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ed2ba61828
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fixed anchor frame calcualtion
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2019-07-17 10:34:28 +02:00 |
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14825c344e
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udpated to (barely) working 3x3 patch
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2019-07-12 14:25:41 +02:00 |
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02156bd89a
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changed visualization
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2019-07-12 14:01:11 +02:00 |
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1380ec426f
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fixed minor error when not enough samples, edited feature ammount and patch size to make irradiance msckf more stable
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2019-07-09 11:24:25 +02:00 |
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a7c296ca3d
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removed dx filter, corrected jacobi calculation with bigger sobel (and correct division), removed scale for mahalanobis
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2019-07-05 13:51:58 +02:00 |
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3873c978dd
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added structure for stereo photometry - diverging
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2019-07-03 17:48:54 +02:00 |
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6ee756941c
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added stereo camera residual and jacobi to twomsckf - works
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2019-07-03 16:11:23 +02:00 |
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6bcc72f826
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changed to simple irradiance calcualation with derivation of image per frame - not working
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2019-07-02 16:58:03 +02:00 |
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737c23f32a
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restructured calcualtion of patches in code
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2019-07-02 08:32:56 +02:00 |
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d013a1b080
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added multiple couts for testing, not working
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2019-06-28 17:47:47 +02:00 |
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7b7e966217
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added ground truth visualization
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2019-06-28 12:13:02 +02:00 |
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53e2a5d524
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added ocvis output for multiple filter
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2019-06-28 10:52:11 +02:00 |
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715ca6a6b4
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added two filter, not working yet - compare with htest
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2019-06-27 19:22:08 +02:00 |
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af1820a238
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added check if pre-undistorted, works for still distorted
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2019-06-27 17:27:47 +02:00 |
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010db87e4b
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tinytum works completely, image_handler equidistant distort/undistort work
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2019-06-27 16:28:45 +02:00 |
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b3e86b3e64
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changed structure for image undistort into image_handler
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2019-06-27 15:57:24 +02:00 |
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ebc73c0c5e
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not working, added stop and go to image processing, added undistorted image to image processing
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2019-06-26 19:23:50 +02:00 |
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1d6100ed13
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added live toggle for photometric
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2019-06-25 19:05:53 +02:00 |
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02b9e0bc78
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added scaling for images
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2019-06-19 18:32:44 +02:00 |
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2d045660c2
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added some debug output, added qr decomp
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2019-06-19 09:13:46 +02:00 |
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dcbc69a1c4
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added fix to feature projection
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2019-06-18 11:03:52 +02:00 |
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1b29047451
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sobel normalization added
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2019-06-13 18:09:06 +02:00 |
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07f4927128
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added kernel calculation visualization; changed sobel filter to cv implementation, added octave export
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2019-06-13 16:20:37 +02:00 |
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acca4ab018
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added kernel visualization
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2019-06-12 18:39:40 +02:00 |
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44fffa19a2
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minor scale change in distance between pixels
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2019-06-11 10:59:41 +02:00 |
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9b4bf12846
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removed incorrect prints
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2019-06-11 09:53:43 +02:00 |
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5f6bcd1784
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added direct levenberg marqhart estimation for rho, was previously calculated from feature position
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2019-06-04 17:38:11 +02:00 |
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2a16fb2fc5
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added sobel kernel for image gradient calcualtion
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2019-05-31 11:38:49 +02:00 |
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d9899227c2
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added scaling changes to dI/dh for pixel size
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2019-05-24 15:00:18 +02:00 |
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2aef2089aa
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added undistort point
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2019-05-21 14:26:26 +02:00 |
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0f96c916f1
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minor output changes, added arrows for gradient and residual visualization
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2019-05-21 13:34:58 +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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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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750d8ecfb1
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sublime folding changes
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2019-04-26 14:42:31 +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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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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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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