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a0577dfb9d
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added some feature calculations to this branch
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2019-06-11 16:45:17 +02:00 |
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8cfbe06945
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minor calcualtion changes - works at 7-8 fps bagfiles speed
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2019-05-28 14:12:22 +02:00 |
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cab56d9494
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tested bug: filter converges longer without distortion effects; reason probably general formulation inconsistencies
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2019-05-22 10:57:31 +02:00 |
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5e9149eacc
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constructed jacobian based on residual: r = z(measurement pix. pos) - h(rho, x_l, x_a) - based on the projection of the feature point into space based on the anchor frame - followed by projection onto H_rho nullspace; works well enough
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2019-05-21 14:50:53 +02:00 |
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e4dbe2f060
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removed error in photom. res. calculation
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2019-05-21 14:23:49 +02:00 |
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6b208dbc44
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added changed formulation, no positive result
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2019-05-16 15:53:07 +02:00 |
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2ee7c248c1
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alterations at nullspaceing, jakobi changes
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2019-05-14 16:03:24 +02:00 |
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44de215518
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lots of additional debugging tools implemented to check parts of the algorithm. still no good
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2019-05-10 17:19:29 +02:00 |
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ad2f464716
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added 3d visualization and stepping through bag file - minor edits in jakobi
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2019-05-09 12:14:12 +02:00 |
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53b26f7613
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minor changes to visualization, jakobi tests
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2019-05-03 16:42:27 +02:00 |
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ee40dff740
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added minor visualization changes
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2019-05-02 17:02:44 +02:00 |
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acbcf79417
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fixed some typos in jacobian
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2019-04-30 18:25:05 +02:00 |
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cf40ce8afb
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added visualization with a ros flag, which shows feature with projection and residual (the features apparent movement)
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2019-04-30 17:02:22 +02:00 |
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e3ac604dbf
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changed structure for sublime folding
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2019-04-26 10:45:10 +02:00 |
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e8489dbd06
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removed resizing not correcting for photometric info, added N as global variable
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2019-04-26 09:44:19 +02:00 |
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e2e936ff01
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fixed non 0 filling of new state covariance
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2019-04-25 19:13:22 +02:00 |
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de07296d31
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added minor changes to nullspace
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2019-04-25 13:44:21 +02:00 |
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6ba26d782d
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added flag to switch to original, using right null space matrix for calculation now and existing eigen function, gating restult still way to high
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2019-04-25 11:16:44 +02:00 |
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821d9d6f71
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added debug launch file, added state augmentation, added jakobi concat; resulting jakobis do not pass gating test
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2019-04-24 19:36:38 +02:00 |
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1ffc4fb37f
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Jakobi Calculation done
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2019-04-24 15:30:25 +02:00 |
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5958adb57c
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added jakobi x calculation, y calculation (of photometric update) still missing
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2019-04-23 19:16:46 +02:00 |
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8defb20c8e
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commented visu parts cleanly
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2019-04-19 13:32:16 +02:00 |
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1949e4c43d
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removed visu as result works so to not clutter the output
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2019-04-19 13:30:30 +02:00 |
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6f16f1b566
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image reprojection visualization in images
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2019-04-19 13:11:19 +02:00 |
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1fa2518215
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fixed incorrect undistortion/distortion. residual should now be calculated correctly
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2019-04-18 16:22:41 +02:00 |
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d91ff7ca9d
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added tum launch files, removed anchor procedure being called multiple times through a flag
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2019-04-18 11:06:45 +02:00 |
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cfecefe29f
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reinstantiated photometry removed slow-down problem
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2019-04-17 17:06:44 +02:00 |
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f4a17f8512
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deactivated most to find reason for slowdown
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2019-04-17 16:16:45 +02:00 |
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6ae83f0db7
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added saving exposure time from the frame ID, where the TUM dataset saves it
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2019-04-17 10:54:54 +02:00 |
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819e43bb3b
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fixed pixel position return value
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2019-04-17 09:03:27 +02:00 |
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7f2140ae88
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moved camera calibration information into a struct to make data handling smoother
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2019-04-16 19:05:11 +02:00 |
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010d36d216
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added projection into feature observations camera states
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2019-04-16 17:40:33 +02:00 |
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8227a8e48d
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added position calculation
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2019-04-12 17:37:01 +02:00 |
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a85a4745f2
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added anchor information generation
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2019-04-12 11:02:58 +02:00 |
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a6af82a269
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manage moving window saves copies of images
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2019-04-10 19:10:31 +02:00 |
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79cce26dad
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added moving window structure, not yet done. added timestame sync for images and features detected
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2019-04-10 18:36:11 +02:00 |
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ke
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050c50defa
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Take T_cn_cnm1 instead of cam1/T_cam_imu from the calibration file
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2018-01-12 13:21:23 -05:00 |
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Kartik Mohta
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365c45c46f
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Add common functions for loading calibration with some error checking
From Bernd
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2018-01-12 02:59:57 -05:00 |
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Ke Sun
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700a3c625a
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First commit of the code
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2018-01-08 14:45:44 -05:00 |
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