refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
2021-08-31	Changes so that I can build in 2021allfeats	Martin Miller
	Needed to use the cv namespace for some defines when building with the default opencv4 development library provided with Fedora
2018-01-28	Add define for FEATUREMAP	Martin Miller
	This will print the feature information in the unicsv so that the mapper Makefile can create a feature map.
2017-08-15	add monocular option to cli	Martin Miller

2017-08-11	process noise flags	Martin Miller

2017-08-09	params and bias on cli	Martin Miller

2017-07-13	cli params for xcorr	Miller

2017-07-09	set biases	Martin Miller

2017-07-09	cli params	Martin Miller

2017-07-08	don't inject attitude into quaternion state after init	Martin Miller

2017-07-07	fix param and P0 bugs	Miller

2017-07-06	set all params on cli	Miller

2017-07-05	fix params	Miller

2017-07-04	set ransac thresh and covbias	Miller

2017-07-04	add canoe height params	Martin Miller

2017-07-04	params for body noise	Miller

2017-07-03	add feature noise params to cli	Martin Miller

2017-04-11	Nice quatviz-2 result	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	Fixed initialization of quaternion covariance.	Martin Miller
	Previously, we were using deg^2 where it should have been rad^2.
2017-04-07	changes	Martin Miller

2017-04-06	Implement quaternion covariance	Martin Miller
	Pq = JPaJ' where J is the Jacobian of the euler to quaternion function
2017-04-05	changes	Martin Miller

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.
2017-04-03	changes	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

2017-03-29	tweak	Martin Miller

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	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	Change {State,Body}::enu() to pos()	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	Set height above water.	Martin Miller

2017-03-22	Add feature handling to state	Martin Miller

2017-03-22	Read in image measurements from file	Martin Miller

2017-03-21	small changes	Martin Miller

2017-03-19	Add Camera class	Martin Miller

2017-03-19	Fix img handling	Martin Miller

2017-03-19	Adjust UTM output and bias.	Martin Miller

2017-03-18	Start Feature::h() method	Martin Miller

2017-03-18	Major 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.
2017-03-18	Add fake z kalman update	Martin Miller

2017-03-18	Update P during imuCallback	Martin Miller

2017-03-18	Add support for INSCOVS.	Martin Miller
	The position and velocity covariances are rotated into the correct frames: NED and FRD.