Move feature depth calculation to Feature class.

And also fixed F computation for features.

I realized that the features were transformed from image to body frame
prior to being passed to State. This makes sense because the State
really doesn't need to know about Camera objects. Since the camera was
no longer necessary inside of State it made sense to move the depth
computation from Camera::ref2body() into a method in the Feature class
that does not rely on camera parameters.

Additionally, the depth solver was changed from a simple matrix
inversion to a least squares calculation.

Fx in the feature class was fixed to take into account dt.

Updating Pkk1 is in the process of being modified to handle features.

1 files changed, 4 insertions, 2 deletions

diff --git a/src/camera.h b/src/camera.h
index be0bd54..bee8246 100644
--- a/src/camera.h
+++ b/src/camera.h
@@ -1,6 +1,7 @@
 #ifndef  camera_INC
 #define  camera_INC
 #include <Eigen/Dense>
+#include <iostream>
 #include <yaml-cpp/yaml.h>
 
 #define BINNING 0.5 // set the binning factor
@@ -8,6 +9,9 @@ using Eigen::Matrix;
 using Eigen::Vector4d;
 using Eigen::Vector3d;
 using Eigen::Quaterniond;
+using std::cout;
+using std::cerr;
+using std::endl;
 
 /*
  * =====================================================================================
@@ -32,8 +36,6 @@ class Camera
 
         /* ====================  OPERATORS     ======================================= */
         Vector3d img2body(Vector3d &xi);
-        Vector3d ref2body(double z, const Quaterniond &qbw, const Vector3d &xs,
-                const Vector3d &xr);
 
     protected:
         /* ====================  METHODS       ======================================= */