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43 commits

Author SHA1 Message Date
Mateo de Mayo 186ca8258e t/slam: Adapt camera calibration data for multiple cameras 2023-03-01 19:43:06 +00:00
Mateo de Mayo d8e1b7d921 t/slam: Handle multiple camera sinks 2023-03-01 19:43:06 +00:00
Mateo de Mayo 09d7aac89e external/slam: Update interface to support multiple cameras 2023-03-01 19:43:06 +00:00
Mateo de Mayo 52cac31d3a xrt: Support more than two cameras in a SLAM sink 2023-03-01 19:43:06 +00:00
Mateo de Mayo e9e0cf9f2c t/slam: Recover fallback measurements for systems without timing extension 
Fixes #235
 2023-02-18 13:49:56 +00:00
Mateo de Mayo b666b8b017 t/slam: Use accel for prediction by default 
Before we were not doing this because we have a hardcoded gravity vector.
Due to this, if the IMU gravity is too different, it causes the prediction to
bounce around slightly.
In practice the difference seems to be sufficiently small so as to be almost
not noticeable and we get the latency improvements we get are probably worth it.
 2023-02-17 15:31:59 -06:00
Mateo de Mayo 5ba9efd522 t/euroc: Implement trajectory recording 2023-02-17 21:03:08 +00:00
Moses Turner 86e31f54f3 xrt: Refactor t_camera_calibration to use a tagged union instead of a bare array 
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
 2023-01-30 17:09:27 -06:00
Mateo de Mayo 80fdf7317f t/slam: Add SLAM_UI option to enable the external system UI 2022-10-17 21:33:17 +00:00
Mateo de Mayo c181909b0d t/slam: Add debug sinks 2022-07-22 16:19:49 +00:00
Mateo de Mayo f55ac05578 t/slam: Implement feature count metric UI and recording 2022-07-12 12:47:05 +00:00
Mateo de Mayo c2009b6acc t/slam: Allow timing extension to be toggled on runtime 2022-07-12 12:47:05 +00:00
Mateo de Mayo 536001e2ad external/slam: Update header to 4.0.0 
1. Add feature info pose extension
2. Make pose extensions toggleable on runtime
3. Add timestats helper for external system to keep track of info for pose extensions
 2022-07-12 12:47:05 +00:00
Mateo de Mayo 6bc551d004 t/slam: Prioritize SLAM_CONFIG over driver calibration if set 2022-06-02 15:47:57 +00:00
Mateo de Mayo 8adbdc27e5 t/slam: Allow drivers to send calibration info to SLAM tracker 
There were a couple of properties that didn't fit well in our current
calibration structs and so I created t_slam_calib_extras struct to store them.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 2cf07dedf2 t/euroc: Fix crash when recording euroc dataset by providing UI button 
Previously, a crash occurred in some situations when the second sample was
written before the first sample was able to create the necessary CSV files.
 2022-05-23 17:51:11 -03:00
Ryan Pavlik ea4c14c3aa a/os: Rename os_thread_helper_stop to os_thread_helper_stop_and_wait 2022-05-20 18:46:37 +01:00
Ryan Pavlik a55a5a54b3 a/math: Normalize argument order of one euro filter initializing functions. 2022-04-13 09:40:40 -05:00
Mateo de Mayo 4c85e3fbb3 t/slam: Refactor tracker to accept a config struct on creation 2022-04-06 11:50:17 -03:00
Mateo de Mayo 2a4a9aa210 t/slam: Add configuration options to tracker 
Specifically:
- SLAM_PREDICTION_TYPE
- SLAM_CSV_PATH
 2022-04-06 11:50:17 -03:00
Mateo de Mayo 2bb0c5cda5 t/slam: Implement CSV writers for trajectories and timing info 
This CSV files can be used for offline analysis.
 2022-03-14 23:42:13 +00:00
Mateo de Mayo c9f7184d64 t/slam: Implement timing and trajectory error UI graphs 2022-03-14 23:42:13 +00:00
Mateo de Mayo af2dde11c3 misc: Fix some release build warnings and minor changes 
- Add CMakeUserPresets.json to .gitignore
- Fix DASSERTs warning for release builds
- Do not use one euro filter with invalid poses
- Other NFC style changes
 2022-03-14 23:42:13 +00:00
Mateo de Mayo 4b94d83c11 a/math: Fix one euro implementations not dividing by dt 
The dy name was kept. It can now be thought of as "[d]erivative of [y]"
instead of the previous "change of y". Also, the beta parameters of the
one-euro users were adjusted by approximately multiplying them by 0.016
to compensate.
 2022-02-22 13:34:45 +00:00
Mateo de Mayo 17dee2bb68 t/slam: Cache tracked pose timestamp 
This is mainly to avoid problems with filters that calculate
their dt from previous calls. In particular the one euro filter fix
that gets implemented in the next commit would crash because of dt=0.
 2022-02-22 13:34:45 +00:00
Mateo de Mayo 83fceec521 t/slam: Add filtering methods to the tracker 
Adds three toggleable filters:
- Moving average
- Exponential smoothing
- One euro filter
 2022-02-14 10:22:05 -03:00
Mateo de Mayo b90d60a9ce t/slam: Add prediction types that integrate gyro and accel samples 2022-02-14 10:22:05 -03:00
Mateo de Mayo 70576c2f02 t/slam: Implement basic prediction from last tracked poses 2021-12-21 11:43:17 +00:00
Mateo de Mayo 090e465dda external: Add semver to slam_tracker (1.0.0) and pose timestamps 2021-12-21 11:43:17 +00:00
Mateo de Mayo 74e149159b t/slam: Add SLAM_SUBMIT_FROM_START envvar 
Useful for setups that need some tuning to their sensors before sending
data to a SLAM system.
Removes the submit_frames property from wmr_camera as this replaces it.
 2021-12-21 11:43:17 +00:00
Christoph Haag 8bbaf2a05b a/tracking: Use #pragma message instead of #warning 
Avoids warning
../src/xrt/auxiliary/tracking/t_tracker_slam.cpp:66:2: warning: #warning is a GCC extension
 2021-12-14 13:51:16 +01:00
Mateo de Mayo fe4f6c6eb0 misc: Improve wmr and euroc docs, fix ht memory leak, stride for cv::Mats 2021-12-12 13:13:18 -03:00
Mateo de Mayo 1cc80f5476 t/slam: Use euroc recorder in slam tracker 2021-12-01 13:45:18 +00:00
Mateo de Mayo 33d360083f external/slam: Update slam_tracker interface to support dynamic features 2021-11-30 10:01:33 -03:00
Jakob Bornecrantz 3f98ea5595 xrt: Tidy s/ll/log_level/g 
Also make sure all variable logging uses the right type for logging variables.
 2021-11-22 14:29:10 -06:00
Mateo de Mayo 9b21b7d36c t/slam: Use debug assertions and ensure timestamps come in order 2021-10-06 16:41:18 -03:00
Mateo de Mayo 67a5946778 xrt: Add units to xrt_imu_sample fields 
After using the structure a bit more, and realizing that while different components
sometimes use different units, it is easier to force them to send the imu_samples
in a standardized unit.
 2021-10-06 16:41:18 -03:00
Mateo de Mayo f88befbdbc t/slam: Replace assertion with return -1 if SLAM_CONFIG is not provided 2021-09-28 16:06:52 -03:00
Mateo de Mayo debdb11e02 t/slam: Miscelaneous NFC changes 
- Use @todo instead of TODO for doxygen
- Improve the slam_tracker interface documentation
- Move euroc functions declared by macros into extern C
 2021-09-28 12:49:36 +00:00
Mateo de Mayo 1a5af03111 t/slam: Move pose corrections into the tracked devices 
This discards the pose correction logic used that was for the D455 not for
an euroc dataset. It will be reintroduced in a later commit with an
appropriate device.
 2021-09-28 12:49:36 +00:00
Christoph Haag a3b453dae7 t/slam: Print an error when SLAM_CONFIG is not set 
Fixes crash

terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_M_construct null not valid
 2021-09-16 23:33:05 +02:00
Christoph Haag ec5b5f9e1d t/slam: Only warn for incompatible OpenCV 2021-09-16 23:33:05 +02:00
Mateo de Mayo 549c59a493 t/slam: Add SLAM tracking module 2021-09-15 19:03:55 +00:00