refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
2017-08-07	process noise	Martin Miller

2017-07-31	Convert rotation matrix expressions in Feature::h() to quaternion.	Martin Miller
	Since the native representation of the attitude is in quaternion, it seems more consistent to use quaternion operations instead of converting to rotation matrices. This was also done to double-check my hand derived expressions that I intent to use in publication.
2017-07-13	cli params for xcorr	Miller

2017-07-12	Fix gravity in Body::F	Martin Miller

2017-07-09	set biases	Martin Miller

2017-07-09	cli params	Martin Miller

2017-07-08	don't inject attitude into quaternion state after init	Martin Miller

2017-07-07	Merge remote-tracking branch 'origin/732017' into 732017	Martin Miller

2017-07-07	fix param and P0 bugs	Miller

2017-07-06	Merge remote-tracking branch 'origin/732017' into 732017	Martin Miller

2017-07-06	set all params on cli	Miller

2017-07-05	fix covias definition	Martin Miller

2017-07-05	fix params	Miller

2017-07-04	set ransac thresh and covbias	Miller

2017-07-04	add canoe height params	Martin Miller

2017-07-04	params for body noise	Miller

2017-07-03	add feature noise params to cli	Martin Miller

2017-07-03	Make it run on CC	Miller

2017-07-03	cc version	Miller

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.