https://huggingface.co/datasets/collabora/monado-slam-datasets/

The recording of the Reverb G2 and Odyssey+ as new additions to the Monado SLAM datasets brought the following updates to Basalt:

- Improve config files organization
- Get visual-only odometry closer to VIO by implementing
  - KF_MARG_FORWARD_VECTOR marginlization heuristic
  - Long term keyframes
  - Matrix blocks visualization
  - State reset
- Add reset state button to UI
- Prioritize older landmarks for recall
- Improvements to basalt time alignment and calibration tools