refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
2017-07-03	change ransac param	Martin Miller

2017-06-26	10 mean pct error	Martin Miller

2017-06-26	10pct mean error	Martin Miller

2017-04-13	current best quatviz result (6)	Martin Miller

2017-04-11	Nice quatviz-2 result	Martin Miller

2017-04-11	feature inlier thresholds	Martin Miller

2017-04-11	Feature process noise	Martin Miller

2017-04-11	Update State for Vision::acquireFeatures	Martin Miller

2017-04-11	Acquire features will ignore new points near existing features.	Martin Miller

2017-04-11	Update process noise in body.	Martin Miller
	Process noise is a function of v and q.
2017-04-11	Set camera and canoe params	Martin Miller

2017-04-11	Remove features after 5 timesteps without measurements	Martin Miller

2017-04-10	Fix switch case fallthrough bug	Martin Miller

2017-04-09	Update canoe	Martin Miller

2017-04-09	Full state estimation and vision process are working.	Martin Miller

2017-04-09	fix MONO again	Martin Miller

2017-04-09	MONO handling in State was missing Hy!	Martin Miller

2017-04-09	warp source and reflection patches	Martin Miller

2017-04-08	remove debug code from Vision::measure	Martin Miller

2017-04-08	measurement with imshow output	Martin Miller

2017-04-08	Add code to perform a guided measurement.	Martin Miller
	The Vision class can template match in a search region. The search region result is masked by an ellipse related to the S matrix of the feature.
2017-04-07	Begin Vision class.	Martin Miller
	This class can display measurements and featuers and find new features. When complete it will also perform measurements.
2017-04-07	Fixed initialization of quaternion covariance.	Martin Miller
	Previously, we were using deg^2 where it should have been rad^2.
2017-04-07	changes	Martin Miller

2017-04-06	process noise	Martin Miller

2017-04-06	Implement quaternion covariance	Martin Miller
	Pq = JPaJ' where J is the Jacobian of the euler to quaternion function
2017-04-05	Improved process noise modeling	Martin Miller

2017-04-05	changes	Martin Miller

2017-04-04	Angular bias must have had z off by a factor of -1	Martin Miller
	Adjusted this and set tentative canoe values.
2017-04-04	Full state mostly implemented.	Martin Miller
	STATESIZE 9 works just as it does for experiment04032017 tag. The quaternion covariance is not being set correctly yet.
2017-04-04	Use STATESIZE for Feature	Martin Miller
	Replace FULLSTATE define with STATESIZE.
2017-04-04	Update Body to use STATESIZE	Martin Miller

2017-04-04	Add #if statements to call methods properly.	Martin Miller

2017-04-04	Update statesize and remove quaternion input.	Martin Miller
	Rather than use FULLSTATE define, we define STATESIZE, which removes a lot of the preprocessor ifdefs. This should be done in Body and Feature also. Quaterniond was removed as an input to methods when STATESIZE==13 and it is instead accessed from the body state.
2017-04-04	Update Feature class to use FULLSTATE.	Martin Miller
	The Jacobian of the measurement model, Hx and Hy were updated using code generated with matlab's ccode() function. This generates a number of intermediate values, which are an optimization by the function's description, before setting the final values. In any case, it's not necessarily more readable, but it does eliminate the incredbily long lines used previously.
2017-04-04	Begin updating Feature to use FULLSTATE	Martin Miller

2017-04-03	Add quaternion accessor to Body.	Martin Miller

2017-04-03	Update body to use full state.	Martin Miller
	The changes add quaternion estimation to the body state. The quaternion is still provided as an input, but it is ignored.
2017-04-03	Add drawMatches	Martin Miller

2017-04-03	changes	Martin Miller

2017-03-31	yaw flags	Martin Miller

2017-03-31	height measurement flags	Martin Miller

2017-03-31	Add compile time flags.	Martin Miller

2017-03-31	Update main	Martin Miller

2017-03-31	Add 1-Point RANSAC.	Martin Miller
	1-Pt RANSAC is a method for detecting outlier measurements in the EKF framework. This algorithm is as described in Civera 2010.
2017-03-31	Update .gitignore	Martin Miller

2017-03-31	Add yaw correction factor.	Martin Miller
	This is sort of a fudge to compensate for poor camera to IMU calibration. It injects additional yaw into the Rc2b matrices.
2017-03-31	filter class testing--not complete	Martin Miller

2017-03-31	Add Filter class.	Martin Miller
	This is not tested to be working yet.
2017-03-30	Use only FULLS kalman update	Martin Miller