This series stores the observed ftr list.

format:

x | y | z | ftr_no

Variants:

feature_list.txt - Generated from drive_uvdslam(), contains zeros for any ftrs beyond the currently observed but not integrated into slam

feature_list2.txt - generated from drive_uvdslam_sd(). Contains ftrs only in slam

feature_list3.txt - mapper3D_ftr_writer(path,n_of_images).

mapper3D_analyzer(path,n_of_images)
%—————————————————————
% Written by damith.herath@eng.uts.edu.au
% v0.2
%
%—————————————————————

 derivative of mapper3D, Current version uses scan_obs (from drive_uvdslam_sd) to read xxx_output.txt files and will plot individual ftr behaviour.

• fullslam to use uvd and preprocessed data.
• Sanitizing a data set.
•  Error=Estimate-Truth
• What's an exact solution?
• Non holonomic constraint

function drive_uvdslam_sd();
%—————————————————-
% uvd SLAM v0.6 with save observation data for full slam
% 03 Aug 2006
% initialisation error fixed
% all graphics handled in one routine
% uvd update only
% NEES, Q in prediction
% To work on real data (save_estimates)
% NOTE: this will drop the last non-obsrvd ftrs frm ftr_lst!!
%—————————————————-

function fullslam2_nf()
%—————————————————-
% LS Optimization - Full SLAM integrating odometry
% v0.5 - 05 Jan 2007 Reads data from the new format generated from
% drive_uvdslam_sd()
% derived from fullslam v0.9 - 21 Nov 2006 on the cluster
% bug fix: Remove ftrs without ekf estimates being used in observation list
% New formulation with [v,w] as observation
% bug fix: miss-aligned covariance plot
% bug fix: turn-rate(w) error normalizing angel
%—————————————————-

current version
% uvd SLAM v0.6
% 03 Aug 2006
% initialisation error fixed
% all graphics handled in one routine
% uvd update only
% NEES, Q in prediction
% To work on real data (save_estimates)

This code does the LS optimisation on both observations and odometry

% LS Optimization - Full SLAM integrating odometry
% v0.4 - 05 Jan 2007
% derived from fullslam v0.9 - 21 Nov 2006 on the cluster
% bug fix: Remove ftrs without ekf estimates being used in observation list
% New formulation with [v,w] as observation
% bug fix: miss-aligned covariance plot
% bug fix: turn-rate(w) error normalizing angel