Develop v2.6.3

In general a bunch of smaller changes and bug fixes. Thanks to all the contributors that opened issues and PRs to address the problems. We also have recently released a monocular plane-aided VINS, termed ov_plane, which leverages the OpenVINS project. We hope that those interested can check it out.

Bug Fixes

• fix: incorrect zero-velocity bias evolution code in 3861010
• fix: link errors by @FinleyPan in #272
• fix: display problem if the track length of feature is very long by @CanCanZeng in #267
• fix: bug in get_oldest_time from FeatureDatabase by @wang-lq in #287
• fix: Segmentation fault in State.h by @pritzvac in #306
• fix: newer matplotlib version in 0429390
• fix: pointcloud publishing extra (0,0,0) features in 70b0ae3
• fix: gram-schmidt bug if gravity was along the e1 vector in b397178
• fix: using sample config info on KAIST (see #300 and d171a03)

What's Changed

• release mode is no longer the default CMAKE mode to allow for debugging using native asserts
• cleanup some ROS-free install location logic by @goldbattle in #318
• cache our fast propagate values so we don't reintegrate by @goldbattle in #321
• incremential feature triangulation for active features in 8600cee
• use measurement compression for zero velocity update by @ccchu0816 in 01fb6e9
• example T265 and D455 realsense configuration files in 4ed7927
• support for the Indoor AR Table Visual-Inertial Datasets in cd781f9 (see documentation website)

New Contributors

• @FinleyPan made their first contribution in #272
• @CanCanZeng made their first contribution in #267
• @wang-lq made their first contribution in #287
• @pritzvac made their first contribution in #306

Full Changelog: v2.6.2...v2.6.3