|
|
2ee7c248c1
|
alterations at nullspaceing, jakobi changes
|
2019-05-14 16:03:24 +02:00 |
|
|
|
44de215518
|
lots of additional debugging tools implemented to check parts of the algorithm. still no good
|
2019-05-10 17:19:29 +02:00 |
|
|
|
ad2f464716
|
added 3d visualization and stepping through bag file - minor edits in jakobi
|
2019-05-09 12:14:12 +02:00 |
|
|
|
53b26f7613
|
minor changes to visualization, jakobi tests
|
2019-05-03 16:42:27 +02:00 |
|
|
|
ee40dff740
|
added minor visualization changes
|
2019-05-02 17:02:44 +02:00 |
|
|
|
acbcf79417
|
fixed some typos in jacobian
|
2019-04-30 18:25:05 +02:00 |
|
|
|
cf40ce8afb
|
added visualization with a ros flag, which shows feature with projection and residual (the features apparent movement)
|
2019-04-30 17:02:22 +02:00 |
|
|
|
e3ac604dbf
|
changed structure for sublime folding
|
2019-04-26 10:45:10 +02:00 |
|
|
|
e8489dbd06
|
removed resizing not correcting for photometric info, added N as global variable
|
2019-04-26 09:44:19 +02:00 |
|
|
|
e2e936ff01
|
fixed non 0 filling of new state covariance
|
2019-04-25 19:13:22 +02:00 |
|
|
|
de07296d31
|
added minor changes to nullspace
|
2019-04-25 13:44:21 +02:00 |
|
|
|
6ba26d782d
|
added flag to switch to original, using right null space matrix for calculation now and existing eigen function, gating restult still way to high
|
2019-04-25 11:16:44 +02:00 |
|
|
|
821d9d6f71
|
added debug launch file, added state augmentation, added jakobi concat; resulting jakobis do not pass gating test
|
2019-04-24 19:36:38 +02:00 |
|
|
|
1ffc4fb37f
|
Jakobi Calculation done
|
2019-04-24 15:30:25 +02:00 |
|
|
|
5958adb57c
|
added jakobi x calculation, y calculation (of photometric update) still missing
|
2019-04-23 19:16:46 +02:00 |
|
|
|
8defb20c8e
|
commented visu parts cleanly
|
2019-04-19 13:32:16 +02:00 |
|
|
|
1949e4c43d
|
removed visu as result works so to not clutter the output
|
2019-04-19 13:30:30 +02:00 |
|
|
|
6f16f1b566
|
image reprojection visualization in images
|
2019-04-19 13:11:19 +02:00 |
|
|
|
1fa2518215
|
fixed incorrect undistortion/distortion. residual should now be calculated correctly
|
2019-04-18 16:22:41 +02:00 |
|
|
|
d91ff7ca9d
|
added tum launch files, removed anchor procedure being called multiple times through a flag
|
2019-04-18 11:06:45 +02:00 |
|
|
|
cfecefe29f
|
reinstantiated photometry removed slow-down problem
|
2019-04-17 17:06:44 +02:00 |
|
|
|
f4a17f8512
|
deactivated most to find reason for slowdown
|
2019-04-17 16:16:45 +02:00 |
|
|
|
6ae83f0db7
|
added saving exposure time from the frame ID, where the TUM dataset saves it
|
2019-04-17 10:54:54 +02:00 |
|
|
|
819e43bb3b
|
fixed pixel position return value
|
2019-04-17 09:03:27 +02:00 |
|
|
|
7f2140ae88
|
moved camera calibration information into a struct to make data handling smoother
|
2019-04-16 19:05:11 +02:00 |
|
|
|
010d36d216
|
added projection into feature observations camera states
|
2019-04-16 17:40:33 +02:00 |
|
|
|
8227a8e48d
|
added position calculation
|
2019-04-12 17:37:01 +02:00 |
|
|
|
a85a4745f2
|
added anchor information generation
|
2019-04-12 11:02:58 +02:00 |
|
|
|
a6af82a269
|
manage moving window saves copies of images
|
2019-04-10 19:10:31 +02:00 |
|
|
|
79cce26dad
|
added moving window structure, not yet done. added timestame sync for images and features detected
|
2019-04-10 18:36:11 +02:00 |
|
ke
|
050c50defa
|
Take T_cn_cnm1 instead of cam1/T_cam_imu from the calibration file
|
2018-01-12 13:21:23 -05:00 |
|
Kartik Mohta
|
365c45c46f
|
Add common functions for loading calibration with some error checking
From Bernd
|
2018-01-12 02:59:57 -05:00 |
|
Ke Sun
|
700a3c625a
|
First commit of the code
|
2018-01-08 14:45:44 -05:00 |
|
