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GAAS

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

Lambda · Dec 9, 2019, 1:08 PM UTC

1982f9fe3691

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

fixed compile error

Lambda · Nov 20, 2019, 8:02 AM UTC

802ce7d26522

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

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 test createKeyFrame();will add track local frame.

Lambda · Oct 29, 2019, 6:17 AM UTC

e4ed1030d386

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

Lambda · Oct 28, 2019, 7:15 AM UTC

010620528278

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