diff --git a/rviz/online.rviz b/rviz/online.rviz index df43917a6e316002f67846a92d4e5d5069118671..0cad8af391abd4ea08b1f60b51c6a4bdd62bb4c5 100644 --- a/rviz/online.rviz +++ b/rviz/online.rviz @@ -92,8 +92,6 @@ Visualization Manager: Marker Topic: /wolf_ros_node/graph_factors Name: Factors Namespaces: - factors_VISUALODOMETRY PROC: true - factors_text_VISUALODOMETRY PROC: true factors_text_unnamed_processor: true factors_unnamed_processor: true Queue Size: 1 @@ -103,8 +101,7 @@ Visualization Manager: Marker Topic: /wolf_ros_node/graph_landmarks Name: Landmarks Namespaces: - landmarks: true - landmarks_text: true + {} Queue Size: 1 Value: true - Class: rviz/MarkerArray @@ -216,7 +213,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: @@ -225,8 +222,8 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1848 - X: 72 + Width: 1920 + X: 0 Y: 27 debug: collapsed: false diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml index 53a337d1f925360d6d1e0789b89ef01f1cb9629b..6bf840cc238e3237d85d5572ef81a4760a0d0648 100644 --- a/yaml/processor_visual_odometry.yaml +++ b/yaml/processor_visual_odometry.yaml @@ -22,12 +22,12 @@ fast_params: # Avoids getting multiple keypoints at the same place non_max_suppresion: true # number of cells used by the active search grid data structure - active_search_grid_nb_h: 8 # horizontal - active_search_grid_nb_v: 8 # vertical + active_search_grid_nb_h: 12 # horizontal + active_search_grid_nb_v: 10 # vertical # minimum margin of the region of interest from the edges of the image - active_search_margin: 10 + active_search_margin: 6 # reduce the size of each region of interest by n pixels to prevent keypoints from being too close - active_search_separation: 10 + active_search_separation: 6 # Lucas Kanade tracking parameters klt_params: