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v2.1 - Example Secondary Pose Graph
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@rpng-guest rpng-guest released this 07 Jul 00:48
· 408 commits to master since this release
v2.1
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Learn about vigilant mode.

Bug Fixes:

  • Properly set FEJ value after we initialize the state, see #53
  • State augmentation logic for time offset which caused under-confident covariance, see #69
  • Fixed how RPE evaluator selects distance segments to ensure we select the maximum possible set. It is now based on a fixed length instead of varying as the segment length increases, and will warn if distance between groundtruth poses is too far, see commit 8ae1cb6.
  • Since depth segmentation fault, see commit 9e3faeb
  • Fixed RosVisualizer not being built into the shared library if we are building with ROS, see commit 18116ca

Key Changes / New Features:

  • Publish marginalized pose and feature track information for ov_secondary
  • Details on secondary pose graph example works can be seen in #66
  • Make publishing TF optional, see #55
  • Support for downsampling cameras by half if you have a high resolution camera input or need to save compute, see commit 18bd54f

Minor changes:

  • Some documentation updates
  • Update uzh-fpv launch file
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