raphael/msckf_vio
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added two filter, not working yet - compare with htest

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This commit is contained in:
Raphael Maenle
2019-06-27 19:22:08 +02:00
parent 9f528c1ea1
commit 715ca6a6b4
4 changed files with 411 additions and 20 deletions
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14
include/msckf_vio/msckf_vio.h
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@ -207,6 +207,11 @@ class MsckfVio {
Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
void twodotMeasurementJacobian(
const StateIDType& cam_state_id,
const FeatureIDType& feature_id,
Eigen::MatrixXd& H_x, Eigen::MatrixXd& H_y, Eigen::VectorXd& r);
void PhotometricMeasurementJacobian(
const StateIDType& cam_state_id,
const FeatureIDType& feature_id,
@ -214,6 +219,11 @@ class MsckfVio {
Eigen::MatrixXd& H_y,
Eigen::VectorXd& r);
void twodotFeatureJacobian(
const FeatureIDType& feature_id,
const std::vector<StateIDType>& cam_state_ids,
Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
void PhotometricFeatureJacobian(
const FeatureIDType& feature_id,
const std::vector<StateIDType>& cam_state_ids,
@ -222,6 +232,8 @@ class MsckfVio {
void photometricMeasurementUpdate(const Eigen::MatrixXd& H, const Eigen::VectorXd& r);
void measurementUpdate(const Eigen::MatrixXd& H,
const Eigen::VectorXd& r);
void twoMeasurementUpdate(const Eigen::MatrixXd& H, const Eigen::VectorXd& r);
bool gatingTest(const Eigen::MatrixXd& H,
const Eigen::VectorXd&r, const int& dof);
void removeLostFeatures();
@ -234,7 +246,7 @@ class MsckfVio {
void onlineReset();
// Photometry flag
bool PHOTOMETRIC;
int FILTER;
// debug flag
bool STREAMPAUSE;