Adding intrinsics and extrinsics prior in autoconf
As well as we recently implemented with @jcasals for SensorDiffDrive
, there should be a mechanism for adding priors (absolute factors) to extrinsics (p,o) and intrinsics.
It would imply:
- Adding parameters in the
IntrinsicsBase
:bool set_p_prior
,bool set_o_prior
andbool set_intrinsics_prior
and the corresponding vector of the covariance diagonal, for example. - Adding an if in
installSensor()
or in theSensorBase
constructor (I don't know if it has sense) to add the corresponding prior factors with:addPPrior()
,addOPrior()
andaddIntrinsicsPrior()
. - Adding the parameters in all YAML files.