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Author SHA1 Message Date
Vladyslav Usenko
6d55fdab9f Merge branch 'fix_so3_patch' into 'master' 
Update patch jacobian computation

See merge request basalt/basalt!53
 2022-01-22 08:00:13 +00:00
Vladyslav Usenko
3973aebe93 Update patch jacobian computation 2022-01-22 08:00:13 +00:00
Vladyslav Usenko
92d754e075 Merge branch 'demmeln/optical-flow-comments' into 'master' 
High-level comments for optical flow classes

See merge request basalt/basalt!52
 2021-12-23 06:39:38 +00:00
Nikolaus Demmel
3e6da3b392 High-level comments for optical flow classes 2021-12-20 11:45:29 +01:00
Vladyslav Usenko
e9cbc51421 Merge branch 'demmeln/test-ci' into 'master' 
ci: add monterey arm build

See merge request basalt/basalt!51
 2021-12-14 20:43:21 +00:00
Nikolaus Demmel
57eec337e8 ci: add monterey arm build 2021-12-14 04:15:49 +01:00
Vladyslav Usenko
412229a2c5 Merge branch 'demmeln/fix-rs-t265' into 'master' 
fix timestamp issues with realsense t265

Closes #16

See merge request basalt/basalt!50
 2021-12-11 14:04:11 +00:00
Nikolaus Demmel
700376d846 Make default config suitable for float. Implement better handling of non-finite increments. 2021-12-10 11:03:49 +01:00
Nikolaus Demmel
ec48ff22e5 vo: crash earlier for duplicate timestamps or numeric failure 2021-12-10 02:27:35 +01:00
Nikolaus Demmel
470ac63a2d rs_t265: skip duplicate incomplete framesets 2021-12-10 02:26:50 +01:00
Vladyslav Usenko
6df075a1f7 Added assert 2021-12-06 21:57:17 +01:00
Vladyslav Usenko
6c51d03537 Small update to the docs 2021-12-05 15:16:00 +01:00
Vladyslav Usenko
4e5d070d9f Added use_double switch to rs_t265_vio 2021-12-04 20:40:15 +01:00
Vladyslav Usenko
7ffc6277b3 Update submodules 2021-12-04 20:04:08 +01:00
Vladyslav Usenko
ddcc0e6c5b Merge branch 'master' of gitlab.vision.in.tum.de:basalt/basalt 2021-12-04 20:00:00 +01:00
Vladyslav Usenko
bd2b6b419b Merge branch 'build-fixes-2' into 'master' 
build fixes and updates

See merge request basalt/basalt!49
 2021-12-04 12:40:27 +00:00
Nikolaus Demmel
b627b41033 ci: disable GCC11 build, since it fails due to a GCC bug 2021-12-04 12:14:22 +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
2746c8c847 ci: enable brewclang build 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
f7a18076f9 ci: add Big Sur 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
94db673166 Merge branch 'demmeln/optical-flow-fix-numeric-crash' into 'master' 
optical flow fix numeric crash

Closes #17

See merge request basalt/basalt!48
 2021-12-04 10:50:41 +00:00
Nikolaus Demmel
64a6ab4262 flow: add checks for numerical failure to avoid crashes in SE2::exp 2021-12-03 17:45:25 +01:00
Nikolaus Demmel
bfeda2affa multiframe optical flow: u_int16_t --> uint16_t 2021-12-03 17:45:25 +01:00
Vladyslav Usenko
08df09e539 Update .gitlab-ci.yml 2021-12-01 20:16:07 +00:00
Vladyslav Usenko
985a811031 Update .gitlab-ci.yml 2021-12-01 19:01:50 +00:00
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
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