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Develop v2.6 - Dynamic Initialization and Async Publishing #232

Merged
merged 28 commits into from
Mar 21, 2022
Merged

Develop v2.6 - Dynamic Initialization and Async Publishing #232

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3af9100
initial MLE code
goldbattle Feb 1, 2022
e642505
remove debug code
goldbattle Feb 1, 2022
4df6c15
semi-working init+mle opt
goldbattle Feb 8, 2022
adb6f7a
fix not optimizing features
goldbattle Feb 8, 2022
ae11678
print error to console, fix ori align
goldbattle Feb 8, 2022
458ea84
add covariance recovery (seems to be inconsistent)
goldbattle Feb 9, 2022
5dc0fa0
have the user specify num of poses to use instead of freq-based
goldbattle Feb 9, 2022
36db02d
working?
goldbattle Feb 9, 2022
3b47b81
fix static window size to be that of the requested, change prints
goldbattle Feb 9, 2022
0703fc3
fix ros debug print usage
goldbattle Feb 9, 2022
ab0d140
fix print
goldbattle Feb 9, 2022
dc3e914
add multi-threading, disparity & angle checks for dynamic init, testi…
goldbattle Feb 10, 2022
44c4733
update uzhfpv to new groundtruths
goldbattle Feb 16, 2022
e7c7cd5
rework async logic for subscriber. Always publish IMU rate odometry (…
goldbattle Feb 17, 2022
328dda9
properly set null_space_rank to recover the initial covariance
goldbattle Mar 7, 2022
26cb5b5
small comment channges, also allow inflating of ori prior
goldbattle Mar 7, 2022
cad705e
update kaist dataset, fix cam intrinsics, update docs for kaist bag g…
goldbattle Mar 10, 2022
0d5e2cb
show overlay via TrackBase, aruco tracker set pts_last, and only say …
goldbattle Mar 11, 2022
c60a1d8
update docker and github action to build ceres
goldbattle Mar 14, 2022
979128a
update ros2 building, change ros viz to actually report RMSE, docs up…
goldbattle Mar 14, 2022
61815fc
try to fix build errors on 16 and 18
goldbattle Mar 14, 2022
26aa6de
add gps traj since we have them
goldbattle Mar 16, 2022
06ec15d
small formating, and tweak config
goldbattle Mar 16, 2022
d286c57
hopefully fix ros free build, update readme
goldbattle Mar 18, 2022
9d7d1a1
recommend using ubuntu libceres build
goldbattle Mar 18, 2022
98745cd
update docs [skip ci]
goldbattle Mar 18, 2022
f03b604
update copyright [skip ci]
goldbattle Mar 18, 2022
4fa753c
small changes and doc updates
goldbattle Mar 21, 2022
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remove debug code
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@goldbattle
goldbattle committed Feb 1, 2022
commit e6425050bdf8f838f92fadd3146369c9870f02cb
1 change: 0 additions & 1 deletion ov_init/src/ceres/Factor_ImuCPIv1.h
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Expand Up @@ -82,7 +82,6 @@ class Factor_ImuCPIv1 : public ceres::CostFunction {

// Check that we have a valid covariance matrix that we can get the information of
Eigen::MatrixXd I = Eigen::MatrixXd::Identity(covariance.rows(), covariance.rows());
covariance.setIdentity(); // todo: remove this!!!
Eigen::MatrixXd information = covariance.llt().solve(I);
if (std::isnan(information.norm())) {
std::cerr << "P - " << std::endl << covariance << std::endl << std::endl;
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6 changes: 4 additions & 2 deletions ov_init/src/test_dynamic_mle.cpp
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Expand Up @@ -141,10 +141,12 @@ int main(int argc, char **argv) {
// NOTE: http://ceres-solver.org/solving_faqs.html#solving
ceres::Solver::Options options;
// options.linear_solver_type = ceres::DENSE_SCHUR;
options.linear_solver_type = ceres::SPARSE_SCHUR;
// options.linear_solver_type = ceres::SPARSE_SCHUR;
// options.linear_solver_type = ceres::ITERATIVE_SCHUR;
// options.trust_region_strategy_type = ceres::DOGLEG;
options.trust_region_strategy_type = ceres::LEVENBERG_MARQUARDT;
// options.trust_region_strategy_type = ceres::LEVENBERG_MARQUARDT;
options.preconditioner_type = ceres::SCHUR_JACOBI;
options.linear_solver_type = ceres::ITERATIVE_SCHUR;
options.num_threads = 6;
options.max_solver_time_in_seconds = 10.0;
options.max_num_iterations = 5;
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