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Author SHA1 Message Date
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
Vladyslav Usenko
6500c006d7 Switched scripts to python3 2020-08-09 12:09:49 +02:00
Vladyslav Usenko
3a699d9ac2 Switch to 20.04 for base docker image 2020-08-09 10:28:21 +02:00
Vladyslav Usenko
6c350b5868 Switch to 20.04 for base docker image 2020-08-09 10:24:39 +02:00
Vladyslav Usenko
bece152254 Fix rosbag reader on Euroc 2020-08-08 12:20:10 +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