Releases · rpng/open_vins

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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