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
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
