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2017-07-08don't inject attitude into quaternion state after initMartin Miller
2017-07-07fix param and P0 bugsMiller
2017-07-06set all params on cliMiller
2017-07-05fix paramsMiller
2017-07-04set ransac thresh and covbiasMiller
2017-07-04add canoe height paramsMartin Miller
2017-07-04params for body noiseMiller
2017-07-03add feature noise params to cliMartin Miller
2017-07-03Make it run on CCMiller
2017-07-03cc versionMiller
2017-07-03change ransac paramMartin Miller
2017-06-2610 mean pct errorMartin Miller
2017-06-2610pct mean errorMartin Miller
2017-04-13current best quatviz result (6)Martin Miller
2017-04-11Nice quatviz-2 resultMartin Miller
2017-04-11feature inlier thresholdsMartin Miller
2017-04-11Feature process noiseMartin Miller
2017-04-11Update State for Vision::acquireFeaturesMartin Miller
2017-04-11Acquire features will ignore new points near existing features.Martin Miller
2017-04-11Update process noise in body.Martin Miller
Process noise is a function of v and q.
2017-04-11Set camera and canoe paramsMartin Miller
2017-04-11Remove features after 5 timesteps without measurementsMartin Miller
2017-04-10Fix switch case fallthrough bugMartin Miller
2017-04-09Update canoeMartin 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
2017-04-08remove debug code from Vision::measureMartin Miller
2017-04-08measurement with imshow outputMartin 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.
2017-04-07Fixed initialization of quaternion covariance.Martin Miller
Previously, we were using deg^2 where it should have been rad^2.
2017-04-07changesMartin Miller
2017-04-06process noiseMartin Miller
2017-04-06Implement quaternion covarianceMartin Miller
Pq = J*Pa*J' where J is the Jacobian of the euler to quaternion function
2017-04-05Improved process noise modelingMartin Miller
2017-04-05changesMartin Miller
2017-04-04Angular bias must have had z off by a factor of -1Martin Miller
Adjusted this and set tentative canoe values.
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.
2017-04-04Use STATESIZE for FeatureMartin Miller
Replace FULLSTATE define with STATESIZE.
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.
2017-04-04Update Feature class to use FULLSTATE.Martin Miller
The Jacobian of the measurement model, Hx and Hy were updated using code generated with matlab's ccode() function. This generates a number of intermediate values, which are an optimization by the function's description, before setting the final values. In any case, it's not necessarily more readable, but it does eliminate the incredbily long lines used previously.
2017-04-04Begin updating Feature to use FULLSTATEMartin Miller
2017-04-03Add quaternion accessor to Body.Martin Miller
2017-04-03Update body to use full state.Martin Miller
The changes add quaternion estimation to the body state. The quaternion is still provided as an input, but it is ignored.
2017-04-03changesMartin Miller
2017-03-31yaw flagsMartin Miller