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TODO
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TODO
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Package Features:
- Implement filter status output
- Implement flag for calibration settling
- Implement flag for calibration shifting
- Interpolation between stochastic clones
- First estimate Jacobians
- Intrinsic calibration filtering
Software Work:
- Auto-generate rviz configuration from yaml
- CI/CD for unit tests
- Integration tests
- Add mutex to EKF class and have mutex locked by updaters
- Switch to reentrant callback group
- Show track images from simulation
- Add data drops to input file
- Add extrinsic step disturbance
- Add IMU bias instability
- Plot Allan Variance
- Compute Cramer Rao Lower Bound
- https://iaac.technion.ac.il/workshops/2010/KFhandouts/LectKF24.pdf
- https://www.cs.cmu.edu/~aarti/Class/10704_Spring15/lecs/lec23.pdf
- First Estimate Jacobians
- Add boolean flag for use_first_estimate_jacobian
- Save off initial state to be used in jacobians and state transition matrix
- Outlier rejection by gating / Mahalanobis distance
- Play rosbags through as fast as possible given yaml
- Remove time skew from code
- Update time bias to be per-sensor
- RANSAC Features
- Calculate CR Lower Bound
Additional Trackers:
- FiducialTracker
- AprilGridTracker
Documentation:
- Simulation diagram
- Add gif to main readme
- Create Simulated Camera video feed
- Circles for points, radius based on distance
- Polygon for Board edges
- https://docs.opencv.org/4.6.0/d3/d96/tutorial_basic_geometric_drawing.html
- https://docs.opencv.org/4.x/d7/d9e/tutorial_video_write.html
- Write page on coordinate systems
- Outline Filter documentation
- Add page for initialization
- Add page for augmenting states
- Add Jacobians to documentation
- Add Setup SVG to main ReadMe
- Add page for code coverage
- Add page for Multi-IMU Filter
Data:
- Add ROS bag data to either github release or IEEE dataport
Test:
- Test Aprilgrid detection
- Test multiple fiducial detection