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Published 20 hours ago • verified publisher icon berndpfrommer

update to latest version of basalt

Open berndpfrommer opened this issue 3 years ago • 2 comments

update the wrapper to use the latest version of basalt. See issue #7

berndpfrommer avatar May 28 '21 15:05 berndpfrommer

Basalt has released code for ICCV'21 paper "Square Root Marginalization for Sliding-Window Bundle Adjustment" in their master branch. This makes their code 36% faster while not losing any accuracy. https://vision.in.tum.de/research/vslam/rootvo It would be great to have your ros wrapper updated to this recent version of basalt.

martinakos avatar Nov 09 '21 15:11 martinakos

I took a stab at it in June but gave up in frustration after more than a day. The problems lie somewhere between my limited understanding of catkin/ament/cmake and Basalt's use of source-level versions of third party libraries.

berndpfrommer avatar Nov 10 '21 12:11 berndpfrommer

Eventually I've managed to get it working, but only on ROS2, and I won't back port to ROS1. The new repo is in the "fresh start" branch here: https://github.com/berndpfrommer/basalt_ros

berndpfrommer avatar Mar 23 '23 11:03 berndpfrommer

I actually prefer to use the old basalt now, as it's faster. See this unanswered question about performance: https://gitlab.com/VladyslavUsenko/basalt/-/issues/90

martinakos avatar Mar 23 '23 22:03 martinakos