Develop v2.6.1 #259

goldbattle · 2022-07-15T00:47:46Z

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..

…requently

goldbattle added 24 commits June 20, 2022 11:05

fix first imu reading not getting passed in simulation

45d1a5e

fix getting sim save param in ros2 (closes #249)

1d4cf85

build with release by default

316acbc

ov_core predeclare

27648a5

ov_init predeclares

e6bc0f2

switch to sharedptr, explict jacobSVD sizes

34919ff

ov_msckf forward declare

4129770

test performing extraction based on a gridblock basis instead of whol…

eab1771

…e image, also split features uniformly over multi-cam (still need to do stereo klt)

fix tracking param name (should be if stereo is desired)

08ce287

update stereo klt to use new grider

b2a5f8d

new serial reader code

ef3d15e

fix imu deleting bug (don't use featdb), and rename ov_init simulator

70e6a0c

multi-thread image publishing, small fix for omega cov in odom fastpr…

c00a7ee

…op, simplify serial reader logic, rework mutex for image access in trackers

check disparity for movement and still for static init now

658544d

update configs to handle new init (static by default)

cd64295

update launch

65d98a0

update scripts

d1459da

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..

update link to kaistvio

f3c3259

update readme [skip ci]

749d10e

add missing headers

53b29dc

more missing std headers

8e0fb58

default setting to save sim to file

0275f2a

fix eval bug for NEES if using alignment

16b4790

goldbattle mentioned this pull request Jul 17, 2022

Realsense D455 Processing Speed #260

Closed

goldbattle added 3 commits July 18, 2022 11:06

set bigger prior for better realworld nees, also extract feats more f…

1c60257

…requently

fix unused warning

29d7f71

more config comments [skip ci]

d6f5ba1

goldbattle merged commit 684e845 into master Jul 18, 2022

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Develop v2.6.1 #259

Develop v2.6.1 #259

goldbattle commented Jul 15, 2022 •

edited

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Develop v2.6.1 #259

Develop v2.6.1 #259

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goldbattle commented Jul 15, 2022 • edited Loading

goldbattle commented Jul 15, 2022 •

edited

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