Installed the drivers for RealSense D435i, and realsense-view works directly.

Together with Arnoud, I decided on a clearer, more up-to-date topic for my thesis. Also, an investigation on available datasets for this topic.

Reviewing my implementation design choices.

Improved the motion blur module by implementing a modified version of Zheng et al.’s method.

Today, I am rebooting this thing after some difficult times. I investigate what I have done, and what needs to be developed/written.

Moved SymPy to the global Python install, to install GAlgebra, to fake Quaternions.

Installed a pyenv for symbolic math, worked for the first time with sympy.

• Installed OpenCV 3.1 with Python 3 support
• Installed OpenCV Contrib, commit afcb7bb
• Created Aruco board with ./example_aruco_create_board -h=6 -w=4 -l=28 -s=4 -d=4 $OUTPUT_FILE

Recently installed ROS Jade (only version in Ubuntu 15.04), which requires OGRE 1.9. Gazebo requires OGRE 1.8. gazebo doesn’t show a GUI anymore, gz nags about libogre....1.8.0.so

listener makes log recordings of gazebo::msgs::IMU, gazebo::msgs::ImageStamped and gazebo::msgs::PosesStamped. However, my reader has problems reading it. Error message at message round 2:

Idea for syncing sensors in Gazebo: write a plugin for the „easy to compute” sensor (IMU), which only publishes its data when the „heavy to compute” sensor (camera) publishes data.

Decided to focus on a simulated implementation for my thesis. Main reason: could not obtain extrinsic camera-IMU calibration.

Camera’s exposure could be set by hand to 400 µs, and pattern can be tracked fairly well now. Still, Kalibr doesn’t work. Still in contact with its development team.

Now that the camera is triggered by the IMU and I implemented the first model of Bleser et al., I really need to obtain the extrinsic multi-sensor calibration. Otherwise I can’t test that first model.

Derivatives of some functions I need to use:

Yesterday’s problem is solved (hopefully). Also, nice overview on coordinate representation.

Struggling with implementation of the Extended Kalman Filters of Bleser et al.

Not to taunt faith, but all technical difficulties are resolved! Also: graph of data flow and their representations.

The AVT driver works with SyncIn1 in the timestamp branch!

Connection schemas for my Arduino.