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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

Fixed

  • Fixed implementation of PointsTracker class (#23).

Changed

  • Modified ImageProcessor class into a BipedalLocomotion::System::Advanceable type. (#29)
  • Modified IMUPreintegrator class to account only for preintegrated measurements by refactoring the factor out of the class. (#30)
  • Move KinDynVIO::Perception::TimeStampedImg from KinDynVIO/Perception/Features/ImageProcessor.h to KinDynVIO/Perception/Features/DataTypes.h. (#30)

Added

  • Implement PerceptionCameraModels library containing PinHoleCamera class.
  • Implement PerceptionFeatures library containing PointsTracker class and ImageProcessor class.
  • Add ArucoDetectorExample and PointsTrackerTest (#21).
  • Implement LinesTracker class in PerceptionFeatures library and add LinesTrackerTest. (#23).
  • Improve ImageProcessor class to consider LinesTracker class (#23).
  • Add IMUPreintegrator class into Estimators library. This class wraps GTSAM CombinedIMUFactor preintegration into a BipedalLocomotion::System::Advanceable type. (#29)
  • Add ArucoWrapper class into Estimators library to wrap BipedalLocomotion::Perception::ArucoDetector with gtsam relevant outputs. (#30)
  • Add TestData library to maintain common datasets for test-cases. (#30)