refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
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

2017-03-30	changes.txt	Martin Miller

2017-03-29	tweak	Martin Miller

2017-03-29	1.2 m error on 1112-1-3	Martin Miller

2017-03-29	Add new update methods.	Martin Miller
	But they don't really work.
2017-03-29	Remove feature type from Feature class	Martin Miller
	It makes sense to decouple the measurement type, referred to as feature type or fType from the Feature class since a feature can be measured in different ways throughout its lifetime. Better to keep knowledge of the measurement type in the State class.
2017-03-29	Allow for the usage of REFLECTION and MONO features.	Martin Miller
	Feature methods were updated to accomodate both types of features.
2017-03-29	changes	Martin Miller

2017-03-29	Change hardcoded values to defines	Martin Miller

2017-03-28	fix lineparse with typecaset	Martin Miller

2017-03-28	Changes	Martin Miller

2017-03-28	move aboveWater	Martin Miller
	() back to main
2017-03-28	update	Martin Miller

2017-03-27	EKF is working	Martin Miller

2017-03-27	Fix Hx, Hy initialization	Martin Miller

2017-03-27	Change Body::update to Body::dx	Martin Miller
	Update was too vague since a lot of things get updated. dx more clearly refers to the incremental update after a Kalman update.
2017-03-27	Change {State,Body}::enu() to pos()	Martin Miller

2017-03-27	Add comments to Camera	Martin Miller

2017-03-27	Add test_camera	Martin Miller

2017-03-27	Tweak main	Martin Miller

2017-03-26	Fully implemented EKF.	Martin Miller
	Still needs to be debugged as the result is way off, but it is all there.
2017-03-26	changes.txt	Martin Miller

2017-03-26	Use householder transformation for ppbhat	Martin Miller

2017-03-26	Set height above water.	Martin Miller

2017-03-25	Add HEIGHT measurement to types	Martin Miller

2017-03-25	Add State methods for kalman update and innovation.	Martin Miller
	State::kalmanUpdate should be general enough to work with both the full and independent update methods. The State::innovation method calculates the innovation vector directly rather than building z and hhat individually.