Commit Graph

66 Commits

Author SHA1 Message Date
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
Vladyslav Usenko d52e9b3513 update headers 2019-08-29 17:00:20 +02:00
Nikolaus Demmel cae794d6af Move all eigen serialization to basalt-headers.
**Note:** Binary representation of eigen matrices has changed!
2019-08-27 15:19:33 +00:00
Vladyslav Usenko 65808d6f0f update headers 2019-08-27 11:35:24 +02:00
Vladyslav Usenko 18fe854d88 Added stereo (no IMU) odometry and KITTI evaluation 2019-08-23 08:01:40 +00:00
Vladyslav Usenko 5e3c21922b updated headers 2019-08-09 13:52:35 +02:00