refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
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.
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.