26a21d8890
fix warnings: unused variables
2021-11-11 21:21:28 +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
180d85e598
Clang Tidy
2021-05-08 16:03:15 +00:00
c7ceee72c0
Switched to templated version of IMU types
2021-04-17 18:41:42 +02:00
e040a98b11
fix: num-threads wasn't working since it was used before cli parsing
2021-02-22 16:39:37 +01:00
e3ec522f03
Added hardware reset for realsense cameras
2020-08-22 10:10:46 +02:00
4034f136d7
address some maybe-uninitialized warnings (GCC9)
2020-06-24 12:19:26 +02:00
447c1e01d2
silence warnings in 3rd party libs (pangolin, opengv, ros)
2020-06-24 12:18:38 +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
f8227d2e22
small fix
2020-03-04 13:36:38 +01:00
619f6be6bd
Pinhole init
2019-11-18 07:33:04 +00:00
eb99b1dc81
small fix calib
2019-11-10 12:43:22 +01:00
b4b9beff49
small fix
2019-10-30 13:16:33 +01:00
89a7296bfa
fix gravity initialization for calibration
2019-10-29 15:35:42 +01:00
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
c9ab4a3a7b
small fixes for tutorial
2019-10-01 14:40:10 +02:00
ea4f9a63cf
update recorder
2019-10-01 14:06:49 +02:00
8490705da4
Tutorial on photometric and geometric camera-IMU-Mocap calibration with Realsesnse T265
2019-09-30 15:11:22 +00:00
76966c12d3
added basalt_time_alignment to deb packages
2019-09-20 15:40:44 +02:00
5dc7ef2c49
small updates
2019-09-10 13:35:19 +02:00
9d590b272b
update headers
2019-08-30 14:17:57 +02:00
e67c814002
small changes to vio_sim
2019-08-29 16:32:20 +02:00
77100b99f2
Added initialization parameters to config files
2019-08-27 15:52:19 +02:00
858d2f25c8
added better initialization for calibration
2019-08-26 16:57:41 +02:00
402228d52e
small changes to mapping
2019-08-23 14:02:55 +02:00
d4da96119f
added pure stereo to simulator
2019-08-23 12:01:40 +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
77142f0c2a
small fixes LM
2019-08-14 10:57:48 +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
f4f16ddc56
small fix
2019-08-12 19:33:00 +02:00
7ebb7baf7c
update mapper
2019-08-12 19:24:25 +02:00
aaa82fba3c
Added LM options
2019-08-12 19:14:47 +02:00
4099457045
small fixes
2019-08-11 12:23:23 +02:00
f6a33469f5
Added skipping IMU measurements before the first image.
2019-08-09 19:34:11 +02:00
4e4901dfa4
update config
2019-08-09 11:51:04 +02:00
be249f6354
non-parallel compute_error
2019-08-08 18:45:39 +02:00
3d6a4099cf
Added LM to mapping
2019-08-08 18:02:21 +02:00
43c9914592
parallel version of compute error
2019-08-08 14:56:51 +02:00
29ed498aa0
new param
2019-08-08 14:37:07 +02:00
8ffa903eb2
Added LM to VIO
2019-08-07 17:21:52 +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
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
07a1930b5c
Disable vio_enforce_realtime for the datasets.
2019-08-05 15:13:36 +02:00
56cad21c6f
added enforce_realtime option
2019-08-04 22:54:22 +02:00
Nikolaus Demmel
Vladyslav Usenko
Vladyslav Usenko