refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
2017-08-07	Update reflection transform into one step.	Martin Miller

2017-04-09	Full state estimation and vision process are working.	Martin Miller

2017-04-09	warp source and reflection patches	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.
2017-03-31	yaw flags	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.
2017-03-27	Add comments to Camera	Martin Miller

2017-03-24	Move feature depth calculation to Feature class.	Martin Miller
	And also fixed F computation for features. I realized that the features were transformed from image to body frame prior to being passed to State. This makes sense because the State really doesn't need to know about Camera objects. Since the camera was no longer necessary inside of State it made sense to move the depth computation from Camera::ref2body() into a method in the Feature class that does not rely on camera parameters. Additionally, the depth solver was changed from a simple matrix inversion to a least squares calculation. Fx in the feature class was fixed to take into account dt. Updating Pkk1 is in the process of being modified to handle features.
2017-03-23	Add Camera::ref2body()	Martin Miller
	Method converts a source reflection pair into a body coordinate with depth.
2017-03-22	Add feature handling to state	Martin Miller

2017-03-21	Add Camera::rc2b() method.	Martin Miller

2017-03-19	Add Camera class	Martin Miller