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71 Commits

Author SHA1 Message Date
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
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
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
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
180d85e598 Clang Tidy 2021-05-08 16:03:15 +00:00
Vladyslav Usenko
c7ceee72c0 Switched to templated version of IMU types 2021-04-17 18:41:42 +02:00
Vladyslav Usenko
7df0427753 Update submodule 2021-01-30 17:03:37 +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
3b616f1373 Update submodules 2020-11-21 10:43:56 +01:00
Vladyslav Usenko
366c9b691c update submodules 2020-10-31 12:01:15 +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
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
309793ed9e Update submodules 2020-07-13 22:25:46 +02:00
Vladyslav Usenko
8c5fd4da84 update submodules 2020-06-24 23:33:47 +02:00
Vladyslav Usenko
dd44fdab74 Fix test. 2020-06-24 23:08:45 +02:00
Nikolaus Demmel
447c1e01d2 silence warnings in 3rd party libs (pangolin, opengv, ros) 2020-06-24 12:18:38 +02:00
Nikolaus Demmel
5de179de48 hash_combine moved to headers and tbb_hash left-overs 2020-06-24 12:03:30 +02:00
Vladyslav Usenko
35a9d99bf0 fix for CI 2020-04-28 15:14:22 +02:00
Vladyslav Usenko
8225faedbd Small fixes for MacOS 2020-04-17 21:17:51 +02:00
Vladyslav Usenko
2218740b54 update deps 2020-04-16 13:16:50 +02:00
Vladyslav Usenko
7767460dcc update ros deps 2020-01-23 17:36:10 +01:00
Vladyslav Usenko
b7db41a8d9 update submodules 2020-01-23 17:24:18 +01:00
Vladyslav Usenko
954c8c673d update submodules 2019-11-18 11:17:52 +01:00
Vladyslav Usenko
619f6be6bd Pinhole init 2019-11-18 07:33:04 +00:00
Vladyslav Usenko
b159de9808 update submodules 2019-11-10 13:12:08 +01:00
Vladyslav Usenko
7e1c98596a update submodules 2019-11-10 12:50:11 +01:00
Vladyslav Usenko
eb99b1dc81 small fix calib 2019-11-10 12:43:22 +01:00
Vladyslav Usenko
a9f3fb9836 update submodules 2019-11-08 10:43:06 +08:00
Vladyslav Usenko
c23fec1e7b update submodules 2019-11-08 00:21:44 +08:00
Vladyslav Usenko
8edc80ec8b update submodules 2019-11-06 17:38:10 +08:00
Vladyslav Usenko
89a7296bfa fix gravity initialization for calibration 2019-10-29 15:35:42 +01:00
Vladyslav Usenko
8d2da587cf varialble renaming 2019-10-04 15:38:04 +02:00
Vladyslav Usenko
f71f252794 Merge branch 'master' of gitlab.vision.in.tum.de:slam/basalt 2019-10-04 07:40:56 +02:00
Vladyslav Usenko
2cdfdf2169 update deps 2019-10-04 07:40:42 +02:00
Vladyslav Usenko
61d9e67d48 fix t265 tutorial 2019-10-02 16:33:09 +02:00
Vladyslav Usenko
3c1abb206a small fix 2019-09-30 17:37:22 +02:00
Vladyslav Usenko
76966c12d3 added basalt_time_alignment to deb packages 2019-09-20 15:40:44 +02:00
Vladyslav Usenko
bb42546261 update headers 2019-09-07 15:25:54 +02:00
Vladyslav Usenko
0e8ebf7096 update headers 2019-08-30 15:50:44 +02:00
Vladyslav Usenko
9d590b272b update headers 2019-08-30 14:17:57 +02:00