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Develop v2.7 - IMU Intrinsic Support#337

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goldbattle merged 68 commits intomasterrpng/open_vins:masterfrom develop_v2.7rpng/open_vins:develop_v2.7Copy head branch name to clipboardJun 19, 2023

+4,785-908

Commits

Commits on Nov 19, 2021

• add parameters reading from configure

  yangyulin

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  efa542b

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• add the IMU configure

  yangyulin

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• Merge branch 'develop_v2.4.1' of https://github.com/rpng/open_vins_private into yulin/imu

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• fix imu_config

  yangyulin

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Commits on Dec 14, 2021

• add the imu intrinsic calibration

  yangyulin

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• add the evaluation part for the IMU intrinsics

  yangyulin

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• add perturbation to simulation for imu intrinsics

  yangyulin

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• debuging and tesing the imu intrinsic calibrtion with sim

  yangyulin

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• debuging and testing ...

  yangyulin

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• the intrinsic calibration with analytic jacobians is done

  yangyulin

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• modify the config

  yangyulin

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• Merge branch 'develop_v2.5' of https://github.com/rpng/open_vins_private into yulin/imu

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• add comments

  yangyulin

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• make the launch file good to go

  yangyulin

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• increase the prior of cam-imu calibration

  yangyulin

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Commits on Dec 19, 2021

• fix comments

  yangyulin

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• fix comments and update the config files

  yangyulin

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Commits on Dec 20, 2021

• add more comments for the intergration functions

  yangyulin

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Commits on Jan 6, 2022

• small cleanups, add default identities to state init

  goldbattle

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• start of cleanup

  goldbattle

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• Merge branch 'master' into develop_v2.6

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  eb1e8a4

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• more cleanup

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• small cleanup

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  29f17bd

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• more cleanup and formating

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• more cleanup, add enum

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  765db5d

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• small changes

  goldbattle

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  0eaac53

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• fix error in X3, more formating, mono is inconsistent still...

  goldbattle

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Commits on Jan 7, 2022

• fix mask relative paths

  goldbattle

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• add mask matrix size check, small cleanups

  goldbattle

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• more cleanup and renamings

  goldbattle

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Commits on Jan 8, 2022

• fix a small bug

  yangyulin

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• Merge branch 'develop_v2.6' of https://github.com/rpng/open_vins_private into develop_v2.6

  yangyulin

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• as long as turn on the td calibriaton, always consistent

  yangyulin

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• fix a bug in ov_eval

  yangyulin

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Commits on Jan 10, 2022

• switch to explictly setting integration method, cleanup parameter storage, revert to using imu noise struct, always do IMU averaging in discrete case

  goldbattle

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• Merge branch 'develop_v2.6' of github.com:rpng/open_vins_private into develop_v2.6

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• Merge branch 'master' into develop_v2.6

  goldbattle

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• simplify simulation plots, convert Da/Dw and Tg state functions to static, print final calibration results to console

  goldbattle

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  1f733b5

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• reorder propagation class, make intrinic jacobs static

  goldbattle

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• correct imu in zvupt

  goldbattle

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Commits on Jan 11, 2022

• start updating prop docs

  goldbattle

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• more propagation doc updates

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• more prop doc additions

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Commits on Jan 13, 2022

• finish analytical docs, switch DeltaR_k and Jr_ktok1 to transposed direction to match discrete docs

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Commits on Jul 19, 2022

• Merge branch 'master' into develop_v2.7

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Commits on May 9, 2023

• Merge remote-tracking branch 'open_source/master' into develop_v2.7

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• update configs to 2.7 format with intrinsics

  goldbattle

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• fix #333 documention typos

  goldbattle

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• fix #332 chance reject problem, fix index bug in closest feat map for right image, fix mask updates for point extraction

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• documentation improvments

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Commits on May 10, 2023

• small fixes to propagation docs

  

  yangyulin

  authored and

  goldbattle

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• update quat docs, expand some details about manifold types in ov_type summary

  goldbattle

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• documentation updates throughout

  goldbattle

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• working on fej page

  

  ccchu0816

  authored and

  goldbattle

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• improve FEJ doc

  

  ccchu0816

  authored and

  goldbattle

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• cleanup fej doc page wording

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Commits on May 11, 2023

• pr fixes

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Commits on May 13, 2023

• ensure to free memory, reduce strictness of num feature percent to do init

  goldbattle

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• we have only init'ed once we have updated (fix messy viz in beginning)

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Commits on May 14, 2023

• only dynamic init if we have good disparity

  goldbattle

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• update configs a bit

  goldbattle

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Commits on May 18, 2023

• update package version

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• label how to get imu intrinsics from kalibr result file

  goldbattle

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Commits on May 22, 2023

• 2d ate in comparison eval, report bad trajectory distance ratios to help debugging

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Commits on May 23, 2023

• compute ratio before associating

  goldbattle

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Commits on Jun 8, 2023

• fix #340 feat init jacob error

  goldbattle

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• fix #296 more comments and switch to sparse qr recovery for speed

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• fix 16.04 compile, default should be SPARSE_QR

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