700376d846
Make default config suitable for float. Implement better handling of non-finite increments.
2021-12-10 11:03:49 +01:00
ec48ff22e5
vo: crash earlier for duplicate timestamps or numeric failure
2021-12-10 02:27:35 +01:00
6df075a1f7
Added assert
2021-12-06 21:57:17 +01:00
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
c7ceee72c0
Switched to templated version of IMU types
2021-04-17 18:41:42 +02:00
8d2da587cf
varialble renaming
2019-10-04 15:38:04 +02:00
77100b99f2
Added initialization parameters to config files
2019-08-27 15:52:19 +02:00
402228d52e
small changes to mapping
2019-08-23 14:02:55 +02:00
d4da96119f
added pure stereo to simulator
2019-08-23 12:01:40 +02:00
18fe854d88
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 08:01:40 +00:00
fc0800514b
Added pure BA option
2019-08-14 11:31:12 +02:00
77142f0c2a
small fixes LM
2019-08-14 10:57:48 +02:00
397ddc159c
Merge branch 'LM' into 'master'
...
Added Levengert-Marquadt support
See merge request basalt/basalt!32
2019-08-13 10:03:14 +00:00
f4f16ddc56
small fix
2019-08-12 19:33:00 +02:00
7ebb7baf7c
update mapper
2019-08-12 19:24:25 +02:00
aaa82fba3c
Added LM options
2019-08-12 19:14:47 +02:00
4099457045
small fixes
2019-08-11 12:23:23 +02:00
f6a33469f5
Added skipping IMU measurements before the first image.
2019-08-09 19:34:11 +02:00
4e4901dfa4
update config
2019-08-09 11:51:04 +02:00
be249f6354
non-parallel compute_error
2019-08-08 18:45:39 +02:00
3d6a4099cf
Added LM to mapping
2019-08-08 18:02:21 +02:00
43c9914592
parallel version of compute error
2019-08-08 14:56:51 +02:00
29ed498aa0
new param
2019-08-08 14:37:07 +02:00
8ffa903eb2
Added LM to VIO
2019-08-07 17:21:52 +02:00
f8285ccc64
Added LM to VIO
2019-08-07 17:19:27 +02:00
227694d572
added restore and backup functions
2019-08-07 16:54:35 +02:00
56cad21c6f
added enforce_realtime option
2019-08-04 22:54:22 +02:00
b9a2931468
small changes
2019-08-01 12:59:50 +02:00
ef5b1ed528
Fix typos
2019-07-30 20:14:03 +00:00
5bb572cdeb
Added Landmark database
2019-07-26 16:50:15 +00:00
c4d73787f0
added more config options
2019-07-25 14:25:47 +02:00
5b01a126b7
small changes
2019-07-23 17:25:45 +02:00
725b965bb3
small fix
2019-07-23 15:47:14 +02:00
2f18e1d333
new triangulation method
2019-07-23 15:21:39 +02:00
843942bf44
small fix
2019-07-19 23:22:38 +02:00
1d10c35731
Use Vec3 for IMU noise. Moved noise parameters from IMU data to calibration.
2019-07-19 19:00:57 +02:00
538d021ae1
Small changes to accumulator class
2019-07-19 16:28:42 +02:00
e2e1ff0c70
fix compile
2019-07-16 13:55:16 +02:00
86f2e4807f
small fix
2019-07-12 14:05:07 +02:00
9b705e1c3c
converted TimeCamId to struct
2019-07-12 13:26:10 +02:00
b3e0a101d2
Changes to LM
2019-06-27 15:56:55 +02:00
077af5937f
small fix
2019-06-19 11:44:25 +02:00
6cd8058a33
small fixes after merge
2019-06-13 13:51:10 +02:00
c888aa65bb
Added Realsense live VIO
2019-06-13 11:37:17 +00:00
0e073978b9
Switched to HashBow instead of DBoW3
2019-06-07 12:42:18 +00:00
9624f6b391
add ./scripts/clang-format-all.sh and fix formatting
2019-04-24 13:16:06 +02:00
0cef943b16
Initial commit
2019-04-14 21:08:32 +02:00
Nikolaus Demmel
Vladyslav Usenko
Vladyslav Usenko
Pablo Rodriguez Palafox