MAC-VO Dense Mapping mode & adaptation#247
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andrewjong merged 8 commits intodevelopfrom Mar 26, 2025
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MAC-VO Dense Mapping mode & optimizer adaptation
What does this pull request do?
Upgrade the MAC-VO integration in AirStack to support more optimizers, publishing disparity image, etc.
How did you implement it?
Add the castack/MAC-VO-ROS2 fork to the AirStack repository as a submodule, bump the docker file for robot (rerun visualizer version bump).
Testing
How do you run the tests?
Docker compose up with fixed trajectory (8-figure and circle), visually inspect the MAC-VO estimated pose and ground truth pose.
What do the tests do?
Inspect whether the MAC-VO is having roughly the same trajectory as the drone's ground truth trajectory.
What are the expected results of the tests?
The MAC-VO estimated pose follows the ground truth pose roughly.
Did you update the docs (and where)?
Not yet.