24325f2a06
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
79 lines
2.1 KiB
C++
79 lines
2.1 KiB
C++
#ifndef INCLUDE_NLOHMANN_JSON_FWD_HPP_
|
|
#define INCLUDE_NLOHMANN_JSON_FWD_HPP_
|
|
|
|
#include <cstdint> // int64_t, uint64_t
|
|
#include <map> // map
|
|
#include <memory> // allocator
|
|
#include <string> // string
|
|
#include <vector> // vector
|
|
|
|
/*!
|
|
@brief namespace for Niels Lohmann
|
|
@see https://github.com/nlohmann
|
|
@since version 1.0.0
|
|
*/
|
|
namespace nlohmann
|
|
{
|
|
/*!
|
|
@brief default JSONSerializer template argument
|
|
|
|
This serializer ignores the template arguments and uses ADL
|
|
([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
|
|
for serialization.
|
|
*/
|
|
template<typename T = void, typename SFINAE = void>
|
|
struct adl_serializer;
|
|
|
|
template<template<typename U, typename V, typename... Args> class ObjectType =
|
|
std::map,
|
|
template<typename U, typename... Args> class ArrayType = std::vector,
|
|
class StringType = std::string, class BooleanType = bool,
|
|
class NumberIntegerType = std::int64_t,
|
|
class NumberUnsignedType = std::uint64_t,
|
|
class NumberFloatType = double,
|
|
template<typename U> class AllocatorType = std::allocator,
|
|
template<typename T, typename SFINAE = void> class JSONSerializer =
|
|
adl_serializer,
|
|
class BinaryType = std::vector<std::uint8_t>>
|
|
class basic_json;
|
|
|
|
/*!
|
|
@brief JSON Pointer
|
|
|
|
A JSON pointer defines a string syntax for identifying a specific value
|
|
within a JSON document. It can be used with functions `at` and
|
|
`operator[]`. Furthermore, JSON pointers are the base for JSON patches.
|
|
|
|
@sa [RFC 6901](https://tools.ietf.org/html/rfc6901)
|
|
|
|
@since version 2.0.0
|
|
*/
|
|
template<typename BasicJsonType>
|
|
class json_pointer;
|
|
|
|
/*!
|
|
@brief default JSON class
|
|
|
|
This type is the default specialization of the @ref basic_json class which
|
|
uses the standard template types.
|
|
|
|
@since version 1.0.0
|
|
*/
|
|
using json = basic_json<>;
|
|
|
|
template<class Key, class T, class IgnoredLess, class Allocator>
|
|
struct ordered_map;
|
|
|
|
/*!
|
|
@brief ordered JSON class
|
|
|
|
This type preserves the insertion order of object keys.
|
|
|
|
@since version 3.9.0
|
|
*/
|
|
using ordered_json = basic_json<nlohmann::ordered_map>;
|
|
|
|
} // namespace nlohmann
|
|
|
|
#endif // INCLUDE_NLOHMANN_JSON_FWD_HPP_
|