absolute constraints to sensor parameters

Created by: joanvallve

Add the option of applying absolute constraints to sensor parameters (intrinsic and extrinsic). A calibration is a measure of the parameter with a covariance.

A solution may be add a list of constraints to the sensor and all methods related.

Created by: joansola

'A solution may be add a list of constraints to the sensor and all methods related.'

The problem is that ConstraintBase points up to Feature, not Sensor. But still we can derive ConstraintBase to add an up pointer to SensorBase and do the job.

Created by: joansola

Actually this seems really the easiest way to go. Although it is a little patchwork...

Created by: joanvallve

I think we should discuss this... I think all stateBlocks can have an absolute constraint:

• Landmark state: As the result of other map sessions or whatever, a landmark can have an absolute constraint.
• Sensor parameter: As a result of a calibration...
• Frame: already has absolute constraints.

I think there are stateBlocks only on those 3 cases... Maybe there should be 3 kind of absolute constraints (Frame, Sensor and Landmark)

Hi, I'm implementing the functionality of establishing constraints to sensor's extrinsics/intrinsics stateBlocks in branch constraint_sensor.

As well as with constraints with Landmarks,Frames,Features and Captures, I added the all functionality related in SensorBase (getConstrainedBy(),setConstrainedBy(),getHits()) and in ConstraintBase a new attribute sensor_other_ptr_ was added. It implies changing the constructor for providing this pointer (as well as the other cases) and thus also in ConstraintAutodiff.

The functionality consists on adding absolute constraints for a Stateblock stored in the sensor, so... where should the feature containing the constraint be placed? In the same sensor? Should I add a feature_list_ in SensorBase?

I found constraintBlockAbsolute and constraintQuaternionAbsolute, what are they made for? @AtDinesh, can you provide some info? It is not providing any pointer to any landmark,frame,feature or capture.. How is it notified to the solver? Do you have any example of using it? I would like to use it if it was designed for that.

An alternative would be replicating the WOLF structure: Frame-Capture-feature-constraint and adding a Frame in the SensorBase containing all StateBlocks but I think it would be too much.

The opposite option is changing constraintBlockAbsolute (and constraintQuaternionAbsolute) a little including the feature information (measurement, covariance, square_root_info...) as attributes and adding a list of constraints in SensorBase.

Implemented and merged in !243 (merged)

closed