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path: root/src/camera.h
AgeCommit message (Collapse)Author
2017-04-11Nice quatviz-2 resultMartin Miller
2017-04-11Set camera and canoe paramsMartin Miller
2017-04-09Full state estimation and vision process are working.Martin Miller
2017-04-09warp source and reflection patchesMartin Miller
2017-04-07Begin Vision class.Martin Miller
This class can display measurements and featuers and find new features. When complete it will also perform measurements.
2017-04-07changesMartin Miller
2017-04-05changesMartin Miller
2017-04-03changesMartin Miller
2017-03-31yaw flagsMartin Miller
2017-03-31Add compile time flags.Martin Miller
2017-03-31Add 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.
2017-03-24Move 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.
2017-03-23Add Camera::ref2body()Martin Miller
Method converts a source reflection pair into a body coordinate with depth.
2017-03-22Add feature handling to stateMartin Miller
2017-03-21Add Camera::rc2b() method.Martin Miller
2017-03-19Add Camera classMartin Miller