Code

VIO & SLAM Host Nodes#1012

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Merged

Serafadam merged 184 commits intov3_developluxonis/depthai-core:v3_developfrom basalt_violuxonis/depthai-core:basalt_vioCopy head branch name to clipboardJul 12, 2024

+3,207-72

Commits

Commits on Mar 5, 2024

• first tests with rgbd

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• Merge branch 'v3_develop' of github.com:luxonis/depthai-core into v3_rtabmap_integration

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• add stereo example

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• typo

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Commits on Mar 6, 2024

• vio node

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Commits on Mar 7, 2024

• move node to rtabmap dir, add sensordata class

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Commits on Mar 12, 2024

• calib handler and transform data updates

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• add rerun

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Commits on Mar 13, 2024

• add separate imu callback, enable alpha scaling

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Commits on Mar 14, 2024

• change alpha scaling, rerun version

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Commits on Mar 18, 2024

• update vio

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Commits on Mar 25, 2024

• Merge branch 'v3_develop' of github.com:luxonis/depthai-core into v3_rtabmap_integration

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• update rtabmap commit

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Commits on Apr 3, 2024

• basalt wip

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Commits on Apr 17, 2024

• basalt vio init impl

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• add rtabmap slam

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• Merge branch 'v3_develop' of github.com:luxonis/depthai-core into basalt_vio

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Commits on Apr 18, 2024

• add map publishing

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Commits on Apr 19, 2024

• transforms wip

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• correct transforms

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Commits on Apr 23, 2024

• Merge branch 'v3_develop' of github.com:luxonis/depthai-core into basalt_vio

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• Merge branch 'v3_develop' of github.com:luxonis/depthai-core into basalt_vio

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• update nodes

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Commits on Apr 26, 2024

• basalt as hunter package

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• update hash

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• update sha

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• sha update

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• update sha1

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• add opengv

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• use sdk

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• add config path

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• basalt as node in core

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• remove unused msg

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• add fmt to basalt

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Commits on May 6, 2024

• async slam

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Commits on May 23, 2024

• move vio/vslam examples to separate directory

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• add extrinsics to boardconfig

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• remove debug prints

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• add config path and thread num to basalt

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• add some additional methods to rtabmap slam

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• pull from v3 develop

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• update basalt links

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• some cosmetic updates

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• update rtabmap vio

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Commits on May 27, 2024

• update coordinates handling

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• update calibhandler metods

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• rtabmap odom as unique ptr

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• update slam calib methods

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Commits on May 28, 2024

• add eigen as hunter package

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• update basalt cmake version

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• remove error on new gcc via flag

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• internal sync in basalt

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• minor basalt update

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• slam sync update

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Commits on May 31, 2024

• disable sophus tests

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Commits on Jun 3, 2024

• Update device commit

  

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• Whitespace changes and remove unnecessary links

  

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Commits on Jun 5, 2024

• addressing some of the pr comments, pcl output

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• Merge branch 'basalt_vio' of github.com:luxonis/depthai-core into basalt_vio

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Commits on Jun 7, 2024

• update getters in tranformdata with new types

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• pcl data set cloud

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• update basalt node queue names, fwd declarations of queues

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• updated queue names for rtabmap nodes, vio back to threaded node

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• calib handler updates

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• common rerun viewer node

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• changed target order, add vslam nodes to combined target

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• dependencies update

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• remove build type from rtabmap

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• case change

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• add set localtransform to basaltvio

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• remove debug prints from basalt

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• add examples back

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• Merge branch 'v3_develop' of github.com:luxonis/depthai-core into basalt_vio

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• add docstrings

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• sophus and opengv hunterized

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• build with eigen

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Commits on Jun 12, 2024

• fix basalt for ubuntu 20.04

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• Update config with hashes

  

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• Fix rtab crash

  

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Commits on Jun 13, 2024

• pimpl and shared ptrs for queues in basalt

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• clean up examples

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• Merge branch 'basalt_vio_morato' of github.com:luxonis/depthai-core into basalt_vio

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• fix pcl publishing

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• fix link options for rtabmap

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• update interfaces

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• minor refactor

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• minor logger change

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• remove fwd declare

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• minor updates

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• py bindings init

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• Fix the basalt example

  

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• Remove invalid functions

  

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• Add some functionality back

  

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• Fix build with very old git(s) found on manylinux

  

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Commits on Jun 14, 2024

• set g2o and gtsam to off for rtabmap

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• rtabmap tmp fix for manylinux

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• rtabmap slam database path to empty

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• update example names

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• remove unused flag

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• Merge branch 'basalt_vio' of github.com:luxonis/depthai-core into basalt_vio_py

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• add rtabmap bindings

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Commits on Jun 17, 2024

• search for sys eigen when building pcl

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• add missing function

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Commits on Jun 18, 2024

• Merge branch 'basalt_vio' of github.com:luxonis/depthai-core into basalt_vio_py

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• minor updates

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• imu mtx, remove rot from rtabmapvio

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• Fix wheels on manylinux

  

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• Merge branch 'basalt_vio_py' of github.com:luxonis/depthai-core into basalt_vio_py

  

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• typo

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• Update RTAB commit

  

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• Fix RTAB bindings

  

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• Add ADatatype to the hiearchy

  

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• Change return type for Basalt and RTABMap vio bindings

  

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Commits on Jun 20, 2024

• remove pcl visualization for now

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• remove build shared from rtabmap

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• link against pcl io ply for static pcl

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Commits on Jun 21, 2024

• bring back build shared for rtabmap

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• update basalt vio config field

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Commits on Jun 24, 2024

• fix rerun py node

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• add pcl display to rerun py node

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• make rerun node consistend in cpp and python

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• add vio config bindings

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• add brew install pcl

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• Merge branch 'v3_develop' of github.com:luxonis/depthai-core into basalt_vio

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• move vslam examples

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• Update the docker image for ARM

  

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Commits on Jun 26, 2024

• reformat manylinux dockerfiles, fix aarch64

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Commits on Jun 27, 2024

• move examples, update rerun nodes, update rtabmap and basalt commits

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Commits on Jul 2, 2024

• fix example locations

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• add rgb pcl

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Commits on Jul 3, 2024

• address pr comments

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• use rerun 0.16.1

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• fix colors in python

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• add VSLAM Readme info

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Commits on Jul 4, 2024

• v3_develop merge

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• Merge branch 'basalt_vio' of github.com:luxonis/depthai-core into basalt_vio

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• Update containers

  

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• update side commit

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• separate vslam bindings sources

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• update rerun requirements

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• Merge branch 'basalt_vio' of github.com:luxonis/depthai-core into basalt_vio

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• Remove dependency on tbb

  

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• Fix stopping

  

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• update basalt commit

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• update rerun numpy version for ubuntu20.04

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• update colors in rerun node

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• Merge branch 'v3_develop' of github.com:luxonis/depthai-core into basalt_vio

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• proper colors in cpp rerun node

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• generate docstrings with additional dependencies

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• windows fix again

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• optional bindings include support

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• static rtabmap

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• fix float warnings

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Commits on Jul 8, 2024

• try enabling basalt on windows, format

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• transformdata fix, rtabmap no-as-needed fix

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• remove opengv, static rtabmap again

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• remove basalt compiler flags for windows

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• windows update

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• fix numeric limit error on windows

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• remove typo

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• fix more template issues in linearization

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• fix template in landmark block

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Commits on Jul 9, 2024

• add tbb debug flag

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• add some debug info for windows

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• disable basalt for windows for now

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Commits on Jul 10, 2024

• try building basalt without integration files

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• fix default initializers

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• update sophus

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Commits on Jul 11, 2024

• merge v3 develop

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• Add a warning for uninstalled rerun

  

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Commits on Jul 12, 2024

• pr updates

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