Commit Graph

369 Commits

Author SHA1 Message Date
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 26a21d8890 fix warnings: unused variables 2021-11-11 21:21:28 +02:00
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
Vladyslav Usenko 04f7551398 Update deps scripts 2021-10-16 15:48:52 +02:00
Vladyslav Usenko 69d84fa508 Update Docker images 2021-10-16 15:37:24 +02:00
Vladyslav Usenko c49a91e9c3 Update .gitlab-ci.yml 2021-10-15 20:54:50 +00:00
Vladyslav Usenko b6b39d0510 Update .gitlab-ci.yml 2021-10-15 19:28:34 +00:00
Nikolaus Demmel 833c1b5774 update cmake output regardin clang on linux 2021-10-15 17:32:53 +02:00
Nikolaus Demmel 7149322558 ci: switch to clang-12 for bionic 2021-10-15 17:00:16 +02:00
Nikolaus Demmel e1f6e2642f tweak cmake output 2021-10-15 16:59:43 +02:00
Nikolaus Demmel 82091a2a94 ci: disable macOS Mojave 2021-10-15 15:22:10 +02:00
Nikolaus Demmel 943137191e Merge branch 'root_vo_squashed' into 'master'
ICCV'21 square root marginalization paper code release

See merge request basalt/basalt!47
2021-10-15 13:14:46 +00:00
Nikolaus Demmel 8d8a69c775 Reference granite for multi-flow implementation 2021-10-15 15:11:40 +02:00
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 cc6d896c47 Merge branch 'DominikMuhle-master' 2021-10-10 16:05:37 +02:00
dominikmuhle 285cfe2878 fix: use optical flow levels from config 2021-10-09 20:04:22 +02:00
Vladyslav Usenko 1b8a855c43 Update apt repository info 2021-08-07 10:40:48 +02:00
Nikolaus Demmel 823b3a0e35 small ci fux 2021-08-06 11:04:45 +02:00
Nikolaus Demmel d316689e6a remove xenial 2021-08-06 10:57:39 +02:00
Nikolaus Demmel e6e58f6fef Update docker images 2021-08-06 10:09:51 +02:00
Nikolaus Demmel de540f7b9f fix for new TBB version 2021-05-23 20:42:29 +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 709a1b4a91 Merge branch 'clang-tidy' into 'master'
Clang Tidy

See merge request basalt/basalt!46
2021-05-08 16:03:15 +00:00
Vladyslav Usenko 180d85e598 Clang Tidy 2021-05-08 16:03:15 +00:00
Vladyslav Usenko 7477c4a0f0 fix stdint types 2021-05-01 10:45:08 +02:00
Vladyslav Usenko c7ceee72c0 Switched to templated version of IMU types 2021-04-17 18:41:42 +02:00
Vladyslav Usenko c370866bbf Merge branch 'master' of gitlab.vision.in.tum.de:basalt/basalt 2021-04-17 12:42:41 +02:00
Vladyslav Usenko c9e79fa30b Update docker images 2021-04-17 12:42:26 +02:00
Nikolaus Demmel e040a98b11 fix: num-threads wasn't working since it was used before cli parsing 2021-02-22 16:39:37 +01:00
Vladyslav Usenko 7df0427753 Update submodule 2021-01-30 17:03:37 +01:00
Nikolaus Demmel bf94c9ee61 Disable Eigen's parallelization with OpenMP (interferes with TBB) 2021-01-29 15:14:58 +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 7f2c792e44 Removed 16.04 repository 2020-11-21 15:45:03 +01:00
Vladyslav Usenko 3b616f1373 Update submodules 2020-11-21 10:43:56 +01:00
Vladyslav Usenko 8254e5523b Merge branch 'fix_ci' into 'master'
fix .gitlab-ci.yml

See merge request basalt/basalt!44
2020-11-06 19:04:32 +00:00
Jason Chui a13785bf2d fix .gitlab-ci.yml 2020-11-06 17:55:25 +01:00
Vladyslav Usenko 366c9b691c update submodules 2020-10-31 12:01:15 +01:00
Vladyslav Usenko a5ac63f021 fix bug in restore. 2020-10-30 12:14:11 +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 6179e265d9 Update to clang-11 2020-10-21 13:27:22 +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 85b0e4044e Merge branch 'master' of gitlab.vision.in.tum.de:basalt/basalt 2020-08-22 10:11:13 +02:00
Vladyslav Usenko e3ec522f03 Added hardware reset for realsense cameras 2020-08-22 10:10:46 +02:00
Vladyslav Usenko 49dd37cf88 Update README.md 2020-08-13 08:41:15 +00:00