943137191e
Merge branch 'root_vo_squashed' into 'master'
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ICCV'21 square root marginalization paper code release
See merge request basalt/basalt!47
2021-10-15 13:14:46 +00:00
8d8a69c775
Reference granite for multi-flow implementation
2021-10-15 15:11:40 +02:00
24325f2a06
ICCV'21 square root marginalization paper code release
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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
cc6d896c47
Merge branch 'DominikMuhle-master'
2021-10-10 16:05:37 +02:00
285cfe2878
fix: use optical flow levels from config
2021-10-09 20:04:22 +02:00
1b8a855c43
Update apt repository info
2021-08-07 10:40:48 +02:00
823b3a0e35
small ci fux
2021-08-06 11:04:45 +02:00
d316689e6a
remove xenial
2021-08-06 10:57:39 +02:00
e6e58f6fef
Update docker images
2021-08-06 10:09:51 +02:00
de540f7b9f
fix for new TBB version
2021-05-23 20:42:29 +02:00
d32036e863
update submodules
2021-05-22 19:00:19 +02:00
1842e585e7
update submodules
2021-05-22 16:52:28 +02:00
709a1b4a91
Merge branch 'clang-tidy' into 'master'
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Clang Tidy
See merge request basalt/basalt!46
2021-05-08 16:03:15 +00:00
180d85e598
Clang Tidy
2021-05-08 16:03:15 +00:00
7477c4a0f0
fix stdint types
2021-05-01 10:45:08 +02:00
c7ceee72c0
Switched to templated version of IMU types
2021-04-17 18:41:42 +02:00
c370866bbf
Merge branch 'master' of gitlab.vision.in.tum.de:basalt/basalt
2021-04-17 12:42:41 +02:00
c9e79fa30b
Update docker images
2021-04-17 12:42:26 +02:00
e040a98b11
fix: num-threads wasn't working since it was used before cli parsing
2021-02-22 16:39:37 +01:00
7df0427753
Update submodule
2021-01-30 17:03:37 +01:00
bf94c9ee61
Disable Eigen's parallelization with OpenMP (interferes with TBB)
2021-01-29 15:14:58 +01:00
86d77a6744
Updated submodules
2021-01-02 10:13:11 +01:00
d51a95c8ba
Updated submodules
2021-01-01 18:12:18 +01:00
7f2c792e44
Removed 16.04 repository
2020-11-21 15:45:03 +01:00
3b616f1373
Update submodules
2020-11-21 10:43:56 +01:00
8254e5523b
Merge branch 'fix_ci' into 'master'
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fix .gitlab-ci.yml
See merge request basalt/basalt!44
2020-11-06 19:04:32 +00:00
a13785bf2d
fix .gitlab-ci.yml
2020-11-06 17:55:25 +01:00
366c9b691c
update submodules
2020-10-31 12:01:15 +01:00
a5ac63f021
fix bug in restore.
2020-10-30 12:14:11 +01:00
cf9b54eec1
Update eigen
2020-10-21 16:09:56 +02:00
0da34edf76
Update submodules
2020-10-21 14:30:33 +02:00
6179e265d9
Update to clang-11
2020-10-21 13:27:22 +02:00
734c7cbc76
Update submodules
2020-10-21 13:17:25 +02:00
4fa2a9d3dd
Update submodules.
2020-09-11 18:17:39 +02:00
85b0e4044e
Merge branch 'master' of gitlab.vision.in.tum.de:basalt/basalt
2020-08-22 10:11:13 +02:00
e3ec522f03
Added hardware reset for realsense cameras
2020-08-22 10:10:46 +02:00
49dd37cf88
Update README.md
2020-08-13 08:41:15 +00:00
6500c006d7
Switched scripts to python3
2020-08-09 12:09:49 +02:00
3a699d9ac2
Switch to 20.04 for base docker image
2020-08-09 10:28:21 +02:00
6c350b5868
Switch to 20.04 for base docker image
2020-08-09 10:24:39 +02:00
bece152254
Fix rosbag reader on Euroc
2020-08-08 12:20:10 +02:00
309793ed9e
Update submodules
2020-07-13 22:25:46 +02:00
8c5fd4da84
update submodules
2020-06-24 23:33:47 +02:00
dd44fdab74
Fix test.
2020-06-24 23:08:45 +02:00
6642c98a69
Fix test.
2020-06-24 22:34:44 +02:00
1e7eb7e0b1
Merge branch 'warnings' into 'master'
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Warnings and ci
See merge request basalt/basalt!41
2020-06-24 11:36:11 +00:00
fda2a31b6a
Merge branch 'hash' into 'master'
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TBB deprecation and other fixes
Closes #8
See merge request basalt/basalt!40
2020-06-24 11:08:48 +00:00
2c07e1d660
ci: add catalina jobs
2020-06-24 12:21:17 +02:00
f039b3cc44
fix cmake typo and completely silence indentation warning (eigen)
2020-06-24 12:19:55 +02:00
4034f136d7
address some maybe-uninitialized warnings (GCC9)
2020-06-24 12:19:26 +02:00
Nikolaus Demmel
Nikolaus Demmel
Vladyslav Usenko
dominikmuhle
Vladyslav Usenko
Jason Chui