Release of Version 2.0
This is not only the initial release for RA-L and ICRA 2021, it is also a huge feature-rich update.
New Features
- marginalization for the factor graph class
- a new IMU pre-integration factor
- an odometry integration factor
- relative pose factors for 2D and 3D
- a barometric pressure factor
- maximum-a-posteriori EM for GMM estimation with priors
- a new auto-initialization function for various factors
- introduction of tests to ensure a minimum level of quality
Bugfixes & Improvements
- fixes for the multivariate versions of multiple GMM estimation algorithms
- many small fixes for various geometric transformations
- much more documentation than before