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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

Original release of the system to the public. This system has the following abilities and features:

• Visual Inertial Simulator
• MSCKF and SLAM feature updates
• Calibration of camera-imu spacial temporal
• Calibration of camera intrinsics
• Static initialization
• Mono / Stereo / Binocular tracking
• Aruco tag support for drift free localization
• Evaluation scripts (ATE, RPE, NEES, RMSE)