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Author SHA1 Message Date
Christian Forster 1282a95dde removed check if error increased in feature alignment. result is more feature matches and equal results to NEON version. 2014-11-10 11:01:06 -05:00
Christian Forster 3ab81e54c2 bugfix in getCloseKeyframes(). fixes #52 2014-11-08 17:08:39 +01:00
Christian Forster 3ba099372f Fixes #44, bug in KeyPoint selection 2014-09-01 14:42:41 +02:00
Christian Forster 6f6c4c9930 speeding up initialization by using previous flow estimate in klt tracking. 2014-08-13 17:54:43 +02:00
Christian Forster 2eabd6d4b4 changed memory allocation in matcher (#27) 2014-07-07 17:08:06 +02:00
Christian Forster b4696fda0a using std::isnan instead of isnanf 2014-06-30 20:43:15 +02:00
Christian Forster c34df8f6d2 using ${OpenCV_LIBS} instead of ${OpenCV_LIBRARIES}, fixes #24. thanks Jamaslab & pablospe 2014-06-30 19:35:30 +02:00
Christian Forster ec351f478f moved proj. jacobian out of loop. 2014-06-27 14:57:03 +02:00
Christian Forster d6da40f6a0 added include <set>, fixes #23 2014-06-25 14:11:21 +02:00
Christian Forster 7d2263aeda include <set>, fixes #22 2014-06-24 13:02:50 +02:00
Christian Forster 8b32cd8d88 add boost system dependency. fixes #19 2014-06-19 23:12:40 +02:00
Christian Forster 1720c393ea fixed compile flags for debug build 2014-06-19 18:37:01 +02:00
Christian Forster 90d64a9a89 fixes #17 - building without ROS 2014-06-18 23:26:11 +02:00
Christian Forster 79f4d03672 added EIGEN_MAKE_ALIGNED_OPERATOR_NEW to sparseImgAlign class. 2014-06-12 11:48:36 +02:00
Christian Forster 08fb6d2f14 added EIGEN_MAKE_ALIGNED_OPERATOR_NEW to Reprojector class. 2014-06-12 11:08:59 +02:00
Christian Forster ac79793806 Merge branch 'master' of https://github.com/uzh-rpg/rpg_svo 2014-06-11 17:42:06 +02:00
Christian Forster ab867a3047 added instructions on how to download test data. updated all tests for new dataset. 2014-06-11 17:41:10 +02:00
Christian Forster 49da07745d Merge branch 'master' of https://github.com/uzh-rpg/rpg_svo 2014-06-11 14:47:19 +02:00
Christian Forster 9b22a4c627 added figures to illustrate notation 2014-06-11 14:47:01 +02:00
Christian Forster c364fe9cfa set default compile flag for HAVE_G2O to FALSE 2014-06-11 12:04:47 +02:00
Christian Forster 2996e8469d Merge branch 'master' of https://github.com/uzh-rpg/rpg_svo 2014-06-11 11:56:32 +02:00
Christian Forster 021e747005 cleanup launchfile for live camera 2014-06-11 11:54:18 +02:00
Christian Forster ec20452f2f remove rviz node from test launchfile since it doesn't work with everyone (different ROS versions, screen resolutions) 2014-06-11 11:51:37 +02:00
Christian Forster 2e559e58b6 default is to build with ROS/Catkin 2014-06-11 11:47:20 +02:00
Christian Forster d4c5568c42 added flag to build without ROS as plain cmake project 2014-06-11 11:37:42 +02:00
Christian Forster 956a21f4f2 use environment variable for plain cmake projects to locate dataset folder 2014-06-11 11:37:13 +02:00
Christian Forster c58503ae86 added missing include 2014-06-11 11:37:02 +02:00
Christian Forster 0b1f9d7bb7 new flag to display debug output for plain cmake-projects 2014-06-11 11:36:22 +02:00
Christian Forster 166cd1c75e added ros parameter to disable user input thread. 2014-06-11 10:37:40 +02:00
Christian Forster 09ceff33e2 cleanup cmake 2014-05-28 16:12:49 +02:00
Christian Forster ca9d34c80c updated readme 2014-05-28 16:12:38 +02:00
Christian Forster f22ab69430 Merge branch 'master' of https://github.com/uzh-rpg/rpg_svo 2014-05-27 20:39:01 +02:00
Christian Forster b49d2f8573 compiles again with g2o. 2014-05-27 20:38:23 +02:00
Christian Forster ab121434e4 fixed relocalizer and state machine. pose doesn't jump around anymore when flashed with a camera. 2014-05-23 15:32:15 +02:00
Christian Forster 4bc234e490 apply rotation to dense-input-msgs 2014-05-23 15:31:48 +02:00
Christian Forster e8d6757e9e comparison of depth estimates in synthetic scenes 2014-05-22 19:48:02 +02:00
Christian Forster d6927c0bbe new comparison file 2014-05-19 12:02:16 +02:00
Christian Forster 0f259084cd add noise to image in benchmarking synthetic datasets 2014-05-19 12:00:54 +02:00
Christian Forster 81f5c329fc remove unused includes 2014-05-19 10:59:25 +02:00
Christian Forster 0abe816452 plot depth error percentiles 2014-05-19 10:58:16 +02:00
Christian Forster 0f322b208a evaluation scripts 2014-05-16 19:25:51 +02:00
Christian Forster 450cbc096e changed parameter name in launchfile 2014-05-16 14:53:21 +02:00
Christian Forster e0207e7365 rename ros-parameter for image pyramid publishing level 2014-05-16 14:51:14 +02:00
Christian Forster bb4c671568 fix in depth error tracing 2014-05-16 14:48:02 +02:00
Christian Forster 11b5b62c9e worked on visualization 2014-05-16 14:38:13 +02:00
Christian Forster 6a34b59f72 added uncertainty for patch normal 2014-05-12 22:26:12 +02:00
Christian Forster 240bed8665 added flag if patch normal is set 2014-05-12 18:00:31 +02:00
Christian Forster 8a2bef49f7 removed unused dependency of boost signals and system 2014-05-11 22:10:12 +02:00
Christian Forster 713f35697b refactoring 2014-05-09 15:06:03 +02:00
Christian Forster 734a5c007b moved feature selection to matcher 2014-05-09 15:05:33 +02:00
Christian Forster bee16e2d03 moved jacobians to point and frame class 2014-05-05 15:35:13 +02:00
Christian Forster 5550258493 Merge branch 'master' into dev 2014-05-05 10:02:12 +02:00
Christian Forster 1a1302ba5e fix in benchmark script 2014-05-05 10:01:34 +02:00
Christian Forster 7ab1632d4a fixes to build on ROS Indigo 2014-05-05 00:19:03 +02:00
Christian Forster 08f3cb4b0a fix in benchmark script 2014-05-02 11:22:01 +02:00
Christian Forster 7be07a33a1 implementation of a relocalizer that tries to relocalize at the last keyframe. an interface is available for more elaborated relocalizers 2014-05-01 18:29:24 +02:00
Christian Forster d0ce9ae3c4 1D alignment for edgelets seems to work better 2014-05-01 18:28:47 +02:00
Christian Forster 5954418249 visualization of edgelets 2014-05-01 18:28:28 +02:00
Christian Forster 060eca8bfe visualization 2014-05-01 12:43:15 +02:00
Christian Forster a895a99fd1 comment changes that are not thread-safe 2014-05-01 12:42:23 +02:00
Christian Forster 6d592b3aa4 normalized edglet dir 2014-04-30 22:29:41 +02:00
Christian Forster 8d3ed5078c set second frame as keyframe before it is handed to depth filter. otherwise no new seeds are initialized for this frame. 2014-04-30 22:28:56 +02:00
Christian Forster 68e1e05048 fixed locking problem 2014-04-30 22:27:11 +02:00
Christian Forster 465f04d1e3 refactor 2014-04-30 22:25:54 +02:00
Christian Forster 15c45f58e6 remove unused variable 2014-04-30 15:26:04 +02:00
Christian Forster 5578939b84 depth filter now also updates old seeds with new keyframes. previously a keyframe was only used to initialize new seeds. 2014-04-30 15:20:01 +02:00
Christian Forster 8291a6b9c1 FrameHandlerMono member functions are now virtual to allow specialization 2014-04-30 12:41:01 +02:00
Christian Forster 44f87b860b refactored matcher class 2014-04-29 21:43:24 +02:00
Christian Forster cdecc6325f plot trajectory error also when no hand-eye-calib is available 2014-04-29 21:42:53 +02:00
Christian Forster 406c4231bf set trace flags to false 2014-04-29 13:58:06 +02:00
Christian Forster 39bd1347f3 can now choose in which coordinate frame to publish the pose. by default the pose of the world origin is published in the camera frame of reference 2014-04-29 13:51:07 +02:00
Christian Forster 335a25511f Merge branch 'master' into dev 2014-04-29 11:50:41 +02:00
Christian Forster 6ba28f50cf removed unused disparity uncertainty computation 2014-04-29 11:44:45 +02:00
Christian Forster 922d73236b refactor 2014-04-29 11:43:49 +02:00
Christian Forster 69fb4828c2 refactor 2014-04-29 11:43:01 +02:00
Christian Forster 5a628bbc9b removed some debug output from depth filter 2014-04-28 23:16:53 +02:00
Christian Forster 42a7222b43 changed interface of feature detector. now it returns directly a list of features instead of only corners 2014-04-28 16:43:00 +02:00
Christian Forster 5e48a22f4d CRITICAL: Now publishing camera in world frame. before it was the opposite. 2014-04-28 14:23:39 +02:00
Christian Forster 3ad948a0f1 commenting 2014-04-27 23:35:38 +02:00
Christian Forster 692cb1b47f added helper function to abstract feature extractor class 2014-04-27 23:34:59 +02:00
Christian Forster d905a9ff72 refactor 2014-04-27 23:34:31 +02:00
Christian Forster 272ef797f9 formatting 2014-04-27 15:44:16 +02:00
Christian Forster 669b65cbeb added edglet feature type 2014-04-27 15:41:11 +02:00
Christian Forster 482b5c0f56 added more info to readme 2014-04-22 18:37:40 +02:00
Christian Forster 0cbe4a6ca1 can set start frame idx of dataset 2014-04-22 18:36:18 +02:00
Christian Forster b49e436356 plotting trajectory error 2014-04-22 18:35:45 +02:00
Christian Forster 5fc8ef36a3 write associated measurements to file 2014-04-16 12:13:25 +02:00
Christian Forster 814336e5ff fix for non-synthetic datasets in benchmark script 2014-04-16 10:26:55 +02:00
Christian Forster 7d59376358 publish markers in benchmark node 2014-04-16 10:26:29 +02:00
Christian Forster cf2b188894 return fisher information 2014-04-16 10:26:10 +02:00
Christian Forster 2e46802a5b set trace flag to false 2014-04-04 21:04:30 +02:00
Christian Forster 00b1734443 Merge branch 'master' of https://github.com/uzh-rpg/rpg_svo 2014-04-04 21:02:15 +02:00
Christian Forster c6b308ca14 changed compile-flag name USE_ROS to SVO_USE_ROS because PCL uses the same flag 2014-04-04 20:10:39 +02:00
Christian Forster 0454a92de3 Merge branch 'dev' of https://github.com/uzh-rpg/rpg_svo into dev 
Conflicts:
	svo/src/reprojector.cpp
 2014-04-03 10:20:20 +02:00
Christian Forster a1e014c77c refactoring Point, added point normal as member 2014-04-03 10:08:18 +02:00
Christian Forster 1f44610858 exp(x).inverse is the same as exp(-x) 2014-04-01 18:52:46 +02:00
Christian Forster aedd6ed63b added experiment label 2014-04-01 18:04:47 +02:00
Christian Forster 231cdf5b3d changed update formula to correspond with the paper 2014-04-01 18:04:25 +02:00
Christian Forster cc38295405 refactor 2014-04-01 16:32:14 +02:00
Christian Forster 4c722969a9 move depth filter ownership to frame handler mono 2014-03-31 21:44:31 +02:00