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Develop v2.6.1#259

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goldbattle merged 27 commits intomasterrpng/open_vins:masterfrom develop_v2.6.1rpng/open_vins:develop_v2.6.1Copy head branch name to clipboardJul 18, 2022

+4,823-3,611

Commits

Commits on Jun 20, 2022

• fix first imu reading not getting passed in simulation

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  45d1a5e

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

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• build with release by default

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• ov_core predeclare

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• ov_init predeclares

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• switch to sharedptr, explict jacobSVD sizes

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• ov_msckf forward declare

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Commits on Jun 21, 2022

• test performing extraction based on a gridblock basis instead of whole image, also split features uniformly over multi-cam (still need to do stereo klt)

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• fix dynamic init coeff size, correctly marg SLAM feature on chi2 fail, explicit config to disable dynamic config, update configs to use the more stable static one, covariances init with std::pow(si…

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Commits on Jun 22, 2022

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

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• update stereo klt to use new grider

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Commits on Jul 5, 2022

• new serial reader code

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Commits on Jul 11, 2022

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

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Commits on Jul 12, 2022

• multi-thread image publishing, small fix for omega cov in odom fastprop, simplify serial reader logic, rework mutex for image access in trackers

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Commits on Jul 14, 2022

• check disparity for movement and still for static init now

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Commits on Jul 15, 2022

• update configs to handle new init (static by default)

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• update launch

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• update scripts

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• update link to kaistvio

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• update readme [skip ci]

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  749d10e

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• add missing headers

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• more missing std headers

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• default setting to save sim to file

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  0275f2a

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• fix eval bug for NEES if using alignment

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Commits on Jul 18, 2022

• set bigger prior for better realworld nees, also extract feats more frequently

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  1c60257

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• fix unused warning

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  29d7f71

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• more config comments [skip ci]

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