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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Add SeerSense Support #1294

Closed borongyuan closed 5 months ago

borongyuan commented 5 months ago

Hi @matlabbe,

XVisio invited me to try out their SeerSense depth camera last year. Their product is similar to OAK in many aspects. For example, its processor uses Myriad X, stereo cameras has 150° DFOV, and it supports OpenVINO. Besides, it has some highlights, such as having 2 deep engines (SGBM/ToF) and providing edge VIO (which OAK has not implemented yet). I have now basically integrated it into RTAB-Map (including RGBD and Odom), and the performance looks good.

Here is the documentation for their C++ API. I think their architecture design is simpler, but not as deeply configurable as DepthAI. This may limit some of its uses.

I sent you an invitation email so that they can send you a module for test and review.

borongyuan commented 5 months ago

https://github.com/introlab/rtabmap/assets/22918715/ba15f863-8d50-44d2-bba4-b08edd91d15d

matlabbe commented 5 months ago

That looks great! I do have a xvisio camera here (that they sent me in 2019), but I think it is more a prototype and I had some issues with the xslam sdk (old name of their sdk). I don't think I can use it with the new SDK. 20240609_111757