8d8a69c775
Reference granite for multi-flow implementation
2021-10-15 15:11:40 +02:00
24325f2a06
ICCV'21 square root marginalization paper code release
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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
285cfe2878
fix: use optical flow levels from config
2021-10-09 20:04:22 +02:00
de540f7b9f
fix for new TBB version
2021-05-23 20:42:29 +02:00
7477c4a0f0
fix stdint types
2021-05-01 10:45:08 +02:00
c7ceee72c0
Switched to templated version of IMU types
2021-04-17 18:41:42 +02:00
bf94c9ee61
Disable Eigen's parallelization with OpenMP (interferes with TBB)
2021-01-29 15:14:58 +01:00
a5ac63f021
fix bug in restore.
2020-10-30 12:14:11 +01:00
bece152254
Fix rosbag reader on Euroc
2020-08-08 12:20:10 +02:00
5de179de48
hash_combine moved to headers and tbb_hash left-overs
2020-06-24 12:03:30 +02:00
cfb6fc5b6d
cleanup tbb includes for deprecations
2020-06-24 12:03:29 +02:00
c5191cec35
fix filesystem warnings
2020-04-28 19:35:04 +02:00
b90f08eaeb
switch from tbb_hash to std::hash
2020-04-28 19:24:19 +02:00
35a9d99bf0
fix for CI
2020-04-28 15:14:22 +02:00
2d30772c90
small change hash_bow
2020-04-28 11:45:54 +02:00
c45ee335dc
Fix patch jacobians
2020-01-08 16:52:35 +01:00
9c9587ea54
switch to L1 norm in hash_bow
2019-12-24 16:40:02 +01:00
619f6be6bd
Pinhole init
2019-11-18 07:33:04 +00:00
ff2ed88a01
Added Cholmod support
2019-11-08 00:42:02 +08:00
b7e9c2e4c9
moved filesystem to a separate header
2019-10-09 18:45:59 +02:00
8d2da587cf
varialble renaming
2019-10-04 15:38:04 +02:00
255604c72e
fix realsense tutorial
2019-10-01 22:16:24 +02:00
9d590b272b
update headers
2019-08-30 14:17:57 +02:00
d52e9b3513
update headers
2019-08-29 17:00:20 +02:00
cae794d6af
Move all eigen serialization to basalt-headers.
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**Note:** Binary representation of eigen matrices has changed!
2019-08-27 15:19:33 +00:00
77100b99f2
Added initialization parameters to config files
2019-08-27 15:52:19 +02:00
402228d52e
small changes to mapping
2019-08-23 14:02:55 +02:00
18fe854d88
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 08:01:40 +00:00
fc0800514b
Added pure BA option
2019-08-14 11:31:12 +02:00
397ddc159c
Merge branch 'LM' into 'master'
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Added Levengert-Marquadt support
See merge request basalt/basalt!32
2019-08-13 10:03:14 +00:00
aaa82fba3c
Added LM options
2019-08-12 19:14:47 +02:00
de3e23ce2a
Update inverted index for HashBow
2019-08-12 12:49:10 +02:00
3d6a4099cf
Added LM to mapping
2019-08-08 18:02:21 +02:00
f8285ccc64
Added LM to VIO
2019-08-07 17:19:27 +02:00
227694d572
added restore and backup functions
2019-08-07 16:54:35 +02:00
29e1a76407
added backup funtions to types
2019-08-07 16:45:25 +02:00
b3304884c6
small update to types
2019-08-07 16:26:13 +02:00
25ae6d43df
Make serialization functions for non-basalt types static.
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See: https://groups.google.com/d/msg/cerealcpp/WswQi_Sh-bw/Pw0GrfIqFQAJ
2019-08-06 01:33:02 +02:00
56cad21c6f
added enforce_realtime option
2019-08-04 22:54:22 +02:00
1d0fc86003
removed device data
2019-08-04 16:36:46 +02:00
fc0683f65f
small changes to IO
2019-08-04 16:29:48 +02:00
b9a2931468
small changes
2019-08-01 12:59:50 +02:00
f1fe43a250
added use_calib option
2019-07-31 15:39:03 +02:00
1e2fcb4ce9
Added UZH dataset reader
2019-07-31 15:06:22 +02:00
aa0b7826fe
small fixes
2019-07-31 13:55:33 +02:00
7694fc1825
small fix
2019-07-31 12:51:23 +02:00
ef5b1ed528
Fix typos
2019-07-30 20:14:03 +00:00
85872d5219
Add device pose data to vio analysis
2019-07-29 13:08:54 +00:00
5bb572cdeb
Added Landmark database
2019-07-26 16:50:15 +00:00
c4d73787f0
added more config options
2019-07-25 14:25:47 +02:00
Nikolaus Demmel
dominikmuhle
Vladyslav Usenko
Vladyslav Usenko
Nikolaus Demmel
Pablo Rodriguez Palafox
Michael Loipfuehrer