* Fix local feature map assembly condition
* Allow local BA on merged neighbor links
* On-demand loading local visual features for neighbor signatures
---------
Co-authored-by: matlabbe <[email protected]>
* Allow ignoring intermediate nodes when calculating WM size
* Fix the retrieval logic to avoid unnecessary code execution
* Making getWorkingMemSize(true) complexity O(1)
* Updated statistics to show STM size, WM size, immunized nodes without intermediate nodes count. Added two new statistics to track number of intermediate nodes in STM and WM.
* Correct the condition for counting intermediate nodes
* Restore the logic of retrieval 2/3 to avoid affecting updateAge
---------
Co-authored-by: matlabbe <[email protected]>
* correct the Jacobian calculation of GravityFactor
* reimplement GravityFactor's analytical Jacobian
* adopt some minor changes from the GTSAM mainline
* use GTSAM's native AttitudeFactor instead of GravityFactor
* add missing header file and namespace prefix
* Removed GravityFactor. Fixed build with latest GTSAM version from source. Require c++17 when building with GTSAM>=4.3.0.
* Fixed cmake error when gtsam is not installed
---------
Co-authored-by: matlabbe <[email protected]>
* Reorganize DepthAI params
* Advanced Tuning of DepthAI’s SGBM Pipeline
* Update IMU Local Transform for OAK-D LR, OAK-D SR, and PoE Devices
* Reorganiz the usage of DepthAI. Get params before creating the pipeline, and automatically determine the resolution of different models.
* Identify the IMU type to specifically handle BMI270 and BNO085/086
* add rvl_codec
* add support for RVL deep image compression
* DBViewer: edit depth re-using same compression format than the one in database.
* Fixing windows ci
* 💄
* missing dll export (windows)
* typo
---------
Co-authored-by: matlabbe <[email protected]>
* Using Sync Node
* Using normalized IR intensity
* Set IMU output frequency to 200 Hz
* set sync threshold properly
* add depthai hfnet local head
* fix DB error
* add depthai hfnet global head
* fix data delay if image rate is set manually
* set the PrintLevel of OpenVINS to be equivalent to that of ULogger
* use global FAST settings
* add online calibration params
* add dynamic initialization params
* add necessary feature initializer options
* fix segfault of OdomImageDecimation
* add mask settings
* use depth as mask in OpenVINS
* set twist covariance
* restore default values of VisMinDepth and VisMaxDepth
* *fix distortion correction problem of small FOV devices
*remove deprecated IMU firmware update API
*add useSpecTranslation option
* reduce depth image noise and simplify calculation for compressed transport
* fix openvins build
* Add OpenVINS params to UI
* update OdometryOpenVINS implementation
* the pixel noise of most cameras should be less than 3 after factory calibration
* propagation and update are only performed after camera measurement feeding
* fix openvins feature reprojection
