8000 Smart Factors for arbitrary cameras by lucacarlone · Pull Request #862 · borglab/gtsam · GitHub

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Smart Factors for arbitrary cameras#862

Merged

lucacarlone merged 60 commits intodevelopfrom

feature/cameraTemplateForAllSmartFactors

Nov 8, 2021

Commits on Aug 24, 2021

starting to make templates for smart projection factors uniform (all on cameras)
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Commits on Aug 25, 2021

investigating potential templating alternatives
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don't like it - going to create a different class
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Commits on Aug 26, 2021

reverted all changes back to master
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and created a new factor instead - moving to testing now
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compiles, testing now
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fixed bug
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progress on tests
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removed line
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still challenging to parse extrinsics
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Merge branch 'feature/rollingShutterSmartFactors' into feature/cameraTemplateForAllSmartFactors
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tests finally passing!
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Merge branch 'feature/rollingShutterSmartFactors' into feature/cameraTemplateForAllSmartFactors
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added capability to use multiple measurements from the same pose. unfortunately still had to define a non-templated function from cameraSet
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all tests pass except one on serialization
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passing tough test - nice!
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done with all tests
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Commits on Sep 23, 2021

Merge branch 'develop' into feature/cameraTemplateForAllSmartFactors
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Commits on Oct 2, 2021

Merge branch 'develop' into feature/cameraTemplateForAllSmartFactors
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renamed smartProjectionFactorP -> smartProjectionRigFactor
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Commits on Oct 3, 2021

modernized factor
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fixed equal
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fixing tests
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halfway there
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working on tests
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all tests work except serialization
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added extra test with multi cam
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Commits on Oct 5, 2021

added more comments here and there
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changing API for rolling shutter
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Commits on Oct 6, 2021

bug fix - finalizing last few tests
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all tests are passing!
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done with tests
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now I only need to fix comments in rolling shutter factor
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all set here!
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Commits on Nov 6, 2021

fixed formatting (plus small fix: std::vector -> fastVector)
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formatting + const&
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Merge branch 'develop' into feature/cameraTemplateForAllSmartFactors
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more const&
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now throwing exception is params are incorrect
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added variable in loop
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point2 -> measurement
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Commits on Nov 7, 2021

this will need to be applied in #861
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disabled timing for test
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Merge branch 'develop' into feature/cameraTemplateForAllSmartFactors
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fixed readme
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serialization is still off
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final cosmetics
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added intermediate camera variable for clarity
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got rid of second constructor
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further cleanup before moving to sharedPtrs
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moved rig to use shared ptrs
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now using shared ptrs
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