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106874845f
* update cuvslam api call to adhere to new v4.0 changes * update comment * parse cuvslam major version from the header and throw an error if theversion doesn't match the expected * moving average filter + extensive debug logging * lots more logs * improvement by turning off use_motion_model in cuvslam config. lots of debug logs. * slight improvements to velocity guard logic. lots of debug logs * removing debug logs. working. * let find_package_handle_standard_args handle the version comparison logic. Custom logic to handle newer then requested major version * proper warning message if the major version doesn't match * add back debug logs. Handle no guess transform case. * adding warnings when no guess transform is provided * clean up comments * lowering average window to 5 * moderate odometry mode, 5 value averaging window * adding comment * add reset logs to investigate reset issue * try returning guess or identity on init to avoid reset cascade * disable motion model again * big log when tracking * remove some debug logs * flag to use original covariance from cuVSLAM * use raw covariance * data collection for revised lost detection * compare guess to estimated transform for lost detection * re-enable motion model, it appears to reduce false-positives for the new lost detection * run pose estimation afer init on first frame * don't initialize if we don't have enough features * dont warm up GPU everytime we reset * low estimate velocity guard. Passes all challenges. Debug comments still everywhere. * Remove debug logs. Add thresholds to header in a config section. * Cleanup logs * exposing multi-cam mode as a rtabmap param * remove max frame delta * change to use assertion instead of conditional * replaced some UERROR by UWARN --------- Co-authored-by: Felix Toft <felix@robust.ai> Co-authored-by: matlabbe <matlabbe@gmail.com>
4.3 KiB
4.3 KiB