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NikolausDemmel / visit_struct_with_intrusive_single_header.hpp
Created September 9, 2022 00:05
visit_struct.hpp and visit_struct_intrisive.hpp merged for inclusion in compiler explorer; source: https://github.com/garbageslam/visit_struct/tree/0e853f45f61e8b0fb714aa6c92ed53fc60dc0dbf/include/visit_struct
// (C) Copyright 2015 - 2018 Christopher Beck
// Distributed under the Boost Software License, Version 1.0. (See accompanying
// file LICENSE or copy at http://www.boost.org/LICENSE_1_0.txt)
#ifndef VISIT_STRUCT_HPP_INCLUDED
#define VISIT_STRUCT_HPP_INCLUDED
/***
* Provides a facility to declare a structure as "visitable" and apply a visitor
@NikolausDemmel
NikolausDemmel / pinhole-radtan4.hpp
Created January 2, 2022 20:59
Pinhole Radtan 4 example
template <typename Derived_>
class PinholeRadTan4CameraBase
: public AbstractCamera<
typename Eigen::internal::traits<Derived_>::Scalar> {
public:
DBATK_DEFINE_CAMERA_MODEL_BASE_CLASS_BOILERPLATE(PinholeRadTan4Camera)
DBATK_DEFINE_CAMERA_MODEL_ACCESSOR(fx, 0);
DBATK_DEFINE_CAMERA_MODEL_ACCESSOR(fy, 1);
@NikolausDemmel
NikolausDemmel / final-13682 sparse_schur cxsparse
Created October 30, 2020 21:43
BAL logs ceres
$ /usr/bin/time -v ./bin/bundle_adjuster -use_quaternions -use_local_parameterization -num_threads 12 -num_iterations 20 -linear_solver sparse_schur -input problem-13682-4456117-pre.txt -v 3 -logtostderr -sparse_linear_algebra_library cx_sparse
I1030 18:13:42.591603 4171415 bal_problem.cc:85] Header: 13682 4456117 28987644
I1030 18:14:11.254379 4171415 bal_problem.cc:276] median: 00-1.2963 -0.297856 001.84581
I1030 18:14:11.254501 4171415 bal_problem.cc:277] median absolute deviation: 13.1983
I1030 18:14:11.254508 4171415 bal_problem.cc:278] scale: 7.57676
I1030 18:16:06.547497 4171415 wall_time.cc:84]
ComputeStableSchurOrdering
Delta Cumulative
CreateHessianGraph : 29.59815 29.59815
@NikolausDemmel
NikolausDemmel / ceres 1.14
Created August 29, 2020 13:23
ceres 1.14 vs 2.0 bundle adjustment with photometric residuals
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.278079e+09 0.00e+00 2.00e+08 0.00e+00 0.00e+00 1.00e+10 0 4.22e+01 2.40e+02
1 5.390256e+09 8.88e+08 2.00e+08 6.00e+01 1.81e+00 3.00e+10 1 6.64e+01 3.44e+02
2 4.989417e+09 4.01e+08 2.00e+08 4.89e+01 1.77e+00 9.00e+10 1 5.84e+01 4.39e+02
3 4.785329e+09 2.04e+08 2.00e+08 4.36e+01 1.76e+00 2.70e+11 1 5.90e+01 5.36e+02
4 4.672209e+09 1.13e+08 2.00e+08 4.32e+01 1.76e+00 8.10e+11 1 5.86e+01 6.32e+02
5 4.604432e+09 6.78e+07 2.00e+08 6.78e+01 1.75e+00 2.43e+12 1 5.83e+01 7.28e+02
6 4.560632e+09 4.38e+07 2.00e+08 1.13e+02 1.73e+00 7.29e+12 1 5.85e+01 8.24e+02
7 4.531752e+09 2.89e+07 2.00e+08 1.81e+02 1.60e+00 2.19e+13 1 5.85e+01 9.20e+02
8 4.508471e+09 2.33e+07 2.00e+08 1.20e+0
@NikolausDemmel
NikolausDemmel / ceres 1.14 calib example output
Last active August 29, 2020 13:37
lie spline timing ceres 1.14 vs 2.2
Running calibration with ceres_se3_old method
g_a initialized with -0.118566 9.55362 1.03586
mean error 72.997 num_points 291612
Solver Summary (v 1.14.0-eigen-(3.3.7)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-no_openmp-no_tbb)
Original Reduced
Parameter blocks 5194 5193
Parameters 36346 36339
Effective parameters 31155 31149
@NikolausDemmel
NikolausDemmel / ceres-per-residual-robust-norm.cpp
Last active August 25, 2021 08:33
Per-residual robust norm with ceres AutoDiff (hacky)
///////////////////////////////////////////////////////////////////////////////
//
// This is exemplar code how one can implement per-residual robust norms in
// ceres while still grouping residual blocks into logical units > size 1.
// Having residual blocks of size > 1 may make sense to get them treated as one
// unit in Schur complement, and they may share substantial amount of
// computation. This is for example true for a photometric reprojection residual
// with all the pixels in one patch being projected with the same depth
// parameter.
//
@NikolausDemmel
NikolausDemmel / catkin-tools-plain-cmake-test.bash
Created June 27, 2017 12:17
catkin tools plain cmake
demmeln@atcremers67:/tmp$ mkdir -p test/src
demmeln@atcremers67:/tmp$ cd test/src/
demmeln@atcremers67:/tmp/test/src$ git clone https://github.com/NikolausDemmel/aruco
Cloning into 'aruco'...
remote: Counting objects: 860, done.
remote: Compressing objects: 100% (451/451), done.
remote: Total 860 (delta 391), reused 860 (delta 391), pack-reused 0
Receiving objects: 100% (860/860), 10.27 MiB | 3.66 MiB/s, done.
Resolving deltas: 100% (391/391), done.
Checking connectivity... done.
@NikolausDemmel
NikolausDemmel / .dockerignore
Last active February 2, 2017 19:43
MARV Robotics EE docker
*
!Dockerfile
!certificates/
!marv_entrypoint.sh
!marv_env.sh
!src
src/*/.git
@NikolausDemmel
NikolausDemmel / Dockerfile
Last active January 24, 2017 22:56
Dockerfile for marv-robotics
FROM ros:indigo
MAINTAINER Nikolaus Demmel <Nikolaus.Demmel@de.bosch.com>
################################################################################
## ARGUMENTS
# optional use --build-arg or ARG for proxy variables instead, but for our case
# we want them set also in the running container for convenience
ARG DOCKER_HOST_IP=172.17.0.1
ENV no_proxy="127.0.0.1,$DOCKER_HOST_IP"
@NikolausDemmel
NikolausDemmel / ROS-archlinux.md
Last active March 28, 2016 22:08
The following tutorial gets you started with compiling ROS from source on Arch Linux.

The following tutorial gets you started with compiling ROS from source on Arch Linux. It combines information from http://wiki.ros.org/jade/Installation/Arch and http://wiki.ros.org/jade/Installation/Source.

I tried this on a fresh archlinux vm using vagrant

vagrant init terrywang/archlinux; vagrant up --provider virtualbox

I needed to edit the Vagrantfile to give some more memory to make roscpp compile. Uncomment the following part

config.vm.provider "virtualbox" do |vb|
  # Customize the amount of memory on the VM: