Factors
       Namespaces:
-        factors_text_unnamed_processor: false
+        factors_text_unnamed_processor: true
         factors_unnamed_processor: true
       Queue Size: 1
       Value: true
@@ -118,7 +119,7 @@ Visualization Manager:
       Name: Trajectory
       Namespaces:
         frames: true
-        frames_text: false
+        frames_text: true
       Queue Size: 1
       Value: true
     - Class: rviz/Marker
@@ -135,7 +136,19 @@ Visualization Manager:
       Max Value: 1
       Median window: 5
       Min Value: 0
-      Name: Image
+      Name: image_raw
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /debug_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: debug
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
@@ -195,9 +208,7 @@ Window Geometry:
   Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -209,3 +220,7 @@ Window Geometry:
   Width: 960
   X: 0
   Y: 27
+  debug:
+    collapsed: false
+  image_raw:
+    collapsed: false

yaml/processor_visual_odometry.yaml

@@ -12,4 +12,5 @@ fast_params:
     threshold_fast: 30
     non_max_suppresion: true
 
-min_thresh_tracks: 500
+min_nb_tracks: 200
+max_nb_tracks: 400