EKF/SLAM Object Tracking & Map Publishing#190

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pliam1105 wants to merge 53 commits intomainfrom pliam1105/ekf_robot_buoy_motion_updates

+1,787-103

Commits on Oct 20, 2024

Mostly copy-paste basic setup stuff for the node that projects the detected point clouds from the image to the point cloud.
pliam1105
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Merge remote-tracking branch 'origin/pliam1105/improved_perception' into pliam1105/improved_perception
pliam1105
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Added some bbox specific stuff (still mostly setup, will now get to the actual logic)
pliam1105
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Commits on Oct 23, 2024

Commits on Oct 27, 2024

Merge remote-tracking branch 'origin/main' into pliam1105/improved_perception
pliam1105
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Commits on Nov 6, 2024

Commits on Nov 8, 2024

Commits on Nov 11, 2024

Commits on Nov 13, 2024

Not much, just added the command that finds the contours
pliam1105
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Commits on Nov 18, 2024

Setup the parameters for the cluster and contour matching and selection, need to find a euclidean clustering algorithm for n-dimensional data or with customizable distance function, or just one tha…
pliam1105
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Commits on Nov 22, 2024

Commits on Nov 25, 2024

Finished the code that selects the optimal cluster-contour pair, need to publish it now
pliam1105
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Commits on Nov 27, 2024

Code for publishing the results of the refined object clouds & visualizing them in RViz (not tested or built yet)
pliam1105
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Commits on Dec 2, 2024

Commits on Dec 4, 2024

Added visualizations, seems to mostly work, crashes at some points
pliam1105
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Commits on Dec 6, 2024

Debugging, fixed minor mistake, doesn't crash now, need to check the formulas for the choosing & matching metrics
pliam1105
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Commits on Dec 8, 2024

Debugging, having issues retrieving & converting colors from image (and those projected to cluster points)
pliam1105
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Commits on Dec 11, 2024

Commits on Dec 13, 2024

removing useless stuff
pliam1105
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Commits on Dec 15, 2024

Commits on Dec 19, 2024

Commits on Jan 17, 2025

Merge remote-tracking branch 'origin/main' into pliam1105/refined_object_tracking
pliam1105
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Commits on Jan 18, 2025

Setup (mostly some copied stuff, with some modifications, from obstacle_detector.cpp that will serve the same purpose here) for untracked & tracked obstacle map publishing
pliam1105
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Commits on Jan 21, 2025

Commits on Jan 22, 2025

Fixed it, seems to correctly publish untracked obstacles in the ObstacleMap message format (and visualized in RViz appropriately)
pliam1105
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Commits on Jan 23, 2025

Coded obstacle tracking & map publishing, not built or tested yet
pliam1105
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Commits on Jan 24, 2025

Commits on Jan 26, 2025

Coded EKF SLAM for object tracking (with local detected positions as sensor measurements and navigation message pose considered to be accurate so no motion updates, just the map), not built or test…
pliam1105
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Commits on Jan 27, 2025

Builds now, ready to be tested
pliam1105
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Commits on Jan 28, 2025

WIP, debugging
pliam1105
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Commits on Feb 2, 2025

EKF SLAM WIP
pliam1105
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Commits on Feb 3, 2025

Commits on Feb 5, 2025

more debugging
pliam1105
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Commits on Feb 7, 2025

Commits on Feb 10, 2025

Commits on Feb 12, 2025

Made obstacle tracking toggleable between tracking obstacles independently or doing SLAM with the GPS and the object detections to track them all together, including covariances between them
pliam1105
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