Bump 0.20.8 version. Parameters: updated default of Vis/CorGuessWinSize=40 (was 20), GFTT/MinDistance=7 (was 3), Optimizer/GravitySigma=0.3 if built with g2o or gtsam. Those parameters help for smooth tracking on latest sensors with higher resolution and use IMU by default if available. Updated docker jfr2018 to use original parameters. CameraStereoZed: wait for imu to be available before sending frames (Zed-m and Zed2).

docker/jfr2018/run_tum_datasets.sh

@@ -78,12 +78,14 @@ do
        --RGBD/AngularUpdate 0\
        --Rtabmap/DetectionRate $DETECTION_RATE\
        --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/MinDistance 3\
        --Odom/Strategy $STRATEGY\
        --Mem/STMSize 30\
        --Mem/UseOdomFeatures false \
        --Mem/BinDataKept true \
        --Rtabmap/CreateIntermediateNodes false\
        --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
        $F2F_params\
        --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
        --OdomFovis/MinFeaturesForEstimate 10\