crosstyan
ed721729fd
feat(rgbd): add RGB-D reconstruction pipeline
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Add end-to-end RGB-D reconstruction support across the C++ core and Python API.
- add a native merge_rgbd_views path, view-aware 3D pose containers, and nanobind bindings
- expose Python helpers to sample aligned depth, apply per-joint offsets, lift UVD poses to world space, and run reconstruct_rgbd
- add RGB-D regression tests for merging, manual pipeline parity, symmetric depth sampling windows, and out-of-bounds joints
- bump the project version from 0.1.0 to 0.2.0 for the new feature surface
2026-03-26 13:04:57 +08:00
crosstyan
0209986a2c
Add tracked triangulation association reports
2026-03-12 14:16:31 +08:00
crosstyan
31c4690121
Unify camera model into immutable factory-built type
2026-03-12 00:24:02 +08:00
crosstyan
c23f25f871
Simplify triangulation API with config struct
2026-03-12 00:08:56 +08:00
crosstyan
7df34b18c3
Simplify triangulation core and remove integrations
2026-03-11 23:55:04 +08:00
crosstyan
103aeb5887
Refactor triangulation stages and camera model
2026-03-11 23:42:07 +08:00
crosstyan
24f74c87f1
Make triangulation a zero-copy pure function
2026-03-11 22:29:21 +08:00
crosstyan
d7769794fb
Migrate Python bindings from SWIG to nanobind
2026-03-11 21:56:30 +08:00
crosstyan
0ec6a85921
Fix move semantics in triangulate_poses to improve performance
2026-01-29 17:55:59 +08:00
crosstyan
cab98936dd
Refactor CMake configuration: separate RPT core library into its own CMakeLists.txt and streamline SWIG integration
2026-01-29 17:54:21 +08:00
crosstyan
7405454480
Add CMake support and SWIG bindings for RapidPoseTriangulation
2026-01-29 17:37:38 +08:00
1ab099098e
Moved internal camera implementation.
2025-11-24 19:00:53 +01:00
8fdf0d4096
Slightly improved tracker.
2025-10-21 16:20:51 +02:00
ed5d25f595
Slight performance improvements.
2025-07-07 11:43:27 +02:00
fe7074e89d
Merge branch 'imps' into tracking
2025-05-22 17:59:33 +02:00
6ce9643ff5
Drop triangulation pairs with double associations.
2025-05-22 17:51:48 +02:00
26bfa3a63f
Small updates.
2025-05-22 17:50:00 +02:00
e90d7c53f4
Prevent duplicate track assignments.
2025-04-23 10:41:47 +02:00
cc8b75b8bf
Improved tracker parametrization.
2025-04-23 10:40:59 +02:00
98399cc00e
Small updates.
2025-04-22 17:13:30 +02:00
ff735759f7
First tracker implementation.
2025-04-03 18:51:33 +02:00
49a8855e03
Detect outliers by joint group distances.
2025-03-25 13:39:03 +01:00
71968d06fd
Made some thresholds dynamic.
2025-03-25 10:26:09 +01:00
fa0a4da72d
Optimized adjacent joint mapping.
2025-03-24 18:10:04 +01:00
0841713e1a
Moved 2D confidence scaling to a later step.
2025-03-24 14:16:08 +01:00
7e3151530e
Small updates.
2025-03-24 11:45:51 +01:00
4c214e1935
Scale 3d score with 2d scores.
2025-03-20 17:00:35 +01:00
6e68dcdf34
Filter only by corejoints outside room.
2025-03-19 14:37:15 +01:00
e9eb4c5d96
Weigh positions at merge by exponential score.
2025-03-10 11:48:51 +01:00
63f373e7ec
Adjust to updated skelda camera format.
2025-03-06 16:04:46 +01:00
bb5b99c566
Small updates.
2025-03-03 14:52:43 +01:00
7b99a38ce2
Faster camera matrix undistortion.
2025-03-03 12:32:09 +01:00
2e1d401dd4
Some mixed cleanups.
2025-02-28 15:25:31 +01:00
1d259846fc
Implemented custom intrinsic matrix undistortion.
2025-02-28 14:03:49 +01:00
0f2d597899
Implemented custom midpoint triangulation.
2025-02-28 14:03:49 +01:00
608f89d6b6
Replaced undistortion with std::vectors as well.
2025-02-28 14:03:49 +01:00
7ce02c44c8
Optimized undistortion.
2025-02-11 14:35:22 +01:00
24d951f31d
Replaced cv::mats with nested std::vectors to improve speed.
2025-02-11 13:53:31 +01:00
2c994eca44
Allow keypoint detections outside the image.
2025-02-11 11:26:33 +01:00
3eb7696e31
Some small updates.
2025-02-03 17:19:02 +01:00
29c072400f
Mixed updates and improvements.
2025-01-21 16:23:19 +01:00
07f75c53ee
Renamed a parameter.
2024-12-09 14:17:35 +01:00
9e03533704
Renamed project.
2024-10-14 16:28:34 +02:00
crosstyan
Daniel