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
276f24c9ad
a/tracking: Improve word choice/clarity
2022-05-17 17:39:52 -05:00
Moses Turner
e25ee4058d
xrt: Remove xrt_tracked_hand
2022-05-10 18:53:58 +01:00
Jakob Bornecrantz
4ba23faa6b
auxiliary: Deal with clang-format-14 fallout (NFC)
2022-05-04 15:58:01 +01:00
Ryan Pavlik
f9b4af04e4
a/tracking: Fix conversion warnings
2022-05-03 22:44:37 +01:00
Ryan Pavlik
a55a5a54b3
a/math: Normalize argument order of one euro filter initializing functions.
2022-04-13 09:40:40 -05:00
Ryan Pavlik
3e6ec47296
monado: Apply clang-tidy fixes to most of the codebase.
...
All at least visually inspected, some revised from the auto-fixit
2022-04-13 09:34:54 -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
Jakob Bornecrantz
716ba4db60
tracking: Predeclare struct instead of including cJSON in header
2022-04-06 15:38:44 +01:00
Moses Turner
9417fe8d7f
a/tracking: Support different numbers of calib parameters
2022-03-23 20:56:15 +00:00
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
1dbda3d8c8
t/euroc: Tie CSV file opening to recorder lifecycle
...
This is a better way of handling writing small but high frequency data
like IMU samples so as to avoid continuous opening and closing of a file.
2022-03-14 23:42:13 +00:00
Jakob Bornecrantz
0ebb1c3be9
t/psmv: Make TrackerPSMV be standard layout
2022-03-07 16:48:28 +00:00
Mateo de Mayo
a0021dc7d0
t/euroc: Fix memory leak in euroc recorder
...
This was the reason the recorder was eating so much RAM.
SSD write speeds should be enough for common use cases to keep RAM stable.
2022-02-22 22:56:07 +00:00
Ryan Pavlik
a0e2df4cf0
tracking/math: Move the generic low pass filters to a/math
2022-02-22 16:42:53 -06:00
Ryan Pavlik
4156cabedf
a/tracking: Add an integer version of the low-pass filter.
2022-02-22 09:58:19 -06:00
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
Moses Turner
7b3378b28a
aux/tracking; st/gui: save/load calibration gui state to file
2022-01-18 17:18:43 +00:00
Moses Turner
17034f0283
aux/tracking: assert on fisheye mat size for fisheye path
2022-01-04 18:19:17 +00:00
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
07bd614930
t/file: Extend calibration save/load interfaces with new v2 format
2021-12-02 11:27:42 -03:00
Mateo de Mayo
1483ec32c5
t/file: Implement json save/load for v2 calibration
2021-12-02 11:26:11 -03:00
Mateo de Mayo
31f71251e0
t/util: Add dump function for single camera calibration struct
2021-12-01 18:32:16 +00:00
Mateo de Mayo
1cc80f5476
t/slam: Use euroc recorder in slam tracker
2021-12-01 13:45:18 +00:00
Mateo de Mayo
91ecbdb7fb
t/euroc: Add euroc dataset recorder
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
Ryan Pavlik
334bd83619
a/tracking: Fix some it's vs its and other minor doc tweaks
2021-11-03 17:27:36 -05:00
Ryan Pavlik
86c7a27156
a/tracking: Fix doxygen warnings about invalid link requests
2021-11-03 17:13:38 -05:00
Mateo de Mayo
773eccad6c
docs: Move some driver entities into @addtogroup and other NFC
2021-10-28 11:40:49 +00:00
Jakob Bornecrantz
e8f7f2de0a
t/util: Add function to dump a stereo camera calibration
2021-10-09 22:28:11 +01:00
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
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- 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
Jakob Bornecrantz
de283a8b0c
t/calibration: Add support for findChessboardCornersSB
2021-09-20 15:54:00 +00:00
Jakob Bornecrantz
0157b2d4b0
t/debug: Update HelperDebugSink to use new u_debug_sink
2021-09-17 13:39:50 +01:00
Jakob Bornecrantz
2404257077
t/hsv: Switch to u_sink_debug
2021-09-17 13:39:50 +01:00
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
