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added imu preint and meshgenerator ocl implementation

Lambda · Mar 16, 2020, 5:53 AM UTC

f57775f5e917

added visualization msg pub;added reservation of old kps in kf creation.

Lambda · Feb 27, 2020, 12:38 PM UTC

556b8ead9c7c

added offline mode and tested via a 3-stereo-cams bag

Lambda · Feb 17, 2020, 12:03 PM UTC

f4aec7250fcb

added optimizer watcher and state record.will add mean_disp analysis for kf creation.

Lambda · Feb 11, 2020, 2:37 PM UTC

44aa32b90e3f

fixed undetermined linear system error.TODO:fix initial estimation of Xi

Lambda · Feb 5, 2020, 12:47 PM UTC

6a5214a70952

Solved ordinary frame. TODO: in insertKF InconsistentEliminationRequested remaining...

Lambda · Feb 3, 2020, 12:31 PM UTC

d7ec280b363c

fixed error;compiled

Lambda · Jan 16, 2020, 8:01 AM UTC

e76faa690b43

added projection relation and initial estimation in graph

Lambda · Jan 14, 2020, 9:33 AM UTC

ea23673b95d6

implemented some logic of initialEstimation.

Lambda · Jan 12, 2020, 3:57 PM UTC

e67c09584b71

added the structure of generate backend opt graph and inverted index of landmarks.

Lambda · Jan 10, 2020, 10:24 AM UTC

510b52881ae9

added track logic; implemented some details.

Lambda · Jan 9, 2020, 9:54 AM UTC

9bafd4c9a20e

added trackAllp2dForKF(),simplified logic of insert KF and form optimization graph;still a lot of functions to implement.

Lambda · Jan 3, 2020, 10:47 AM UTC

1e503cc61810

added database and tables;will implement sliding window.

Lambda · Jan 2, 2020, 11:24 AM UTC

14183e7f210e

fixed imu helper memory error

Lambda · Dec 17, 2019, 12:23 PM UTC

044b35e81483

added imu helper;will try isam2;if failed,use a mean-disparity based keyframe creation method

Lambda · Dec 16, 2019, 8:22 AM UTC

7569f9fb1c38

fixed landmark relation to frame cams;will add landmark mode to activate robust kernel.

Lambda · Dec 6, 2019, 12:11 PM UTC

edbccabcb536

still caught into seg fault in cv pyrlk. Maybe need help.

Lambda · Dec 3, 2019, 5:12 PM UTC

97887b88f604

still working on memory error...

Lambda · Nov 29, 2019, 10:52 AM UTC

574f3620bc89

fixed compile error

Lambda · Nov 20, 2019, 8:02 AM UTC

802ce7d26522

fixed some compile error.

Lambda · Nov 19, 2019, 12:50 PM UTC

4cd527580126

added a brief framework of handing reprojection error.still a lot of details to be implemented.

Lambda · Nov 15, 2019, 11:49 AM UTC

da54cb33a772

added framework for gtsam optimization in backend.still a lot of function to be implemented.

Lambda · Nov 11, 2019, 4:21 PM UTC

88aa1886d263

added VO test Framework.TODO:finish test vo and test strategy.

Lambda · Nov 4, 2019, 10:30 AM UTC

0c37283213aa

tested local track and solve pnp ransac to implement a simple VO.

Lambda · Nov 1, 2019, 10:30 AM UTC

ed842231ec1c

still working on local frame tracking

Lambda · Oct 31, 2019, 1:24 PM UTC

8174385292eb

added opt flow and frame initialization;will add test for frame.

Lambda · Oct 28, 2019, 7:15 AM UTC

010620528278