Commit Graph

89 Commits

Author SHA1 Message Date
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
Vladyslav Usenko 8225faedbd Small fixes for MacOS 2020-04-17 21:17:51 +02:00
Vladyslav Usenko 2218740b54 update deps 2020-04-16 13:16:50 +02:00
Vladyslav Usenko 7767460dcc update ros deps 2020-01-23 17:36:10 +01:00
Vladyslav Usenko b7db41a8d9 update submodules 2020-01-23 17:24:18 +01:00