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v2.0 - ROS-Free Building and New Features
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@goldbattle goldbattle released this 03 Apr 15:42
· 431 commits to master since this release
v2.0
e169a77
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Learn about vigilant mode.

Large Breaking changes:

  • Moved types into their own namespace ov_core -> ov_type
  • Moved simulator class to ov_msckf
  • Simulator and VioManager now share parameter struct
  • FeatureRepresentation is moved to ov_msckf since FeatureInitializer is independent of it, and renamed to LandmarkRepresentation.
  • Covariance can no longer be accessed non-pragmatically, use the StateHelper for all covariance management!
  • Removed unneeded boilerplate access to state elements

Key Changes (in no particular order):

  • Removed the need to build the system with ROS (will not have any visualization, but the simulator works without ROS build system and packages)
  • Non-ROS builds can use command line to pass arguments to run the system
  • Tried to improve KLT stereo tracking by allowing for monocular tracks also (will first try to initialize a stereo track, if it can't it will track the feature as a monocular track).
  • Added single inverse depth representation (will have reduced accuracy, but is very fast)
  • Updated dataset scripts to be more complete (all eth datasets, vicon room in tumvi, and uzh-fpv support)
  • Added example launch file for uzh-fpv dataset
  • Added example script on how to run on EurocMav machine hall datasets (need to skip the initial part of each dataset, see this)
  • Example tracking main file which uses your webcam
  • Added fast odometry output at rate of the IMU (only the mean, the covariance isn't propagated) to support deployment on robots (right now this can't be asynchronously published)
  • Support smaller updates by limiting amount of features to be included in msckf/slam updates.
  • More timing utilities including flameplots and comparison of total time
  • Expanded evaluation documentation on how to perform timing analysis
  • Other small formatting changes
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