summaryrefslogtreecommitdiff
path: root/src/state.cpp
AgeCommit message (Collapse)Author
2017-08-10flopMartin Miller
2017-07-07fix param and P0 bugsMiller
2017-07-04set ransac thresh and covbiasMiller
2017-07-03Make it run on CCMiller
2017-04-11Update State for Vision::acquireFeaturesMartin Miller
2017-04-11Remove features after 5 timesteps without measurementsMartin Miller
2017-04-10Fix switch case fallthrough bugMartin Miller
2017-04-09Full state estimation and vision process are working.Martin Miller
2017-04-09fix MONO againMartin Miller
2017-04-09MONO handling in State was missing Hy!Martin Miller
2017-04-09warp source and reflection patchesMartin Miller
2017-04-08Add 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.
2017-04-07Begin 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
2017-04-06Implement quaternion covarianceMartin Miller
Pq = J*Pa*J' where J is the Jacobian of the euler to quaternion function
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
2017-04-04Add #if statements to call methods properly.Martin Miller
2017-04-04Update statesize and remove quaternion input.Martin Miller
Rather than use FULLSTATE define, we define STATESIZE, which removes a lot of the preprocessor ifdefs. This should be done in Body and Feature also. Quaterniond was removed as an input to methods when STATESIZE==13 and it is instead accessed from the body state.
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.
2017-03-30Use only FULLS kalman updateMartin Miller
2017-03-29tweakMartin Miller
2017-03-291.2 m error on 1112-1-3Martin Miller
2017-03-29Add new update methods.Martin Miller
But they don't really work.
2017-03-29Remove feature type from Feature classMartin Miller
It makes sense to decouple the measurement type, referred to as feature type or fType from the Feature class since a feature can be measured in different ways throughout its lifetime. Better to keep knowledge of the measurement type in the State class.
2017-03-29Allow for the usage of REFLECTION and MONO features.Martin Miller
Feature methods were updated to accomodate both types of features.
2017-03-28ChangesMartin Miller
2017-03-28move aboveWaterMartin Miller
() back to main
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.
2017-03-26Set height above water.Martin Miller
2017-03-25Add State methods for kalman update and innovation.Martin Miller
State::kalmanUpdate should be general enough to work with both the full and independent update methods. The State::innovation method calculates the innovation vector directly rather than building z and hhat individually.
2017-03-25Add State::R() method, refactor H()Martin Miller
Method to compute R for given vector of z measurements. Added a method State::Hrows(z) to return number of rows in H(z).
2017-03-25Methods added to State to get HMartin Miller
Added a method to return an H matrix for the provided measurements. This should be a versatile method that can work for the full H update or the indpendent update depending on what measurements are passed. Some helper methods were also added for determining a features location in the state vector and for return a feature pointer by id.
2017-03-25Add code to State for removing features.Martin Miller
After updating the state according to the motion model we check if features are still in the field of view. If they are not they are cleanly removed. Removal requires deletion of the feature, removal from the features list and shrinkng the P matrix.
2017-03-25Update State::motionModel and addFeaturesMartin Miller
Add the feature motion model update to the state method. It is implemented in two ways: one is the for loop that operates on each feature instance directly, which is how it has been implemented in the past. The second method is to compose a large L matrix for all features and compute the per feature dx in one go. It is expected that the second method is faster, but it is not yet tested for speed.
2017-03-24Compute Pk|k-1 using full state.Martin Miller
Previously State::Pkk1() was only being computed for the body states. Methods State::F() and State::Q() were written to compose the full versions of their respective matrices and the results are used to update Pk|k-1.
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.
2017-03-22Add feature handling to stateMartin 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
2017-03-18Start 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
2017-03-18Add State classMartin Miller
The State class contains the body and feature classes. It is responsible for composing matrices, and performing Kalman updates.