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GAAS

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decrease yaw covariance solve wrong optimization direction

Doodle1106 · Nov 5, 2019, 3:43 AM UTC

5163fba1f947

add create bag script, fix logic error, now works ok

Doodle1106 · Nov 1, 2019, 8:09 AM UTC

e67b7b42e828

fix covariance

Doodle1106 · Oct 31, 2019, 2:28 PM UTC

4e86610b6e26

sync before potential bug

Doodle1106 · Oct 31, 2019, 8:10 AM UTC

8ac6b10fa284

fix comment

Doodle1106 · Oct 31, 2019, 3:51 AM UTC

c0660692d5da

remove g2o, fix vector2 vector3 conflict

Doodle1106 · Oct 29, 2019, 8:43 AM UTC

6af439b5223c

added slam frame-relative noise and gps usage config;added gtsam optimization chi2 dof visualization.TODO:add scene retrieve module.

cyanine · Sep 26, 2019, 4:59 PM UTC

491f78b6eacc

fixed visualizer bug(quaternion wxyz to xyzw);TODO:fix yaw slow drift by gps-slam united optimization

Lambda · Sep 23, 2019, 10:21 AM UTC

d0346e68576a

fixed ypr2R;fixed gps_slam angle +-;added visualization tools;TODO:check optimized result again. check Pitch and Roll again.

Lambda · Sep 19, 2019, 1:52 PM UTC

67da4d1cddf7

fixed yaw axis in GOG.h;TODO:fix pitch and roll, do test.

Lambda · Sep 18, 2019, 10:42 AM UTC

fabe7c8c49d5

solved ygz to gog axis visualization

Lambda · Sep 18, 2019, 8:23 AM UTC

ef6b1964b1b0

fixed relinearizing error(we must disable relinearizing to avoid exception in gtsam);changed threshold of gps msg len;TODO:fix gps state transfer position error;fix quaternion rpy axes error.

Lambda · Sep 11, 2019, 11:22 AM UTC

e95049fd9dfa

added GPS and slam height calc.TODO:fix compile error;add barometer block in GOG.h

Lambda · Sep 4, 2019, 11:20 AM UTC

e67fac6d43e8

added global optimization graph stringstamped msg sending.

Lambda · Aug 29, 2019, 12:05 PM UTC

a870f102cf66

GPS pos yaw calc tested.still working on GOG state management.

Lambda · Aug 15, 2019, 11:59 AM UTC

a57e256f5641

For GOG:added glog;changed msg buffer sequence.

Lambda · Aug 7, 2019, 9:33 AM UTC

3b86a97d8b00

added GlobalOptimizationGraph_GTSAM

Lambda · Jul 28, 2019, 9:30 AM UTC

bc6ebc134352