Commit Graph

34 Commits

Author SHA1 Message Date
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 6179e265d9 Update to clang-11 2020-10-21 13:27:22 +02:00
Vladyslav Usenko 6500c006d7 Switched scripts to python3 2020-08-09 12:09:49 +02:00
Vladyslav Usenko 98d2e83105 updated docker files 2020-04-28 11:56:46 +02:00
Vladyslav Usenko 24e378a7a1 small fix 2020-03-06 14:45:48 +01:00
Vladyslav Usenko 7094f15205 fix tumvi eval 2020-03-06 13:47:21 +01:00
Vladyslav Usenko 90ec87f847 fix tumvi eval 2020-03-06 13:08:14 +01:00
Vladyslav Usenko 2926020df7 added tumvi eval 2020-03-06 12:51:28 +01:00
Vladyslav Usenko f0b50531b7 Update basalt_capture_mocap.py 2019-12-06 16:39:39 +00:00
Vladyslav Usenko ee6a053a4f added trajectory saving for Euroc 2019-10-31 13:29:49 +01:00
Vladyslav Usenko 8490705da4 Tutorial on photometric and geometric camera-IMU-Mocap calibration with Realsesnse T265 2019-09-30 15:11:22 +00:00
Vladyslav Usenko 71d94219e0 small update to scripts 2019-09-13 18:05:25 +02:00
Vladyslav Usenko 3aaa41bee8 Added scripts to install 2019-09-12 18:52:56 +02:00
Vladyslav Usenko 2eb8911625 Added KITTI to docs 2019-09-10 15:40:06 +00:00
Vladyslav Usenko 18fe854d88 Added stereo (no IMU) odometry and KITTI evaluation 2019-08-23 08:01:40 +00:00
Vladyslav Usenko fc0800514b Added pure BA option 2019-08-14 11:31:12 +02:00
Vladyslav Usenko 4099457045 small fixes 2019-08-11 12:23:23 +02:00
Vladyslav Usenko e3237cf8cb Added evaluation for pose-graph optimization 2019-07-29 16:56:22 +02:00
Vladyslav Usenko e5a3c521f8 small changes 2019-07-29 16:18:04 +02:00
Vladyslav Usenko 92955209b8 Better evaluation output 2019-07-29 16:14:02 +02:00
Vladyslav Usenko 5bb572cdeb Added Landmark database 2019-07-26 16:50:15 +00:00
Vladyslav Usenko dd087bdbb8 fix irradiance computation 2019-07-12 10:56:47 +02:00
Vladyslav Usenko 7919878582 fix bug 2019-07-11 19:13:03 +02:00
Vladyslav Usenko 6e7357b250 updated gamma correction script 2019-07-11 18:49:13 +02:00
Vladyslav Usenko df72a5e40b realsense 2019-06-28 15:43:19 +00:00
Michael Loipfuehrer 36880bd9ef T265 record manual exposure control, compare calib script 2019-06-19 13:24:25 +00:00
Vladyslav Usenko c888aa65bb Added Realsense live VIO 2019-06-13 11:37:17 +00:00
Vladyslav Usenko 0e073978b9 Switched to HashBow instead of DBoW3 2019-06-07 12:42:18 +00:00
Vladyslav Usenko 9c4a4fa726 Add initial realsense support 2019-06-03 11:37:53 +00:00
Nikolaus Demmel 2d247ac74c fix install_mac_os_deps.sh 2019-04-24 13:17:12 +02:00
Nikolaus Demmel 9624f6b391 add ./scripts/clang-format-all.sh and fix formatting 2019-04-24 13:16:06 +02:00
Vladyslav Usenko e1079450fc Update run_evaluations.sh 2019-04-15 20:57:26 +00:00
Vladyslav Usenko e15bb22410 Added euroc evaluation to CI 2019-04-15 15:38:58 +00:00
Vladyslav Usenko 0cef943b16 Initial commit 2019-04-14 21:08:32 +02:00