refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
2017-04-05	changes	Martin Miller

2017-04-03	changes	Martin Miller

2017-03-31	yaw flags	Martin Miller

2017-03-31	Add compile time 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.
2017-03-24	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