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93 Commits

Author SHA1 Message Date
Mateo de Mayo
d2db20106d Fix eigen ODR violations by limiting exported symbols on libbasalt.so 2022-08-15 15:52:17 +00:00
Mateo de Mayo
6f3f61c91f Implement REPROJ_AVG_DEPTH 2022-07-20 18:53:55 +00:00
Mateo de Mayo
41b04f6292 Update slam_tracker.hpp to 4.0.0 (feature info pose extension) 2022-07-13 20:16:00 +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
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
4b4bacb951 Build file improvements: pkgconfig, BUILD_TESTS flag, and other fixes 2022-05-06 15:52:27 -03:00
Mateo de Mayo
c2f052f9f8 Register internal stages timestamps 2022-05-06 15:38:53 -03:00
Mateo de Mayo
8e4b5d8cc4 Add view_offset setting for cameras with low overlap 2022-05-06 15:21:29 -03:00
Mateo de Mayo
74ed0f5061 Update basalt-headers to support camera model rt8 2022-05-06 15:11:12 -03:00
Vladyslav Usenko
de4525a88d Update submodules 2022-03-20 17:58:18 +01:00
Nikolaus Demmel
a00d6289ac cmake: add apriltag header file 2022-03-16 19:09:30 +01:00
Nikolaus Demmel
759de6dc91 calibration: fix hardcoded number of tags -> use value from config 2022-03-16 19:09:03 +01:00
Nikolaus Demmel
f145723553 update thirdparty submodule basalt-headers 2022-03-16 15:22:30 +01:00
Nikolaus Demmel
7c2ddd99a3 macos: fix compilation with latest ffmpeg 2022-02-23 03:52:35 +01:00
Vladyslav Usenko
7ffc6277b3 Update submodules 2021-12-04 20:04:08 +01:00
Nikolaus Demmel
e37d3f02e7 cmake: adjust to basalt headers cmake changes 2021-12-04 12:14:22 +01:00
Nikolaus Demmel
c294e3666d remove fmt submodule 2021-12-04 12:14:22 +01:00
Nikolaus Demmel
1a5801e43e ci: test GCC 10 and 11 2021-12-04 12:14:22 +01:00
Nikolaus Demmel
82a505d383 ros_core submodule: switch to fork with patch for C++20 / clang-13 2021-12-04 12:14:22 +01:00
Nikolaus Demmel
01848364fc ros: fix compilation for messages for clang-13 / C++20 
- patch from https://github.com/ros/gencpp/pull/51
 2021-12-04 12:14:22 +01:00
Nikolaus Demmel
73801acd7e update generated ros messages with latest gencpp from noetic 2021-12-04 12:14:22 +01:00
Vladyslav Usenko
99321d1af3 Fix for AppleClang 12 2021-11-21 18:58:56 +01:00
Vladyslav Usenko
2a1c9b9241 Fix for AppleClang 12 2021-11-21 18:54:13 +01:00
Vladyslav Usenko
227447e74c Fix for AppleClang 12 2021-11-21 18:53:43 +01:00
Vladyslav Usenko
08aab6bcde Fix for AppleClang 12 2021-11-21 18:51:55 +01:00
Vladyslav Usenko
05a6df43d6 Fixes for arm64 2021-11-21 18:27:34 +01:00
Vladyslav Usenko
ac1e5294b4 Update submodule 2021-11-21 18:20:36 +01:00
Nikolaus Demmel
5c32ac289e pangolin: silence clang-13 warnings 2021-11-11 21:21:11 +02:00
Vladyslav Usenko
f95b4f4902 Update thirdparty/CMakeLists.txt, CMakeLists.txt 2021-11-11 15:30:15 +00:00
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
d32036e863 update submodules 2021-05-22 19:00:19 +02:00
Vladyslav Usenko
1842e585e7 update submodules 2021-05-22 16:52:28 +02:00
Vladyslav Usenko
180d85e598 Clang Tidy 2021-05-08 16:03:15 +00:00
Vladyslav Usenko
c7ceee72c0 Switched to templated version of IMU types 2021-04-17 18:41:42 +02:00
Vladyslav Usenko
7df0427753 Update submodule 2021-01-30 17:03:37 +01:00
Vladyslav Usenko
86d77a6744 Updated submodules 2021-01-02 10:13:11 +01:00
Vladyslav Usenko
d51a95c8ba Updated submodules 2021-01-01 18:12:18 +01:00
Vladyslav Usenko
3b616f1373 Update submodules 2020-11-21 10:43:56 +01:00
Vladyslav Usenko
366c9b691c update submodules 2020-10-31 12:01:15 +01:00
Vladyslav Usenko
cf9b54eec1 Update eigen 2020-10-21 16:09:56 +02:00
Vladyslav Usenko
0da34edf76 Update submodules 2020-10-21 14:30:33 +02:00
Vladyslav Usenko
734c7cbc76 Update submodules 2020-10-21 13:17:25 +02:00
Vladyslav Usenko
4fa2a9d3dd Update submodules. 2020-09-11 18:17:39 +02:00
Vladyslav Usenko
309793ed9e Update submodules 2020-07-13 22:25:46 +02:00
Vladyslav Usenko
8c5fd4da84 update submodules 2020-06-24 23:33:47 +02:00
Vladyslav Usenko
dd44fdab74 Fix test. 2020-06-24 23:08:45 +02:00
Nikolaus Demmel
447c1e01d2 silence warnings in 3rd party libs (pangolin, opengv, ros) 2020-06-24 12:18:38 +02:00
Nikolaus Demmel
5de179de48 hash_combine moved to headers and tbb_hash left-overs 2020-06-24 12:03:30 +02:00
Vladyslav Usenko
35a9d99bf0 fix for CI 2020-04-28 15:14:22 +02:00