========== ROS Stack containing a wrapper for libviso2, a visual odometry library. http://www.ros.org/wiki/viso2 for the list of contained packages.
- Pre-processing of image (OpenCV convertto() function, with linear contrast and brightness change).
- Use of native full resolution for best FOV and image clarity, with OpenCV subsampling with 0.5 scale (processing time ~0.07s).
- Re-write bucketing matches algorithm, to perform bucketing at the same time of the matching process (speed-up). Exposed paramters to "bucket_ornot" and "max_features", bucket size is the same as the "match_binsize".
- loosen the constraint of quad matching to tolerate an error up to 2 pixels in u or v direction.
- OpenCV visualisation added for stereo matched points.
- Variable covariance of pose_delta topic (body frame), with threshold matches of 60, and inlier percentage of 60%. covariance grow with a curve of power of 4.
- rectify realsense stereo cameras' vignetting
- if needed implement multithreading for viso, to speed up