Commit Graph

31 Commits

Author SHA1 Message Date
Mateo de Mayo 97b9ef7851 Fix issues with Index docs and toml file 2022-07-20 17:54:44 -03:00
Mateo de Mayo 0621619e96 Add example calibration for Index headset 2022-07-20 19:04:01 +00:00
Mateo de Mayo 6f3f61c91f Implement REPROJ_AVG_DEPTH 2022-07-20 18:53:55 +00:00
Mateo de Mayo e36bead967 Function without config file
This makes WMR headset tracking work out of the box.
2022-05-27 14:13:37 +00:00
Mateo de Mayo 594603861b View offset improvements: Automatically compute it for WMR and make it 2D
- Make view_offset two-dimensional
- Compute it automatically from WMR extrinsics
2022-05-11 19:56:13 +00:00
Mateo de Mayo b379a7c924 Add rpmax parameter to rt8 related files 2022-05-07 11:50:02 -03:00
Ruben Rodriguez dd08e98cc1 Added calibration and config for WMR HP Reverb G1 2022-05-06 16:16:01 -03:00
Mateo de Mayo dd90a07092 Add usage documentation
Rewrites README.md and adds documentation and tools for both RealSense and WMR devices.
2022-05-06 16:16:01 -03:00
Mateo de Mayo 68c61eafbd Add config and calib files for D455, Odyssey+ and X3 Pro 2022-05-06 16:15:57 -03:00
Mateo de Mayo d3eff0d6c6 Add slam_tracker adapter for Monado
This adapter took many steps to be built but in this branch we squashed them.
To see a better look at the development history of the tracker see branch mateosss/xrtslam-raw.
2022-05-06 16:11:01 -03:00
Mateo de Mayo 8e4b5d8cc4 Add view_offset setting for cameras with low overlap 2022-05-06 15:21:29 -03:00
Nikolaus Demmel 24325f2a06 ICCV'21 square root marginalization paper code release
Major changes:

- New square-root implementation for optimization and
  marginalization, giving faster optimization and numerically
  more stable marginalization. The square root solver is the new
  default, but the Schur complement based implementation is still
  available. (Implements the ICCV'21 paper.)

- The odometry estimator is now fully templetized and you can run
  in float or double. Default is float, which works well with the
  new square-root implementation and gives best runtimes.

- Batch evaluation scripts and documentation to reproduce the
  ICCV'21 experiments.

Additional changes:

- New options in VIO to marginalize lost landmark right away and
  not only when the frame is marginalized (enabled by default).

- small bugfix for keypoint patch extraction bounds

- basalt_vio: more logging for batch evaluation

- basalt_vio: better handling of closing the GUI while estimator is still running

- basalt_vio: new command line argument to limit the number of frames processed

- basalt_vio: new command line argument to save ground truth trajectory

- added unit tests for square root marginalization

- update basalt-headers

- new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 15:09:15 +02:00
Vladyslav Usenko 77100b99f2 Added initialization parameters to config files 2019-08-27 15:52:19 +02:00
Vladyslav Usenko 18fe854d88 Added stereo (no IMU) odometry and KITTI evaluation 2019-08-23 08:01:40 +00:00
Vladyslav Usenko fc0800514b Added pure BA option 2019-08-14 11:31:12 +02:00
Vladyslav Usenko a2eeb00290 update config 2019-08-12 19:36:44 +02:00
Vladyslav Usenko aaa82fba3c Added LM options 2019-08-12 19:14:47 +02:00
Vladyslav Usenko 56cad21c6f added enforce_realtime option 2019-08-04 22:54:22 +02:00
Vladyslav Usenko 6dc66d3569 small fix 2019-07-31 14:32:27 +02:00
Vladyslav Usenko 445c00db54 Added evaluation for pose-graph optimization 2019-07-29 16:56:29 +02:00
Vladyslav Usenko 5bb572cdeb Added Landmark database 2019-07-26 16:50:15 +00:00
Vladyslav Usenko d981339d18 added more config options 2019-07-25 14:35:50 +02:00
Vladyslav Usenko c4d73787f0 added more config options 2019-07-25 14:25:47 +02:00
Vladyslav Usenko 1d10c35731 Use Vec3 for IMU noise. Moved noise parameters from IMU data to calibration. 2019-07-19 19:00:57 +02:00
Vladyslav Usenko c33adbb2a5 Added aprilgrid configuration 2019-07-08 18:53:39 +02:00
Vladyslav Usenko c888aa65bb Added Realsense live VIO 2019-06-13 11:37:17 +00:00
Vladyslav Usenko f1e91a017e removed data submodule 2019-06-10 22:15:26 +02:00
Vladyslav Usenko d67f7c8561 fix config 2019-06-07 16:59:09 +02:00
Vladyslav Usenko 0e073978b9 Switched to HashBow instead of DBoW3 2019-06-07 12:42:18 +00:00
Vladyslav Usenko 16d4fd90a8 moved vocabulary to submodules 2019-04-18 14:26:45 +02:00
Vladyslav Usenko 0cef943b16 Initial commit 2019-04-14 21:08:32 +02:00