Merge branch 'main' of...

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

rviz/online.rviz

@@ -10,7 +10,7 @@ Panels:
         - /Trajectory1/Namespaces1
         - /image_raw1
       Splitter Ratio: 0.5
-    Tree Height: 181
+    Tree Height: 147
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -131,7 +131,7 @@ Visualization Manager:
       Queue Size: 100
       Value: true
     - Class: rviz/Image
-      Enabled: true
+      Enabled: false
       Image Topic: /cam0/image_raw
       Max Value: 1
       Median window: 5
@@ -141,7 +141,7 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: true
+      Value: false
     - Class: rviz/Image
       Enabled: true
       Image Topic: /debug_image
@@ -208,7 +208,7 @@ Window Geometry:
   Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -217,8 +217,8 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 960
-  X: 0
+  Width: 1267
+  X: 72
   Y: 27
   debug:
     collapsed: false

yaml/demo_visual_odometry_euroc.yaml

@@ -4,7 +4,7 @@ config:
     profiling: true
     profiling_file: "~/wolf_demo_visual_odometry_profiling.txt"
     print_problem: true
-    print_depth: 2            # only if print_problem
+    print_depth: 3            # only if print_problem
     print_constr_by: false     # only if print_problem
     print_metric: false        # only if print_problem
     print_state_blocks: false  # only if print_problem

yaml/processor_visual_odometry.yaml

@@ -3,17 +3,17 @@ algorithm:
     voting_active: true
 
 klt_params:
-    tracker_width: 21
-    tracker_height: 21
-    nlevels_pyramids: 2
-    klt_max_err: 0.2
+    patch_width: 15
+    patch_height: 15
+    nlevels_pyramids: 3
+    klt_max_err: 0.3
 
 fast_params:
-    threshold_fast: 30
+    threshold_fast: 50
     non_max_suppresion: true
 
-min_nb_tracks: 30
-max_nb_tracks: 50
+min_nb_tracks: 100
+max_nb_tracks: 200
 
 std_pix: 1