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Develop v2.6.1 #259

Merged
merged 27 commits into from
Jul 18, 2022
Merged

Develop v2.6.1 #259

merged 27 commits into from
Jul 18, 2022

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goldbattle
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@goldbattle goldbattle commented Jul 15, 2022

  • Bug fix accidental deletion of IMU when time tracking was lost (fixes Running the TUM-VI dataset in stereo mode has large angular errors during evaluation #246)
  • Fix ROS2 param reading in visualizer (fixes save_total_state parameter: ParameterAlreadyDeclaredException using subscribe.launch.py #249)
  • Fix bug that the first ever IMU reading is not past into the VioManger
  • Dynamic initialization is now disabled by default on most datasets
  • Now use predeclared classes and move headers to cpp files to improve compile time
  • Rename ov_init simulator to SimulatorInit to prevent name conflicts
  • Faster feature extraction logic by only extracting in sub-grids which need features (150hz for mono, 60hz for stereo)
  • New simplified serial reader which doesn't use iterators
  • Publishing of feature track information (image) is now in a separate thread and at 20hz. This visualization can take a while depending on image size and number of features. This means more multi-threading mutexes were added to the tracker classes.
  • Configuration and scripts were updated for those which use OpenVINS as a baseline

…e image, also split features uniformly over multi-cam (still need to do stereo klt)
…, explicit config to disable dynamic config, update configs to use the more stable static one, covariances init with std::pow(sigma,2) now, specify threading of ros subscribers to be different param from frontend multithreading
…op, simplify serial reader logic, rework mutex for image access in trackers
also fix issue if the IMU is left on at the end of the dataset, the bag should be killed once no more images come in..
@goldbattle goldbattle merged commit 684e845 into master Jul 18, 2022
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