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Author SHA1 Message Date
Borong Yuan 330fda6522 Minor correction on using tilted sensor model for OAK camera 2025-07-29 14:09:42 +08:00
Borong Yuan def99328ce fixed cv::remap() crach when the neural network did not detect any features (#1488) 2025-04-27 10:53:00 -07:00
Borong Yuan 36f7241f7d Fix rgb camera size setting and capture delay (#1476) 
* remove an extra line

* fix capture delay
 2025-03-30 18:03:51 -07:00
Borong Yuan 135110c9b6 Enable on-device feature detectors for color camera (#1470) 2025-03-17 10:33:10 -07:00
Borong Yuan d88353dc1b Further improvements to DepthAI integration (#1458) 
* 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
 2025-03-08 11:30:11 -08:00
Borong Yuan 3ab9a69fbb fix build with ceres<2.1 (#1437) 2025-01-19 13:58:07 -08:00
Borong Yuanandmatlabbe 89849ae245 add support for RVL depth image compression (#1409) 
* 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 <matlabbe@gmail.com>
 2024-12-15 18:35:05 -08:00
Borong Yuan 75ac722996 draw "1 - Loop Thr" along with posterior (#1373) 2024-11-02 12:51:05 -07:00
Borong Yuan 2454b04f1f Sort keypoints before SSC (#1364) 
* Sort keypoints before SSC

* avoid using vector<bool>
 2024-10-26 14:44:22 -07:00
Borong Yuan a327c9530c add XVSDK VIO 2024-06-03 10:28:45 +08:00
Borong Yuan fc9dcd6b3d rectify xvDepthColor 2024-05-30 19:41:48 +08:00
Borong Yuan 0ad1d0ad69 add CameraSeerSense to guilib 2024-05-30 16:55:37 +08:00
Borong Yuan ce0c806d75 add CameraSeerSense methods 2024-05-29 19:41:14 +08:00
Borong Yuan fb37b3adba add xvDepthColor 2024-05-28 17:08:49 +08:00
Borong Yuan 3d5f1ad5c2 add xvImu 2024-05-24 23:12:16 +08:00
Borong Yuan 41a7eff8fa init CameraSeerSense 2024-05-23 20:51:13 +08:00
Borong Yuan 6acec02dbe add xvsdk cmake configs 2024-05-23 17:02:38 +08:00
Borong Yuan fbeabf0751 Add ANMS (SSC method) (#1276) 2024-05-19 18:21:00 -07:00
Borong Yuan f3cfa7831d adjust likelihood using z-score 2024-04-28 12:22:26 +08:00
Borong Yuan a55b4203cd copy global descriptor (#1263) 2024-04-13 14:56:28 -07:00
Borong Yuan bfeb487dba OAK Internal Sync & DepthAI HF-Net Support (#1193) 
* 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
 2024-03-27 12:29:06 -07:00
Borong Yuan 1bd2d9fe81 superpoint torch using simple nms (#1213) 2024-02-10 13:54:20 -08:00
Borong Yuan dcd5994456 support color histogram equalization (#1203) 2024-01-21 12:38:34 -08:00
Borong Yuan 096592e4fc reimplement NMS using morphological operations (#1192) 2024-01-02 15:38:39 -08:00
Borong Yuan 45392fcfc6 Add RGBD mode for OAK camera (#1179) 
* update depthai params

* add color+depth mode

* workarounds to avoid performance issues
 2023-12-14 09:59:35 -08:00
Borong Yuan 0876603325 improve NMS implementation (#1173) 2023-11-28 13:36:28 -08:00
Borong Yuan 07c24e95ba start outputting data after static initialization (#1171) 
* start outputting data after static initialization

* restore pixel noise to 1
 2023-11-28 13:20:45 -08:00
Borong Yuan 757d3eb90b fix protocol detection for undiscoverable devices (#1159) 2023-11-15 19:50:07 -08:00
Borong Yuan 45a3b59a23 transform features after source images decimation (#1154) 2023-11-02 08:10:02 -07:00
Borong Yuanandmatlabbe 8da6ea1707 Add missing filterKeypointsByDepth step (#1150) 
* add missing filterKeypointsByDepth step

* Fix ORBOctree not using the depth mask

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
 2023-10-26 13:15:34 -07:00
Borong Yuan 948e15c72c Supplement and Adjust OpenVINS Parameters (#1145) 
* 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
 2023-10-21 14:24:51 -07:00
Borong Yuan f06cc0b17f OAK bug fixes and improvements (#1143) 
* *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
 2023-10-07 20:40:30 -07:00
Borong Yuan 2aa139b579 Update odometry info of OpenVINS (#1142) 
* add msckf features visualization

* fill localMap with active tracked features
 2023-10-07 20:36:00 -07:00
Borong Yuan 67c6a15b93 OpenVINS Update (#1107) 
* 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
 2023-10-02 07:53:29 -07:00
Borong Yuan afd10b1aa6 add histogram equalization (#1137) 2023-09-21 15:46:10 -07:00
Borong Yuan 61dbe51ee3 Update OAK stereo config and IMU rate (#1116) 
* update OAK stereo config and imu rate

* enable brightness filter
 2023-08-19 16:29:05 -07:00
Borong Yuan f0ba56bf5e fix ros gtsam 4.2a9 build (#1108) 2023-08-07 07:33:23 -07:00
Borong Yuan 5d6875ed98 change for initial frame update 2023-07-24 21:10:55 +08:00
Borong Yuan f8b761d79b msckf_vio now supports c++14 2023-07-24 14:08:04 +08:00
Borong Yuan f9719c197d disparityToDepthUseSpecTranslation is enabled by default as recommended 2023-07-20 00:28:36 +08:00
Borong Yuan d391f237eb update imu callback 2023-07-17 23:35:03 +08:00
Borong Yuan 0b4f5d2925 remove unnecessary conversion function 2023-07-17 17:00:43 +08:00
Borong Yuan 7d2272beb3 fix ProtocolToStr() visibility 2023-07-17 10:09:49 +08:00
Borong Yuan 6d690a315a Using VideoEncoder on PoE devices 2023-07-17 03:32:18 +08:00
Borong Yuan ce81fe445a specify device using MXID or IP/USB name 2023-07-15 20:58:00 +08:00
Borong Yuan a2a75a28ba add imu local transform for oak-d poe models 2023-07-14 20:18:48 +08:00
Borong Yuan 720d50fe74 add depthai superpoint descriptor 2023-06-19 15:15:37 +08:00
Borong Yuan 55a84cfdaa add depthai superpoint detector 2023-06-17 16:53:25 +08:00
Borong Yuan 2dd64a6283 move NMS to util2d 2023-06-17 13:06:54 +08:00
Borong Yuan e219152e8f update to depthai-core v2.22.0 2023-06-15 14:02:09 +08:00
Borong Yuan d031d79369 add depthai gftt detector (#1047) 
* add depthai feature detector draft

* update depthai gftt config

* optimize to detect more features
 2023-06-11 12:57:26 -07:00
Borong Yuan 31d975acd5 Add alphaScaling option 2023-05-31 22:15:16 +08:00
Borong Yuan 54c68f8e6c Updated disparity reprojection to account for cameras with different Fx and Fy values 2023-05-31 19:40:29 +08:00
Borong Yuan aedfcdc576 alphaScaling test 2023-05-30 18:16:28 +08:00
Borong Yuan 8d6c809c3c Update data sync implementation for DepthAI 2023-05-27 21:28:43 +08:00
Borong Yuan 52e417c313 Set IMU extrinsics to left camera optical frame 2023-05-25 12:19:07 +08:00
Borong Yuan 5592a1ebfe Update IMU local transform 2023-05-25 00:01:55 +08:00
Borong Yuan 42fbdda567 Merge branch 'introlab:master' into master 2023-05-23 10:08:21 +08:00
Borong Yuan ffd89ead86 Get baseline using sdk method 2023-05-22 22:06:45 +08:00
Borong Yuan 937e9fbb3b Advanced parameter tuning for depth quality optimization 2023-05-22 20:29:44 +08:00
Borong Yuan 9ecf71e5ed Update DepthAI camera model 2023-05-22 18:37:08 +08:00
Borong Yuan ff83b14b49 Add options to enable IR featues on OAK Pro models 2023-05-18 01:48:38 +08:00