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Develop v2.6.1#259

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goldbattle merged 27 commits intomasterfrom
develop_v2.6.1
Jul 18, 2022
Merged

Develop v2.6.1#259
goldbattle merged 27 commits intomasterfrom
develop_v2.6.1

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@goldbattle goldbattle commented Jul 15, 2022 •
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  • 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

goldbattle added 24 commits June 20, 2022 11:05
@goldbattle
fix first imu reading not getting passed in simulation
45d1a5e
@goldbattle
fix getting sim save param in ros2 (closes #249)
1d4cf85
@goldbattle
build with release by default
316acbc
@goldbattle
ov_core predeclare
27648a5
@goldbattle
ov_init predeclares
e6bc0f2
@goldbattle
switch to sharedptr, explict jacobSVD sizes
34919ff
@goldbattle
ov_msckf forward declare
4129770
@goldbattle
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)
@goldbattle
fix dynamic init coeff size, correctly marg SLAM feature on chi2 fail…
840d3b5 
…, 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
@goldbattle
fix tracking param name (should be if stereo is desired)
08ce287
@goldbattle
update stereo klt to use new grider
b2a5f8d
@goldbattle
new serial reader code
ef3d15e
@goldbattle
fix imu deleting bug (don't use featdb), and rename ov_init simulator
70e6a0c
@goldbattle
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
@goldbattle
check disparity for movement and still for static init now
658544d
@goldbattle
update configs to handle new init (static by default)
cd64295
@goldbattle
update launch
65d98a0
@goldbattle
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..
@goldbattle
update link to kaistvio
f3c3259
@goldbattle
update readme [skip ci]
749d10e
@goldbattle
add missing headers
53b29dc
@goldbattle
more missing std headers
8e0fb58
@goldbattle
default setting to save sim to file
0275f2a
@goldbattle
fix eval bug for NEES if using alignment
16b4790
@goldbattle goldbattle mentioned this pull request Jul 17, 2022
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@goldbattle goldbattle merged commit 684e845 into master Jul 18, 2022
ShifanZhu pushed a commit to ShifanZhu/open_vins that referenced this pull request Jun 16, 2025
@goldbattle
Merge pull request rpng#259 from rpng/develop_v2.6.1
a80a0cc 
Develop v2.6.1
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