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@goldbattle goldbattle released this 18 Jul 15:57
· 145 commits to master since this release
v2.6.1
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Learn about vigilant mode.
  • Bug fix accidental deletion of IMU when time tracking was lost (fixes #246)
  • Fix ROS2 param reading in visualizer (fixes #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
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