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2017-03-24Body can return velocityMartin Miller
2017-03-24Changes to changes.txtMartin Miller
2017-03-23Add Camera::ref2body()Martin Miller
Method converts a source reflection pair into a body coordinate with depth.
2017-03-23Update changesMartin Miller
2017-03-22Add measurement structMartin Miller
2017-03-22Add feature handling to stateMartin Miller
2017-03-22Read in image measurements from fileMartin Miller
2017-03-22add error handling to makefileMartin Miller
2017-03-22Add error handling functions.Martin Miller
2017-03-21Add Camera::rc2b() method.Martin Miller
2017-03-21small changesMartin Miller
2017-03-20Fix Jacobian of motion model.Martin Miller
This fixes a bug that was present in the pyslam code. The Jacobian of the motion model needs to be replaced with: F = I + F*dt
2017-03-20Use hardcoded block sizes. Update skewSymmetric.Martin Miller
We can hardcode block sizes using templates for a possible performance increase. Body::skewSymmetric() was modified to return matrix instead of modifying one in place.
2017-03-19Forgot to add this file several commits ago.Martin Miller
types.h contains all of the type definitions, they were moved out of main.h because I couldn't successfully compile that way.
2017-03-19Add Camera classMartin Miller
2017-03-19Fix img handlingMartin Miller
2017-03-19Add feature ConstructorMartin Miller
2017-03-19Add changesMartin Miller
2017-03-19Add Feature::S() method.Martin Miller
This is a method for computing S for an independent measurement. It can provide a speed improvement over computing a full, correlated S, but may reduce quality if correlated measurements are treated as independent.
2017-03-19Add motion model.Martin Miller
The motion model is broken into two parts, the creation of the L matrix and the state update. This means that ydot can be computed from the state object for many features at once, saving computation time.
2017-03-19Implement feature measurement prediction.Martin Miller
Used a slightly simplified expression to compute pib0. Replaced the Householder Transform with quaternion based reflection (untested).
2017-03-19Measurement changesMartin Miller
2017-03-19Adjust UTM output and bias.Martin Miller
2017-03-18Start Feature::h() methodMartin Miller
2017-03-18Add Feature classMartin Miller
2017-03-18Add changes fileMartin Miller
2017-03-18Major rewrite moves state variables into state.Martin Miller
Rather than maintain X and P in the main function they are moved into the body and state classes, respectively. This will become much more important when features are added and the accounting becomes more complicated.
2017-03-18Add fake z kalman updateMartin Miller
2017-03-18Update P during imuCallbackMartin Miller
2017-03-18Add State classMartin Miller
The State class contains the body and feature classes. It is responsible for composing matrices, and performing Kalman updates.
2017-03-18Update makefileMartin Miller
2017-03-18Add support for INSCOVS.Martin Miller
The position and velocity covariances are rotated into the correct frames: NED and FRD.
2017-03-18Adjusted coordinate frame to NED and FRD.Martin Miller
The new coordinates frame for the world and the body correspond to Junho's code and work well in other versions of this code.
2017-03-17Integration is implemented. But there are problems.Martin Miller
The coordinates are not working correctly. When I run integration on a known dataset the body seems to turn in the opposite direction of reality. It's probably best to change it to NED and FRD. Currenty it is ENU and RFU.
2017-03-17Update MakefileMartin Miller
2017-03-17Write initial "callback" functions for no ROS.Martin Miller
2017-03-17Ignore binaryMartin Miller
2017-03-17Write C input parser.Martin Miller
Sensor inputs can be read in from stdin if compiled without USE_ROS. Now "callback" functions can be written.
2017-03-17Update MakefileMartin Miller
2017-03-17Initial commitMartin Miller