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2018-01-28Add define for FEATUREMAPMartin Miller
This will print the feature information in the unicsv so that the mapper Makefile can create a feature map.
2017-08-30process noise updateMartin Miller
2017-08-11process noise flagsMartin Miller
2017-08-07process noiseMartin Miller
2017-07-12Fix gravity in Body::FMartin Miller
2017-07-04params for body noiseMiller
2017-06-2610pct mean errorMartin Miller
2017-04-11Update process noise in body.Martin Miller
Process noise is a function of v and q.
2017-04-06process noiseMartin Miller
2017-04-05Improved process noise modelingMartin Miller
2017-04-05changesMartin Miller
2017-04-04Full state mostly implemented.Martin Miller
STATESIZE 9 works just as it does for experiment04032017 tag. The quaternion covariance is not being set correctly yet.
2017-04-04Update Body to use STATESIZEMartin Miller
2017-04-03Add quaternion accessor to Body.Martin Miller
2017-04-03Update 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.
2017-03-31Add compile time flags.Martin Miller
2017-03-31Add 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.
2017-03-29tweakMartin Miller
2017-03-29Allow for the usage of REFLECTION and MONO features.Martin Miller
Feature methods were updated to accomodate both types of features.
2017-03-29Change hardcoded values to definesMartin Miller
2017-03-28updateMartin Miller
2017-03-27EKF is workingMartin Miller
2017-03-27Change Body::update to Body::dxMartin Miller
Update was too vague since a lot of things get updated. dx more clearly refers to the incremental update after a Kalman update.
2017-03-27Change {State,Body}::enu() to pos()Martin Miller
2017-03-26Fully implemented EKF.Martin Miller
Still needs to be debugged as the result is way off, but it is all there.
2017-03-25Update Body::SMartin Miller
Change variable name to reflect that we are only using Pxx and not the full P matrix.
2017-03-24Body can return velocityMartin Miller
2017-03-22Add feature handling to stateMartin 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.
2017-03-19Adjust UTM output and bias.Martin Miller
2017-03-18Start Feature::h() methodMartin 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 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.