Skip to content

v2.1 - Example Secondary Pose Graph
Compare
Choose a tag to compare
@rpng-guest rpng-guest released this 07 Jul 00:48
· 412 commits to master since this release
v2.1
1c8ff20
This commit was created on GitHub.com and signed with GitHub’s verified signature. The key has expired.
GPG key ID: 4AEE18F83AFDEB23
Expired
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
Assets 2
Loading