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GAAS

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Initial estimation and optimizer params fixed.Results are correct now.TODO:create a backend thread for kf list optimization.

Lambda · Feb 6, 2020, 9:15 AM UTC

e87af309770d

added database and tables;will implement sliding window.

Lambda · Jan 2, 2020, 11:24 AM UTC

14183e7f210e

added pnp ransac initial estimation for Xi and added a simple strategy for anomaly detection.

Lambda · Dec 27, 2019, 10:06 AM UTC

e9a0023de9e4

fixed memory error;added backward optflow check.

Lambda · Dec 25, 2019, 6:48 AM UTC

5aa7a44b13d0

added script for landmarks; added doCVTrack double-check; added all-cam-failed check.

Lambda · Dec 23, 2019, 5:54 AM UTC

afcbd08fca30

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

tested over a 92 sec bag; TODO: add visualization scripts;add imu info;add marginalization strategy;refine keyframe create strategy.

Lambda · Dec 12, 2019, 5:23 PM UTC

999f74638296

added basic kf creation strategy.

Lambda · Dec 12, 2019, 6:19 AM UTC

f62e46d5d31a

fixed p3d initial estimation error; added visualization scripts. Now the optimizer can go on.

Lambda · Dec 9, 2019, 1:08 PM UTC

1982f9fe3691

added p3d initial estimation and dot file output.

Lambda · Dec 6, 2019, 7:11 PM UTC

39d2b9b3a7f0

Loss can not decrease.Debugging.

Lambda · Dec 6, 2019, 6:14 PM UTC

578050f3c427

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

Lambda · Dec 6, 2019, 12:11 PM UTC

edbccabcb536

will change logic of landmark management.

Lambda · Dec 4, 2019, 11:43 AM UTC

a95a0b93ec82

fixed all memory errors. Already got gtsam::indetermination linear system fault. TODO:fix restriction of variables.

Lambda · Dec 4, 2019, 8:14 AM UTC

72180ae471e5

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 bug in test3.

Lambda · Nov 27, 2019, 7:08 AM UTC

a51b0f9a3580

deleted decrepeted code;added image crop for feature extraction;added fixed_lag filter and smoother.Still need to implement some function.

Lambda · Nov 26, 2019, 12:12 PM UTC

8dae50126e00

added a simple test for slam_simple, compiled.

Lambda · Nov 20, 2019, 10:44 AM UTC

1f9a49dc6eb5

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

still working on local frame tracking

Lambda · Oct 31, 2019, 1:24 PM UTC

8174385292eb

seperate multi cam config module;init keypoint extraction.will add opt flow and frame module.

Lambda · Oct 24, 2019, 5:43 AM UTC

07f028eb11da

init multicam slam

Lambda · Oct 19, 2019, 2:40 AM UTC

781efd2f4574