Gareth

kalman-ios. Quaternion error-state EKF for attitude sensing on iOS

kr_attitude_eskf. Implementation of error-state kalman filter for attitude determination with MARG sensors

qt-wgpu. Example of using WebGPU (via google dawn) in a Qt application

cart-pole-mpc. Personal experiments learning about model predictive control

quat. Templated, unit-tested quaternion class with minimal dependencies.

ba-example. Simple MATLAB example of bundle adjustment on toy dataset

mini_opt. Small interior point optimizer in C++

geometry_utils. Some geometry code for use w/ C++

imu_covariance. Simple node for appending covariance to recorded IMU messages.

cubemap_converter. Convert cubemaps exported from Ureanl Engine to native camera models

qtcreator-themes. Collection of favourite qtcreator themes