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