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43ac48bf56
finalized README
raphael
2021-08-06 14:11:42 +0200
e9d801bdc1
centers Image
raphael
2021-08-06 14:11:06 +0200
4a5bdc735c
adds youtube to README
raphael
2021-08-06 14:09:27 +0200
9253fcab5f
updates README
raphael
2021-08-06 14:05:19 +0200
69d385f257
merges up-to-date stereo-photometric msckf approach into master
raphael
2021-08-06 13:51:09 +0200
62cd89fd0d
removed scaling
Raphael Maenle
2019-07-19 17:27:13 +0200
a8090ca58a
added full switch
Raphael Maenle
2019-07-19 17:20:10 +0200
ed2ba61828
fixed anchor frame calcualtion
Raphael Maenle
2019-07-17 10:34:28 +0200
e94d4a06b5
added image rescaling factor
Raphael Maenle
2019-07-16 09:53:30 +0200
0ef71b9220
fixed anchor initialization and added image resizing for incomming into msckf
Raphael Maenle
2019-07-12 18:02:29 +0200
5a80f97b68
fixed visualization issue
Raphael Maenle
2019-07-12 16:36:36 +0200
876fa7617c
changed patch size
Raphael Maenle
2019-07-12 14:39:10 +0200
5b87d5b3bb
testcommit
Raphael Maenle
2019-07-12 14:29:00 +0200
14825c344e
udpated to (barely) working 3x3 patch
Raphael Maenle
2019-07-12 14:25:41 +0200
02156bd89a
changed visualization
Raphael Maenle
2019-07-12 14:01:11 +0200
5ba25f8f95
changed some parameters
Raphael Maenle
2019-07-12 11:37:36 +0200
3b6d2c918d
changed data handling in undistortion to work with euroc datset
Raphael Maenle
2019-07-11 16:50:03 +0200
55669ea2c9
minor edits
Raphael Maenle
2019-07-11 16:16:25 +0200
4a604e6dca
removed some prints
Raphael Maenle
2019-07-11 14:10:08 +0200
30daf37202
added structure to compare two patch sizes
Raphael Maenle
2019-07-11 13:57:49 +0200
1380ec426f
fixed minor error when not enough samples, edited feature ammount and patch size to make irradiance msckf more stable
Raphael Maenle
2019-07-09 11:24:25 +0200
a7c296ca3d
removed dx filter, corrected jacobi calculation with bigger sobel (and correct division), removed scale for mahalanobis
Raphael Maenle
2019-07-05 13:51:58 +0200
1a07ba3d3c
added larger sobel filter in calculation - converges sometimes for a few seconds
Raphael Maenle
2019-07-05 09:43:35 +0200
3873c978dd
added structure for stereo photometry - diverging
Raphael Maenle
2019-07-03 17:48:54 +0200
6ee756941c
added stereo camera residual and jacobi to twomsckf - works
Raphael Maenle
2019-07-03 16:11:23 +0200
6bcc72f826
changed to simple irradiance calcualation with derivation of image per frame - not working
Raphael Maenle
2019-07-02 16:58:03 +0200
737c23f32a
restructured calcualtion of patches in code
Raphael Maenle
2019-07-02 08:32:56 +0200
58fe991647
removed comments, reg. msckf not working currently
Raphael Maenle
2019-06-28 18:21:36 +0200
d013a1b080
added multiple couts for testing, not working
Raphael Maenle
2019-06-28 17:47:47 +0200
7b7e966217
added ground truth visualization
Raphael Maenle
2019-06-28 12:13:02 +0200
53e2a5d524
added ocvis output for multiple filter
Raphael Maenle
2019-06-28 10:52:11 +0200
3ae7bdb13a
upated two calculation, still not working
Raphael Maenle
2019-06-28 10:14:32 +0200
2dac361ba2
fixed stop - go functionality via bagcontrol
Raphael Maenle
2019-06-28 09:40:59 +0200
715ca6a6b4
added two filter, not working yet - compare with htest
Raphael Maenle
2019-06-27 19:22:08 +0200
9f528c1ea1
added support for euroc dataset
Raphael Maenle
2019-06-27 18:25:43 +0200
bfb2a551a7
fixed timedelay for publishing structure when bigger time delays than queue allows for
Raphael Maenle
2019-06-27 17:54:16 +0200
af1820a238
added check if pre-undistorted, works for still distorted
Raphael Maenle
2019-06-27 17:27:47 +0200
655416a490
added image_handler undistorted image
Raphael Maenle
2019-06-27 16:38:02 +0200
010db87e4b
tinytum works completely, image_handler equidistant distort/undistort work
Raphael Maenle
2019-06-27 16:28:45 +0200
5451c2d097
uncommented stuff
Raphael Maenle
2019-06-27 16:04:29 +0200
b3e86b3e64
changed structure for image undistort into image_handler
Raphael Maenle
2019-06-27 15:57:24 +0200
ebc73c0c5e
not working, added stop and go to image processing, added undistorted image to image processing
Raphael Maenle
2019-06-26 19:23:50 +0200
273bbf8a94
added fov camera model
Raphael Maenle
2019-06-25 19:49:04 +0200
1d6100ed13
added live toggle for photometric
Raphael Maenle
2019-06-25 19:05:53 +0200
0712a98c7f
Merge branch 'photometry-jakobi-htest' of https://gitlab.com/Hippocampus/msckf into photometry-jakobi-htest
Raphael Maenle
2019-06-25 12:08:41 +0200
6f7f8b7892
added tiny tum
Raphael Maenle
2019-06-25 12:03:08 +0200
c565033d7f
Add new file
Raphael Maenle
2019-06-19 16:59:32 +0000
bcf948bcc1
added bagcontrol here
Raphael Maenle
2019-06-19 18:56:30 +0200
02b9e0bc78
added scaling for images
Raphael Maenle
2019-06-19 18:32:44 +0200
c79fc173b3
minor changes in launch file and edited augmentationsize
g-spacewhale
2019-06-19 09:59:53 +0200
ecab936c62
minor changes in launch file and edited augmentationsize
g-spacewhale
2019-06-19 09:59:22 +0200
6b8dce9876
removed constant logging
g-spacewhale
2019-06-19 09:29:22 +0200
2d045660c2
added some debug output, added qr decomp
g-spacewhale
2019-06-19 09:13:46 +0200
dcbc69a1c4
added fix to feature projection
g-spacewhale
2019-06-18 11:03:52 +0200
49374a4323
added direct rho estimation
g-spacewhale
2019-06-14 12:37:06 +0200
1b29047451
sobel normalization added
g-spacewhale
2019-06-13 18:09:06 +0200
07f4927128
added kernel calculation visualization; changed sobel filter to cv implementation, added octave export
g-spacewhale
2019-06-13 16:20:37 +0200
acca4ab018
added kernel visualization
g-spacewhale
2019-06-12 18:39:40 +0200
3e480560e8
Update msckf_vio.cpp
Raphael Maenle
2019-06-12 09:25:38 +0000
b3df525060
made residual change more direct. starts diverging but then sometimes appriximates correctly after some camera movement
g-spacewhale
2019-06-12 09:26:34 +0200
a8d4580812
removed some groundtruth measurement processings
g-spacewhale
2019-06-11 17:03:05 +0200
a0577dfb9d
added some feature calculations to this branch
g-spacewhale
2019-06-11 16:45:17 +0200
44fffa19a2
minor scale change in distance between pixels
g-spacewhale
2019-06-11 10:59:41 +0200
9b4bf12846
removed incorrect prints
g-spacewhale
2019-06-11 09:53:43 +0200
5f6bcd1784
added direct levenberg marqhart estimation for rho, was previously calculated from feature position
g-spacewhale
2019-06-04 17:38:11 +0200
2a16fb2fc5
added sobel kernel for image gradient calcualtion
g-spacewhale
2019-05-31 11:38:49 +0200
6e151510cf
calculate average of jacobis and residual to reduce to single point in caclualtion - does not produce desired result
g-spacewhale
2019-05-29 10:38:40 +0200
8cfbe06945
minor calcualtion changes - works at 7-8 fps bagfiles speed
g-spacewhale
2019-05-28 14:12:22 +0200
5d36a123a7
stash
g-spacewhale
2019-05-28 11:04:21 +0200
0d544c5361
minor changes, no improvements
g-spacewhale
2019-05-24 17:22:02 +0200
d9899227c2
added scaling changes to dI/dh for pixel size
g-spacewhale
2019-05-24 15:00:18 +0200
8bebf99c37
corrected pixel distance calcualtion
g-spacewhale
2019-05-24 09:49:47 +0200
82cd2c6771
fixed Irradiance jacobain calculation, now division by pixel distance
g-spacewhale
2019-05-23 18:34:57 +0200
e788854fe8
activated gating test
g-spacewhale
2019-05-23 09:55:37 +0200
0be7047928
cache
g-spacewhale
2019-05-23 09:17:05 +0200
2f130685c8
removed merge conflicts 2
g-spacewhale
2019-05-22 11:34:26 +0200
8ff0e9d816
removed merge conflicts
g-spacewhale
2019-05-22 11:34:00 +0200
976108bffe
changed anchor feature position calculation
g-spacewhale
2019-05-22 11:24:53 +0200
cab56d9494
tested bug: filter converges longer without distortion effects; reason probably general formulation inconsistencies
g-spacewhale
2019-05-22 10:57:31 +0200
5e9149eacc
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
g-spacewhale
2019-05-21 14:50:53 +0200
2aef2089aa
added undistort point
g-spacewhale
2019-05-21 14:26:26 +0200
e4dbe2f060
removed error in photom. res. calculation
g-spacewhale
2019-05-21 14:23:49 +0200
0f96c916f1
minor output changes, added arrows for gradient and residual visualization
g-spacewhale
2019-05-21 13:34:58 +0200
05d277c4f4
reformulated irradiance to be: irradiance arround measured feature - irradiance at projection
g-spacewhale
2019-05-17 15:00:56 +0200
6b208dbc44
added changed formulation, no positive result
g-spacewhale
2019-05-16 15:53:07 +0200
9c7f67d2fd
minor print changes
g-spacewhale
2019-05-16 13:56:37 +0200
2ee7c248c1
alterations at nullspaceing, jakobi changes
g-spacewhale
2019-05-14 16:03:24 +0200
44de215518
lots of additional debugging tools implemented to check parts of the algorithm. still no good
g-spacewhale
2019-05-10 17:19:29 +0200
ad2f464716
added 3d visualization and stepping through bag file - minor edits in jakobi
g-spacewhale
2019-05-09 12:14:12 +0200
53b26f7613
minor changes to visualization, jakobi tests
g-spacewhale
2019-05-03 16:42:27 +0200
ee40dff740
added minor visualization changes
g-spacewhale
2019-05-02 17:02:44 +0200
acbcf79417
fixed some typos in jacobian
g-spacewhale
2019-04-30 18:25:05 +0200
cf40ce8afb
added visualization with a ros flag, which shows feature with projection and residual (the features apparent movement)
g-spacewhale
2019-04-30 17:02:22 +0200
750d8ecfb1
sublime folding changes
g-spacewhale
2019-04-26 14:42:31 +0200
e3ac604dbf
changed structure for sublime folding
g-spacewhale
2019-04-26 10:45:10 +0200
e8489dbd06
removed resizing not correcting for photometric info, added N as global variable
g-spacewhale
2019-04-26 09:44:19 +0200
e2e936ff01
fixed non 0 filling of new state covariance
g-spacewhale
2019-04-25 19:13:22 +0200
de07296d31
added minor changes to nullspace
g-spacewhale
2019-04-25 13:44:21 +0200
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
g-spacewhale
2019-04-25 11:16:44 +0200
821d9d6f71
added debug launch file, added state augmentation, added jakobi concat; resulting jakobis do not pass gating test
g-spacewhale
2019-04-24 19:36:38 +0200
raphael